mav_sdk/grpc/
mavsdk.rpc.mocap.rs

1#[derive(Clone, PartialEq, ::prost::Message)]
2pub struct SetVisionPositionEstimateRequest {
3    /// The vision position estimate
4    #[prost(message, optional, tag = "1")]
5    pub vision_position_estimate: ::core::option::Option<VisionPositionEstimate>,
6}
7#[derive(Clone, PartialEq, ::prost::Message)]
8pub struct SetVisionPositionEstimateResponse {
9    #[prost(message, optional, tag = "1")]
10    pub mocap_result: ::core::option::Option<MocapResult>,
11}
12#[derive(Clone, PartialEq, ::prost::Message)]
13pub struct SetAttitudePositionMocapRequest {
14    /// The attitude and position data
15    #[prost(message, optional, tag = "1")]
16    pub attitude_position_mocap: ::core::option::Option<AttitudePositionMocap>,
17}
18#[derive(Clone, PartialEq, ::prost::Message)]
19pub struct SetAttitudePositionMocapResponse {
20    #[prost(message, optional, tag = "1")]
21    pub mocap_result: ::core::option::Option<MocapResult>,
22}
23#[derive(Clone, PartialEq, ::prost::Message)]
24pub struct SetOdometryRequest {
25    /// The odometry data
26    #[prost(message, optional, tag = "1")]
27    pub odometry: ::core::option::Option<Odometry>,
28}
29#[derive(Clone, PartialEq, ::prost::Message)]
30pub struct SetOdometryResponse {
31    #[prost(message, optional, tag = "1")]
32    pub mocap_result: ::core::option::Option<MocapResult>,
33}
34/// Body position type
35#[derive(Clone, PartialEq, ::prost::Message)]
36pub struct PositionBody {
37    /// X position in metres.
38    #[prost(float, tag = "1")]
39    pub x_m: f32,
40    /// Y position in metres.
41    #[prost(float, tag = "2")]
42    pub y_m: f32,
43    /// Z position in metres.
44    #[prost(float, tag = "3")]
45    pub z_m: f32,
46}
47/// Body angle type
48#[derive(Clone, PartialEq, ::prost::Message)]
49pub struct AngleBody {
50    /// Roll angle in radians.
51    #[prost(float, tag = "1")]
52    pub roll_rad: f32,
53    /// Pitch angle in radians.
54    #[prost(float, tag = "2")]
55    pub pitch_rad: f32,
56    /// Yaw angle in radians.
57    #[prost(float, tag = "3")]
58    pub yaw_rad: f32,
59}
60/// Speed type, represented in the Body (X Y Z) frame and in metres/second.
61#[derive(Clone, PartialEq, ::prost::Message)]
62pub struct SpeedBody {
63    /// Velocity in X in metres/second.
64    #[prost(float, tag = "1")]
65    pub x_m_s: f32,
66    /// Velocity in Y in metres/second.
67    #[prost(float, tag = "2")]
68    pub y_m_s: f32,
69    /// Velocity in Z in metres/second.
70    #[prost(float, tag = "3")]
71    pub z_m_s: f32,
72}
73/// Angular velocity type
74#[derive(Clone, PartialEq, ::prost::Message)]
75pub struct AngularVelocityBody {
76    /// Roll angular velocity in radians/second.
77    #[prost(float, tag = "1")]
78    pub roll_rad_s: f32,
79    /// Pitch angular velocity in radians/second.
80    #[prost(float, tag = "2")]
81    pub pitch_rad_s: f32,
82    /// Yaw angular velocity in radians/second.
83    #[prost(float, tag = "3")]
84    pub yaw_rad_s: f32,
85}
86/// Covariance type.
87/// Row-major representation of a 6x6 cross-covariance matrix upper
88/// right triangle.
89/// Needs to be 21 entries or 1 entry with NaN if unknown.
