IRov | Deep Trekker BRIDGE API

notexported

See type declaration

Base ROV

Hierarchy

Rov
- IRov

Properties

Optional altitude

altitude?: number

Rov altitude

Measured in meters to show relative distance to floor.

Optional altitudeValid

altitudeValid?: boolean

Rov altitude valid

Altitude validity flag

Optional bodyLeak

bodyLeak?: boolean

Body Leak Fault

Optional cameras

cameras?: Record<string, Removable<Cameras>>

📷 List of cameras

Holds a list of all vehicle Cameras.

Optional cpProbe

cpProbe?: string

The cp probe

Optional cygnus

cygnus?: cygnusType

The ut(cygnus) probe

Optional depth

depth?: number

Rov depth

Measured in meters from water surface

To Calibrate depth, set depth to '0'. Setting depth to any other value will be ignored.

Valid Depth calibration

From ./dist/samples/json/requests/devices/vehicles/pivot/depth/pivotDepthCalibrationSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "SET",
    "payload": {
        "devices": {
            "5288F1A98373": {
                "model": 18,
                "depth": 0
            }
        }
    }
}

From ./dist/samples/json/requests/devices/vehicles/revolution/depth/revolutionDepthCalibrationSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "SET",
    "payload": {
        "devices": {
            "543FDFD037E1": {
                "model": 13,
                "depth": 0
            }
        }
    }
}

Invalid Depth Calibration

From ./dist/samples/json/requests/devices/vehicles/pivot/depth/pivotInvalidDepthCalibrationSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "SET",
    "payload": {
        "devices": {
            "51CB263E86F4": {
                "model": 18,
                "depth": 5
            }
        }
    }
}

From ./dist/samples/json/requests/devices/vehicles/revolution/depth/revolutionInvalidDepthCalibrationSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "SET",
    "payload": {
        "devices": {
            "22E9F6C19F15": {
                "model": 13,
                "depth": 196
            }
        }
    }
}

readonly

Optional directPowerKitPresent

directPowerKitPresent?: boolean

Direct Power Kit Present Flag

readonly

Optional drive

drive?: RovDrive

Rov Drive object

Commands thrust actions for the ROV and sets drive modes

See RovDrive for more details.

Example Payloads

SET Requests

Random drive request

From ./dist/samples/json/requests/devices/vehicles/pivot/drive/pivotDriveRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "SET",
    "payload": {
        "devices": {
            "EF72A8F4A92C": {
                "model": 18,
                "drive": {
                    "thrust": {
                        "forward": -1,
                        "yaw": 18,
                        "vertical": -78,
                        "lateral": 21
                    },
                    "modes": {
                        "headingLock": true,
                        "altitudeLock": false,
                        "depthLock": false,
                        "autoStabilization": true,
                        "motorsDisabled": true
                    }
                }
            }
        }
    }
}

From ./dist/samples/json/requests/devices/vehicles/revolution/drive/revolutionDriveRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "SET",
    "payload": {
        "devices": {
            "849CFF2E6F35": {
                "model": 13,
                "drive": {
                    "thrust": {
                        "forward": 64,
                        "yaw": -94,
                        "vertical": -93,
                        "lateral": 16
                    },
                    "modes": {
                        "headingLock": true,
                        "altitudeLock": true,
                        "depthLock": false,
                        "autoStabilization": false,
                        "motorsDisabled": false
                    }
                }
            }
        }
    }
}

Optional echosounder

echosounder?: Echosounder

Echosounder device information and control

Optional forwardDistance

forwardDistance?: number

Rov Forward distance

Measured in meters to show relative distance to an object ahead of the ROV.

readonly

Optional heading

heading?: number

Rov heading

Measured in degrees from north bearing

minimum: 0
maximum: 360
readonly

Optional inWater

inWater?: boolean

Rov in water status

readonly

Example Payloads

UPDATE Requests

Pivot in water

From ./dist/samples/json/requests/devices/vehicles/pivot/inWater/pivotInWaterSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "2191F5B6EC8E": {
                "model": 18,
                "inWater": true
            }
        }
    }
}

Pivot out of water

From ./dist/samples/json/requests/devices/vehicles/pivot/inWater/pivotOutOfWaterSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "ECFC3CA27309": {
                "model": 18,
                "inWater": false
            }
        }
    }
}

