Package com.viam.component.arm.v1

Class ArmServiceGrpc.ArmServiceFutureStub

java.lang.Object

io.grpc.stub.AbstractStub<S>

io.grpc.stub.AbstractFutureStub<ArmServiceGrpc.ArmServiceFutureStub>

com.viam.component.arm.v1.ArmServiceGrpc.ArmServiceFutureStub

Enclosing class:

ArmServiceGrpc

public static final class ArmServiceGrpc.ArmServiceFutureStub
extends io.grpc.stub.AbstractFutureStub<ArmServiceGrpc.ArmServiceFutureStub>

A stub to allow clients to do ListenableFuture-style 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.ArmServiceFutureStub	build(io.grpc.Channel channel, io.grpc.CallOptions callOptions)
com.google.common.util.concurrent.ListenableFuture<Common.DoCommandResponse>	doCommand(Common.DoCommandRequest request)	DoCommand sends/receives arbitrary commands
com.google.common.util.concurrent.ListenableFuture<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
com.google.common.util.concurrent.ListenableFuture<Common.GetGeometriesResponse>	getGeometries(Common.GetGeometriesRequest request)	GetGeometries returns the geometries of the component in their current configuration
com.google.common.util.concurrent.ListenableFuture<Arm.GetJointPositionsResponse>	getJointPositions(Arm.GetJointPositionsRequest request)	GetJointPositions lists the joint positions (in degrees) of every joint on a robot
com.google.common.util.concurrent.ListenableFuture<Common.GetKinematicsResponse>	getKinematics(Common.GetKinematicsRequest request)	GetKinematics returns the kinematics file for the component
com.google.common.util.concurrent.ListenableFuture<Arm.IsMovingResponse>	isMoving(Arm.IsMovingRequest request)	IsMoving reports if a component is in motion
com.google.common.util.concurrent.ListenableFuture<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.
com.google.common.util.concurrent.ListenableFuture<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
com.google.common.util.concurrent.ListenableFuture<Arm.MoveToPositionResponse>	moveToPosition(Arm.MoveToPositionRequest request)	MoveToPosition moves the mount point of the robot's end effector to the requested position.
com.google.common.util.concurrent.ListenableFuture<Arm.StopResponse>	stop(Arm.StopRequest request)	Stop stops a robot's arm

Methods inherited from class io.grpc.stub.AbstractFutureStub

newStub, newStub

Methods inherited from class io.grpc.stub.AbstractStub

getCallOptions, getChannel, withCallCredentials, withChannel, withCompression, withDeadline, 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.ArmServiceFutureStub build(io.grpc.Channel channel,
 io.grpc.CallOptions callOptions)

Specified by:

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

getEndPosition

public com.google.common.util.concurrent.ListenableFuture<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
 

moveToPosition

public com.google.common.util.concurrent.ListenableFuture<Arm.MoveToPositionResponse> moveToPosition(Arm.MoveToPositionRequest request)

 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
 

getJointPositions

public com.google.common.util.concurrent.ListenableFuture<Arm.GetJointPositionsResponse> getJointPositions(Arm.GetJointPositionsRequest request)

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

moveToJointPositions

public com.google.common.util.concurrent.ListenableFuture<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
 

moveThroughJointPositions

public com.google.common.util.concurrent.ListenableFuture<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.
 This will block until done or a new operation cancels this one
 

stop

public com.google.common.util.concurrent.ListenableFuture<Arm.StopResponse> stop(Arm.StopRequest request)

 Stop stops a robot's arm
 

isMoving

public com.google.common.util.concurrent.ListenableFuture<Arm.IsMovingResponse> isMoving(Arm.IsMovingRequest request)

 IsMoving reports if a component is in motion
 

doCommand

public com.google.common.util.concurrent.ListenableFuture<Common.DoCommandResponse> doCommand(Common.DoCommandRequest request)

 DoCommand sends/receives arbitrary commands
 

getKinematics

public com.google.common.util.concurrent.ListenableFuture<Common.GetKinematicsResponse> getKinematics(Common.GetKinematicsRequest request)

 GetKinematics returns the kinematics file for the component
 

getGeometries

public com.google.common.util.concurrent.ListenableFuture<Common.GetGeometriesResponse> getGeometries(Common.GetGeometriesRequest request)

 GetGeometries returns the geometries of the component in their current configuration