Deep Trekker BRIDGE API

Index

Interfaces Core

ITransferPayload

Interfaces Device/CameraHeads

Interfaces Device/Cameras

Interfaces Devices/Core

Interfaces Devices/Peripherals

Interfaces Devices/Reels

Interfaces Devices/Vehicles

Interfaces Other

Interfaces SignalServer

Type Aliases Core

TransferPayload

Type Aliases Device

Vehicle

Type Aliases Device/CameraHead

Type Aliases Device/CameraHeads

CameraHead

Type Aliases Device/Cameras

Type Aliases DeviceVersions

DeviceVersion

Type Aliases Devices

Device

Type Aliases Devices/CameraHeads

TiltCameraHead

Type Aliases Devices/Cameras

Camera

Type Aliases Devices/Core

Type Aliases Devices/Peripherals

Type Aliases Devices/Reels

Type Aliases Devices/Vehicles

Type Aliases Devices/Vehicles/Navigation

Navigation

Type Aliases Devices/peripherals

ElevatingArm

Type Aliases Other

Type Aliases SignalServer

Variables Other

Variables SignalServer

IRegisterSession

Core Type Aliases

TransferPayload

TransferPayload<T>: { apiVersion: string; error?: TransferError; method: TransferMethodType; payload: T }

TransferPayload

TransferPayload represents the payload structure that should be used via an API to send a payload with a specific load type.

example

From ./dist/samples/json/requests/errors/notAccepted405.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "ERROR",
    "payload": {},
    "error": {
        "code": 405,
        "message": "This payload cannot be sent for this request type"
    }
}

Type Parameters

T

BridgeBox

Type declaration

apiVersion: string

API target version (defaults to the latest)

pattern
(^[0-9]{1,3}[.][0-9]{1,3}([.][0-9]{1,3})?.*$)
Optional error?: TransferError

Transfer error type
method: TransferMethodType

Method action type
payload: T

Payload

Device Type Aliases

Vehicle

Vehicle: { cameras?: Record<string, Removable<Cameras>>; cpProbe?: string; cygnus?: cygnusType } & Device

Vehicle interface provides a base interfaces for vehicle devices, including ROVs and crawlers.

Device/CameraHead Type Aliases

A150CameraHead

A150CameraHead: { model: A150CameraHead } & CrawlerCameraHead & Calibratable

📖 See extended definition

Pan-Tilt Camera Head

A200CameraHead

A200CameraHead: { joint1SensorType?: CameraHeadSensorType; lasers?: Laser; model: A200CameraHead } & CrawlerCameraHead & Calibratable

📖 See extended definition

Pan-Tilt Camera Head

CrawlerCameraHead

CrawlerCameraHead: { joint1MotorDiagnostics?: MotorDiagnostics; joint2MotorDiagnostics?: MotorDiagnostics; light?: Light; natural?: boolean; orientation?: CameraHeadOrientation; pan?: CalibratableRotaryJoint; panMotorDiagnostics?: MotorDiagnostics; tilt?: RotaryJoint; tiltMotorDiagnostics?: MotorDiagnostics } & CameraHead & Calibratable

📖 See extended definition

Crawler Camera Head

Device/CameraHeads Type Aliases

CameraHead

CameraHead: { cpuTemp?: number; leak?: boolean; usageTime?: UsageTime } & Device

📖 See extended definition

Camera Head

Device/Cameras Type Aliases

DTCam

DTCam: { brightness?: number; contrast?: number; model: DTCam; saturation?: number; whiteBalance?: { auto?: boolean; blue?: number; green?: number; red?: number } } & Camera

📖 See extended definition

📷 DT Cam

OcleaCam

OcleaCam: Camera & { brightness?: number; contrast?: number; cpuTemp?: number; dptz?: OcleaDptz; exposure?: { auto?: boolean; autoExposureCompensation?: number; sensorGain?: number; shutterTime?: string }; model: OcleaCam; saturation?: number; turbidityFilter?: TurbidityFilter; whiteBalance?: { auto?: boolean; awbMode?: string; awbModeOptions?: string[]; blue?: number; red?: number } }

📖 See extended definition

📷 4k UHD Camera

TamronHarrierZoomCamera

TamronHarrierZoomCamera: Camera & { brightness?: number; exposure?: { auto?: boolean; value?: number }; focus?: { auto?: boolean; nearLimit?: 10 | 34 | 90 | 250 | 800 | 2300; rate?: Rate; value?: number }; model: TamronHarrierZoomCamera; saturation?: number; sharpness?: number; zoom?: ZoomControl }

📖 See extended definition

📷 Tamron-Harrier Zoom Camera

TamronOcleaZoomCamera

TamronOcleaZoomCamera: Camera & { cpuTemp?: number; dptz?: OcleaDptz; exposure?: { auto?: boolean; value?: number }; focus?: { auto?: boolean; nearLimit?: 10 | 34 | 90 | 250 | 800 | 2300; rate?: Rate; value?: number }; model: TamronOcleaZoomCamera; opticalZoom?: ZoomControl; sharpness?: number; turbidityFilter?: TurbidityFilter }

📖 See extended definition

📷 Tamron-OClea Zoom Camera

ZoomCam

ZoomCam: Camera & { brightness?: number; contrast?: number; model: JZC18ZoomCamera; saturation?: number; zoom?: ZoomControl }

📖 See extended definition

📷 Zoom Camera

DeviceVersions Type Aliases

DeviceVersion

DeviceVersion: { branchInfo?: string; hardware?: string; software?: string }

📖 See extended definition

Device Version

Device Version is a base interface for hardware and software version sample payloads. -1 hardware versions and 0.0 software versions refer to not applicable

Type declaration

Optional branchInfo?: string
Optional hardware?: string
Optional software?: string

Devices Type Aliases

Device

Device: { ip?: string; model: DeviceModel; version?: DeviceVersion }

📖 See extended definition

Device

Device interface is a base interface for interacting with derived device types such as vehicles, reels, cameras, etc. In order to properly parse and generate the derived interface data, an appropriate schema must be selected. This can be done by parsing the device's @param model and mapping the associated device schema.

Type declaration

Optional ip?: string

IP address
model: DeviceModel

Deep Trekker internal device model numbers. This can be used for selecting the associated device schema.
Optional version?: DeviceVersion

Version

Devices/CameraHeads Type Aliases

TiltCameraHead

TiltCameraHead: { lasers?: Laser; leak?: boolean; light?: Light; model: TiltCameraHeadModel; tilt?: RotaryJoint; tiltMotorDiagnostics?: MotorDiagnostics } & CameraHead

📖 See extended definition

Tilt Camera Head

Devices/Cameras Type Aliases

Camera

Camera: { cpuTemp?: number; model: typeof CAMERA_DEVICE_MODELS[number]; osd?: Osd; streamMode?: StreamMode; streams?: Record<string, Stream>; type?: CameraType } & Device

📖 See extended definition

📷 Camera

Devices/Core Type Aliases

Battery

Battery: { charging?: boolean; diagnostics?: BatteryDiagnostics; leak?: boolean; percent?: number; voltage?: number }

📖 See extended definition

🔋 Battery

notexported
readonly

Type declaration

Optional charging?: boolean

Battery charging state

description
Represents whether the battery is being charged or not
Optional diagnostics?: BatteryDiagnostics
Optional leak?: boolean
Optional percent?: number

Battery charge percentage

minimum
0

maximum
100

tjs-type
integer
Optional voltage?: number

Battery voltage

BatteryDiagnostics

BatteryDiagnostics: { averageCurrent?: number; averageVoltage?: number; estimatedSoC?: number; instantCurrent?: number; instantVoltage?: number; lastFullChargeCapacity?: number; remainingCapacity?: number; reportedChargeCycles?: number; timeTillEmpty?: number; timeTillFull?: number; totalChargeCycles?: number }

BatteryDiagnostics

TODO: Add samples for all devices that use battery diagnostics

notexported
readonly

Type declaration

Optional averageCurrent?: number

Average current (mA)

readonly
Optional averageVoltage?: number

Average voltage (mV)

readonly
minimum
0
Optional estimatedSoC?: number

Estimated state of charge

minimum
0

maximum
100

tjs-type
integer
Optional instantCurrent?: number

Instant current (mA)

readonly
Optional instantVoltage?: number

Instant voltage (mV)

readonly
minimum
0
Optional lastFullChargeCapacity?: number

Last full charge capacity (mAh)

readonly
Optional remainingCapacity?: number

Remaining capacity (mAh)

readonly
Optional reportedChargeCycles?: number

Reported charge cycles (charge cycles currently reported by the battery monitoring chip)

readonly
Optional timeTillEmpty?: number

Time till empty (minutes)

readonly
Optional timeTillFull?: number

Time till full (minutes)

readonly
Optional totalChargeCycles?: number

Total charge cycles (charge cycles over the battery's lifetime)

readonly

Calibratable

Calibratable: { calibrator?: boolean }

📖 See extended definition

Calibrated

readonly

Type declaration

Optional calibrator?: boolean

Calibrator

Calibrator Front-end (request) Back-end (response)

true Calibrate -

false Cancel Calibration -

undefined - -

Calibrator	Front-end (request)	Back-end (response)
`true`	Calibrate	-
`false`	Cancel Calibration	-
`undefined`	-	-

MotorDiagnostics

MotorDiagnostics: { current?: number; failure?: boolean; overcurrent?: boolean; pwm?: number; rpm?: number }

📖 See extended definition

Motor Diagnostics

Type declaration

Optional current?: number

Motor Current (mA)

readonly
Optional failure?: boolean

Failure Fault

readonly
Optional overcurrent?: boolean

Overcurrent Fault

readonly
Optional pwm?: number

Motor PWM (%)

minimum
0

maximum
100

tjs-type
integer

readonly
Optional rpm?: number
RPM
- < 0: reversing
- > 0: moving forward
- = 0: not moving ✋
readonly

UsageTime

UsageTime: { currentSeconds?: number; totalSeconds?: number }

📖 See extended definition

Usage Time

The usage time of a device.

readonly

Type declaration

Optional currentSeconds?: number

Current usage time in seconds.
Optional totalSeconds?: number

Total usage time in seconds.