Pivot in water random status sample

From ./dist/samples/json/requests/devices/vehicles/pivot/inWater/pivotInWaterRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "61B60C8D1D12": {
                "model": 18,
                "inWater": true
            }
        }
    }
}

Revolution out of water

From ./dist/samples/json/requests/devices/vehicles/revolution/inWater/revolutionOutOfWaterSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "622455E7FD2F": {
                "model": 13,
                "inWater": false
            }
        }
    }
}

Revolution in water

From ./dist/samples/json/requests/devices/vehicles/revolution/inWater/revolutionInWaterSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "63D723475EB8": {
                "model": 13,
                "inWater": true
            }
        }
    }
}

Revolution in water random status sample

From ./dist/samples/json/requests/devices/vehicles/revolution/inWater/revolutionInWaterRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "A2AD4B65A530": {
                "model": 13,
                "inWater": false
            }
        }
    }
}

Optional ip

ip?: string

IP Address

Optional localHeading

localHeading?: number

Rov local heading

Measure in degrees from local heading

minimum: -360
maximum: 360

Optional locationForwarderOptions

locationForwarderOptions?: LocationForwarderOptions

Location Forwarding Options

description: Locaiton forwarder settings and options for the ROV and Topside location forwarding

model

model: DeviceModel

Deep Trekker internal device model numbers. This can be used for selecting the associated device schema.

Optional navigationOptions

navigationOptions?: NavigationOptions

Navigation Options

description: Navigation settings and options for the ROV

Optional pitch

pitch?: number

Rov pitch

Measured in degrees from neutral pitch position

minimum: -180.0
maximum: 180.0
readonly

Optional position

position?: Position

ROV Position

description

Contains positional data about the ROV.

Example payloads

UPDATE Requests

Invalid position sample

Revolution

From ./dist/samples/json/requests/devices/vehicles/revolution/position/revolutionLocalPositionInvalidSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "B9CA7AA089B7": {
                "model": 13,
                "position": {
                    "local": {
                        "uncertainty": 10000
                    }
                }
            }
        }
    }
}

From ./dist/samples/json/requests/devices/vehicles/revolution/position/revolutionGlobalPositionInvalidSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "5A856DC76FA3": {
                "model": 13,
                "position": {
                    "global": {
                        "uncertainty": 10000
                    }
                }
            }
        }
    }
}

Pivot

From ./dist/samples/json/requests/devices/vehicles/pivot/position/pivotLocalPositionInvalidSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "D2A5FFE44A0F": {
                "model": 18,
                "position": {
                    "local": {
                        "uncertainty": 10000
                    }
                }
            }
        }
    }
}

From ./dist/samples/json/requests/devices/vehicles/pivot/position/pivotGlobalPositionInvalidSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "5E59AED2F15E": {
                "model": 18,
                "position": {
                    "global": {
                        "uncertainty": 10000
                    }
                }
            }
        }
    }
}

Arbitrary position sample

Revolution

From ./dist/samples/json/requests/devices/vehicles/revolution/position/revolutionLocalPositionRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "6211A813014B": {
                "model": 13,
                "position": {
                    "local": {
                        "x": 297,
                        "y": 61,
                        "uncertainty": 50
                    }
                }
            }
        }
    }
}

From ./dist/samples/json/requests/devices/vehicles/revolution/position/revolutionGlobalPositionRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "33E07CEDA1FF": {
                "model": 13,
                "position": {
                    "global": {
                        "latitude": -37,
                        "longitude": 43,
                        "uncertainty": 100
                    }
                }
            }
        }
    }
}

Pivot

From ./dist/samples/json/requests/devices/vehicles/pivot/position/pivotLocalPositionRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "D2A63C3CFB18": {
                "model": 18,
                "position": {
                    "local": {
                        "x": 655,
                        "y": -864,
                        "uncertainty": 84
                    }
                }
            }
        }
    }
}

From ./dist/samples/json/requests/devices/vehicles/pivot/position/pivotGlobalPositionRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "09B2429E68CA": {
                "model": 18,
                "position": {
                    "global": {
                        "latitude": 28,
                        "longitude": -41,
                        "uncertainty": 96
                    }
                }
            }
        }
    }
}

