Source code for viam.components.arm.client

from typing import Any, Dict, List, Mapping, Optional, Tuple

from grpclib.client import Channel

from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, GetKinematicsRequest, GetKinematicsResponse
from viam.proto.component.arm import (
    ArmServiceStub,
    GetEndPositionRequest,
    GetEndPositionResponse,
    GetJointPositionsRequest,
    GetJointPositionsResponse,
    IsMovingRequest,
    IsMovingResponse,
    JointPositions,
    MoveToJointPositionsRequest,
    MoveToPositionRequest,
    StopRequest,
)
from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict

from . import Arm, KinematicsFileFormat, Pose


[docs]class ArmClient(Arm, ReconfigurableResourceRPCClientBase): """ gRPC client for an Arm component. Used to communicate with an existing ``Arm`` implementation over gRPC. """ def __init__(self, name: str, channel: Channel): self.channel = channel self.client = ArmServiceStub(channel) super().__init__(name)
[docs] async def get_end_position( self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs, ) -> Pose: md = kwargs.get("metadata", self.Metadata()).proto request = GetEndPositionRequest(name=self.name, extra=dict_to_struct(extra)) response: GetEndPositionResponse = await self.client.GetEndPosition(request, timeout=timeout, metadata=md) return response.pose
[docs] async def move_to_position( self, pose: Pose, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs, ): md = kwargs.get("metadata", self.Metadata()).proto request = MoveToPositionRequest(name=self.name, to=pose, extra=dict_to_struct(extra)) await self.client.MoveToPosition(request, timeout=timeout, metadata=md)
[docs] async def get_joint_positions( self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs, ) -> JointPositions: md = kwargs.get("metadata", self.Metadata()).proto request = GetJointPositionsRequest(name=self.name, extra=dict_to_struct(extra)) response: GetJointPositionsResponse = await self.client.GetJointPositions(request, timeout=timeout, metadata=md) return response.positions
[docs] async def move_to_joint_positions( self, positions: JointPositions, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs, ): md = kwargs.get("metadata", self.Metadata()).proto request = MoveToJointPositionsRequest(name=self.name, positions=positions, extra=dict_to_struct(extra)) await self.client.MoveToJointPositions(request, timeout=timeout, metadata=md)
[docs] async def stop( self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs, ): md = kwargs.get("metadata", self.Metadata()).proto request = StopRequest(name=self.name, extra=dict_to_struct(extra)) await self.client.Stop(request, timeout=timeout, metadata=md)
[docs] async def is_moving(self, *, timeout: Optional[float] = None, **kwargs) -> bool: md = kwargs.get("metadata", self.Metadata()).proto request = IsMovingRequest(name=self.name) response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout, metadata=md) return response.is_moving
[docs] async def do_command( self, command: Mapping[str, Any], *, timeout: Optional[float] = None, **kwargs, ) -> Mapping[str, ValueTypes]: md = kwargs.get("metadata", self.Metadata()).proto request = DoCommandRequest(name=self.name, command=dict_to_struct(command)) response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout, metadata=md) return struct_to_dict(response.result)
[docs] async def get_kinematics( self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs ) -> Tuple[KinematicsFileFormat.ValueType, bytes]: md = kwargs.get("metadata", self.Metadata()).proto request = GetKinematicsRequest(name=self.name, extra=dict_to_struct(extra)) response: GetKinematicsResponse = await self.client.GetKinematics(request, timeout=timeout, metadata=md) return (response.format, response.kinematics_data)
[docs] async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]: md = kwargs.get("metadata", self.Metadata()) return await get_geometries(self.client, self.name, extra, timeout, md)