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

Class GripperRPCService

java.lang.Object

com.viam.component.gripper.v1.GripperServiceGrpc.GripperServiceImplBase

com.viam.sdk.core.component.gripper.GripperRPCService

All Implemented Interfaces:

GripperServiceGrpc.AsyncService, ResourceRPCService<Gripper>, io.grpc.BindableService

public class GripperRPCService
extends GripperServiceGrpc.GripperServiceImplBase
implements ResourceRPCService<Gripper>

gRPC Service for a Gripper component

Constructor Summary

Constructors

Constructor	Description
GripperRPCService(ResourceManager manager)

Method Summary

Modifier and Type	Method	Description
void	doCommand(Common.DoCommandRequest request, io.grpc.stub.StreamObserver<Common.DoCommandResponse> responseObserver)	DoCommand sends/receives arbitrary commands
void	getGeometries(Common.GetGeometriesRequest request, io.grpc.stub.StreamObserver<Common.GetGeometriesResponse> responseObserver)	GetGeometries returns the geometries of the component in their current configuration
ResourceManager	getManager()
Class<Gripper>	getResourceClass()
void	grab(Gripper.GrabRequest request, io.grpc.stub.StreamObserver<Gripper.GrabResponse> responseObserver)	Grab requests a gripper of the underlying robot to grab.
void	isMoving(Gripper.IsMovingRequest request, io.grpc.stub.StreamObserver<Gripper.IsMovingResponse> responseObserver)	IsMoving reports if a component is in motion
void	open(Gripper.OpenRequest request, io.grpc.stub.StreamObserver<Gripper.OpenResponse> responseObserver)	Open opens a gripper of the underlying robot.
void	stop(Gripper.StopRequest request, io.grpc.stub.StreamObserver<Gripper.StopResponse> responseObserver)	Stop stops a robot's gripper

Methods inherited from class com.viam.component.gripper.v1.GripperServiceGrpc.GripperServiceImplBase

bindService

Methods inherited from class java.lang.Object

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

Methods inherited from interface io.grpc.BindableService

bindService

Methods inherited from interface com.viam.component.gripper.v1.GripperServiceGrpc.AsyncService

getKinematics, isHoldingSomething

Methods inherited from interface com.viam.sdk.core.resource.ResourceRPCService

getResource

Constructor Details

GripperRPCService

public GripperRPCService(ResourceManager manager)

Method Details

open

public void open(Gripper.OpenRequest request,
 io.grpc.stub.StreamObserver<Gripper.OpenResponse> responseObserver)

Description copied from interface: GripperServiceGrpc.AsyncService

 Open opens a gripper of the underlying robot.
 

Specified by:

open in interface GripperServiceGrpc.AsyncService

grab

public void grab(Gripper.GrabRequest request,
 io.grpc.stub.StreamObserver<Gripper.GrabResponse> responseObserver)

Description copied from interface: GripperServiceGrpc.AsyncService

 Grab requests a gripper of the underlying robot to grab.
 

Specified by:

grab in interface GripperServiceGrpc.AsyncService

stop

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

Description copied from interface: GripperServiceGrpc.AsyncService

 Stop stops a robot's gripper
 

Specified by:

stop in interface GripperServiceGrpc.AsyncService

isMoving

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

Description copied from interface: GripperServiceGrpc.AsyncService

 IsMoving reports if a component is in motion
 

Specified by:

isMoving in interface GripperServiceGrpc.AsyncService

doCommand

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

Description copied from interface: GripperServiceGrpc.AsyncService

 DoCommand sends/receives arbitrary commands
 

Specified by:

doCommand in interface GripperServiceGrpc.AsyncService

getGeometries

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

Description copied from interface: GripperServiceGrpc.AsyncService

 GetGeometries returns the geometries of the component in their current configuration
 

Specified by:

getGeometries in interface GripperServiceGrpc.AsyncService

getResourceClass

public Class<Gripper> getResourceClass()

Specified by:

getResourceClass in interface ResourceRPCService<Gripper>

getManager

public ResourceManager getManager()

Specified by:

getManager in interface ResourceRPCService<Gripper>