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arjungmmsintov
arjungm
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msintov
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VIC-13187 Fix missing changes for adding UnexpectedMovement (#190)
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+602
-309
lines changed

5 files changed

+602
-309
lines changed

‎anki_vector/messaging/messages.proto

Lines changed: 30 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -250,8 +250,7 @@ message RobotState {
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TouchData touch_data = 17;
251251
}
252252

253-
enum RobotStatus
254-
{
253+
enum RobotStatus {
255254
ROBOT_STATUS_NONE = 0x0;
256255
ROBOT_STATUS_IS_MOVING = 0x1;
257256
ROBOT_STATUS_IS_CARRYING_BLOCK = 0x2;
@@ -331,10 +330,32 @@ message RobotErasedEnrolledFace {
331330
string name = 2;
332331
}
333332

333+
enum UnexpectedMovementType {
334+
TURNED_BUT_STOPPED = 0;
335+
TURNED_IN_SAME_DIRECTION = 1;
336+
TURNED_IN_OPPOSITE_DIRECTION = 2;
337+
ROTATING_WITHOUT_MOTORS = 3;
338+
}
339+
340+
enum UnexpectedMovementSide {
341+
UNKNOWN = 0;
342+
FRONT = 1;
343+
BACK = 2;
344+
LEFT = 3;
345+
RIGHT = 4;
346+
}
347+
348+
// Event dispatched when the robot does not move as expected. Has additional information
349+
// such as the direction and type of unexpected motion.
350+
message UnexpectedMovement {
351+
uint32 timestamp = 1;
352+
UnexpectedMovementType movement_type = 2;
353+
UnexpectedMovementSide movement_side = 3;
354+
}
355+
334356
// This is an int8 on the clad side.
335357
// Proto field names are prefixed with "EXPRESSION_"
336-
enum FacialExpression
337-
{
358+
enum FacialExpression {
338359
option allow_alias = true;
339360
EXPRESSION_UNKNOWN = 0; // e.g. expression estimation disabled.
340361

@@ -375,8 +396,7 @@ message RobotChangedObservedFaceID {
375396
int32 new_id = 2;
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}
377398

378-
enum FaceEnrollmentResult
379-
{
399+
enum FaceEnrollmentResult {
380400
SUCCESS = 0;
381401

382402
// Failures:
@@ -475,8 +495,7 @@ message EnrollFaceResponse {
475495
BehaviorResults result = 2;
476496
}
477497

478-
enum BehaviorResults
479-
{
498+
enum BehaviorResults {
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BEHAVIOR_INVALID_STATE = 0;
481500
BEHAVIOR_COMPLETE_STATE = 1;
482501
BEHAVIOR_WONT_ACTIVATE_STATE = 2;
@@ -936,8 +955,7 @@ message SayTextRequest {
936955
}
937956

938957
message SayTextResponse {
939-
enum UtteranceState
940-
{
958+
enum UtteranceState {
941959
INVALID = 0;
942960
GENERATING = 1;
943961
READY = 2;
@@ -1069,8 +1087,7 @@ message ExternalAudioStreamResponse {
10691087
}
10701088
}
10711089

1072-
enum MasterVolumeLevel
1073-
{
1090+
enum MasterVolumeLevel {
10741091
VOLUME_LOW = 0;
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VOLUME_MEDIUM_LOW = 1;
10761093
VOLUME_MEDIUM = 2;
@@ -1175,8 +1192,7 @@ message VisionModesAutoDisabled
11751192

11761193
// One frame of image data and associated metadata
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message ImageChunk {
1178-
enum ImageEncoding
1179-
{
1195+
enum ImageEncoding {
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NONE_IMAGE_ENCODING = 0;
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RAW_GRAY = 1; // no compression
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RAW_RGB = 2; // no compression, just [RGBRGBRG...]

‎anki_vector/messaging/messages_pb2.py

Lines changed: 413 additions & 281 deletions
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‎anki_vector/messaging/shared.proto

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -65,6 +65,7 @@ message Event {
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RobotErasedEnrolledFace robot_erased_enrolled_face = 21;
6666
RobotRenamedEnrolledFace robot_renamed_enrolled_face = 22;
6767
CameraSettingsUpdate camera_settings_update = 23;
68+
UnexpectedMovement unexpected_movement = 24;
6869
}
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}
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‎anki_vector/messaging/shared_pb2.py

Lines changed: 25 additions & 14 deletions
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‎docs/source/proto.html

Lines changed: 133 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1008,6 +1008,10 @@ <h2>Table of Contents</h2>
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<a href="#Anki.Vector.external_interface.TurnTowardsFaceResponse"><span class="badge">M</span>TurnTowardsFaceResponse</a>
10091009
</li>
10101010

1011+
<li>
1012+
<a href="#Anki.Vector.external_interface.UnexpectedMovement"><span class="badge">M</span>UnexpectedMovement</a>
1013+
</li>
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10111015
<li>
10121016
<a href="#Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest"><span class="badge">M</span>UpdateEnrolledFaceByIDRequest</a>
10131017
</li>
@@ -1101,6 +1105,14 @@ <h2>Table of Contents</h2>
11011105
<a href="#Anki.Vector.external_interface.SayTextResponse.UtteranceState"><span class="badge">E</span>SayTextResponse.UtteranceState</a>
11021106
</li>
11031107

