Package com.viam.sdk.core.component.generic

Class GenericRPCClient

java.lang.Object

com.viam.sdk.core.resource.Resource

com.viam.sdk.core.component.Component

com.viam.sdk.core.component.generic.Generic

com.viam.sdk.core.component.generic.GenericRPCClient

public class GenericRPCClient
extends Generic

gRPC client for the Generic component

Nested Class Summary

Nested classes/interfaces inherited from class com.viam.sdk.core.resource.Resource

Resource.Reconfigurable, Resource.Stoppable

Field Summary

Fields inherited from class com.viam.sdk.core.component.generic.Generic

SUBTYPE

Constructor Summary

Constructors

Constructor	Description
GenericRPCClient(String name, Channel chan)

Method Summary

Modifier and Type	Method	Description
com.google.protobuf.Struct	doCommand(Map<String,com.google.protobuf.Value> command)	Send/Receive arbitrary commands to the Resource
List<Common.Geometry>	getGeometries(Optional<com.google.protobuf.Struct> extra)	Get all geometries associated with the Component, in their current configuration, in the frame of the Component.

Methods inherited from class com.viam.sdk.core.component.generic.Generic

fromRobot, named

Methods inherited from class com.viam.sdk.core.resource.Resource

close, createStatus, getName, getSubtype, named

Methods inherited from class java.lang.Object

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

Constructor Details

GenericRPCClient

public GenericRPCClient(String name,
 Channel chan)

Method Details

doCommand

public com.google.protobuf.Struct doCommand(Map<String,com.google.protobuf.Value> command)

Description copied from class: Resource

Send/Receive arbitrary commands to the Resource

Overrides:

doCommand in class Resource

Parameters:

command - the command to execute

Returns:

result of the executed command

getGeometries

public List<Common.Geometry> getGeometries(Optional<com.google.protobuf.Struct> extra)

Description copied from class: Component

Get all geometries associated with the Component, in their current configuration, in the frame of the Component.

Overrides:

getGeometries in class Component

Returns:

the geometries associated with the Component