from grpclib.server import Stream
from viam.proto.common import (
DoCommandRequest,
DoCommandResponse,
GetGeometriesRequest,
GetGeometriesResponse,
GetKinematicsRequest,
GetKinematicsResponse,
)
from viam.proto.component.arm import (
ArmServiceBase,
GetEndPositionRequest,
GetEndPositionResponse,
GetJointPositionsRequest,
GetJointPositionsResponse,
IsMovingRequest,
IsMovingResponse,
MoveToJointPositionsRequest,
MoveToJointPositionsResponse,
MoveToPositionRequest,
MoveToPositionResponse,
StopRequest,
StopResponse,
)
from viam.resource.rpc_service_base import ResourceRPCServiceBase
from viam.utils import dict_to_struct, struct_to_dict
from .arm import Arm
[docs]class ArmRPCService(ArmServiceBase, ResourceRPCServiceBase[Arm]):
"""
gRPC Service for an Arm
"""
RESOURCE_TYPE = Arm
[docs] async def GetEndPosition(self, stream: Stream[GetEndPositionRequest, GetEndPositionResponse]) -> None:
request = await stream.recv_message()
assert request is not None
name = request.name
arm = self.get_resource(name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
position = await arm.get_end_position(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
response = GetEndPositionResponse(pose=position)
await stream.send_message(response)
[docs] async def MoveToPosition(self, stream: Stream[MoveToPositionRequest, MoveToPositionResponse]) -> None:
request = await stream.recv_message()
assert request is not None
name = request.name
arm = self.get_resource(name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
await arm.move_to_position(request.to, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
response = MoveToPositionResponse()
await stream.send_message(response)
[docs] async def GetJointPositions(self, stream: Stream[GetJointPositionsRequest, GetJointPositionsResponse]) -> None:
request = await stream.recv_message()
assert request is not None
name = request.name
arm = self.get_resource(name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
positions = await arm.get_joint_positions(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
response = GetJointPositionsResponse(positions=positions)
await stream.send_message(response)
[docs] async def MoveToJointPositions(self, stream: Stream[MoveToJointPositionsRequest, MoveToJointPositionsResponse]) -> None:
request = await stream.recv_message()
assert request is not None
name = request.name
arm = self.get_resource(name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
await arm.move_to_joint_positions(request.positions, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
response = MoveToJointPositionsResponse()
await stream.send_message(response)
[docs] async def Stop(self, stream: Stream[StopRequest, StopResponse]) -> None:
request = await stream.recv_message()
assert request is not None
name = request.name
arm = self.get_resource(name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
await arm.stop(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
response = StopResponse()
await stream.send_message(response)
[docs] async def IsMoving(self, stream: Stream[IsMovingRequest, IsMovingResponse]) -> None:
request = await stream.recv_message()
assert request is not None
name = request.name
arm = self.get_resource(name)
is_moving = await arm.is_moving()
response = IsMovingResponse(is_moving=is_moving)
await stream.send_message(response)
[docs] async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -> None:
request = await stream.recv_message()
assert request is not None
arm = self.get_resource(request.name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
result = await arm.do_command(command=struct_to_dict(request.command), timeout=timeout, metadata=stream.metadata)
response = DoCommandResponse(result=dict_to_struct(result))
await stream.send_message(response)
[docs] async def GetKinematics(self, stream: Stream[GetKinematicsRequest, GetKinematicsResponse]) -> None:
request = await stream.recv_message()
assert request is not None
arm = self.get_resource(request.name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
format, kinematics_data = await arm.get_kinematics(extra=struct_to_dict(request.extra), timeout=timeout)
response = GetKinematicsResponse(format=format, kinematics_data=kinematics_data)
await stream.send_message(response)
[docs] async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
request = await stream.recv_message()
assert request is not None
arm = self.get_resource(request.name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
geometries = await arm.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
response = GetGeometriesResponse(geometries=geometries)
await stream.send_message(response)