Package com.viam.component.arm.v1

Class ArmServiceGrpc.ArmServiceStub

java.lang.Object

io.grpc.stub.AbstractStub<S>

io.grpc.stub.AbstractAsyncStub<ArmServiceGrpc.ArmServiceStub>

com.viam.component.arm.v1.ArmServiceGrpc.ArmServiceStub

Enclosing class:

ArmServiceGrpc

public static final class ArmServiceGrpc.ArmServiceStub
extends io.grpc.stub.AbstractAsyncStub<ArmServiceGrpc.ArmServiceStub>

A stub to allow clients to do asynchronous 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.ArmServiceStub	build(io.grpc.Channel channel, io.grpc.CallOptions callOptions)
void	doCommand(Common.DoCommandRequest request, io.grpc.stub.StreamObserver<Common.DoCommandResponse> responseObserver)	DoCommand sends/receives arbitrary commands
void	getEndPosition(Arm.GetEndPositionRequest request, io.grpc.stub.StreamObserver<Arm.GetEndPositionResponse> responseObserver)	GetEndPosition gets the current position the end of the robot's arm expressed as X,Y,Z,ox,oy,oz,theta
void	getGeometries(Common.GetGeometriesRequest request, io.grpc.stub.StreamObserver<Common.GetGeometriesResponse> responseObserver)	GetGeometries returns the geometries of the component in their current configuration
void	getJointPositions(Arm.GetJointPositionsRequest request, io.grpc.stub.StreamObserver<Arm.GetJointPositionsResponse> responseObserver)	GetJointPositions lists the joint positions (in degrees) of every joint on a robot
void	getKinematics(Common.GetKinematicsRequest request, io.grpc.stub.StreamObserver<Common.GetKinematicsResponse> responseObserver)	GetKinematics returns the kinematics file for the component
void	isMoving(Arm.IsMovingRequest request, io.grpc.stub.StreamObserver<Arm.IsMovingResponse> responseObserver)	IsMoving reports if a component is in motion
void	moveThroughJointPositions(Arm.MoveThroughJointPositionsRequest request, io.grpc.stub.StreamObserver<Arm.MoveThroughJointPositionsResponse> responseObserver)	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.
void	moveToJointPositions(Arm.MoveToJointPositionsRequest request, io.grpc.stub.StreamObserver<Arm.MoveToJointPositionsResponse> responseObserver)	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
void	moveToPosition(Arm.MoveToPositionRequest request, io.grpc.stub.StreamObserver<Arm.MoveToPositionResponse> responseObserver)	MoveToPosition moves the mount point of the robot's end effector to the requested position.
void	stop(Arm.StopRequest request, io.grpc.stub.StreamObserver<Arm.StopResponse> responseObserver)	Stop stops a robot's arm

Methods inherited from class io.grpc.stub.AbstractAsyncStub

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.ArmServiceStub build(io.grpc.Channel channel,
 io.grpc.CallOptions callOptions)

Specified by:

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

getEndPosition

public void getEndPosition(Arm.GetEndPositionRequest request,
 io.grpc.stub.StreamObserver<Arm.GetEndPositionResponse> responseObserver)

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

moveToPosition

public void moveToPosition(Arm.MoveToPositionRequest request,
 io.grpc.stub.StreamObserver<Arm.MoveToPositionResponse> responseObserver)

 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 void getJointPositions(Arm.GetJointPositionsRequest request,
 io.grpc.stub.StreamObserver<Arm.GetJointPositionsResponse> responseObserver)

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

moveToJointPositions

public void moveToJointPositions(Arm.MoveToJointPositionsRequest request,
 io.grpc.stub.StreamObserver<Arm.MoveToJointPositionsResponse> responseObserver)

 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 void moveThroughJointPositions(Arm.MoveThroughJointPositionsRequest request,
 io.grpc.stub.StreamObserver<Arm.MoveThroughJointPositionsResponse> responseObserver)

 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 void stop(Arm.StopRequest request,
 io.grpc.stub.StreamObserver<Arm.StopResponse> responseObserver)

 Stop stops a robot's arm
 

isMoving

public void isMoving(Arm.IsMovingRequest request,
 io.grpc.stub.StreamObserver<Arm.IsMovingResponse> responseObserver)

 IsMoving reports if a component is in motion
 

doCommand

public void doCommand(Common.DoCommandRequest request,
 io.grpc.stub.StreamObserver<Common.DoCommandResponse> responseObserver)

 DoCommand sends/receives arbitrary commands
 

getKinematics

public void getKinematics(Common.GetKinematicsRequest request,
 io.grpc.stub.StreamObserver<Common.GetKinematicsResponse> responseObserver)

 GetKinematics returns the kinematics file for the component
 

getGeometries

public void getGeometries(Common.GetGeometriesRequest request,
 io.grpc.stub.StreamObserver<Common.GetGeometriesResponse> responseObserver)

 GetGeometries returns the geometries of the component in their current configuration