from typing import Any, Dict, List, Mapping, Optional
from grpclib.client import Channel
from viam.components import KinematicsReturn
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, 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
) -> KinematicsReturn:
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, response.meshes_by_urdf_filepath)
[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)