Package com.viam.sdk.core.component.gripper

Class GripperRPCClient

java.lang.Object

com.viam.sdk.core.resource.Resource

com.viam.sdk.core.component.Component

com.viam.sdk.core.component.gripper.Gripper

com.viam.sdk.core.component.gripper.GripperRPCClient

public class GripperRPCClient
extends Gripper

gRPC Client for a Gripper 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.gripper.Gripper

SUBTYPE

Constructor Summary

Constructors

Constructor	Description
GripperRPCClient(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.
boolean	grab(Optional<com.google.protobuf.Struct> extra)	Instruct the gripper to grab.
boolean	isMoving()	Get if the gripper is currently moving.
void	open(Optional<com.google.protobuf.Struct> extra)	Open the gripper.
void	stop(Optional<com.google.protobuf.Struct> extra)	Stop the gripper.

Methods inherited from class com.viam.sdk.core.component.gripper.Gripper

createStatus, fromRobot, named

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

close, getName, getSubtype, named

Methods inherited from class java.lang.Object

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

Constructor Details

GripperRPCClient

public GripperRPCClient(String name,
 Channel chan)

Method Details

open

public void open(Optional<com.google.protobuf.Struct> extra)

Description copied from class: Gripper

Open the gripper.

Specified by:

open in class Gripper

grab

public boolean grab(Optional<com.google.protobuf.Struct> extra)

Description copied from class: Gripper

Instruct the gripper to grab.

Specified by:

grab in class Gripper

Returns:

Indicates if the gripper grabbed something.

stop

public void stop(Optional<com.google.protobuf.Struct> extra)

Description copied from class: Gripper

Stop the gripper. It is assumed the gripper stops immediately.

Specified by:

stop in class Gripper

isMoving

public boolean isMoving()

Description copied from class: Gripper

Get if the gripper is currently moving.

Specified by:

isMoving in class Gripper

Returns:

Whether the gripper is moving.

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