Package com.viam.robot.v1

Interface RobotServiceGrpc.AsyncService

All Known Implementing Classes:

RobotRPCService, RobotServiceGrpc.RobotServiceImplBase

Enclosing class:

RobotServiceGrpc

public static interface RobotServiceGrpc.AsyncService

 A RobotService encompasses all functionality of some robot comprised of parts, local and remote.
 

Method Summary

Modifier and Type	Method	Description
default void	blockForOperation(Robot.BlockForOperationRequest request, io.grpc.stub.StreamObserver<Robot.BlockForOperationResponse> responseObserver)
default void	cancelOperation(Robot.CancelOperationRequest request, io.grpc.stub.StreamObserver<Robot.CancelOperationResponse> responseObserver)
default void	frameSystemConfig(Robot.FrameSystemConfigRequest request, io.grpc.stub.StreamObserver<Robot.FrameSystemConfigResponse> responseObserver)	FrameSystemConfig returns the information relevant to building the robot's frame system.
default void	getCloudMetadata(Robot.GetCloudMetadataRequest request, io.grpc.stub.StreamObserver<Robot.GetCloudMetadataResponse> responseObserver)	GetCloudMetadata returns app-related information about the robot.
default void	getMachineStatus(Robot.GetMachineStatusRequest request, io.grpc.stub.StreamObserver<Robot.GetMachineStatusResponse> responseObserver)	GetMachineStatus returns the current status of the robot.
default void	getModelsFromModules(Robot.GetModelsFromModulesRequest request, io.grpc.stub.StreamObserver<Robot.GetModelsFromModulesResponse> responseObserver)	GetModelsFromModules returns the list of models supported in modules on the machine.
default void	getOperations(Robot.GetOperationsRequest request, io.grpc.stub.StreamObserver<Robot.GetOperationsResponse> responseObserver)
default void	getPose(Robot.GetPoseRequest request, io.grpc.stub.StreamObserver<Robot.GetPoseResponse> responseObserver)	GetPose returns the pose of a component in a desired referenceframe.
default void	getSessions(Robot.GetSessionsRequest request, io.grpc.stub.StreamObserver<Robot.GetSessionsResponse> responseObserver)
default void	getStatus(Robot.GetStatusRequest request, io.grpc.stub.StreamObserver<Robot.GetStatusResponse> responseObserver)	Deprecated.
default void	getVersion(Robot.GetVersionRequest request, io.grpc.stub.StreamObserver<Robot.GetVersionResponse> responseObserver)	GetVersion returns version information about the robot.
default void	listTunnels(Robot.ListTunnelsRequest request, io.grpc.stub.StreamObserver<Robot.ListTunnelsResponse> responseObserver)	ListTunnels lists all available tunnels configured on the robot.
default void	log(Robot.LogRequest request, io.grpc.stub.StreamObserver<Robot.LogResponse> responseObserver)	Log sends logs to be logged by this robot.
default void	resourceNames(Robot.ResourceNamesRequest request, io.grpc.stub.StreamObserver<Robot.ResourceNamesResponse> responseObserver)	ResourceNames returns the list of all resources.
default void	resourceRPCSubtypes(Robot.ResourceRPCSubtypesRequest request, io.grpc.stub.StreamObserver<Robot.ResourceRPCSubtypesResponse> responseObserver)	ResourceRPCSubtypes returns the list of all resource types.
default void	restartModule(Robot.RestartModuleRequest request, io.grpc.stub.StreamObserver<Robot.RestartModuleResponse> responseObserver)
default void	sendSessionHeartbeat(Robot.SendSessionHeartbeatRequest request, io.grpc.stub.StreamObserver<Robot.SendSessionHeartbeatResponse> responseObserver)	SendSessionHeartbeat sends a heartbeat to the given session.
default void	shutdown(Robot.ShutdownRequest request, io.grpc.stub.StreamObserver<Robot.ShutdownResponse> responseObserver)	Shutdown shuts down the robot.
default void	startSession(Robot.StartSessionRequest request, io.grpc.stub.StreamObserver<Robot.StartSessionResponse> responseObserver)	StartSession creates a new session that expects at least one heartbeat within the returned window.
default void	stopAll(Robot.StopAllRequest request, io.grpc.stub.StreamObserver<Robot.StopAllResponse> responseObserver)	StopAll will stop all current and outstanding operations for the robot and stops all actuators and movement
default void	streamStatus(Robot.StreamStatusRequest request, io.grpc.stub.StreamObserver<Robot.StreamStatusResponse> responseObserver)	Deprecated.
default void	transformPCD(Robot.TransformPCDRequest request, io.grpc.stub.StreamObserver<Robot.TransformPCDResponse> responseObserver)	TransformPose returns a point cloud in one referenceframe in a desired referenceframe.
default void	transformPose(Robot.TransformPoseRequest request, io.grpc.stub.StreamObserver<Robot.TransformPoseResponse> responseObserver)	TransformPose returns a pose in one referenceframe in a desired referenceframe.
default io.grpc.stub.StreamObserver<Robot.TunnelRequest>	tunnel(io.grpc.stub.StreamObserver<Robot.TunnelResponse> responseObserver)	Tunnel tunnels traffic to the destination port of the robot server.