Devices/Peripherals Type Aliases

Grabber

Grabber: { openClose?: number; openCloseMotorDiagnostics?: MotorDiagnostics; rotate?: number; rotateMotorDiagnostics?: MotorDiagnostics }

📖 See extended definition

Grabber

Type declaration

Optional openClose?: number

Open Close motor

description

Grabber claw motor power

< 0: Close grabber claw
== 0: Motor off
> 0: Open grabber claw

Example Payload

at Close Grabber

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/revolutionGrabberCloseClawSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "B2F384453BFB": {
                "model": 13,
                "grabber": {
                    "openClose": -100
                }
            }
        }
    }
}

~ ##### at Open Grabber

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/revolutionGrabberOpenClawSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "D25D1501AF3B": {
                "model": 13,
                "grabber": {
                    "openClose": 100
                }
            }
        }
    }
}

Open pivot grabber claw

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/grabber/pivotOpenClawGrabberSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "86AD3A29E29D": {
                "model": 18,
                "grabber": {
                    "openClose": 100
                }
            }
        }
    }
}

Close pivot grabber claw

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/grabber/pivotCloseClawGrabberSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "F5CD2A96B67B": {
                "model": 18,
                "grabber": {
                    "openClose": -100
                }
            }
        }
    }
}

OpenClose pivot grabber random

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/grabber/pivotOpenCloseGrabberRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "A542FC968193": {
                "model": 18,
                "grabber": {
                    "openClose": -22
                }
            }
        }
    }
}

minimum

-100

maximum

100

Optional openCloseMotorDiagnostics?: MotorDiagnostics

openCloseMotorDiagnostics

description

Grabber open close motor diagnostics

Example Payload

at all random values

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/motorDiagnostics/revolutionGrabberOpenCloseMotorDiagnosticsRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "C6CD55382A1F": {
                "model": 13,
                "grabber": {
                    "openCloseMotorDiagnostics": {
                        "current": 49,
                        "overcurrent": false,
                        "pwm": 45,
                        "rpm": -18,
                        "failure": false
                    },
                    "rotateMotorDiagnostics": {}
                }
            }
        }
    }
}

at random current

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/motorDiagnostics/revolutionGrabberOpenCloseMotorDiagnosticsRandomCurrentSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "7DE7DEBF1AC5": {
                "model": 13,
                "grabber": {
                    "openCloseMotorDiagnostics": {
                        "current": 77
                    },
                    "rotateMotorDiagnostics": {}
                }
            }
        }
    }
}

at random PWM

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/motorDiagnostics/revolutionGrabberOpenCloseMotorDiagnosticsRandomPwmSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "2CBF47219844": {
                "model": 13,
                "grabber": {
                    "openCloseMotorDiagnostics": {
                        "pwm": 27
                    },
                    "rotateMotorDiagnostics": {}
                }
            }
        }
    }
}

at has overcurrent

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/motorDiagnostics/revolutionGrabberOpenCloseMotorDiagnosticsHasOvercurrentSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "49A03AA448FC": {
                "model": 13,
                "grabber": {
                    "openCloseMotorDiagnostics": {
                        "overcurrent": true
                    },
                    "rotateMotorDiagnostics": {}
                }
            }
        }
    }
}

at has no overcurrent

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/motorDiagnostics/revolutionGrabberOpenCloseMotorDiagnosticsHasNoOvercurrentSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "30EE5690E22E": {
                "model": 13,
                "grabber": {
                    "openCloseMotorDiagnostics": {
                        "overcurrent": false
                    },
                    "rotateMotorDiagnostics": {}
                }
            }
        }
    }
}

at static RPM

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/motorDiagnostics/revolutionGrabberOpenCloseMotorDiagnosticsStaticRpmSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "3260563227E5": {
                "model": 13,
                "grabber": {
                    "openCloseMotorDiagnostics": {
                        "rpm": 0
                    },
                    "rotateMotorDiagnostics": {}
                }
            }
        }
    }
}

at forward RPM

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/motorDiagnostics/revolutionGrabberOpenCloseMotorDiagnosticsForwardRpmSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "1D20AB543145": {
                "model": 13,
                "grabber": {
                    "openCloseMotorDiagnostics": {
                        "rpm": 10
                    },
                    "rotateMotorDiagnostics": {}
                }
            }
        }
    }
}

at backward RPM

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/motorDiagnostics/revolutionGrabberOpenCloseMotorDiagnosticsBackwardRpmSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "F060EFF196FA": {
                "model": 13,
                "grabber": {
                    "openCloseMotorDiagnostics": {
                        "rpm": -10
                    },
                    "rotateMotorDiagnostics": {}
                }
            }
        }
    }
}

Resting pivot openClose grabber diagnostic

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/grabber/motorDiagnostics/openClose/pivotGrabberOpenCloseMotorDiagnosticRestingSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "22F1CE739A7C": {
                "model": 18,
                "grabber": {
                    "openCloseMotorDiagnostics": {
                        "current": 4,
                        "overcurrent": false,
                        "pwm": 3,
                        "rpm": 0,
                        "failure": false
                    }
                }
            }
        }
    }
}

Random pivot openClose grabber diagnostic

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/grabber/motorDiagnostics/openClose/pivotGrabberOpenCloseMotorDiagnosticsRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "AD68D846AAB3": {
                "model": 18,
                "grabber": {
                    "openCloseMotorDiagnostics": {
                        "current": 39,
                        "overcurrent": true,
                        "pwm": 78,
                        "rpm": -79,
                        "failure": false
                    }
                }
            }
        }
    }
}

Open pivot grabber claw diagnostic

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/grabber/motorDiagnostics/openClose/pivotOpenClawGrabberDiagnosticSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "571F7888BDE1": {
                "model": 18,
                "grabber": {
                    "openCloseMotorDiagnostics": {
                        "current": 54,
                        "overcurrent": false,
                        "pwm": 48,
                        "rpm": 6
                    }
                }
            }
        }
    }
}

Close pivot grabber claw diagnostic

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/grabber/motorDiagnostics/openClose/pivotCloseClawGrabberDiagnosticSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "4BB66F65E282": {
                "model": 18,
                "grabber": {
                    "openCloseMotorDiagnostics": {
                        "current": 52,
                        "overcurrent": false,
                        "pwm": 55,
                        "rpm": 10
                    }
                }
            }
        }
    }
}

Optional rotate?: number

Rotation motor

description

Grabber rotation motor power

< 0 = rotate left
== 0 = motor off
> 0 = rotate right

Example Payload

Rotate right revolution Grabber

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/revolutionGrabberRotateLeftSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "1E6ED3A92052": {
                "model": 13,
                "grabber": {
                    "rotate": -100
                }
            }
        }
    }
}

Rotate right revolution Grabber

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/revolutionGrabberRotateRightSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "93F84F3DD408": {
                "model": 13,
                "grabber": {
                    "rotate": 100
                }
            }
        }
    }
}

Rotate revolution grabber random

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/revolutionGrabberRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "DFE0A2EF3393": {
                "model": 13,
                "grabber": {
                    "rotate": 30,
                    "openClose": -57
                }
            }
        }
    }
}

Rotate right pivot grabber

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/grabber/pivotRotateGrabberRightSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "7AE399D4C313": {
                "model": 18,
                "grabber": {
                    "rotate": 100
                }
            }
        }
    }
}

Rotate left pivot grabber

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/grabber/pivotRotateGrabberLeftSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "C323FCB9EF6B": {
                "model": 18,
                "grabber": {
                    "rotate": -100
                }
            }
        }
    }
}