UPDATE Requests

Arbitrary Local position only

Revolution

From ./dist/samples/json/requests/devices/vehicles/revolution/position/revolutionLocalPositionSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "20222D09A858": {
                "model": 13,
                "position": {
                    "local": {
                        "x": 10,
                        "y": 10,
                        "uncertainty": 10
                    }
                }
            }
        }
    }
}

Pivot

From ./dist/samples/json/requests/devices/vehicles/pivot/position/pivotLocalPositionRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "D2A63C3CFB18": {
                "model": 18,
                "position": {
                    "local": {
                        "x": 655,
                        "y": -864,
                        "uncertainty": 84
                    }
                }
            }
        }
    }
}

Arbitrary Global position only

Revolution

From ./dist/samples/json/requests/devices/vehicles/revolution/position/revolutionGlobalPositionSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "5CB1D87198FD": {
                "model": 13,
                "position": {
                    "global": {
                        "latitude": 10,
                        "longitude": 10,
                        "uncertainty": 10
                    }
                }
            }
        }
    }
}

Pivot

From ./dist/samples/json/requests/devices/vehicles/pivot/position/pivotGlobalPositionRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "09B2429E68CA": {
                "model": 18,
                "position": {
                    "global": {
                        "latitude": 28,
                        "longitude": -41,
                        "uncertainty": 96
                    }
                }
            }
        }
    }
}

Optional roll

roll?: number

Rov roll

Measured in degrees from neutral roll position

minimum: -180.0
maximum: 180.0
readonly

Optional sensorPod

sensorPod?: CalibratableSensorPod

Sensor pod information and calibration controls based on the model.

Revolution Calibration User Actions for IMU Calibration. dist/samples/json/requests/devices/vehicles/revolution/calibration/startImuCalibration/revolutionStartImuCalibrationRequest.json dist/samples/json/requests/devices/vehicles/revolution/calibration/stopImuCalibration/revolutionStopImuCalibrationRequest.json dist/samples/json/requests/devices/vehicles/revolution/calibration/denyImuCalibration/revolutionDenyImuCalibrationRequest.json dist/samples/json/requests/devices/vehicles/revolution/calibration/acceptImuCalibration/revolutionAcceptImuCalibrationRequest.json

dist/samples/json/requests/devices/vehicles/pivot/calibration/startImuCalibration/pivotStartImuCalibrationRequest.json dist/samples/json/requests/devices/vehicles/pivot/calibration/stopImuCalibration/pivotStopImuCalibrationRequest.json dist/samples/json/requests/devices/vehicles/pivot/calibration/denyImuCalibration/pivotDenyImuCalibrationRequest.json dist/samples/json/requests/devices/vehicles/pivot/calibration/acceptImuCalibration/pivotAcceptImuCalibrationRequest.json

Revolution Calibration User Actions for Magnetic Calibration. dist/samples/json/requests/devices/vehicles/revolution/calibration/startMagneticCalibration/revolutionStartMagneticCalibrationRequest.json dist/samples/json/requests/devices/vehicles/revolution/calibration/stopMagneticCalibration/revolutionStopMagneticCalibrationRequest.json dist/samples/json/requests/devices/vehicles/revolution/calibration/denyMagneticCalibration/revolutionDenyMagneticCalibrationRequest.json dist/samples/json/requests/devices/vehicles/revolution/calibration/acceptMagneticCalibration/revolutionAcceptMagneticCalibrationRequest.json

dist/samples/json/requests/devices/vehicles/pivot/calibration/startMagneticCalibration/pivotStartMagneticCalibrationRequest.json dist/samples/json/requests/devices/vehicles/pivot/calibration/stopMagneticCalibration/pivotStopMagneticCalibrationRequest.json dist/samples/json/requests/devices/vehicles/pivot/calibration/denyMagneticCalibration/pivotDenyMagneticCalibrationRequest.json dist/samples/json/requests/devices/vehicles/pivot/calibration/acceptMagneticCalibration/pivotAcceptMagneticCalibrationRequest.json

