Update ProtocolDefinitions

Author: github-actions[bot]

ProtocolDefinitions

@@ -38,6 +38,7 @@
 from .types.control import AutoPilotHeaveCtrl
 from .types.control import AutoPilotSurgeYawCtrl
 from .types.control import CalibrateDvlGyroCtrl
+from .types.control import CameraPanTiltZoomCtrl
 from .types.control import CancelCalibrationCtrl
 from .types.control import ClearMissionCtrl
 from .types.control import DeactivateGuestPortsCtrl
@@ -85,6 +86,7 @@
 from .types.message_formats import BatteryBQ40Z50
 from .types.message_formats import BinlogRecord
 from .types.message_formats import CalibrationState
+from .types.message_formats import CameraPanTiltZoom
 from .types.message_formats import CameraParameters
 from .types.message_formats import CanisterHumidity
 from .types.message_formats import CanisterTemperature
@@ -258,6 +260,7 @@
 from .types.telemetry import CalibratedImuHpTel
 from .types.telemetry import CalibratedImuTel
 from .types.telemetry import CalibrationStateTel
+from .types.telemetry import CameraPanTiltZoomTel
 from .types.telemetry import CanisterBottomHumidityTel
 from .types.telemetry import CanisterBottomTemperatureTel
 from .types.telemetry import ConnectedClientsTel
@@ -359,6 +362,9 @@
 'Camera',
 'CameraAction',
 'CameraCommand',
+'CameraPanTiltZoom',
+'CameraPanTiltZoomCtrl',
+'CameraPanTiltZoomTel',
 'CameraParameters',
 'CancelCalibrationCtrl',
 'CanisterBottomHumidityTel',

protocol/blueye/protocol/protos.py

@@ -40,6 +40,7 @@
     AutoPilotHeaveCtrl,
     AutoPilotSurgeYawCtrl,
     CalibrateDvlGyroCtrl,
+    CameraPanTiltZoomCtrl,
     CancelCalibrationCtrl,
     ClearMissionCtrl,
     DeactivateGuestPortsCtrl,
@@ -89,6 +90,7 @@
     BatteryBQ40Z50,
     BinlogRecord,
     CalibrationState,
+    CameraPanTiltZoom,
     CameraParameters,
     CanisterHumidity,
     CanisterTemperature,
@@ -268,6 +270,7 @@
     CalibratedImuHpTel,
     CalibratedImuTel,
     CalibrationStateTel,
+    CameraPanTiltZoomTel,
     CanisterBottomHumidityTel,
     CanisterBottomTemperatureTel,
     ConnectedClientsTel,
@@ -345,6 +348,7 @@
     'AutoPilotHeaveCtrl',
     'AutoPilotSurgeYawCtrl',
     'CalibrateDvlGyroCtrl',
+    'CameraPanTiltZoomCtrl',
     'CancelCalibrationCtrl',
     'ClearMissionCtrl',
     'DeactivateGuestPortsCtrl',
@@ -392,6 +396,7 @@
     'BatteryBQ40Z50',
     'BinlogRecord',
     'CalibrationState',
+    'CameraPanTiltZoom',
     'CameraParameters',
     'CanisterHumidity',
     'CanisterTemperature',
@@ -565,6 +570,7 @@
     'CalibratedImuHpTel',
     'CalibratedImuTel',
     'CalibrationStateTel',
+    'CameraPanTiltZoomTel',
     'CanisterBottomHumidityTel',
     'CanisterBottomTemperatureTel',
     'ConnectedClientsTel',

protocol/blueye/protocol/types/__init__.py

@@ -70,6 +70,7 @@
         'EndDiveCtrl',
         'FormatRemovableStorageDeviceCtrl',
         'SetTurbidityFilterCtrl',
+        'CameraPanTiltZoomCtrl',
     },
 )
 
@@ -645,4 +646,21 @@ class SetTurbidityFilterCtrl(proto.Message):
     )
 
 
+class CameraPanTiltZoomCtrl(proto.Message):
+    r"""Issue a command to set the digital pan, tilt, and zoom of the
+    main camera.
+    Only supported on X3 Ultra.
+
+    Attributes:
+        camera_pan_tilt_zoom (blueye.protocol.types.CameraPanTiltZoom):
+            The desired pan, tilt, and zoom state.
+    """
+
+    camera_pan_tilt_zoom: message_formats.CameraPanTiltZoom = proto.Field(
+        proto.MESSAGE,
+        number=1,
+        message=message_formats.CameraPanTiltZoom,
+    )
+
+
 __all__ = tuple(sorted(__protobuf__.manifest))

protocol/blueye/protocol/types/control.py

@@ -136,6 +136,7 @@
         'SurfaceUnitBatteryInfo',
         'SurfaceUnitVersionInfo',
         'FilterMessage',
+        'CameraPanTiltZoom',
     },
 )
 