90#[derive(Clone, PartialEq, ::prost::Message)]
91pub struct Covariance {
92    /// The covariance matrix
93    #[prost(float, repeated, tag = "1")]
94    pub covariance_matrix: ::prost::alloc::vec::Vec<f32>,
95}
96///
97/// Quaternion type.
98///
99/// All rotations and axis systems follow the right-hand rule.
100/// The Hamilton quaternion product definition is used.
101/// A zero-rotation quaternion is represented by (1,0,0,0).
102/// The quaternion could also be written as w + xi + yj + zk.
103///
104/// For more info see: https://en.wikipedia.org/wiki/Quaternion
105#[derive(Clone, PartialEq, ::prost::Message)]
106pub struct Quaternion {
107    /// Quaternion entry 0, also denoted as a
108    #[prost(float, tag = "1")]
109    pub w: f32,
110    /// Quaternion entry 1, also denoted as b
111    #[prost(float, tag = "2")]
112    pub x: f32,
113    /// Quaternion entry 2, also denoted as c
114    #[prost(float, tag = "3")]
115    pub y: f32,
116    /// Quaternion entry 3, also denoted as d
117    #[prost(float, tag = "4")]
118    pub z: f32,
119}
120/// Global position/attitude estimate from a vision source.
121#[derive(Clone, PartialEq, ::prost::Message)]
122pub struct VisionPositionEstimate {
123    /// PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)
124    #[prost(uint64, tag = "1")]
125    pub time_usec: u64,
126    /// Global position (m)
127    #[prost(message, optional, tag = "2")]
128    pub position_body: ::core::option::Option<PositionBody>,
129    /// Body angle (rad).
130    #[prost(message, optional, tag = "3")]
131    pub angle_body: ::core::option::Option<AngleBody>,
132    /// Pose cross-covariance matrix.
133    #[prost(message, optional, tag = "4")]
134    pub pose_covariance: ::core::option::Option<Covariance>,
135}
136/// Motion capture attitude and position
137#[derive(Clone, PartialEq, ::prost::Message)]
138pub struct AttitudePositionMocap {
139    /// PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)
140    #[prost(uint64, tag = "1")]
141    pub time_usec: u64,
142    /// Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
143    #[prost(message, optional, tag = "2")]
144    pub q: ::core::option::Option<Quaternion>,
145    /// Body Position (NED)
146    #[prost(message, optional, tag = "3")]
147    pub position_body: ::core::option::Option<PositionBody>,
148    /// Pose cross-covariance matrix.
149    #[prost(message, optional, tag = "4")]
150    pub pose_covariance: ::core::option::Option<Covariance>,
151}
152/// Odometry message to communicate odometry information with an external interface.
153#[derive(Clone, PartialEq, ::prost::Message)]
154pub struct Odometry {
155    /// Timestamp (0 to use Backend timestamp).
156    #[prost(uint64, tag = "1")]
157    pub time_usec: u64,
158    /// Coordinate frame of reference for the pose data.
159    #[prost(enumeration = "odometry::MavFrame", tag = "2")]
160    pub frame_id: i32,
161    /// Body Position.
162    #[prost(message, optional, tag = "3")]
163    pub position_body: ::core::option::Option<PositionBody>,
164    /// Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).
165    #[prost(message, optional, tag = "4")]
166    pub q: ::core::option::Option<Quaternion>,
167    /// Linear speed (m/s).
168    #[prost(message, optional, tag = "5")]
169    pub speed_body: ::core::option::Option<SpeedBody>,
170    /// Angular speed (rad/s).
171    #[prost(message, optional, tag = "6")]
172    pub angular_velocity_body: ::core::option::Option<AngularVelocityBody>,
173    /// Pose cross-covariance matrix.
174    #[prost(message, optional, tag = "7")]
175    pub pose_covariance: ::core::option::Option<Covariance>,
176    /// Velocity cross-covariance matrix.
177    #[prost(message, optional, tag = "8")]
178    pub velocity_covariance: ::core::option::Option<Covariance>,
179}
180/// Nested message and enum types in `Odometry`.