Method Details

getOperations

default void getOperations(Robot.GetOperationsRequest request,
 io.grpc.stub.StreamObserver<Robot.GetOperationsResponse> responseObserver)

getSessions

default void getSessions(Robot.GetSessionsRequest request,
 io.grpc.stub.StreamObserver<Robot.GetSessionsResponse> responseObserver)

resourceNames

default void resourceNames(Robot.ResourceNamesRequest request,
 io.grpc.stub.StreamObserver<Robot.ResourceNamesResponse> responseObserver)

 ResourceNames returns the list of all resources.
 

resourceRPCSubtypes

default void resourceRPCSubtypes(Robot.ResourceRPCSubtypesRequest request,
 io.grpc.stub.StreamObserver<Robot.ResourceRPCSubtypesResponse> responseObserver)

 ResourceRPCSubtypes returns the list of all resource types.
 

cancelOperation

default void cancelOperation(Robot.CancelOperationRequest request,
 io.grpc.stub.StreamObserver<Robot.CancelOperationResponse> responseObserver)

blockForOperation

default void blockForOperation(Robot.BlockForOperationRequest request,
 io.grpc.stub.StreamObserver<Robot.BlockForOperationResponse> responseObserver)

getModelsFromModules

default void getModelsFromModules(Robot.GetModelsFromModulesRequest request,
 io.grpc.stub.StreamObserver<Robot.GetModelsFromModulesResponse> responseObserver)

 GetModelsFromModules returns the list of models supported in modules on the machine.
 

getStatus

@Deprecated
default void getStatus(Robot.GetStatusRequest request,
 io.grpc.stub.StreamObserver<Robot.GetStatusResponse> responseObserver)

Deprecated.

 GetStatus returns the list of all statuses requested. An empty request signifies all resources.
 

streamStatus

@Deprecated
default void streamStatus(Robot.StreamStatusRequest request,
 io.grpc.stub.StreamObserver<Robot.StreamStatusResponse> responseObserver)

Deprecated.

 StreamStatus periodically sends the status of all statuses requested. An empty request signifies all resources.
 

stopAll

default void stopAll(Robot.StopAllRequest request,
 io.grpc.stub.StreamObserver<Robot.StopAllResponse> responseObserver)

 StopAll will stop all current and outstanding operations for the robot and stops all actuators and movement
 

startSession

default void startSession(Robot.StartSessionRequest request,
 io.grpc.stub.StreamObserver<Robot.StartSessionResponse> responseObserver)

 StartSession creates a new session that expects at least one heartbeat within the returned window.
 If the window lapses, any resources that have safety heart monitored methods, where this session was
 the last caller on the resource, will be stopped.
 

sendSessionHeartbeat

default void sendSessionHeartbeat(Robot.SendSessionHeartbeatRequest request,
 io.grpc.stub.StreamObserver<Robot.SendSessionHeartbeatResponse> responseObserver)

 SendSessionHeartbeat sends a heartbeat to the given session. If the session has expired, a
 SESSION_EXPIRED error will be returned.
 

log

default void log(Robot.LogRequest request,
 io.grpc.stub.StreamObserver<Robot.LogResponse> responseObserver)

 Log sends logs to be logged by this robot. Currently used for module logging.
 

getCloudMetadata

default void getCloudMetadata(Robot.GetCloudMetadataRequest request,
 io.grpc.stub.StreamObserver<Robot.GetCloudMetadataResponse> responseObserver)

 GetCloudMetadata returns app-related information about the robot.
 

restartModule

default void restartModule(Robot.RestartModuleRequest request,
 io.grpc.stub.StreamObserver<Robot.RestartModuleResponse> responseObserver)

shutdown

default void shutdown(Robot.ShutdownRequest request,
 io.grpc.stub.StreamObserver<Robot.ShutdownResponse> responseObserver)

 Shutdown shuts down the robot.
 

getMachineStatus

default void getMachineStatus(Robot.GetMachineStatusRequest request,
 io.grpc.stub.StreamObserver<Robot.GetMachineStatusResponse> responseObserver)

 GetMachineStatus returns the current status of the robot.
 

getVersion

default void getVersion(Robot.GetVersionRequest request,
 io.grpc.stub.StreamObserver<Robot.GetVersionResponse> responseObserver)

 GetVersion returns version information about the robot.
 

tunnel

default io.grpc.stub.StreamObserver<Robot.TunnelRequest> tunnel(io.grpc.stub.StreamObserver<Robot.TunnelResponse> responseObserver)

 Tunnel tunnels traffic to the destination port of the robot server.
 

listTunnels

default void listTunnels(Robot.ListTunnelsRequest request,
 io.grpc.stub.StreamObserver<Robot.ListTunnelsResponse> responseObserver)

 ListTunnels lists all available tunnels configured on the robot.
 

frameSystemConfig

default void frameSystemConfig(Robot.FrameSystemConfigRequest request,
 io.grpc.stub.StreamObserver<Robot.FrameSystemConfigResponse> responseObserver)

 FrameSystemConfig returns the information relevant to building the robot's frame system.
 

getPose

default void getPose(Robot.GetPoseRequest request,
 io.grpc.stub.StreamObserver<Robot.GetPoseResponse> responseObserver)

 GetPose returns the pose of a component in a desired referenceframe.
 

transformPose

default void transformPose(Robot.TransformPoseRequest request,
 io.grpc.stub.StreamObserver<Robot.TransformPoseResponse> responseObserver)

 TransformPose returns a pose in one referenceframe in a desired referenceframe.
 

transformPCD

default void transformPCD(Robot.TransformPCDRequest request,
 io.grpc.stub.StreamObserver<Robot.TransformPCDResponse> responseObserver)

 TransformPose returns a point cloud in one referenceframe in a desired referenceframe.