Rotate pivot grabber random

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/grabber/pivotRotateGrabberRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "50DDEEF0908D": {
                "model": 18,
                "grabber": {
                    "rotate": 43
                }
            }
        }
    }
}

minimum

-100

maximum

100

Optional rotateMotorDiagnostics?: MotorDiagnostics

rotateMotorDiagnostics

description

Grabber rotate motor diagnostics

Example Payload

at all random values

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/motorDiagnostics/revolutionGrabberRotateMotorDiagnosticsRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "1C7706B71D46": {
                "model": 13,
                "grabber": {
                    "openCloseMotorDiagnostics": {},
                    "rotateMotorDiagnostics": {
                        "current": 84,
                        "overcurrent": false,
                        "pwm": 75,
                        "rpm": -84,
                        "failure": false
                    }
                }
            }
        }
    }
}

at random current

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/motorDiagnostics/revolutionGrabberRotateMotorDiagnosticsRandomCurrentSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "6480516A8FBC": {
                "model": 13,
                "grabber": {
                    "openCloseMotorDiagnostics": {},
                    "rotateMotorDiagnostics": {
                        "current": 23
                    }
                }
            }
        }
    }
}

at random PWM

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/motorDiagnostics/revolutionGrabberRotateMotorDiagnosticsRandomPwmSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "CC3D972B9F28": {
                "model": 13,
                "grabber": {
                    "openCloseMotorDiagnostics": {},
                    "rotateMotorDiagnostics": {
                        "pwm": 79
                    }
                }
            }
        }
    }
}

at has overcurrent

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/motorDiagnostics/revolutionGrabberRotateMotorDiagnosticsHasOvercurrentSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "35B527C7A20B": {
                "model": 13,
                "grabber": {
                    "openCloseMotorDiagnostics": {},
                    "rotateMotorDiagnostics": {
                        "overcurrent": true
                    }
                }
            }
        }
    }
}

at has no overcurrent

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/motorDiagnostics/revolutionGrabberRotateMotorDiagnosticsHasNoOvercurrentSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "115EB082DD9C": {
                "model": 13,
                "grabber": {
                    "openCloseMotorDiagnostics": {},
                    "rotateMotorDiagnostics": {
                        "overcurrent": false
                    }
                }
            }
        }
    }
}

at static RPM

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/motorDiagnostics/revolutionGrabberRotateMotorDiagnosticsStaticRpmSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "464F736208C7": {
                "model": 13,
                "grabber": {
                    "openCloseMotorDiagnostics": {},
                    "rotateMotorDiagnostics": {
                        "rpm": 0
                    }
                }
            }
        }
    }
}

at forward RPM

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/motorDiagnostics/revolutionGrabberRotateMotorDiagnosticsForwardRpmSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "59B906DC2282": {
                "model": 13,
                "grabber": {
                    "openCloseMotorDiagnostics": {},
                    "rotateMotorDiagnostics": {
                        "rpm": 10
                    }
                }
            }
        }
    }
}

at backward RPM

From ./dist/samples/json/requests/devices/vehicles/revolution/grabber/motorDiagnostics/revolutionGrabberRotateMotorDiagnosticsBackwardRpmSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "0667BAF6C072": {
                "model": 13,
                "grabber": {
                    "openCloseMotorDiagnostics": {},
                    "rotateMotorDiagnostics": {
                        "rpm": -10
                    }
                }
            }
        }
    }
}

Resting pivot rotate grabber diagnostic

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/grabber/motorDiagnostics/rotate/pivotGrabberRotateMotorDiagnosticsRestingSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "1CD9C672A9ED": {
                "model": 18,
                "grabber": {
                    "rotateMotorDiagnostics": {
                        "current": 9,
                        "overcurrent": false,
                        "pwm": 1,
                        "rpm": 0,
                        "failure": false
                    }
                }
            }
        }
    }
}

Random pivot rotate grabber diagnostic

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/grabber/motorDiagnostics/rotate/pivotGrabberRotateMotorDiagnosticsRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "C2D753B7B860": {
                "model": 18,
                "grabber": {
                    "rotateMotorDiagnostics": {
                        "current": 63,
                        "overcurrent": false,
                        "pwm": 58,
                        "rpm": -54,
                        "failure": false
                    }
                }
            }
        }
    }
}

Rotate right pivot grabber claw diagnostic

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/grabber/motorDiagnostics/rotate/pivotRotateGrabberRightDiagnosticSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "40A0CE6BE44D": {
                "model": 18,
                "grabber": {
                    "rotateMotorDiagnostics": {
                        "current": 49,
                        "overcurrent": false,
                        "pwm": 47,
                        "rpm": 8
                    }
                }
            }
        }
    }
}

Rotate left pivot grabber claw diagnostic

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/grabber/motorDiagnostics/rotate/pivotRotateGrabberLeftDiagnosticSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "38EB5669941E": {
                "model": 18,
                "grabber": {
                    "rotateMotorDiagnostics": {
                        "current": 49,
                        "overcurrent": false,
                        "pwm": 51,
                        "rpm": 8
                    }
                }
            }
        }
    }
}

Laser

Laser: { enabled: boolean }

📖 See extended definition

🔦 Laser

Type declaration

enabled: boolean

Laser Enabled

true = enabled
false = disabled

Example Payload

at Laser On

From ./dist/samples/json/requests/devices/vehicles/a200/cameraHead/a200CameraHead/lasers/a200A200CameraHeadLaserOnSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "devices": {
            "2FB5411DB74A": {
                "model": 19,
                "cameraHead": {
                    "model": 106,
                    "lasers": {
                        "enabled": true
                    }
                }
            }
        }
    }
}

at Laser Off

From ./dist/samples/json/requests/devices/vehicles/a200/cameraHead/a200CameraHead/lasers/a200A200CameraHeadLaserOffSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "devices": {
            "0F07282BB0B7": {
                "model": 19,
                "cameraHead": {
                    "model": 106,
                    "lasers": {
                        "enabled": false
                    }
                }
            }
        }
    }
}

Light

Light: { intensity: number }

📖 See extended definition

💡 Light

Type declaration

intensity: number

Light Intensity

description

Light intensity, intensity of zero is off.

Example Payload

at Light Intensity Random

From ./dist/samples/json/requests/devices/vehicles/a200/cameraHead/a200CameraHead/light/a200A200CameraHeadLightIntensityRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "devices": {
            "90B39B6EA43C": {
                "model": 19,
                "cameraHead": {
                    "model": 106,
                    "light": {
                        "intensity": 9
                    }
                }
            }
        }
    }
}

at Light Intensity Minimum

From ./dist/samples/json/requests/devices/vehicles/a200/cameraHead/a200CameraHead/light/a200A200CameraHeadLightIntensityMinSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "devices": {
            "C52EE1E2B512": {
                "model": 19,
                "cameraHead": {
                    "model": 106,
                    "light": {
                        "intensity": 0
                    }
                }
            }
        }
    }
}

at Light Intensity Maximum

From ./dist/samples/json/requests/devices/vehicles/a200/cameraHead/a200CameraHead/light/a200A200CameraHeadLightIntensityMaxSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "devices": {
            "59FB44FBB330": {
                "model": 19,
                "cameraHead": {
                    "model": 106,
                    "light": {
                        "intensity": 100
                    }
                }
            }
        }
    }
}

minimum

maximum

100

Sonde

Sonde: { enabled: boolean }

📖 See extended definition

Sonde

Type declaration

enabled: boolean

Sonde Enabled

true = enabled
false = disabled

Example Payload

at Sonde Off

From ./dist/samples/json/requests/devices/vehicles/a200/peripherals/sonde/a200SondeDisabledSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "devices": {
            "1C5618B9AF14": {
                "model": 19,
                "sonde": {
                    "enabled": false
                }
            }
        }
    }
}

at Sonde On

From ./dist/samples/json/requests/devices/vehicles/a200/peripherals/sonde/a200SondeEnabledSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "devices": {
            "71F0EBBECA7F": {
                "model": 19,
                "sonde": {
                    "enabled": true
                }
            }
        }
    }
}

TiltPlatform

TiltPlatform: { tilt?: number; tiltMotorDiagnostics?: MotorDiagnostics }

📖 See extended definition

Tilt Grabber Arm

Type declaration

Optional tilt?: number

Tilt

Example Payloads

GET Requests

Resting pivot tilt platform

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/tiltPlatform/pivotTiltPlatformRestingSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "3C0270437219": {
                "model": 18,
                "tiltPlatform": {
                    "tilt": 0
                }
            }
        }
    }
}

Tilt up

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/tiltPlatform/pivotTiltPlatformUpSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "A6841E3D2B4F": {
                "model": 18,
                "tiltPlatform": {
                    "tilt": 100
                }
            }
        }
    }
}

Tilt down

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/tiltPlatform/pivotTiltPlatformDownSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "BFB3EF5D8347": {
                "model": 18,
                "tiltPlatform": {
                    "tilt": -100
                }
            }
        }
    }
}

Random tilt pivot tilt platform

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/tiltPlatform/pivotTiltPlatformRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "C7F0D7936876": {
                "model": 18,
                "tiltPlatform": {
                    "tilt": -44
                }
            }
        }
    }
}

Optional tiltMotorDiagnostics?: MotorDiagnostics

Tilt Motor Diagnostics

Example Payloads

GET Requests

Resting pivot tilt platform diagnostic

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/tiltPlatform/motorDiagnostics/tilt/pivotTiltPlatformDiagnosticsRestingSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "33045017A367": {
                "model": 18,
                "tiltPlatform": {
                    "tiltMotorDiagnostics": {
                        "current": 3,
                        "overcurrent": false,
                        "pwm": 2,
                        "rpm": -1,
                        "failure": false
                    }
                }
            }
        }
    }
}

Tilt up pivot tilt platform diagnostic

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/tiltPlatform/motorDiagnostics/tilt/pivotTiltPlatformUpDiagnosticsSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "3F2A5E9445A2": {
                "model": 18,
                "tiltPlatform": {
                    "tiltMotorDiagnostics": {
                        "current": 46,
                        "overcurrent": false,
                        "pwm": 45,
                        "rpm": 6
                    }
                }
            }
        }
    }
}

Tilt down pivot tilt platform diagnostic

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/tiltPlatform/motorDiagnostics/tilt/pivotTiltPlatformDownDiagnosticsSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "70B1AD633256": {
                "model": 18,
                "tiltPlatform": {
                    "tiltMotorDiagnostics": {
                        "current": 54,
                        "overcurrent": false,
                        "pwm": -53,
                        "rpm": -8
                    }
                }
            }
        }
    }
}