181pub mod odometry {
182    /// Mavlink frame id
183    #[derive(Clone, Copy, Debug, PartialEq, Eq, Hash, PartialOrd, Ord, ::prost::Enumeration)]
184    #[repr(i32)]
185    pub enum MavFrame {
186        /// MAVLink number: 14. Odometry local coordinate frame of data given by a motion capture system, Z-down (x: north, y: east, z: down).
187        MocapNed = 0,
188        /// MAVLink number: 20. Forward, Right, Down coordinate frame. This is a local frame with Z-down and arbitrary F/R alignment (i.e. not aligned with NED/earth frame). Replacement for MAV_FRAME_MOCAP_NED, MAV_FRAME_VISION_NED, MAV_FRAME_ESTIM_NED.
189        LocalFrd = 1,
190    }
191}
192/// Result type.
193#[derive(Clone, PartialEq, ::prost::Message)]
194pub struct MocapResult {
195    /// Result enum value
196    #[prost(enumeration = "mocap_result::Result", tag = "1")]
197    pub result: i32,
198    /// Human-readable English string describing the result
199    #[prost(string, tag = "2")]
200    pub result_str: ::prost::alloc::string::String,
201}
202/// Nested message and enum types in `MocapResult`.
203pub mod mocap_result {
204    /// Possible results returned for mocap requests
205    #[derive(Clone, Copy, Debug, PartialEq, Eq, Hash, PartialOrd, Ord, ::prost::Enumeration)]
206    #[repr(i32)]
207    pub enum Result {
208        /// Unknown error
209        Unknown = 0,
210        /// Request succeeded
211        Success = 1,
212        /// No system is connected
213        NoSystem = 2,
214        /// Connection error
215        ConnectionError = 3,
216        /// Invalid request data
217        InvalidRequestData = 4,
218    }
219}
220#[doc = r" Generated client implementations."]
221pub mod mocap_service_client {
222    #![allow(unused_variables, dead_code, missing_docs, clippy::let_unit_value)]
223    use tonic::codegen::*;
224    #[doc = "*"]
225    #[doc = " Allows interfacing a vehicle with a motion capture system in"]
226    #[doc = " order to allow navigation without global positioning sources available"]
227    #[doc = " (e.g. indoors, or when flying under a bridge. etc.)."]
228    #[derive(Debug, Clone)]
229    pub struct MocapServiceClient<T> {
230        inner: tonic::client::Grpc<T>,
231    }
232    impl MocapServiceClient<tonic::transport::Channel> {
233        #[doc = r" Attempt to create a new client by connecting to a given endpoint."]
234        pub async fn connect<D>(dst: D) -> Result<Self, tonic::transport::Error>
235        where
236            D: std::convert::TryInto<tonic::transport::Endpoint>,
237            D::Error: Into<StdError>,
238        {
239            let conn = tonic::transport::Endpoint::new(dst)?.connect().await?;
240            Ok(Self::new(conn))
241        }
242    }
243    impl<T> MocapServiceClient<T>
244    where
245        T: tonic::client::GrpcService<tonic::body::BoxBody>,
246        T::ResponseBody: Body + Send + Sync + 'static,
247        T::Error: Into<StdError>,
248        <T::ResponseBody as Body>::Error: Into<StdError> + Send,
249    {
250        pub fn new(inner: T) -> Self {
251            let inner = tonic::client::Grpc::new(inner);
252            Self { inner }
253        }
254        pub fn with_interceptor<F>(
255            inner: T,
256            interceptor: F,
257        ) -> MocapServiceClient<InterceptedService<T, F>>
258        where
259            F: tonic::service::Interceptor,
260            T: tonic::codegen::Service<
261                http::Request<tonic::body::BoxBody>,
262                Response = http::Response<
263                    <T as tonic::client::GrpcService<tonic::body::BoxBody>>::ResponseBody,
264                >,
265            >,
266            <T as tonic::codegen::Service<http::Request<tonic::body::BoxBody>>>::Error:
267                Into<StdError> + Send + Sync,
268        {
269            MocapServiceClient::new(InterceptedService::new(inner, interceptor))
270        }
271        #[doc = r" Compress requests with `gzip`."]
