Source code for viam.components.gantry.client

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

from grpclib.client import Channel

from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
from viam.proto.component.gantry import (
    GantryServiceStub,
    GetLengthsRequest,
    GetLengthsResponse,
    GetPositionRequest,
    GetPositionResponse,
    HomeRequest,
    HomeResponse,
    IsMovingRequest,
    IsMovingResponse,
    MoveToPositionRequest,
    StopRequest,
)
from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict

from .gantry import Gantry


[docs]class GantryClient(Gantry, ReconfigurableResourceRPCClientBase): """ gRPC client for the Gantry component. """ def __init__(self, name: str, channel: Channel): self.channel = channel self.client = GantryServiceStub(channel) super().__init__(name)
[docs] async def get_position( self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs, ) -> List[float]: md = kwargs.get("metadata", self.Metadata()).proto request = GetPositionRequest(name=self.name, extra=dict_to_struct(extra)) response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout, metadata=md) return list(response.positions_mm)
[docs] async def move_to_position( self, positions: List[float], speeds: List[float], *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs, ): md = kwargs.get("metadata", self.Metadata()).proto request = MoveToPositionRequest(name=self.name, positions_mm=positions, speeds_mm_per_sec=speeds, extra=dict_to_struct(extra)) await self.client.MoveToPosition(request, timeout=timeout, metadata=md)
[docs] async def home( self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs, ) -> bool: md = kwargs.get("metadata", self.Metadata()).proto request = HomeRequest(name=self.name, extra=dict_to_struct(extra)) response: HomeResponse = await self.client.Home(request, timeout=timeout, metadata=md) return response.homed
[docs] async def get_lengths( self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs, ) -> List[float]: md = kwargs.get("metadata", self.Metadata()).proto request = GetLengthsRequest(name=self.name, extra=dict_to_struct(extra)) response: GetLengthsResponse = await self.client.GetLengths(request, timeout=timeout, metadata=md) return list(response.lengths_mm)
[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, ValueTypes], *, 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_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)