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,
**__,
) -> List[float]:
if extra is None:
extra = {}
request = GetPositionRequest(name=self.name, extra=dict_to_struct(extra))
response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout)
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,
**__,
):
if extra is None:
extra = {}
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)
[docs] async def home(
self,
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
**__,
) -> bool:
if extra is None:
extra = {}
request = HomeRequest(name=self.name, extra=dict_to_struct(extra))
response: HomeResponse = await self.client.Home(request, timeout=timeout)
return response.homed
[docs] async def get_lengths(
self,
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
**__,
) -> List[float]:
if extra is None:
extra = {}
request = GetLengthsRequest(name=self.name, extra=dict_to_struct(extra))
response: GetLengthsResponse = await self.client.GetLengths(request, timeout=timeout)
return list(response.lengths_mm)
[docs] async def stop(
self,
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
**__,
):
if extra is None:
extra = {}
request = StopRequest(name=self.name, extra=dict_to_struct(extra))
await self.client.Stop(request, timeout=timeout)
[docs] async def is_moving(self, *, timeout: Optional[float] = None) -> bool:
request = IsMovingRequest(name=self.name)
response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout)
return response.is_moving
[docs] async def do_command(
self,
command: Mapping[str, ValueTypes],
*,
timeout: Optional[float] = None,
**__,
) -> Mapping[str, ValueTypes]:
request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
return struct_to_dict(response.result)
[docs] async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
return await get_geometries(self.client, self.name, extra, timeout)