272        #[doc = r""]
273        #[doc = r" This requires the server to support it otherwise it might respond with an"]
274        #[doc = r" error."]
275        pub fn send_gzip(mut self) -> Self {
276            self.inner = self.inner.send_gzip();
277            self
278        }
279        #[doc = r" Enable decompressing responses with `gzip`."]
280        pub fn accept_gzip(mut self) -> Self {
281            self.inner = self.inner.accept_gzip();
282            self
283        }
284        #[doc = " Send Global position/attitude estimate from a vision source."]
285        pub async fn set_vision_position_estimate(
286            &mut self,
287            request: impl tonic::IntoRequest<super::SetVisionPositionEstimateRequest>,
288        ) -> Result<tonic::Response<super::SetVisionPositionEstimateResponse>, tonic::Status>
289        {
290            self.inner.ready().await.map_err(|e| {
291                tonic::Status::new(
292                    tonic::Code::Unknown,
293                    format!("Service was not ready: {}", e.into()),
294                )
295            })?;
296            let codec = tonic::codec::ProstCodec::default();
297            let path = http::uri::PathAndQuery::from_static(
298                "/mavsdk.rpc.mocap.MocapService/SetVisionPositionEstimate",
299            );
300            self.inner.unary(request.into_request(), path, codec).await
301        }
302        #[doc = " Send motion capture attitude and position."]
303        pub async fn set_attitude_position_mocap(
304            &mut self,
305            request: impl tonic::IntoRequest<super::SetAttitudePositionMocapRequest>,
306        ) -> Result<tonic::Response<super::SetAttitudePositionMocapResponse>, tonic::Status>
307        {
308            self.inner.ready().await.map_err(|e| {
309                tonic::Status::new(
310                    tonic::Code::Unknown,
311                    format!("Service was not ready: {}", e.into()),
312                )
313            })?;
314            let codec = tonic::codec::ProstCodec::default();
315            let path = http::uri::PathAndQuery::from_static(
316                "/mavsdk.rpc.mocap.MocapService/SetAttitudePositionMocap",
317            );
318            self.inner.unary(request.into_request(), path, codec).await
319        }
320        #[doc = " Send odometry information with an external interface."]
321        pub async fn set_odometry(
322            &mut self,
323            request: impl tonic::IntoRequest<super::SetOdometryRequest>,
324        ) -> Result<tonic::Response<super::SetOdometryResponse>, tonic::Status> {
325            self.inner.ready().await.map_err(|e| {
326                tonic::Status::new(
327                    tonic::Code::Unknown,
328                    format!("Service was not ready: {}", e.into()),
329                )
330            })?;
331            let codec = tonic::codec::ProstCodec::default();
332            let path =
333                http::uri::PathAndQuery::from_static("/mavsdk.rpc.mocap.MocapService/SetOdometry");
334            self.inner.unary(request.into_request(), path, codec).await
335        }
336    }
337}
338#[doc = r" Generated server implementations."]
339pub mod mocap_service_server {
340    #![allow(unused_variables, dead_code, missing_docs, clippy::let_unit_value)]
341    use tonic::codegen::*;
342    #[doc = "Generated trait containing gRPC methods that should be implemented for use with MocapServiceServer."]
343    #[async_trait]
344    pub trait MocapService: Send + Sync + 'static {
345        #[doc = " Send Global position/attitude estimate from a vision source."]
346        async fn set_vision_position_estimate(
347            &self,
348            request: tonic::Request<super::SetVisionPositionEstimateRequest>,
349        ) -> Result<tonic::Response<super::SetVisionPositionEstimateResponse>, tonic::Status>;
350        #[doc = " Send motion capture attitude and position."]
351        async fn set_attitude_position_mocap(
352            &self,
353            request: tonic::Request<super::SetAttitudePositionMocapRequest>,
354        ) -> Result<tonic::Response<super::SetAttitudePositionMocapResponse>, tonic::Status>;
355        #[doc = " Send odometry information with an external interface."]