Random tilt pivot tilt platform diagnostic

From ./dist/samples/json/requests/devices/vehicles/pivot/peripherals/tiltPlatform/motorDiagnostics/tilt/pivotTiltPlatformDiagnosticsRandomSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "41F07B4D9E27": {
                "model": 18,
                "tiltPlatform": {
                    "tiltMotorDiagnostics": {
                        "current": 57,
                        "overcurrent": false,
                        "pwm": 13,
                        "rpm": 52,
                        "failure": false
                    }
                }
            }
        }
    }
}

Devices/Reels Type Aliases

ManualReel

ManualReel: { model: ManualReel } & Reel

📖 See extended definition

Manual Reel

PoweredReel

PoweredReel: { acConnected?: boolean; battery1?: Battery; battery2?: Battery; crawlerForward?: boolean; crawlerReverse?: boolean; eStop?: boolean; encoderMiscalibrated?: boolean; hybridPower?: boolean; model: PoweredReel; motor1Diagnostics?: MotorDiagnostics; motor2Diagnostics?: MotorDiagnostics; reelForward?: boolean; reelReverse?: boolean; speed?: number; spragBearing?: SpragBearing; stalled?: boolean; usageTime?: UsageTime } & Reel

📖 See extended definition

Powered Reel

summary

Reel

Reel: { cpuTemp?: number; distance?: number; encoderFailed?: boolean; leak?: boolean; lineSpeed?: number; totalDistance?: number } & Device & Calibratable

📖 See extended definition

Reel

Devices/Vehicles Type Aliases

A150

A150: { auxLight?: Light; battery?: Battery; bodyLeak?: boolean; cameraHead?: Removable<A150CameraHead> | Removable<A200CameraHead>; cameras?: Record<string, Removable<Cameras>>; cpuTemp?: number; drive?: CrawlerDrive; elevatingArm?: ElevatingArm; hybridPowerDiagnostics?: VehicleHpDiagnostics; imuTemp?: number; incline?: number; leftMotorDiagnostics?: MotorDiagnostics; model: A150Crawler; rearLight?: Light; rightMotorDiagnostics?: MotorDiagnostics; roll?: number; sonde?: Sonde; usageTime?: UsageTime } & Vehicle & Calibratable

📖 See extended definition

A150 Class

A-150 vehicle type.

A200

A200: { auxLight?: Light; battery?: Battery; bodyLeak?: boolean; cameraHead?: Removable<A200CameraHead> | Removable<A150CameraHead>; cameras?: Record<string, Removable<Cameras>>; cpuTemp?: number; drive?: CrawlerDrive; elevatingArm?: ElevatingArm; hybridPowerDiagnostics?: VehicleHpDiagnostics; imuTemp?: number; incline?: number; leftMotorDiagnostics?: MotorDiagnostics; model: A200Crawler; rearLight?: Light; rightMotorDiagnostics?: MotorDiagnostics; roll?: number; sonde?: Sonde; usageTime?: UsageTime } & Vehicle & Calibratable

📖 See extended definition

A200 Class

A-200 vehicle type.

Photon

Photon: { auxLight?: Light; battery?: Battery; cameraHead?: Removable<TiltCameraHead>; cameras?: Record<string, Removable<Cameras>>; cpuTemp?: number; frontLeftMotorDiagnostics?: MotorDiagnostics; frontRightMotorDiagnostics?: MotorDiagnostics; grabber?: Grabber; model: Photon; rearLeftMotorDiagnostics?: MotorDiagnostics; rearRightMotorDiagnostics?: MotorDiagnostics; usageTime?: UsageTime; version?: DeviceVersion; verticalLeftMotorDiagnostics?: MotorDiagnostics; verticalRightMotorDiagnostics?: MotorDiagnostics; waterTemp?: number } & Rov

📖 See extended definition Photon Class

description: Photon vehicle type.

Pivot

Pivot: { auxLight?: Light; cameraHead?: Removable<TiltCameraHead>; cameras?: Record<string, Removable<Cameras>>; cpuTemp?: number; frontLeftMotorDiagnostics?: MotorDiagnostics; frontRightMotorDiagnostics?: MotorDiagnostics; grabber?: Grabber; leftBattery?: Battery; model: Pivot; rearLeftMotorDiagnostics?: MotorDiagnostics; rearRightMotorDiagnostics?: MotorDiagnostics; rightBattery?: Battery; spareMotor1?: MotorDiagnostics; tiltPlatform?: TiltPlatform; usageTime?: UsageTime; version?: DeviceVersion; verticalFrontMotorDiagnostics?: MotorDiagnostics; verticalRearMotorDiagnostics?: MotorDiagnostics; waterTemp?: number } & Rov

📖 See extended definition Pivot Class

description: Pivot vehicle type.

Revolution

Revolution: { auxLight?: Light; cameraHead?: Removable<TiltCameraHead>; cpuTemp?: number; frontLeftMotorDiagnostics?: MotorDiagnostics; frontRightMotorDiagnostics?: MotorDiagnostics; grabber?: Grabber; leftBattery?: Battery; model: Revolution; rearLeftMotorDiagnostics?: MotorDiagnostics; rearRightMotorDiagnostics?: MotorDiagnostics; rightBattery?: Battery; spareMotor1?: MotorDiagnostics; spareMotor2?: MotorDiagnostics; verticalLeftMotorDiagnostics?: MotorDiagnostics; verticalRightMotorDiagnostics?: MotorDiagnostics; waterTemp?: number } & Rov

📖 See extended definition Revolution Class

description: Revolution vehicle type.

Devices/Vehicles/Navigation Type Aliases

Navigation

Navigation: { navigationOptions?: NavigationOptions; position?: Position; velocity?: Velocity }

📖 See extended definition Navigation type

description: Navigational data for the ROV.

Type declaration

Optional navigationOptions?: NavigationOptions

Navigation Options

description
Navigation settings and options for the ROV

Optional 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": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "44D3AE436FFA": {
                "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": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "3B850A001FB3": {
                "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": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "A9577A418EF6": {
                "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": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "39194F9279BE": {
                "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": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "C44FA7401026": {
                "model": 13,
                "position": {
                    "local": {
                        "x": 536,
                        "y": 289,
                        "uncertainty": 30
                    }
                }
            }
        }
    }
}

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

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "C1C7D72F20CC": {
                "model": 13,
                "position": {
                    "global": {
                        "latitude": 47,
                        "longitude": -91,
                        "uncertainty": 51
                    }
                }
            }
        }
    }
}

Pivot

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

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "22516E19D525": {
                "model": 18,
                "position": {
                    "local": {
                        "x": -826,
                        "y": 575,
                        "uncertainty": 42
                    }
                }
            }
        }
    }
}

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

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "7580C5B7DA88": {
                "model": 18,
                "position": {
                    "global": {
                        "latitude": -73,
                        "longitude": -179,
                        "uncertainty": 0
                    }
                }
            }
        }
    }
}

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": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "FE86E198593D": {
                "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": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "22516E19D525": {
                "model": 18,
                "position": {
                    "local": {
                        "x": -826,
                        "y": 575,
                        "uncertainty": 42
                    }
                }
            }
        }
    }
}

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": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "B4D5FDD8AF48": {
                "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": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "7580C5B7DA88": {
                "model": 18,
                "position": {
                    "global": {
                        "latitude": -73,
                        "longitude": -179,
                        "uncertainty": 0
                    }
                }
            }
        }
    }
}

Optional 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": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "5A2AF3E40ED5": {
                "model": 13,
                "velocity": {
                    "valid": true,
                    "forward": -88,
                    "rightward": -19,
                    "downward": -100,
                    "speed": 29
                }
            }
        }
    }
}

Pivot

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

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "DA032A12DE9D": {
                "model": 18,
                "velocity": {
                    "valid": true,
                    "forward": 29,
                    "rightward": 22,
                    "downward": 81,
                    "speed": 38
                }
            }
        }
    }
}

Devices/peripherals Type Aliases

ElevatingArm

ElevatingArm: { height?: number; leak?: boolean; motorDiagnostics?: MotorDiagnostics; parkOnShutdown?: boolean; present?: boolean; speed?: number } & Calibratable

📖 See extended definition

🦾 Elevating arm

Other Type Aliases

BridgeBox

BridgeBox: { devices?: Record<string, Removable<Devices>>; faults?: FaultHandler; networkDiagnostics?: Record<string, NetworkDiagnostics>; serialDevices?: Record<string, SerialDevice>; sonar?: Sonar; swupdate?: SWUpdate; systemSettings?: SystemSettings; version?: DeviceVersion }

BRIDGE Box represents the root of the API endpoint routing

TODO: Currently this is a pretty bare bones class, but in the future it will be extended to hold interfaces to other subsystems on the BRIDGE Box. These could include hardware access, storage devices, network interfaces, update system, etc...

Type declaration

Optional devices?: Record<string, Removable<Devices>>

Devices

This contains a list of devices and associated UUIDs for accessing connected devices, such as vehicles, reels, etc.

Optional faults?: FaultHandler

Fault Handler

Allows users to clear faults from all of their devices

From ./dist/samples/json/requests/devices/faults/clearFaults/clearFaultsSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "faults": {
            "clear": true
        }
    }
}

Optional networkDiagnostics?: Record<string, NetworkDiagnostics>

NetworkDiagnostics

Record of known network interfaces on the bridgebox and their live performance diagnostics.

Multiple records may be correlated to a single interfaceName. There will typically be two records for a given interfaceName to represent local and remote mac addresses of the network connection. Records here are differentiated by the network card's unique MAC Address.

readonly
outputsample
clients

Optional serialDevices?: Record<string, SerialDevice>

SerialDevices

This list contains all the serial devices that the backend can modify and communicate with.

