Update ProtocolDefinitions

BluEye-Robotics · Mar 22, 2024 · 37af386 · 37af386
1 parent d28287f
commit 37af386
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Showing 4 changed files with 72 additions and 63 deletions.
diff --git a/ProtocolDefinitions b/ProtocolDefinitions
diff --git a/blueye/protocol/protos.py b/blueye/protocol/protos.py
@@ -37,6 +37,7 @@
 from .types.control import AutoHeadingCtrl
 from .types.control import AutoPilotHeaveCtrl
 from .types.control import AutoPilotSurgeYawCtrl
+from .types.control import CalibrateDvlGyroCtrl
 from .types.control import CancelCalibrationCtrl
 from .types.control import ClearMissionCtrl
 from .types.control import DeactivateGuestPortsCtrl
@@ -295,6 +296,7 @@
     'BinlogRecord',
     'CPUTemperature',
     'CPUTemperatureTel',
+    'CalibrateDvlGyroCtrl',
     'CalibratedImuTel',
     'CalibrationState',
     'CalibrationStateTel',

diff --git a/blueye/protocol/types/__init__.py b/blueye/protocol/types/__init__.py
@@ -145,38 +145,6 @@
     InstructionType,
     MissionState,
 )
-from .req_rep import (
-    SetOverlayParametersReq,
-    SetOverlayParametersRep,
-    GetOverlayParametersReq,
-    GetOverlayParametersRep,
-    SetCameraParametersReq,
-    SetCameraParametersRep,
-    GetCameraParametersReq,
-    GetCameraParametersRep,
-    SyncTimeReq,
-    SyncTimeRep,
-    PingReq,
-    PingRep,
-    SetThicknessGaugeParametersReq,
-    SetThicknessGaugeParametersRep,
-    ConnectClientReq,
-    ConnectClientRep,
-    DisconnectClientReq,
-    DisconnectClientRep,
-    GetBatteryReq,
-    GetBatteryRep,
-    SetMissionReq,
-    SetMissionRep,
-    GetMissionReq,
-    GetMissionRep,
-    SetInstructionUpdateReq,
-    SetInstructionUpdateRep,
-    SetPubFrequencyReq,
-    SetPubFrequencyRep,
-    GetTelemetryReq,
-    GetTelemetryRep,
-)
 from .telemetry import (
     AttitudeTel,
     AltitudeTel,
@@ -229,6 +197,38 @@
     Imu2Tel,
     MedusaSpectrometerDataTel,
 )
+from .req_rep import (
+    SetOverlayParametersReq,
+    SetOverlayParametersRep,
+    GetOverlayParametersReq,
+    GetOverlayParametersRep,
+    SetCameraParametersReq,
+    SetCameraParametersRep,
+    GetCameraParametersReq,
+    GetCameraParametersRep,
+    SyncTimeReq,
+    SyncTimeRep,
+    PingReq,
+    PingRep,
+    SetThicknessGaugeParametersReq,
+    SetThicknessGaugeParametersRep,
+    ConnectClientReq,
+    ConnectClientRep,
+    DisconnectClientReq,
+    DisconnectClientRep,
+    GetBatteryReq,
+    GetBatteryRep,
+    SetMissionReq,
+    SetMissionRep,
+    GetMissionReq,
+    GetMissionRep,
+    SetInstructionUpdateReq,
+    SetInstructionUpdateRep,
+    SetPubFrequencyReq,
+    SetPubFrequencyRep,
+    GetTelemetryReq,
+    GetTelemetryRep,
+)
 from .control import (
     MotionInputCtrl,
     TiltVelocityCtrl,
@@ -254,6 +254,7 @@
     ClearMissionCtrl,
     ResetPositionCtrl,
     ResetOdometerCtrl,
+    CalibrateDvlGyroCtrl,
     TiltStabilizationCtrl,
     WaterDensityCtrl,
     PingerConfigurationCtrl,
@@ -393,36 +394,6 @@
     'CameraAction',
     'InstructionType',
     'MissionState',
-    'SetOverlayParametersReq',
-    'SetOverlayParametersRep',
-    'GetOverlayParametersReq',
-    'GetOverlayParametersRep',
-    'SetCameraParametersReq',
-    'SetCameraParametersRep',
-    'GetCameraParametersReq',
-    'GetCameraParametersRep',
-    'SyncTimeReq',
-    'SyncTimeRep',
-    'PingReq',
-    'PingRep',
-    'SetThicknessGaugeParametersReq',
-    'SetThicknessGaugeParametersRep',
-    'ConnectClientReq',
-    'ConnectClientRep',
-    'DisconnectClientReq',
-    'DisconnectClientRep',
-    'GetBatteryReq',
-    'GetBatteryRep',
-    'SetMissionReq',
-    'SetMissionRep',
-    'GetMissionReq',
-    'GetMissionRep',
-    'SetInstructionUpdateReq',
-    'SetInstructionUpdateRep',
-    'SetPubFrequencyReq',
-    'SetPubFrequencyRep',
-    'GetTelemetryReq',
-    'GetTelemetryRep',
     'AttitudeTel',
     'AltitudeTel',
     'ForwardDistanceTel',
@@ -473,6 +444,36 @@
     'Imu1Tel',
     'Imu2Tel',
     'MedusaSpectrometerDataTel',
+    'SetOverlayParametersReq',
+    'SetOverlayParametersRep',
+    'GetOverlayParametersReq',
+    'GetOverlayParametersRep',
+    'SetCameraParametersReq',
+    'SetCameraParametersRep',
+    'GetCameraParametersReq',
+    'GetCameraParametersRep',
+    'SyncTimeReq',
+    'SyncTimeRep',
+    'PingReq',
+    'PingRep',
+    'SetThicknessGaugeParametersReq',
+    'SetThicknessGaugeParametersRep',
+    'ConnectClientReq',
+    'ConnectClientRep',
+    'DisconnectClientReq',
+    'DisconnectClientRep',
+    'GetBatteryReq',
+    'GetBatteryRep',
+    'SetMissionReq',
+    'SetMissionRep',
+    'GetMissionReq',
+    'GetMissionRep',
+    'SetInstructionUpdateReq',
+    'SetInstructionUpdateRep',
+    'SetPubFrequencyReq',
+    'SetPubFrequencyRep',
+    'GetTelemetryReq',
+    'GetTelemetryRep',
     'MotionInputCtrl',
     'TiltVelocityCtrl',
     'LightsCtrl',
@@ -497,6 +498,7 @@
     'ClearMissionCtrl',
     'ResetPositionCtrl',
     'ResetOdometerCtrl',
+    'CalibrateDvlGyroCtrl',
     'TiltStabilizationCtrl',
     'WaterDensityCtrl',
     'PingerConfigurationCtrl',

diff --git a/blueye/protocol/types/control.py b/blueye/protocol/types/control.py
@@ -49,6 +49,7 @@
         'ClearMissionCtrl',
         'ResetPositionCtrl',
         'ResetOdometerCtrl',
+        'CalibrateDvlGyroCtrl',
         'TiltStabilizationCtrl',
         'WaterDensityCtrl',
         'PingerConfigurationCtrl',
@@ -321,6 +322,10 @@ class ResetOdometerCtrl(proto.Message):
     r"""Issue a command to reset the odometer."""
 
 
+class CalibrateDvlGyroCtrl(proto.Message):
+    r"""Issue a command to calibrate the DVL gyro."""
+
+
 class TiltStabilizationCtrl(proto.Message):
     r"""Issue a command to enable or disable tilt stabilization.