356        async fn set_odometry(
357            &self,
358            request: tonic::Request<super::SetOdometryRequest>,
359        ) -> Result<tonic::Response<super::SetOdometryResponse>, tonic::Status>;
360    }
361    #[doc = "*"]
362    #[doc = " Allows interfacing a vehicle with a motion capture system in"]
363    #[doc = " order to allow navigation without global positioning sources available"]
364    #[doc = " (e.g. indoors, or when flying under a bridge. etc.)."]
365    #[derive(Debug)]
366    pub struct MocapServiceServer<T: MocapService> {
367        inner: _Inner<T>,
368        accept_compression_encodings: (),
369        send_compression_encodings: (),
370    }
371    struct _Inner<T>(Arc<T>);
372    impl<T: MocapService> MocapServiceServer<T> {
373        pub fn new(inner: T) -> Self {
374            let inner = Arc::new(inner);
375            let inner = _Inner(inner);
376            Self {
377                inner,
378                accept_compression_encodings: Default::default(),
379                send_compression_encodings: Default::default(),
380            }
381        }
382        pub fn with_interceptor<F>(inner: T, interceptor: F) -> InterceptedService<Self, F>
383        where
384            F: tonic::service::Interceptor,
385        {
386            InterceptedService::new(Self::new(inner), interceptor)
387        }
388    }
389    impl<T, B> tonic::codegen::Service<http::Request<B>> for MocapServiceServer<T>
390    where
391        T: MocapService,
392        B: Body + Send + Sync + 'static,
393        B::Error: Into<StdError> + Send + 'static,
394    {
395        type Response = http::Response<tonic::body::BoxBody>;
396        type Error = Never;
397        type Future = BoxFuture<Self::Response, Self::Error>;
398        fn poll_ready(&mut self, _cx: &mut Context<'_>) -> Poll<Result<(), Self::Error>> {
399            Poll::Ready(Ok(()))
400        }
401        fn call(&mut self, req: http::Request<B>) -> Self::Future {
402            let inner = self.inner.clone();
403            match req.uri().path() {
404                "/mavsdk.rpc.mocap.MocapService/SetVisionPositionEstimate" => {
405                    #[allow(non_camel_case_types)]
406                    struct SetVisionPositionEstimateSvc<T: MocapService>(pub Arc<T>);
407                    impl<T: MocapService>
408                        tonic::server::UnaryService<super::SetVisionPositionEstimateRequest>
409                        for SetVisionPositionEstimateSvc<T>
410                    {
411                        type Response = super::SetVisionPositionEstimateResponse;
412                        type Future = BoxFuture<tonic::Response<Self::Response>, tonic::Status>;
413                        fn call(
414                            &mut self,
415                            request: tonic::Request<super::SetVisionPositionEstimateRequest>,
416                        ) -> Self::Future {
417                            let inner = self.0.clone();
418                            let fut =
419                                async move { (*inner).set_vision_position_estimate(request).await };
420                            Box::pin(fut)
421                        }
422                    }
423                    let accept_compression_encodings = self.accept_compression_encodings;
424                    let send_compression_encodings = self.send_compression_encodings;
425                    let inner = self.inner.clone();
426                    let fut = async move {
427                        let inner = inner.0;
428                        let method = SetVisionPositionEstimateSvc(inner);
429                        let codec = tonic::codec::ProstCodec::default();
430                        let mut grpc = tonic::server::Grpc::new(codec).apply_compression_config(
431                            accept_compression_encodings,
432                            send_compression_encodings,
433                        );
434                        let res = grpc.unary(method, req).await;
435                        Ok(res)
436                    };
437                    Box::pin(fut)
438                }
439                "/mavsdk.rpc.mocap.MocapService/SetAttitudePositionMocap" => {
440                    #[allow(non_camel_case_types)]
441                    struct SetAttitudePositionMocapSvc<T: MocapService>(pub Arc<T>);
442                    impl<T: MocapService>
443                        tonic::server::UnaryService<super::SetAttitudePositionMocapRequest>
444                        for SetAttitudePositionMocapSvc<T>
445                    {
446                        type Response = super::SetAttitudePositionMocapResponse;
