Source code for viam.gen.component.arm.v1.arm_grpc

import abc
import typing
import grpclib.const
import grpclib.client
if typing.TYPE_CHECKING:
    import grpclib.server
from .... import common
import google.api.annotations_pb2
import google.protobuf.struct_pb2
from .... import component

[docs]class ArmServiceBase(abc.ABC):
[docs] @abc.abstractmethod async def GetEndPosition(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.GetEndPositionRequest, component.arm.v1.arm_pb2.GetEndPositionResponse]') -> None: pass
[docs] @abc.abstractmethod async def MoveToPosition(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.MoveToPositionRequest, component.arm.v1.arm_pb2.MoveToPositionResponse]') -> None: pass
[docs] @abc.abstractmethod async def GetJointPositions(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.GetJointPositionsRequest, component.arm.v1.arm_pb2.GetJointPositionsResponse]') -> None: pass
[docs] @abc.abstractmethod async def MoveToJointPositions(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.MoveToJointPositionsRequest, component.arm.v1.arm_pb2.MoveToJointPositionsResponse]') -> None: pass
[docs] @abc.abstractmethod async def Stop(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.StopRequest, component.arm.v1.arm_pb2.StopResponse]') -> None: pass
[docs] @abc.abstractmethod async def IsMoving(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.IsMovingRequest, component.arm.v1.arm_pb2.IsMovingResponse]') -> None: pass
[docs] @abc.abstractmethod async def DoCommand(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]') -> None: pass
[docs] @abc.abstractmethod async def GetKinematics(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse]') -> None: pass
[docs] @abc.abstractmethod async def GetGeometries(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse]') -> None: pass
[docs] def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]: return {'/viam.component.arm.v1.ArmService/GetEndPosition': grpclib.const.Handler(self.GetEndPosition, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.GetEndPositionRequest, component.arm.v1.arm_pb2.GetEndPositionResponse), '/viam.component.arm.v1.ArmService/MoveToPosition': grpclib.const.Handler(self.MoveToPosition, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.MoveToPositionRequest, component.arm.v1.arm_pb2.MoveToPositionResponse), '/viam.component.arm.v1.ArmService/GetJointPositions': grpclib.const.Handler(self.GetJointPositions, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.GetJointPositionsRequest, component.arm.v1.arm_pb2.GetJointPositionsResponse), '/viam.component.arm.v1.ArmService/MoveToJointPositions': grpclib.const.Handler(self.MoveToJointPositions, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.MoveToJointPositionsRequest, component.arm.v1.arm_pb2.MoveToJointPositionsResponse), '/viam.component.arm.v1.ArmService/Stop': grpclib.const.Handler(self.Stop, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.StopRequest, component.arm.v1.arm_pb2.StopResponse), '/viam.component.arm.v1.ArmService/IsMoving': grpclib.const.Handler(self.IsMoving, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.IsMovingRequest, component.arm.v1.arm_pb2.IsMovingResponse), '/viam.component.arm.v1.ArmService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.arm.v1.ArmService/GetKinematics': grpclib.const.Handler(self.GetKinematics, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse), '/viam.component.arm.v1.ArmService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)}
[docs]class ArmServiceStub: def __init__(self, channel: grpclib.client.Channel) -> None: self.GetEndPosition = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/GetEndPosition', component.arm.v1.arm_pb2.GetEndPositionRequest, component.arm.v1.arm_pb2.GetEndPositionResponse) self.MoveToPosition = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/MoveToPosition', component.arm.v1.arm_pb2.MoveToPositionRequest, component.arm.v1.arm_pb2.MoveToPositionResponse) self.GetJointPositions = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/GetJointPositions', component.arm.v1.arm_pb2.GetJointPositionsRequest, component.arm.v1.arm_pb2.GetJointPositionsResponse) self.MoveToJointPositions = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/MoveToJointPositions', component.arm.v1.arm_pb2.MoveToJointPositionsRequest, component.arm.v1.arm_pb2.MoveToJointPositionsResponse) self.Stop = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/Stop', component.arm.v1.arm_pb2.StopRequest, component.arm.v1.arm_pb2.StopResponse) self.IsMoving = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/IsMoving', component.arm.v1.arm_pb2.IsMovingRequest, component.arm.v1.arm_pb2.IsMovingResponse) self.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse) self.GetKinematics = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/GetKinematics', common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse) self.GetGeometries = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/GetGeometries', common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)