It can be updated with a new key(generated by the frontend) to create a WebSerialDevice

From ./dist/samples/json/requests/bridgeBox/serialDevices/bridgeBoxSerialDevicesSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "serialDevices": {
            "xHCI Host Controller 3": {
                "deviceType": "Controller",
                "baudRate": 115200,
                "name": "Top USB Port"
            },
            "xHCI Host Controller 1": {
                "deviceType": "Controller",
                "baudRate": 115200,
                "name": "Bottom USB Port",
                "connectionId": "External GPS Source",
                "connectionName": "GPS Source"
            },
            "External GPS Source": {
                "deviceType": "Internal",
                "baudRate": 115200,
                "name": "External GPS",
                "connectionId": "xHCI Host Controller 1",
                "connectionName": "Bottom USB Port"
            }
        }
    }
}

Optional sonar?: Sonar

Sonar

This is the currently connected sonar device

Optional swupdate?: SWUpdate

SWUpdate

Offline Update Samples

Check for offline updates

From ./dist/samples/json/requests/bridgeBox/swupdate/bridgeBoxCheckOfflineUpdatesSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "swupdate": {
            "offlineUpdates": 3
        }
    }
}

Offline updates available

From ./dist/samples/json/requests/bridgeBox/swupdate/bridgeBoxOfflineUpdatesAvailableSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "swupdate": {
            "offlineUpdates": 0
        }
    }
}

System up-to-date (No new offline updates available)

From ./dist/samples/json/requests/bridgeBox/swupdate/bridgeBoxNoOfflineUpdatesAvailableSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "swupdate": {
            "offlineUpdates": 1
        }
    }
}

Start offline updates

From ./dist/samples/json/requests/bridgeBox/swupdate/bridgeBoxStartOfflineUpdatesSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "swupdate": {
            "offlineUpdates": 4
        }
    }
}

Optional systemSettings?: SystemSettings

SystemSettings
Optional version?: DeviceVersion

Version

The BridgeBox version will be incremented when backend services or operating system updates are available. This type should be checked against the BridgeBox version provided within the update package meta data.

CalibratableRotaryJoint

CalibratableRotaryJoint: RotaryJoint & Calibratable

📖 See extended definition

Calibratable Rotary Joint

Allows specific calibration routines to be run on a rotary joint.

CalibratableSensorBias

CalibratableSensorBias: SensorBias & { pending?: { x?: number; y?: number; z?: number } }

CalibratableSensorPod

CalibratableSensorPod: { imu?: { accelerationBias?: CalibratableSensorBias; gyroBias?: CalibratableSensorBias; progress?: number; state?: CalibrationStates }; magnetic?: { calibrationScore?: number; currentVehicleScore?: number; state?: CalibrationStates } } & Device

CameraDeviceFromModel

CameraDeviceFromModel<T>: Match<T, CameraModelMap>

Type Parameters

CameraHeadDeviceFromModel

CameraHeadDeviceFromModel<T>: Match<T, CameraHeadModelMap>

Type Parameters

CameraHeadModelMap

CameraHeadModelMap: { 102: TiltCameraHead; 103: TiltCameraHead; 106: A200CameraHead; 109: A150CameraHead }

Type declaration

CameraHeadModels

CameraHeadModels: A200CameraHead | A150CameraHead | RevolutionCameraHead | PivotCameraHead

CameraModelMap

CameraModelMap: { 206: OcleaCam; 240: TamronHarrierZoomCamera; 243: TamronOcleaZoomCamera; 5: DTCam }

Type declaration

CameraModels

CameraModels: TamronHarrierZoomCamera | TamronOcleaZoomCamera | DTCam | OcleaCam

Camera Device Models

A collection of all used camera models

Cameras

Cameras: Camera | TamronHarrierZoomCamera | DTCam | OcleaCam | TamronOcleaZoomCamera

Cameras

A collection of all used camera types.

Changelog

Changelog: { [ deviceModel in DeviceModel | "BRIDGEBOX"]?: HardwareRevisions }

Changelog

An package containing information related to an update of one or more devices.

Client

Client: { client_id: string; connection_id: string }

Client

Identify a client through its named and connection ids

Type declaration

client_id: string
connection_id: string

Crawler

Crawler: A150 | A200

CrawlerCameraHeadModel

CrawlerCameraHeadModel: A150CameraHead | A200CameraHead

CrawlerDeviceFromModel

CrawlerDeviceFromModel<T>: Match<T, CrawlerModelMap>

Type Parameters

CrawlerDrive

CrawlerDrive: { driveMode?: CrawlerDriveMode; motorsDisabled?: boolean; speed?: number; steer?: number } & Calibratable

Crawler drive

CrawlerModel

CrawlerModel: A150Crawler | A200Crawler

CrawlerModelMap

CrawlerModelMap: { 19: A200; 20: A150 }

Type declaration

19: A200
20: A150

DateTime

DateTime: { networkTimeSync?: boolean; timestamp?: string }

DateTime

An endpoint to facilitate requesting and adjusting the datetime of the BridgeBox.

Type declaration

Optional networkTimeSync?: boolean

Automatic Date Time Network Sync

Automatically sync date and time with the NTP server (requires a network connection with an NTP server to sync time)
Optional timestamp?: string

Timestamp

Used to define the system time.

Formatted to ISO 8601/RFC 3339 (with time zone extension) spec

Note: The applied timestamp will not be persistent if the system's network time sync is enabled and there's an NTP server in the network. Use the networkTimeSync property to explicitly disable the network time sync before setting the timestamp.

Devices

Devices

This is a collection of all devices used.

FaultHandler

FaultHandler: { clear?: boolean }

Handles Clearing of all faults across all devices.

Type declaration

Optional clear?: boolean

Non-gettable value that can be SET to true to clear all faults.

FileTransfer

FileTransfer: { name?: string; readyToTransfer?: boolean; sha256?: string; size?: number }

FileTransfer

Describe the meta data related to a generic file transfer.

Type declaration

Optional name?: string

File name

description
The plain file name with file extension. May not contain directory structures.
Optional readyToTransfer?: boolean

readyToTransfer

description
Indicate the receiver is ready for the file transfer. Sender should await this response before sending a byte stream via WebRTC. May not send multiple files to a single endpoint at a time. If multiple files are attempted to be sent simultaneously the receiver should send an error message.

readonly
Optional sha256?: string

Checksum

description
The sha256 checksum used to verify the file content after transfer.
Optional size?: number

File size

description
Total number of bytes of the file.

GlobalPosition

GlobalPosition: { latitude?: number; longitude?: number; uncertainty?: number }

📖 See extended definition Rov Global Position

description: contains positional data for the ROV in the Global reference frame

Type declaration

Optional latitude?: number

Latitude (in degrees decimal)

minimum
-90

maximum
90
Optional longitude?: number

Longitude (in degrees decimal)

minimum
-180

maximum
180
Optional uncertainty?: number

Uncertainty radius (in meters)

minimum
0

HardwareRevision

HardwareRevision: {}

HardwareRevision

A list of software updates for specific hardware.

Type declaration

[softwareVersion: string]: SoftwareUpdate

HardwareRevisions

HardwareRevisions: {}

HardwareRevisions

A list of corresponding hardware revisions.

Type declaration

[hardwareRevision: string]: HardwareRevision

IceCandidateMessage

IceCandidateMessage: { content: string; sdpMLineIndex: number; sdpMid: string }

SdpMessage (used internally)

Note 💡 Ensure the number-like property values are sent as strings when sent and are enclosed in quotes ""

Type declaration

content: string
sdpMLineIndex: number
sdpMid: string

LocalPosition

LocalPosition: { uncertainty?: number; x?: number; y?: number }

📖 See extended definition Rov Local Position

description: contains positional data for the ROV in the Local reference frame

Type declaration

Optional uncertainty?: number

Uncertainty radius (in meters)

minimum
0
Optional x?: number

x (in meters)
Optional y?: number

y (in meters)

Lookup

Lookup<T>: { [ _key in T]?: string }

Indexed look up structure records

Type Parameters

T extends number | string

Match

Match<T, M>: T extends keyof M ? M[T] : never

Type Parameters

NavigationOptions

NavigationOptions: { heading?: { autoDeclination?: boolean; declinationOffset?: number; localOffset?: number; vruMode?: boolean }; position?: { rovSource?: PositionSources } }

📖 See extended definition Navigation Options type

description: Navigation settings and options for the ROV.

Type declaration

Optional heading?: { autoDeclination?: boolean; declinationOffset?: number; localOffset?: number; vruMode?: boolean }
- Optional autoDeclination?: boolean
- Optional declinationOffset?: number
- Optional localOffset?: number
- Optional vruMode?: boolean

Optional position?: { rovSource?: PositionSources }

Optional rovSource?: PositionSources

Source of ROV position.

description

The source providing ROV position. Could be an external GPS, USBL device or NONE.