1108+
<li>
1109+
<a href="#Anki.Vector.external_interface.UnexpectedMovementSide"><span class="badge">E</span>UnexpectedMovementSide</a>
1110+
</li>
1111+
1112+
<li>
1113+
<a href="#Anki.Vector.external_interface.UnexpectedMovementType"><span class="badge">E</span>UnexpectedMovementType</a>
1114+
</li>
1115+
11041116

11051117

11061118
</ul>
@@ -8383,6 +8395,43 @@ <h3 id="Anki.Vector.external_interface.TurnTowardsFaceResponse">TurnTowardsFaceR
83838395

83848396

83858397

8398+
<h3 id="Anki.Vector.external_interface.UnexpectedMovement">UnexpectedMovement</h3>
8399+
Event dispatched when the robot does not move as expected. Has additional information
8400+
such as the direction and type of unexpected motion.
8401+
<p></p>
8402+
8403+
8404+
<table class="field-table">
8405+
<thead>
8406+
<tr><td>Field</td><td>Type</td><td>Description</td></tr>
8407+
</thead>
8408+
<tbody>
8409+
8410+
<tr>
8411+
<td>timestamp</td>
8412+
<td><a href="#uint32">uint32</a> </td>
8413+
<td><p> </p></td>
8414+
</tr>
8415+
8416+
<tr>
8417+
<td>movement_type</td>
8418+
<td><a href="#Anki.Vector.external_interface.UnexpectedMovementType">UnexpectedMovementType</a> </td>
8419+
<td><p> </p></td>
8420+
</tr>
8421+
8422+
<tr>
8423+
<td>movement_side</td>
8424+
<td><a href="#Anki.Vector.external_interface.UnexpectedMovementSide">UnexpectedMovementSide</a> </td>
8425+
<td><p> </p></td>
8426+
</tr>
8427+
8428+
</tbody>
8429+
</table>
8430+
<p></p>
8431+
8432+
8433+
8434+
83868435
<h3 id="Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest">UpdateEnrolledFaceByIDRequest</h3>
83878436

83888437
<p></p>
@@ -9587,6 +9636,84 @@ <h3 id="Anki.Vector.external_interface.SayTextResponse.UtteranceState">SayTextRe
95879636
</table>
95889637
<p></p>
95899638

9639+
<h3 id="Anki.Vector.external_interface.UnexpectedMovementSide">UnexpectedMovementSide</h3>
9640+
<p></p>
9641+
<table class="enum-table">
9642+
<thead>
9643+
<tr><td>Name</td><td>Number</td><td>Description</td></tr>
9644+
</thead>
9645+
<tbody>
9646+
9647+
<tr>
9648+
<td>UNKNOWN</td>
9649+
<td>0</td>
9650+
<td><p></p></td>
9651+
</tr>
9652+
9653+
<tr>
9654+
<td>FRONT</td>
9655+
<td>1</td>
9656+
<td><p></p></td>
9657+
</tr>
9658+
9659+
<tr>
9660+
<td>BACK</td>
9661+
<td>2</td>
9662+
<td><p></p></td>
9663+
</tr>
9664+
9665+
<tr>
9666+
<td>LEFT</td>
9667+
<td>3</td>
9668+
<td><p></p></td>
9669+
</tr>
9670+
9671+
<tr>
9672+
<td>RIGHT</td>
9673+
<td>4</td>
9674+
<td><p></p></td>
9675+
</tr>
9676+
9677+
</tbody>
9678+
</table>
9679+
<p></p>
9680+
9681+
<h3 id="Anki.Vector.external_interface.UnexpectedMovementType">UnexpectedMovementType</h3>
9682+
<p></p>
9683+
<table class="enum-table">
9684+
<thead>
9685+
<tr><td>Name</td><td>Number</td><td>Description</td></tr>
9686+
</thead>
9687+
<tbody>
9688+
9689+
<tr>
9690+
<td>TURNED_BUT_STOPPED</td>
9691+
<td>0</td>
9692+
<td><p></p></td>
9693+
</tr>
9694+
9695+
<tr>
9696+
<td>TURNED_IN_SAME_DIRECTION</td>
9697+
<td>1</td>
9698+
<td><p></p></td>
9699+
</tr>
9700+
9701+
<tr>
9702+
<td>TURNED_IN_OPPOSITE_DIRECTION</td>
9703+
<td>2</td>
9704+
<td><p></p></td>
9705+
</tr>
9706+
9707+
<tr>
9708+
<td>ROTATING_WITHOUT_MOTORS</td>
9709+
<td>3</td>
9710+
<td><p></p></td>
9711+
</tr>
9712+
9713+
</tbody>
9714+
</table>
9715+
<p></p>
9716+
95909717

95919718

95929719

@@ -10079,6 +10206,12 @@ <h3 id="Anki.Vector.external_interface.Event">Event</h3>
1007910206
<td><p> </p></td>
1008010207
</tr>
1008110208

10209+
<tr>
10210+
<td>unexpected_movement</td>
10211+
<td><a href="#Anki.Vector.external_interface.UnexpectedMovement">UnexpectedMovement</a> </td>
10212+
<td><p> </p></td>
10213+
</tr>
10214+
1008210215
</tbody>
1008310216
</table>
1008410217
<p></p>

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