Revolution and Pivot Pending IMU update dist/samples/json/requests/devices/vehicles/revolution/calibration/startMagneticCalibration/revolutionStartMagneticCalibrationRequest.json dist/samples/json/requests/devices/vehicles/pivot/calibration/sensorPendingImuCalibration/pivotPendingImuRandomUpdate.json
Revolution and Pivot Pending Magnetic update dist/samples/json/requests/devices/vehicles/revolution/calibration/sensorMagneticCalibration/revolutionPendingMagneticRandomUpdate.json dist/samples/json/requests/devices/vehicles/pivot/calibration/sensorPendingMagneticCalibration/pivotPendingMagneticRandomUpdate.json
Revolution and Pivot Accepted Magnetic and IMU update dist/samples/json/requests/devices/vehicles/revolution/calibration/acceptMagneticCalibration/revolutionAcceptMagneticCalibrationRequest.json dist/samples/json/requests/devices/vehicles/pivot/calibration/acceptMagneticCalibration/pivotAcceptMagneticCalibrationRequest.json dist/samples/json/requests/devices/vehicles/pivot/calibration/sensorNotCalibratingState/pivotAcceptedRandomUpdate.json dist/samples/json/requests/devices/vehicles/revolution/calibration/sensorNotCalibratingState/revolutionAcceptedRandomUpdate.json

Optional sensorPodLeak

sensorPodLeak?: boolean

Sensor Pod Leak Fault

Common across all ROV and also comes from the ROV Web Adapter in Con_gui

Optional turns

turns?: number

Turns

Count the number of turns the rov has completed

readonly

Optional usageTime

usageTime?: UsageTime

Vehicle Usage Time

Example Payloads

GET Requests

Total and current usage times

From ./dist/samples/json/requests/devices/vehicles/pivot/usageTime/pivotUsageTimeSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "AA046C54E8B6": {
                "model": 18,
                "usageTime": {
                    "totalSeconds": 0,
                    "currentSeconds": 0
                }
            }
        }
    }
}

Arbitrary

From ./dist/samples/json/requests/devices/vehicles/pivot/usageTime/pivotUsageTimeRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "9A6763B13A04": {
                "model": 18,
                "usageTime": {
                    "totalSeconds": 67,
                    "currentSeconds": 90
                }
            }
        }
    }
}

From ./dist/samples/json/requests/devices/vehicles/revolution/usageTime/revolutionUsageTimeRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "335FF498212A": {
                "model": 13,
                "usageTime": {
                    "totalSeconds": 2,
                    "currentSeconds": 10
                }
            }
        }
    }
}

Optional velocity

velocity?: Velocity

Rov Velocity

description

Velocity and speed components for the ROV

Example payloads

UPDATE Requests

Arbitrary velocity samples

Revolution

From ./dist/samples/json/requests/devices/vehicles/revolution/velocity/revolutionVelocityRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "B75E12BF7059": {
                "model": 13,
                "velocity": {
                    "valid": false,
                    "forward": -15,
                    "rightward": -76,
                    "downward": 13,
                    "speed": 36
                }
            }
        }
    }
}

Pivot

From ./dist/samples/json/requests/devices/vehicles/pivot/velocity/pivotVelocityRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.12",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "54C5088BC5BE": {
                "model": 18,
                "velocity": {
                    "valid": false,
                    "forward": 39,
                    "rightward": 27,
                    "downward": -53,
                    "speed": 58
                }
            }
        }
    }
}

Optional version

version?: DeviceVersion

ROV Version

readonly

Hierarchy

Index

Properties

Properties

Optional altitude

Example Payloads

GET Requests

Optional altitudeValid

Example Payloads

UPDATE Requests

Optional bodyLeak

Example Payloads

UPDATE Requests

Optional cameras

Optional cpProbe

Optional cygnus

Optional depth

Optional directPowerKitPresent

Optional drive

Example Payloads

SET Requests

Optional echosounder

Optional forwardDistance

Optional heading

Optional inWater

Example Payloads

UPDATE Requests

Optional ip

Example Payloads

SET Requests

Optional localHeading

Optional locationForwarderOptions

model

Optional navigationOptions

Optional pitch

Optional position

Example payloads

UPDATE Requests

UPDATE Requests

Optional roll

Optional sensorPod

Optional sensorPodLeak

Optional turns

Optional usageTime

Example Payloads

GET Requests

Optional velocity

Example payloads

UPDATE Requests

Optional version