Example payloads

UPDATE Requests

Setting rovSource to USBL Sample

Revolution

From ./dist/samples/json/requests/devices/vehicles/revolution/positionOptionsUsbl/revolutionPositionSourceRequest.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "A3ED9359814A": {
                "model": 13,
                "navigationOptions": {
                    "position": {
                        "rovSource": "SEATRAC_USBL"
                    }
                }
            }
        }
    }
}

Pivot

From ./dist/samples/json/requests/devices/vehicles/pivot/positionOptionsUsbl/pivotPositionSourceRequest.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "UPDATE",
    "payload": {
        "devices": {
            "34D9890FEB3D": {
                "model": 18,
                "navigationOptions": {
                    "position": {
                        "rovSource": "SEATRAC_USBL"
                    }
                }
            }
        }
    }
}

NetworkDiagnostics

NetworkDiagnostics: { bridgedDestinationAddress: String; chipset: String; firmwareVersion: String; inboundRate: String; interfaceName: String; networkRole: NetworkRole; outboundRate: String; physicalLocation: PhysicalLocation; terminalEndpointIdentifier: String }

Type declaration

bridgedDestinationAddress: String

MAC of corresponding ethernet IFace behind VDSL

readonly
chipset: String

Hardware chipset name

readonly
firmwareVersion: String

The device firmware version

readonly
inboundRate: String

Mbps

readonly
interfaceName: String

Network interface name.

e.g. "ETH0", "ETH1", etc

readonly
networkRole: NetworkRole

CCO (Central Coordinator) or STA (Station)

readonly
outboundRate: String

Mbps

readonly
physicalLocation: PhysicalLocation

May be local or remote

readonly
terminalEndpointIdentifier: String

A local address

readonly

OcleaDptz

OcleaDptz: { pan?: { direction: { x?: Rate; y?: Rate } }; roi?: { totalHeight: number; totalWidth: number; xOffset: number; yOffset: number }; zoom?: ZoomControl }

Digital pan/tilt/zoom controls for the Oclea camera

Type declaration

Optional pan?: { direction: { x?: Rate; y?: Rate } }

Digital image panning
- direction: { x?: Rate; y?: Rate }
  
  Direction to pan
  - Optional x?: Rate
    
    Panning on the x-axis (left or right)
  - Optional y?: Rate
    
    Panning on the y-axis (up or down)
Optional roi?: { totalHeight: number; totalWidth: number; xOffset: number; yOffset: number }

Region of interest (the region within the frame that's currently being viewed - after having zoomed in and changed pan)

readonly
- totalHeight: number
  
  Total height of area that can be panned to (panning might be limited to a slightly smaller portion of the frame to avoid showing warp on the edges)
- totalWidth: number
  
  Total width of area that can be panned to (panning might be limited to a slightly smaller portion of the frame to avoid showing warp on the edges)
- xOffset: number
  
  Offset of the region of interest from the left edge of the frame
- yOffset: number
  
  Offset of the region of interest from the top edge of the frame
Optional zoom?: ZoomControl

Digital zoom control

OfferAnswer

OfferAnswer: { caller?: string; sdp: RTCSessionDescription; sessionId?: string; target?: string }

Type declaration

Optional caller?: string
sdp: RTCSessionDescription
Optional sessionId?: string
Optional target?: string

Osd

Osd: { charLimit?: number; enabled?: boolean; value?: string }

OSD (On-screen Display)

Type declaration

Optional charLimit?: number

Character limit

The character limit for the OSD. If the 'value' has more characters than charLimit, it will be truncated when displayed in the camera OSD.

readonly
Optional enabled?: boolean

Enabled

Toggles the on-screen display of the harrier camera.
Optional value?: string

Value

The OSD string text to be displayed.

Position

Position: { global?: GlobalPosition; local?: LocalPosition; reference?: GlobalPosition; top?: GlobalPosition }

📖 See extended definition Rov Position

description: contains positional data for the ROV

Type declaration

Optional global?: GlobalPosition
Optional local?: LocalPosition
Optional reference?: GlobalPosition
Optional top?: GlobalPosition

Rate

Rate: -1 | 0 | 1

Rate modifer

This is meant to be sent continuously in order to increment/decrement certain values.

📉 Decrease = -1
📈 Increase = 1
No Change = 0

ReelDeviceFromModel

ReelDeviceFromModel<T>: Match<T, ReelModelMap>

Type Parameters

ReelModelMap

ReelModelMap: { 107: ManualReel; 108: PoweredReel }

Type declaration

107: ManualReel
108: PoweredReel

ReelModels

ReelModels: PoweredReel | ManualReel

Removable

Removable<T>: T | Record<string, never>

Removable

Represents an object that can be removed.

Type Parameters

Resolution

Resolution: { height?: number; width?: number }

Resolution, in pixels

Type declaration

Optional height?: number
Optional width?: number

RotaryJoint

RotaryJoint: { position?: number; speed?: number }

📖 See extended definition

Rotary Joint

This joint can rotate around.

Type declaration

Optional position?: number

Position

The rotary position in degrees.

Pivot rotary position

minimum
-90

maximum
110
Optional speed?: number

Joint Speed

minimum
-100

maximum
100

Rov

Rov: Revolution | Pivot

RovDrive

RovDrive: { modes?: { altitudeLock?: boolean; autoStabilization?: boolean; depthLock?: boolean; headingLock?: boolean; motorsDisabled?: boolean }; thrust?: RovThrust }

Rov Drive

description: Container for thrust and mode settings to the ROV
remarks: This is for direct drive using the existing topside-vehicle command architecture. Drive input should be bound to thrusts, any higher level controls should utilize a more sophisticated controls structure.

Type declaration

Optional modes?: { altitudeLock?: boolean; autoStabilization?: boolean; depthLock?: boolean; headingLock?: boolean; motorsDisabled?: boolean }

Modes are not mutually exclusive. Mode requests to the ROV are handled via the state-system
- Optional altitudeLock?: boolean
- Optional autoStabilization?: boolean
- Optional depthLock?: boolean
- Optional headingLock?: boolean
- Optional motorsDisabled?: boolean
Optional thrust?: RovThrust

Thrust - forward, yaw, vertical and lateral

RovThrust

RovThrust: { forward: number; lateral: number; vertical: number; yaw: number }

Rov Thrust

description: ROV Thrust commands. All values must be set at the same time as one bundled message. Values are expected to be integers, within the range of +/- 120.

Type declaration

forward: number
lateral: number
vertical: number
yaw: number

SWUpdate

SWUpdate: { file?: FileTransfer; log?: string; offlineUpdates?: OfflineUpdateState; progress?: number; releaseInfo?: string }

SWUpdate

An endpoint to facilitate the software update process.

Type declaration

Optional file?: FileTransfer

File

description
Define the update package tar file to be transferred.
Optional log?: string

Log

description
Provides messages driven by state of the update. WebApp may choose to display these messages as they are delivered.

readonly
Optional offlineUpdates?: OfflineUpdateState

OfflineUpdates

description
Informs user of the current state of offline updates. User can also set this state to start offline updates or check for available ones.
Optional progress?: number

Progress

description
Percentage complete indicator.

readonly
minimum
0

maximum
100
Optional releaseInfo?: string

ReleaseInfo

description
Returns a valid stringified JSON that contains a map of device models to their latest available versions. These latest versions could be the same as the current versions of the robot/peripherals in which case, there would be no available update.

SdpMessage

SdpMessage: { sdp: string; type: SdpMessageType }

SdpMessage (used internally)

Note 💡 Ensure the number-like property values are sent as strings when sent and are enclosed in quotes ""

Type declaration

sdp: string
type: SdpMessageType

SensorBias

SensorBias: { x?: number; y?: number; z?: number }

Type declaration

Optional x?: number
Optional y?: number
Optional z?: number

SerialDevice

SerialDevice: { baudRate?: number; connectionId?: string; connectionName?: string; deviceType?: SerialDeviceType; name: string }

Type declaration

Optional baudRate?: number

The baud rate for the serial device. This value is meaningless with deviceType::Web
Optional connectionId?: string

The id of the device that this device is connected to. If null then this device is not connected to anything
Optional connectionName?: string

The name of the device that this device is connected to. if null then this device is not connected to anything. This is purely provided for convenience. If a name change is required send an update to the actual device.
Optional deviceType?: SerialDeviceType

Indicates the type of device
name: string

The display name of this device

SoftwareUpdate

SoftwareUpdate: { releaseDate: string; versionNotes: VersionNote }

SoftwareUpdate

Describes a software update giving a release date and corresponding version notes.

Type declaration

releaseDate: string
versionNotes: VersionNote

Sonar

Sonar: { active?: boolean; frequency?: SonarFrequency; gain?: number; lowPower?: boolean; maxRange?: number; model?: SonarModel; pitch?: number; range?: number }

Type declaration

Optional active?: boolean

Indicates if the device is currently sending frames to the web app when set to true the backend will create a datachannel called "SONAR_DATA_CHANNEL" to send sonar images
Optional frequency?: SonarFrequency

The frequency of the device
Optional gain?: number

The gain of the sonar
Optional lowPower?: boolean

The low power state of the device
Optional maxRange?: number

Maximum range that the sonar can be configured to.
Optional model?: SonarModel

The model of the sonar
Optional pitch?: number

The pitch angle of the sonar in degrees
Optional range?: number

The range of the sonar

Stream

Stream: { active: boolean; bitrate?: number; bitrateOptions?: number[]; resolution?: Resolution }

Camera stream

Type declaration

active: boolean

Stream active

remarks
This indicates which active stream the client should focus on displaying to the user.
Optional bitrate?: number

Camera stream bitrate

description
the bitrate of the RTSP stream the camera outputs in mbps.
Optional bitrateOptions?: number[]

Available bitrate options

description
a list of acceptable bitrate values in mbps.

readonly
Optional resolution?: Resolution

Stream resolution

StreamMode

StreamMode: { availableModes?: Partial<Record<StreamModes, boolean>>; mode?: StreamModes }

Type declaration

Optional availableModes?: Partial<Record<StreamModes, boolean>>

All available modes for this camera.
Optional mode?: StreamModes

The currently active mode

SystemSettings

SystemSettings: { dateTime?: DateTime; systemOfMeasurement?: SystemOfMeasurement }

SystemSettings

An endpoint to facilitate requesting and adjusting system settings.

