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.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>