@@ -515,6 +516,9 @@ class Resolution(proto.Enum):
         RESOLUTION_UHD_4K (3):
             4K Ultra HD (3840x2160, Only supported on X3
             Ultra).
+        RESOLUTION_QHD_2K (5):
+            2K QHD (2560x1440, Only supported on X3
+            Ultra).
     """
     RESOLUTION_UNSPECIFIED = 0
     """Resolution not specified."""
@@ -526,11 +530,17 @@ class Resolution(proto.Enum):
     """1080p Full HD (1920x1080)."""
     RESOLUTION_UHD_4K = 3
     """4K Ultra HD (3840x2160, Only supported on X3 Ultra)."""
+    RESOLUTION_QHD_2K = 5
+    """2K QHD (2560x1440, Only supported on X3 Ultra)."""
 
 
 class Framerate(proto.Enum):
     r"""Available camera frame rates.
 
+    If the requested frame rate is higher than what is supported at
+    the current resolution, the frame rate will be reduced while the
+    resolution is respected.
+
     Attributes:
         FRAMERATE_UNSPECIFIED (0):
             Framerate not specified.
@@ -539,13 +549,19 @@ class Framerate(proto.Enum):
         FRAMERATE_FPS_25 (2):
             25 frames per second. (Only supported on
             Pioneer/Pro/X1/X3)
+        FRAMERATE_FPS_60 (3):
+            60 frames per second. (Only supported on X3
+            Ultra at QHD, 1080p and 720p)
     """
     FRAMERATE_UNSPECIFIED = 0
     """Framerate not specified."""
     FRAMERATE_FPS_30 = 1
     """30 frames per second."""
     FRAMERATE_FPS_25 = 2
     """25 frames per second. (Only supported on Pioneer/Pro/X1/X3)"""
+    FRAMERATE_FPS_60 = 3
+    """60 frames per second. (Only supported on X3 Ultra at QHD,
+    1080p and 720p)"""
 
 
 class Camera(proto.Enum):
@@ -5247,4 +5263,36 @@ class FilterMessage(proto.Message):
     )
 
 
+class CameraPanTiltZoom(proto.Message):
+    r"""Digital pan, tilt, and zoom state for the main camera.
+
+    Only supported on X3 Ultra. Controls digital (not mechanical)
+    zoom.
+
+    Attributes:
+        pan (float):
+            Horizontal pan (-1.0..1.0), where 0.0 is
+            center.
+        tilt (float):
+            Vertical tilt (-1.0..1.0), where 0.0 is
+            center.
+        zoom (float):
+            Zoom level (0.0..1.0), where 0.0 is no zoom
+            and 1.0 is maximum zoom.
+    """
+
+    pan: float = proto.Field(
+        proto.FLOAT,
+        number=1,
+    )
+    tilt: float = proto.Field(
+        proto.FLOAT,
+        number=2,
+    )
+    zoom: float = proto.Field(
+        proto.FLOAT,
+        number=3,
+    )
+
+
 __all__ = tuple(sorted(__protobuf__.manifest))

protocol/blueye/protocol/types/message_formats.py

@@ -87,6 +87,7 @@
         'SurfaceUnitTel',
         'LogEntryTel',
         'TurbidityFilterTel',
+        'CameraPanTiltZoomTel',
     },
 )
 
@@ -1068,4 +1069,22 @@ class TurbidityFilterTel(proto.Message):
     )
 
 
+class CameraPanTiltZoomTel(proto.Message):
+    r"""Digital pan, tilt, and zoom telemetry from the main camera.
+
+    Reports the actual pan, tilt, and zoom state of the camera. Only
+    supported on X3 Ultra.
+
+    Attributes:
+        camera_pan_tilt_zoom (blueye.protocol.types.CameraPanTiltZoom):
+            Current pan, tilt, and zoom state.
+    """
+
+    camera_pan_tilt_zoom: message_formats.CameraPanTiltZoom = proto.Field(
+        proto.MESSAGE,
+        number=1,
+        message=message_formats.CameraPanTiltZoom,
+    )
+
+
 __all__ = tuple(sorted(__protobuf__.manifest))