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.gripper import (
GrabRequest,
GrabResponse,
GripperServiceStub,
IsHoldingSomethingRequest,
IsHoldingSomethingResponse,
IsMovingRequest,
IsMovingResponse,
OpenRequest,
StopRequest,
)
from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
from .gripper import Gripper
[docs]class GripperClient(Gripper, ReconfigurableResourceRPCClientBase):
"""
gRPC client for the Gripper component
"""
def __init__(self, name: str, channel: Channel):
self.channel = channel
self.client = GripperServiceStub(channel)
super().__init__(name)
[docs] async def open(
self,
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
**kwargs,
):
md = kwargs.get("metadata", self.Metadata()).proto
request = OpenRequest(name=self.name, extra=dict_to_struct(extra))
await self.client.Open(request, timeout=timeout, metadata=md)
[docs] async def grab(
self,
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
**kwargs,
) -> bool:
md = kwargs.get("metadata", self.Metadata()).proto
request = GrabRequest(name=self.name, extra=dict_to_struct(extra))
response: GrabResponse = await self.client.Grab(request, timeout=timeout, metadata=md)
return response.success
[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_holding_something(
self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs
) -> Gripper.HoldingStatus:
md = kwargs.get("metadata", self.Metadata()).proto
request = IsHoldingSomethingRequest(name=self.name, extra=dict_to_struct(extra))
response: IsHoldingSomethingResponse = await self.client.IsHoldingSomething(request, timeout=timeout, metadata=md)
return Gripper.HoldingStatus(response.is_holding_something, meta=struct_to_dict(response.meta))
[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)
[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)