Package com.viam.component.arm.v1

Class ArmServiceGrpc.ArmServiceBlockingV2Stub

java.lang.Object

io.grpc.stub.AbstractStub<ArmServiceGrpc.ArmServiceBlockingV2Stub>

io.grpc.stub.AbstractBlockingStub<ArmServiceGrpc.ArmServiceBlockingV2Stub>

com.viam.component.arm.v1.ArmServiceGrpc.ArmServiceBlockingV2Stub

Enclosing class:

ArmServiceGrpc

public static final class ArmServiceGrpc.ArmServiceBlockingV2Stub
extends io.grpc.stub.AbstractBlockingStub<ArmServiceGrpc.ArmServiceBlockingV2Stub>

A stub to allow clients to do synchronous rpc calls to service ArmService.

 An ArmService services all arms associated with a robot
 

Nested Class Summary

Nested classes/interfaces inherited from class io.grpc.stub.AbstractStub

io.grpc.stub.AbstractStub.StubFactory<T extends io.grpc.stub.AbstractStub<T>>

Method Summary

Modifier and Type	Method	Description
protected ArmServiceGrpc.ArmServiceBlockingV2Stub	build(io.grpc.Channel channel, io.grpc.CallOptions callOptions)
Common.DoCommandResponse	doCommand(Common.DoCommandRequest request)	DoCommand sends/receives arbitrary commands
Common.Get3DModelsResponse	get3DModels(Common.Get3DModelsRequest request)	Get3DModels returns the 3D models of the component
Arm.GetEndPositionResponse	getEndPosition(Arm.GetEndPositionRequest request)	GetEndPosition gets the current position the end of the robot's arm expressed as X,Y,Z,ox,oy,oz,theta
Common.GetGeometriesResponse	getGeometries(Common.GetGeometriesRequest request)	GetGeometries returns the geometries of the component in their current configuration
Arm.GetJointPositionsResponse	getJointPositions(Arm.GetJointPositionsRequest request)	GetJointPositions lists the joint positions (in degrees) of every joint on a robot
Common.GetKinematicsResponse	getKinematics(Common.GetKinematicsRequest request)	GetKinematics returns the kinematics file for the component
Arm.GetManualModeResponse	getManualMode(Arm.GetManualModeRequest request)	GetManualMode returns whether the arm is currently in manual mode
Arm.GetPropertiesResponse	getProperties(Arm.GetPropertiesRequest request)	GetProperties returns a message indicating which features the arm supports
Common.GetStatusResponse	getStatus(Common.GetStatusRequest request)	GetStatus returns the status of the resource
Arm.IsMovingResponse	isMoving(Arm.IsMovingRequest request)	IsMoving reports if a component is in motion
Arm.MoveThroughJointPositionsResponse	moveThroughJointPositions(Arm.MoveThroughJointPositionsRequest request)	MoveThroughJointPositions moves every joint on a robot's arm to the specified JointPositions in the order they are specified, obeying the specified velocity and acceleration limits.
io.grpc.stub.BlockingClientCall<Arm.MoveThroughJointPositionsStreamedRequest,Arm.MoveThroughJointPositionsStreamedResponse>	moveThroughJointPositionsStreamed()
Arm.MoveToJointPositionsResponse	moveToJointPositions(Arm.MoveToJointPositionsRequest request)	MoveToJointPositions moves every joint on a robot's arm to specified angles which are expressed in degrees This will block until done or a new operation cancels this one
Arm.MoveToPositionResponse	moveToPosition(Arm.MoveToPositionRequest request)	MoveToPosition moves the mount point of the robot's end effector to the requested position.
Arm.SetManualModeResponse	setManualMode(Arm.SetManualModeRequest request)	SetManualMode enters or exits manual mode for an arm that supports it
Arm.StopResponse	stop(Arm.StopRequest request)	Stop stops a robot's arm

Methods inherited from class io.grpc.stub.AbstractBlockingStub

newStub, newStub

Methods inherited from class io.grpc.stub.AbstractStub

getCallOptions, getChannel, withCallCredentials, withChannel, withCompression, withDeadline, withDeadlineAfter, withDeadlineAfter, withExecutor, withInterceptors, withMaxInboundMessageSize, withMaxOutboundMessageSize, withOnReadyThreshold, withOption, withWaitForReady

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

build

protected ArmServiceGrpc.ArmServiceBlockingV2Stub build(io.grpc.Channel channel,
 io.grpc.CallOptions callOptions)

