Update proto (#187)

Author: msintov

anki_vector/messaging/external_interface.proto

@@ -488,6 +488,14 @@ service ExternalInterface {
     };
   }
 
+  // Get Vector's camera configuration.
+  rpc GetCameraConfig(CameraConfigRequest) returns (CameraConfigResponse) {
+    option (google.api.http) = {
+      post: "/v1/get_camera_config",
+      body: "*"
+    };
+  }
+  
   // Set Vector's eye color.
   rpc SetEyeColor(SetEyeColorRequest) returns (SetEyeColorResponse) {
     option (google.api.http) = {
@@ -504,4 +512,12 @@ service ExternalInterface {
     };
   }
 
+  // Set Vector's camera settings
+  rpc SetCameraSettings(SetCameraSettingsRequest) returns (SetCameraSettingsResponse) {
+    option (google.api.http) = {
+      post: "/v1/set_camera_settings",
+      body: "*"
+    };
+  }
+
 }

anki_vector/messaging/external_interface_pb2.py

@@ -358,6 +358,11 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.CaptureSingleImageRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CaptureSingleImageResponse.FromString,
         )
+    self.GetCameraConfig = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/GetCameraConfig',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.CameraConfigRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CameraConfigResponse.FromString,
+        )
     self.SetEyeColor = channel.unary_unary(
         '/Anki.Vector.external_interface.ExternalInterface/SetEyeColor',
         request_serializer=anki__vector_dot_messaging_dot_messages__pb2.SetEyeColorRequest.SerializeToString,
@@ -368,6 +373,11 @@ def __init__(self, channel):
         request_serializer=anki__vector_dot_messaging_dot_nav__map__pb2.NavMapFeedRequest.SerializeToString,
         response_deserializer=anki__vector_dot_messaging_dot_nav__map__pb2.NavMapFeedResponse.FromString,
         )
+    self.SetCameraSettings = channel.unary_unary(
+        '/Anki.Vector.external_interface.ExternalInterface/SetCameraSettings',
+        request_serializer=anki__vector_dot_messaging_dot_messages__pb2.SetCameraSettingsRequest.SerializeToString,
+        response_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SetCameraSettingsResponse.FromString,
+        )
 
 
 class ExternalInterfaceServicer(object):
@@ -860,6 +870,13 @@ def CaptureSingleImage(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def GetCameraConfig(self, request, context):
+    """Get Vector's camera configuration.
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
   def SetEyeColor(self, request, context):
     """Set Vector's eye color.
     """
@@ -874,6 +891,13 @@ def NavMapFeed(self, request, context):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
+  def SetCameraSettings(self, request, context):
+    """Set Vector's camera settings
+    """
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
 
 def add_ExternalInterfaceServicer_to_server(servicer, server):
   rpc_method_handlers = {
@@ -1217,6 +1241,11 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CaptureSingleImageRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_messages__pb2.CaptureSingleImageResponse.SerializeToString,
       ),
+      'GetCameraConfig': grpc.unary_unary_rpc_method_handler(
+          servicer.GetCameraConfig,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.CameraConfigRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.CameraConfigResponse.SerializeToString,
+      ),
       'SetEyeColor': grpc.unary_unary_rpc_method_handler(
           servicer.SetEyeColor,
           request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SetEyeColorRequest.FromString,
@@ -1227,6 +1256,11 @@ def add_ExternalInterfaceServicer_to_server(servicer, server):
           request_deserializer=anki__vector_dot_messaging_dot_nav__map__pb2.NavMapFeedRequest.FromString,
           response_serializer=anki__vector_dot_messaging_dot_nav__map__pb2.NavMapFeedResponse.SerializeToString,
       ),
+      'SetCameraSettings': grpc.unary_unary_rpc_method_handler(
+          servicer.SetCameraSettings,
+          request_deserializer=anki__vector_dot_messaging_dot_messages__pb2.SetCameraSettingsRequest.FromString,
+          response_serializer=anki__vector_dot_messaging_dot_messages__pb2.SetCameraSettingsResponse.SerializeToString,
+      ),
   }
   generic_handler = grpc.method_handlers_generic_handler(
       'Anki.Vector.external_interface.ExternalInterface', rpc_method_handlers)

anki_vector/messaging/external_interface_pb2_grpc.py

@@ -1234,6 +1234,39 @@ message SetEyeColorResponse {
   ResponseStatus status = 1;
 }
 
+message CameraConfigRequest {}
+
+message CameraConfigResponse {
+  float  focal_length_x = 1;
+  float  focal_length_y = 2;
+  float  center_x = 3;
+  float  center_y = 4;
+  float  fov_x = 5;  // Full FOV in degrees
+  float  fov_y = 6;  // Full FOV in degrees
+  uint32 min_camera_exposure_time_ms = 7;
+  uint32 max_camera_exposure_time_ms = 8;
+  float  min_camera_gain = 9;
+  float  max_camera_gain = 10;
+}
+
+message SetCameraSettingsRequest {
+  float   gain = 1;
+  uint32  exposure_ms = 2;
+  bool    enable_auto_exposure = 3;
+}
+
+message SetCameraSettingsResponse {
+  ResponseStatus status = 1;
+  string  status_message = 2;
+}
+
+// Event sent when camera exposure settings change
+message CameraSettingsUpdate {
+  float   gain = 1;
+  uint32  exposure_ms = 2;
+  bool    auto_exposure_enabled = 3;
+}
+
 message SDKInitializationRequest {
   string sdk_module_version = 1;
   string python_version = 2;

anki_vector/messaging/messages.proto

@@ -64,6 +64,7 @@ message Event {
     RobotObservedMotion              robot_observed_motion               = 20;
     RobotErasedEnrolledFace          robot_erased_enrolled_face          = 21;
     RobotRenamedEnrolledFace         robot_renamed_enrolled_face         = 22;
+    CameraSettingsUpdate             camera_settings_update              = 23;
   }
 }