447                        type Future = BoxFuture<tonic::Response<Self::Response>, tonic::Status>;
448                        fn call(
449                            &mut self,
450                            request: tonic::Request<super::SetAttitudePositionMocapRequest>,
451                        ) -> Self::Future {
452                            let inner = self.0.clone();
453                            let fut =
454                                async move { (*inner).set_attitude_position_mocap(request).await };
455                            Box::pin(fut)
456                        }
457                    }
458                    let accept_compression_encodings = self.accept_compression_encodings;
459                    let send_compression_encodings = self.send_compression_encodings;
460                    let inner = self.inner.clone();
461                    let fut = async move {
462                        let inner = inner.0;
463                        let method = SetAttitudePositionMocapSvc(inner);
464                        let codec = tonic::codec::ProstCodec::default();
465                        let mut grpc = tonic::server::Grpc::new(codec).apply_compression_config(
466                            accept_compression_encodings,
467                            send_compression_encodings,
468                        );
469                        let res = grpc.unary(method, req).await;
470                        Ok(res)
471                    };
472                    Box::pin(fut)
473                }
474                "/mavsdk.rpc.mocap.MocapService/SetOdometry" => {
475                    #[allow(non_camel_case_types)]
476                    struct SetOdometrySvc<T: MocapService>(pub Arc<T>);
477                    impl<T: MocapService> tonic::server::UnaryService<super::SetOdometryRequest> for SetOdometrySvc<T> {
478                        type Response = super::SetOdometryResponse;
479                        type Future = BoxFuture<tonic::Response<Self::Response>, tonic::Status>;
480                        fn call(
481                            &mut self,
482                            request: tonic::Request<super::SetOdometryRequest>,
483                        ) -> Self::Future {
484                            let inner = self.0.clone();
485                            let fut = async move { (*inner).set_odometry(request).await };
486                            Box::pin(fut)
487                        }
488                    }
489                    let accept_compression_encodings = self.accept_compression_encodings;
490                    let send_compression_encodings = self.send_compression_encodings;
491                    let inner = self.inner.clone();
492                    let fut = async move {
493                        let inner = inner.0;
494                        let method = SetOdometrySvc(inner);
495                        let codec = tonic::codec::ProstCodec::default();
496                        let mut grpc = tonic::server::Grpc::new(codec).apply_compression_config(
497                            accept_compression_encodings,
498                            send_compression_encodings,
499                        );
500                        let res = grpc.unary(method, req).await;
501                        Ok(res)
502                    };
503                    Box::pin(fut)
504                }
505                _ => Box::pin(async move {
506                    Ok(http::Response::builder()
507                        .status(200)
508                        .header("grpc-status", "12")
509                        .header("content-type", "application/grpc")
510                        .body(empty_body())
511                        .unwrap())
512                }),
513            }
514        }
515    }
516    impl<T: MocapService> Clone for MocapServiceServer<T> {
517        fn clone(&self) -> Self {
518            let inner = self.inner.clone();
519            Self {
520                inner,
521                accept_compression_encodings: self.accept_compression_encodings,
522                send_compression_encodings: self.send_compression_encodings,
523            }
524        }
525    }
526    impl<T: MocapService> Clone for _Inner<T> {
527        fn clone(&self) -> Self {
528            Self(self.0.clone())
529        }
530    }
531    impl<T: std::fmt::Debug> std::fmt::Debug for _Inner<T> {
532        fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
533            write!(f, "{:?}", self.0)
534        }
535    }
536    impl<T: MocapService> tonic::transport::NamedService for MocapServiceServer<T> {
537        const NAME: &'static str = "mavsdk.rpc.mocap.MocapService";
538    }
539}