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arjungmMichelle Sintov
arjungm
authored and
Michelle Sintov
committed
VIC-13187 Fix missing changes for adding UnexpectedMovement (#190)
1 parent 7b265ba commit 7d35650

5 files changed

Lines changed: 602 additions & 309 deletions

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‎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;
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}
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enum RobotStatus
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{
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enum RobotStatus {
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ROBOT_STATUS_NONE = 0x0;
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ROBOT_STATUS_IS_MOVING = 0x1;
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ROBOT_STATUS_IS_CARRYING_BLOCK = 0x2;
@@ -331,10 +330,32 @@ message RobotErasedEnrolledFace {
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string name = 2;
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}
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333+
enum UnexpectedMovementType {
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TURNED_BUT_STOPPED = 0;
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TURNED_IN_SAME_DIRECTION = 1;
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TURNED_IN_OPPOSITE_DIRECTION = 2;
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ROTATING_WITHOUT_MOTORS = 3;
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}
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enum UnexpectedMovementSide {
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UNKNOWN = 0;
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FRONT = 1;
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BACK = 2;
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LEFT = 3;
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RIGHT = 4;
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}
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// Event dispatched when the robot does not move as expected. Has additional information
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// such as the direction and type of unexpected motion.
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message UnexpectedMovement {
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uint32 timestamp = 1;
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UnexpectedMovementType movement_type = 2;
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UnexpectedMovementSide movement_side = 3;
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}
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// This is an int8 on the clad side.
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// Proto field names are prefixed with "EXPRESSION_"
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enum FacialExpression
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{
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enum FacialExpression {
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option allow_alias = true;
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EXPRESSION_UNKNOWN = 0; // e.g. expression estimation disabled.
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@@ -375,8 +396,7 @@ message RobotChangedObservedFaceID {
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int32 new_id = 2;
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}
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378-
enum FaceEnrollmentResult
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{
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enum FaceEnrollmentResult {
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SUCCESS = 0;
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// Failures:
@@ -475,8 +495,7 @@ message EnrollFaceResponse {
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BehaviorResults result = 2;
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}
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478-
enum BehaviorResults
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{
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enum BehaviorResults {
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BEHAVIOR_INVALID_STATE = 0;
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BEHAVIOR_COMPLETE_STATE = 1;
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BEHAVIOR_WONT_ACTIVATE_STATE = 2;
@@ -936,8 +955,7 @@ message SayTextRequest {
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}
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message SayTextResponse {
939-
enum UtteranceState
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{
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enum UtteranceState {
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INVALID = 0;
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GENERATING = 1;
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READY = 2;
@@ -1069,8 +1087,7 @@ message ExternalAudioStreamResponse {
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}
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}
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1072-
enum MasterVolumeLevel
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{
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enum MasterVolumeLevel {
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VOLUME_LOW = 0;
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VOLUME_MEDIUM_LOW = 1;
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VOLUME_MEDIUM = 2;
@@ -1175,8 +1192,7 @@ message VisionModesAutoDisabled
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// One frame of image data and associated metadata
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message ImageChunk {
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enum ImageEncoding
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{
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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;
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RobotRenamedEnrolledFace robot_renamed_enrolled_face = 22;
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CameraSettingsUpdate camera_settings_update = 23;
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UnexpectedMovement unexpected_movement = 24;
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}
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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

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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>
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</li>
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<li>
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<a href="#Anki.Vector.external_interface.UnexpectedMovement"><span class="badge">M</span>UnexpectedMovement</a>
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</li>
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<li>
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<a href="#Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest"><span class="badge">M</span>UpdateEnrolledFaceByIDRequest</a>
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</li>
@@ -1101,6 +1105,14 @@ <h2>Table of Contents</h2>
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<a href="#Anki.Vector.external_interface.SayTextResponse.UtteranceState"><span class="badge">E</span>SayTextResponse.UtteranceState</a>
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</li>
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<li>
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<a href="#Anki.Vector.external_interface.UnexpectedMovementSide"><span class="badge">E</span>UnexpectedMovementSide</a>
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</li>
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<li>
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<a href="#Anki.Vector.external_interface.UnexpectedMovementType"><span class="badge">E</span>UnexpectedMovementType</a>
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</li>
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11061118
</ul>
@@ -8383,6 +8395,43 @@ <h3 id="Anki.Vector.external_interface.TurnTowardsFaceResponse">TurnTowardsFaceR
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8398+
<h3 id="Anki.Vector.external_interface.UnexpectedMovement">UnexpectedMovement</h3>
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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">
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<thead>
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<tr><td>Field</td><td>Type</td><td>Description</td></tr>
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</thead>
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<tbody>
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<tr>
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<td>timestamp</td>
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<td><a href="#uint32">uint32</a> </td>
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<td><p> </p></td>
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</tr>
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<tr>
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<td>movement_type</td>
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<td><a href="#Anki.Vector.external_interface.UnexpectedMovementType">UnexpectedMovementType</a> </td>
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<td><p> </p></td>
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</tr>
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8422+
<tr>
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<td>movement_side</td>
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<td><a href="#Anki.Vector.external_interface.UnexpectedMovementSide">UnexpectedMovementSide</a> </td>
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<td><p> </p></td>
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</tr>
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</tbody>
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</table>
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<p></p>
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<h3 id="Anki.Vector.external_interface.UpdateEnrolledFaceByIDRequest">UpdateEnrolledFaceByIDRequest</h3>
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83888437
<p></p>
@@ -9587,6 +9636,84 @@ <h3 id="Anki.Vector.external_interface.SayTextResponse.UtteranceState">SayTextRe
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</table>
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<p></p>
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9639+
<h3 id="Anki.Vector.external_interface.UnexpectedMovementSide">UnexpectedMovementSide</h3>
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<p></p>
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<table class="enum-table">
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<thead>
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<tr><td>Name</td><td>Number</td><td>Description</td></tr>
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</thead>
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<tbody>
9646+
9647+
<tr>
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<td>UNKNOWN</td>
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<td>0</td>
9650+
<td><p></p></td>
9651+
</tr>
9652+
9653+
<tr>
9654+
<td>FRONT</td>
9655+
<td>1</td>
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<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>
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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>
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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>
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<p></p>
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@@ -10079,6 +10206,12 @@ <h3 id="Anki.Vector.external_interface.Event">Event</h3>
1007910206
<td><p> </p></td>
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</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>
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</tbody>
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</table>
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<p></p>

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