Type declaration

Optional dateTime?: DateTime

Date Time

Date time settings for setting/getting the system time

NetworkTimeSync network examples

NetworkTimeSync enabled

From ./dist/samples/json/requests/bridgeBox/systemSettings/dateTime/bridgeBoxSystemSettingsDateTimeNetworkTimeSyncEnabledSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "systemSettings": {
            "dateTime": {
                "networkTimeSync": true
            }
        }
    }
}

NetworkTimeSync disabled

From ./dist/samples/json/requests/bridgeBox/systemSettings/dateTime/bridgeBoxSystemSettingsDateTimeNetworkTimeSyncDisabledSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "systemSettings": {
            "dateTime": {
                "networkTimeSync": false
            }
        }
    }
}

Timestamp examples

References:

Local

From ./dist/samples/json/requests/bridgeBox/systemSettings/dateTime/bridgeBoxSystemSettingsDateTimeLocaleSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "systemSettings": {
            "dateTime": {
                "timestamp": "2024-10-29T20:17:22.001041995+00:00[UTC]"
            }
        }
    }
}

UTC

From ./dist/samples/json/requests/bridgeBox/systemSettings/dateTime/bridgeBoxSystemSettingsDateTimeUTCSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "systemSettings": {
            "dateTime": {
                "timestamp": "2024-10-29T20:17:22.013042012+00:00[UTC]"
            }
        }
    }
}

Greenwich

From ./dist/samples/json/requests/bridgeBox/systemSettings/dateTime/bridgeBoxSystemSettingsDateTimeGreenwichSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "systemSettings": {
            "dateTime": {
                "timestamp": "2024-10-29T20:17:21.995035362+00:00[UTC]"
            }
        }
    }
}

Europe/London

From ./dist/samples/json/requests/bridgeBox/systemSettings/dateTime/bridgeBoxSystemSettingsDateTimeLondonSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "systemSettings": {
            "dateTime": {
                "timestamp": "2024-10-29T20:17:22.003042001+00:00[Europe/London]"
            }
        }
    }
}

America/Los_Angeles

From ./dist/samples/json/requests/bridgeBox/systemSettings/dateTime/bridgeBoxSystemSettingsDateTimeLosAngelesSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "systemSettings": {
            "dateTime": {
                "timestamp": "2024-10-29T13:17:22.005042003-07:00[America/Los_Angeles]"
            }
        }
    }
}

America/New_York

From ./dist/samples/json/requests/bridgeBox/systemSettings/dateTime/bridgeBoxSystemSettingsDateTimeNewYorkSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "systemSettings": {
            "dateTime": {
                "timestamp": "2024-10-29T16:17:22.009042005-04:00[America/New_York]"
            }
        }
    }
}

Asia/Tokyo

From ./dist/samples/json/requests/bridgeBox/systemSettings/dateTime/bridgeBoxSystemSettingsDateTimeTokyoSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "systemSettings": {
            "dateTime": {
                "timestamp": "2024-10-30T05:17:22.010042009+09:00[Asia/Tokyo]"
            }
        }
    }
}

America/Toronto

From ./dist/samples/json/requests/bridgeBox/systemSettings/dateTime/bridgeBoxSystemSettingsDateTimeTorontoSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "systemSettings": {
            "dateTime": {
                "timestamp": "2024-10-29T16:17:22.01204201-04:00[America/Toronto]"
            }
        }
    }
}

Optional systemOfMeasurement?: SystemOfMeasurement

System of measurement

The system of measurement that the BridgeBox will use

SystemOfMeasurement examples

METRIC

From ./dist/samples/json/requests/bridgeBox/systemSettings/systemOfMeasurement/bridgeBoxSystemSettingsSystemOfMeasurementMetricSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "systemSettings": {
            "systemOfMeasurement": "METRIC"
        }
    }
}

IMPERIAL

From ./dist/samples/json/requests/bridgeBox/systemSettings/systemOfMeasurement/bridgeBoxSystemSettingsSystemOfMeasurementImperialSample.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "apiVersion": "0.58.7",
    "method": "SET",
    "payload": {
        "systemSettings": {
            "systemOfMeasurement": "IMPERIAL"
        }
    }
}

TiltCameraHeadModel

TiltCameraHeadModel: RevolutionCameraHead | PivotCameraHead

TransferError

TransferError: { code: ErrorCode; message: string }

Error message from the Bridge Box

Type declaration

code: ErrorCode

Error code, used only with ERROR method types
message: string

Error message

TurbidityFilter

TurbidityFilter: { strength?: number }

Turbidity Filter controls for the camera.

Type declaration

Optional strength?: number

Strength

Controls the strength of the turbidity filter on the turbidity stream.

minimum
1

maximum
30

UpdatePackagePayload

UpdatePackagePayload: { buildDate: string; changelog: Changelog; sha256: string; size: string }

UpdatePackagePayload

An package containing information related to an update of one or more devices.

Type declaration

buildDate: string

buildDate

description
Provides a build date to UpdatePackage.

readonly
changelog: Changelog

Changelog

description
A list changes reflecting devices and their hardware and software revisions.

readonly
sha256: string

sha256

description
The sha256 checksum used to verify the file content after transfer.

readonly
size: string

size

description
Total number of bytes of the file.

readonly

VehicleDeviceFromModel

VehicleDeviceFromModel<T>: Match<T, VehicleModelMap>

Type Parameters

VehicleHpDiagnostics

VehicleHpDiagnostics: { chargeVoltage?: number; inputVoltage?: number }

Type declaration

Optional chargeVoltage?: number

Charge Voltage

description
The voltage that goes from the hybrid power boards into the batteries

readonly
Optional inputVoltage?: number

Input Voltage

description
The voltage that the vehicle is receiving from the reel

readonly

VehicleModelMap

VehicleModelMap: { 13: Revolution; 18: Pivot; 19: A200; 20: A150; 24: Photon }

Type declaration

13: Revolution
18: Pivot
19: A200
20: A150
24: Photon

Velocity

Velocity: { downward?: number; forward?: number; rightward?: number; speed?: number; valid?: boolean }

📖 See extended definition ROV velocity

description: contains velocity components and speed of the ROV.

Type declaration

Optional downward?: number
Optional forward?: number
Optional rightward?: number
Optional speed?: number

Scalar Magnitude of velocity components (forward, rightward and downward velocity)

minimum
0
Optional valid?: boolean

VersionNote

VersionNote: { fixes: string[]; improvements: string[] }

VersionNote

Describes changes made in a software update, an array of improvements and bug fixes.

Type declaration

fixes: string[]
improvements: string[]

ZoomControl

ZoomControl: { ratio?: number; speed?: number }

Zoom control

Type declaration

Optional ratio?: number

Zoom Ratio

remarks
Represented as a multiplier, 1x zoom for fully zoomed out, higher values when zoomed in (3x, 12.3x, 20x, etc..)
Optional speed?: number

Zoom Speed

minimum
-100

maximum
100

__TransferPayload_BridgeBox

__TransferPayload_BridgeBox: TransferPayload<BridgeBox> | UpdatePackagePayload

cygnusType

cygnusType: { materialVelocity?: number; reading?: number }

Type declaration

Optional materialVelocity?: number
Optional reading?: number

SignalServer Type Aliases

Answer

Answer: OfferAnswer

📖 See extended definition

Answer

Note 💡 Ensure the number-like property values are sent as strings when sent and are enclosed in quotes ""

protocol: wss | https
endpoint: /answer

IceCandidate

IceCandidate: { caller?: string; candidate?: IceCandidateMessage; sessionId?: string; target?: string }

📖 See extended definition

IceCandidate

Note 💡 Ensure the number-like property values are sent as strings when sent and are enclosed in quotes ""

protocol

wss | https

endpoint

/ice_candidate

From ./dist/samples/json/server/iceCandidate.json

{
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json",
    "target": "df8f6f59-5504-4559-90d4-779ae24d139f",
    "caller": "97c9bf43-9285-480e-9bd6-0c813d2d366b",
    "sessionId": "3d26e13a-62b7-4e72-880b-5d29e135b24f",
    "candidate": {
        "sdpMid": "0",
        "sdpMLineIndex": 0,
        "content": "candidate:1409274494 1 udp 2113937151 34a834b8-3b04-4007-968d-c635dc6a11ca.local 42461 typ host generation 0 ufrag heL6 network-cost 999"
    }
}

Type declaration

Optional caller?: string
Optional candidate?: IceCandidateMessage
Optional sessionId?: string
Optional target?: string

JoinSession

JoinSession: { client_id: string; session_id: string }

📖 See extended definition

JoinSession

Join a session with a user.

Note 💡 Ensure the number-like property values are sent as strings when sent and are enclosed in quotes ""

typeparam T: BridgeBox
protocol: wss | https
endpoint: /join_session

Type declaration

client_id: string
session_id: string

LeaveSession

LeaveSession: { client_id: string; session_id: string }

📖 See extended definition

LeaveSession

Note 💡 Ensure the number-like property values are sent as strings when sent and are enclosed in quotes ""

protocol: wss | https
endpoint: /leave_session

Type declaration

client_id: string
session_id: string

Offer

Offer: OfferAnswer

📖 See extended definition

Offer

Note 💡 Ensure the number-like property values are sent as strings when sent and are enclosed in quotes ""

protocol: wss | https
endpoint: /offer

OnDisconnectAsync

OnDisconnectAsync: {}

📖 See extended definition

OnDisconnectAsync

See base method documentation on OnDisconnectAsync

override
protocol: wss | https
endpoint: /session_closed

Type declaration

RegisterSession

RegisterSession: string

📖 See extended definition

RegisterSession

Creates a new session using a unique vehicle id.

protocol: wss | https
endpoint: /register_session

Session

Session: { clients: Client[]; connection_id: string; session_id: string }

📖 See extended definition

Session

Sends a list of all the sessions currently authorized for use.