Specified by:

build in class io.grpc.stub.AbstractStub<ArmServiceGrpc.ArmServiceBlockingV2Stub>

getEndPosition

public Arm.GetEndPositionResponse getEndPosition(Arm.GetEndPositionRequest request)
                                          throws io.grpc.StatusException

 GetEndPosition gets the current position the end of the robot's arm expressed as X,Y,Z,ox,oy,oz,theta
 

Throws:

io.grpc.StatusException

moveToPosition

public Arm.MoveToPositionResponse moveToPosition(Arm.MoveToPositionRequest request)
                                          throws io.grpc.StatusException

 MoveToPosition moves the mount point of the robot's end effector to the requested position.
 This will block until done or a new operation cancels this one
 

Throws:

io.grpc.StatusException

getJointPositions

public Arm.GetJointPositionsResponse getJointPositions(Arm.GetJointPositionsRequest request)
                                                throws io.grpc.StatusException

 GetJointPositions lists the joint positions (in degrees) of every joint on a robot
 

Throws:

io.grpc.StatusException

moveToJointPositions

public Arm.MoveToJointPositionsResponse moveToJointPositions(Arm.MoveToJointPositionsRequest request)
                                                      throws io.grpc.StatusException

 MoveToJointPositions moves every joint on a robot's arm to specified angles which are expressed in degrees
 This will block until done or a new operation cancels this one
 

Throws:

io.grpc.StatusException

moveThroughJointPositions

public Arm.MoveThroughJointPositionsResponse moveThroughJointPositions(Arm.MoveThroughJointPositionsRequest request)
                                                                throws io.grpc.StatusException

 MoveThroughJointPositions moves every joint on a robot's arm to the specified JointPositions in the order they are specified,
 obeying the specified velocity and acceleration limits.
 This will block until done or a new operation cancels this one
 

Throws:

io.grpc.StatusException

moveThroughJointPositionsStreamed

@ExperimentalApi("https://github.com/grpc/grpc-java/issues/10918")
public io.grpc.stub.BlockingClientCall<Arm.MoveThroughJointPositionsStreamedRequest,Arm.MoveThroughJointPositionsStreamedResponse> moveThroughJointPositionsStreamed()

stop

public Arm.StopResponse stop(Arm.StopRequest request)
                      throws io.grpc.StatusException

 Stop stops a robot's arm
 

Throws:

io.grpc.StatusException

isMoving

public Arm.IsMovingResponse isMoving(Arm.IsMovingRequest request)
                              throws io.grpc.StatusException

 IsMoving reports if a component is in motion
 

Throws:

io.grpc.StatusException

doCommand

public Common.DoCommandResponse doCommand(Common.DoCommandRequest request)
                                   throws io.grpc.StatusException

 DoCommand sends/receives arbitrary commands
 

Throws:

io.grpc.StatusException

getStatus

public Common.GetStatusResponse getStatus(Common.GetStatusRequest request)
                                   throws io.grpc.StatusException

 GetStatus returns the status of the resource
 

Throws:

io.grpc.StatusException

getKinematics

public Common.GetKinematicsResponse getKinematics(Common.GetKinematicsRequest request)
                                           throws io.grpc.StatusException

 GetKinematics returns the kinematics file for the component
 

Throws:

io.grpc.StatusException

getGeometries

public Common.GetGeometriesResponse getGeometries(Common.GetGeometriesRequest request)
                                           throws io.grpc.StatusException

 GetGeometries returns the geometries of the component in their current configuration
 

Throws:

io.grpc.StatusException

get3DModels

public Common.Get3DModelsResponse get3DModels(Common.Get3DModelsRequest request)
                                       throws io.grpc.StatusException

 Get3DModels returns the 3D models of the component
 

Throws:

io.grpc.StatusException

setManualMode

public Arm.SetManualModeResponse setManualMode(Arm.SetManualModeRequest request)
                                        throws io.grpc.StatusException

 SetManualMode enters or exits manual mode for an arm that supports it
 

Throws:

io.grpc.StatusException

getManualMode

public Arm.GetManualModeResponse getManualMode(Arm.GetManualModeRequest request)
                                        throws io.grpc.StatusException

 GetManualMode returns whether the arm is currently in manual mode
 

Throws:

io.grpc.StatusException

getProperties

public Arm.GetPropertiesResponse getProperties(Arm.GetPropertiesRequest request)
                                        throws io.grpc.StatusException

 GetProperties returns a message indicating which features the arm supports
 

Throws:

io.grpc.StatusException