Note 💡 Ensure the number-like property values are sent as strings when sent and are enclosed in quotes ""

endpoint: /session_list
protocol: wss | https
response: Response to SessionCheck.

Type declaration

clients: Client[]
connection_id: string
session_id: string

SessionCheck

SessionCheck: { client_id: string }

📖 See extended definition

SessionCheck

Returns a list of all the sessions currently authorized for use.

Note 💡 Ensure the number-like property values are sent as strings when sent and are enclosed in quotes ""

endpoint: /session_check
protocol: wss | https

Type declaration

client_id: string

Other Variables

Const CAMERA_DEVICE_MODELS

CAMERA_DEVICE_MODELS: readonly [TamronHarrierZoomCamera, DTCam, OcleaCam, TamronOcleaZoomCamera, MiniAuxCamera, JZC18ZoomCamera] = ...

Const CAMERA_DEVICE_MODEL_LABELS

CAMERA_DEVICE_MODEL_LABELS: { 206: "4K UHD Camera"; 207: "Zoom Camera JZC"; 240: "Zoom Camera H"; 241: "Mini Aux Camera"; 243: "Zoom Camera TO"; 5: "DT Camera" } = ...

Type declaration

206: "4K UHD Camera"
207: "Zoom Camera JZC"
240: "Zoom Camera H"
241: "Mini Aux Camera"
243: "Zoom Camera TO"
5: "DT Camera"

Const CAMERA_HEAD_DEVICE_MODELS

CAMERA_HEAD_DEVICE_MODELS: readonly [A150CameraHead, A200CameraHead, RevolutionCameraHead, PivotCameraHead] = ...

Const CAMERA_HEAD_DEVICE_MODEL_LABELS

CAMERA_HEAD_DEVICE_MODEL_LABELS: { 102: "REVOLUTION Camera Head"; 103: "PIVOT Camera Head"; 106: "A-200 Camera Head"; 109: "A-150 Camera Head" } = ...

Type declaration

102: "REVOLUTION Camera Head"
103: "PIVOT Camera Head"
106: "A-200 Camera Head"
109: "A-150 Camera Head"

Const CRAWLER_CAMERAHEAD_JOINT2_POSITION_MAX

CRAWLER_CAMERAHEAD_JOINT2_POSITION_MAX: 140 = 140

Camera head joint 2 maximum rotation limit in degrees

Useful for front-end client to constrain UI limits of joint 2 position

Const CRAWLER_CAMERAHEAD_JOINT2_POSITION_MIN

CRAWLER_CAMERAHEAD_JOINT2_POSITION_MIN: -140 = -140

Camera head joint 2 minimum rotation limit in degrees

Useful for front-end client to constrain UI limits of joint 2 position

Const CRAWLER_DEVICE_MODELS

CRAWLER_DEVICE_MODELS: readonly [A150Crawler, A200Crawler] = ...

Const DEFAULT_REEL_BATTERY_VOLTAGE

DEFAULT_REEL_BATTERY_VOLTAGE: 21 = 21

Const DEVICE_MODEL_LABELS

DEVICE_MODEL_LABELS: { 102: "REVOLUTION Camera Head"; 103: "PIVOT Camera Head"; 106: "A-200 Camera Head"; 107: "Tether Reel"; 108: "Powered Tether Reel"; 109: "A-150 Camera Head"; 13: "REVOLUTION"; 18: "PIVOT"; 19: "A-200"; 20: "A-150"; 206: "4K UHD Camera"; 207: "Zoom Camera JZC"; 24: "PHOTON"; 240: "Zoom Camera H"; 241: "Mini Aux Camera"; 243: "Zoom Camera TO"; 5: "DT Camera"; BRIDGEBOX: "BridgeBox" } = ...

Type declaration

102: "REVOLUTION Camera Head"
103: "PIVOT Camera Head"
106: "A-200 Camera Head"
107: "Tether Reel"
108: "Powered Tether Reel"
109: "A-150 Camera Head"
13: "REVOLUTION"
18: "PIVOT"
19: "A-200"
20: "A-150"
206: "4K UHD Camera"
207: "Zoom Camera JZC"
24: "PHOTON"
240: "Zoom Camera H"
241: "Mini Aux Camera"
243: "Zoom Camera TO"
5: "DT Camera"
BRIDGEBOX: "BridgeBox"

Const ERROR_MESSAGES

ERROR_MESSAGES: Readonly<Record<ErrorCode, string>> = ...

Error messages

Const POSITION_UNCERTAINTY_LIMIT

POSITION_UNCERTAINTY_LIMIT: 10000 = 10000

Position uncertainty limit.

description: The upper bound for valid position uncertainty. Note that the uncertainty value can be arbitrarily large; therefore, a limit is set to ignore invalid positions.

Const REEL_DEVICE_MODELS

REEL_DEVICE_MODELS: readonly [ManualReel, PoweredReel] = ...

Const REEL_DEVICE_MODEL_LABELS

REEL_DEVICE_MODEL_LABELS: { 107: "Tether Reel"; 108: "Powered Tether Reel" } = ...

Type declaration

107: "Tether Reel"
108: "Powered Tether Reel"

Const SCREEN_RESOLUTIONS

SCREEN_RESOLUTIONS: Readonly<Record<ScreenResolution, Resolution>> = ...

Const VEHICLE_DEVICE_MODELS

VEHICLE_DEVICE_MODELS: DeviceModel[] = ...

Const VEHICLE_DEVICE_MODEL_LABELS

VEHICLE_DEVICE_MODEL_LABELS: { 13: "REVOLUTION"; 18: "PIVOT"; 19: "A-200"; 20: "A-150"; 24: "PHOTON" } = ...

Type declaration

13: "REVOLUTION"
18: "PIVOT"
19: "A-200"
20: "A-150"
24: "PHOTON"

SignalServer Variables

Const IRegisterSession

IRegisterSession: RegisterSession = ""

RegisterSession

Creates a new session using a unique vehicle id.

Note 💡 Ensure the number-like property values are sent as strings when sent and are enclosed in quotes ""

notexported

See type declaration

protocol

wss | https

endpoint

/register_session

From ./dist/samples/json/server/registerSession.json

{
    "0": "d",
    "1": "c",
    "2": "0",
    "3": "8",
    "4": "f",
    "5": "2",
    "6": "1",
    "7": "6",
    "8": "-",
    "9": "6",
    "10": "5",
    "11": "3",
    "12": "7",
    "13": "-",
    "14": "4",
    "15": "1",
    "16": "9",
    "17": "d",
    "18": "-",
    "19": "8",
    "20": "1",
    "21": "a",
    "22": "f",
    "23": "-",
    "24": "a",
    "25": "d",
    "26": "7",
    "27": "9",
    "28": "3",
    "29": "b",
    "30": "7",
    "31": "a",
    "32": "3",
    "33": "d",
    "34": "a",
    "35": "d",
    "$schema": "https://docs.api.deeptrekker.com/dist/schemas/schema.json"
}

Index

Enumerations

Interfaces Core

Interfaces Device/CameraHeads

Interfaces Device/Cameras

Interfaces DeviceVersions

Interfaces Devices

Interfaces Devices/CameraHeads

Interfaces Devices/Cameras

Interfaces Devices/Core

Interfaces Devices/Peripherals

Interfaces Devices/Reels

Interfaces Devices/Vehicles

Interfaces Other

Interfaces SignalServer

Type Aliases Core

Type Aliases Device

Type Aliases Device/CameraHead

Type Aliases Device/CameraHeads

Type Aliases Device/Cameras

Type Aliases DeviceVersions

Type Aliases Devices

Type Aliases Devices/CameraHeads

Type Aliases Devices/Cameras

Type Aliases Devices/Core

Type Aliases Devices/Peripherals

Type Aliases Devices/Reels

Type Aliases Devices/Vehicles

Type Aliases Devices/Vehicles/Navigation

Type Aliases Devices/peripherals

Type Aliases Other

Type Aliases SignalServer

Variables Other

Variables SignalServer

Core Type Aliases

TransferPayload

Type Parameters

T

Type declaration

apiVersion: string

Optional error?: TransferError

method: TransferMethodType

payload: T

Device Type Aliases

Vehicle

Device/CameraHead Type Aliases

A150CameraHead

A200CameraHead

CrawlerCameraHead

Device/CameraHeads Type Aliases

CameraHead

Device/Cameras Type Aliases

DTCam

OcleaCam

TamronHarrierZoomCamera

TamronOcleaZoomCamera

ZoomCam

DeviceVersions Type Aliases

DeviceVersion

Type declaration

Optional branchInfo?: string

Optional hardware?: string

Optional software?: string

Devices Type Aliases

Device

Type declaration

Optional ip?: string

model: DeviceModel

Optional version?: DeviceVersion

Devices/CameraHeads Type Aliases

TiltCameraHead

Devices/Cameras Type Aliases

Camera

Devices/Core Type Aliases

Battery

Type declaration

Optional charging?: boolean

Optional diagnostics?: BatteryDiagnostics

Optional leak?: boolean

Optional percent?: number