Package com.viam.sdk.core.module

Class BaseModule

java.lang.Object

viam.module.v1.ModuleServiceGrpc.ModuleServiceImplBase

com.viam.sdk.core.module.BaseModule

All Implemented Interfaces:

io.grpc.BindableService, ModuleServiceGrpc.AsyncService

public abstract class BaseModule
extends ModuleServiceGrpc.ModuleServiceImplBase

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	BaseModule.ExceptionInterceptor

Field Summary

Fields

Modifier and Type	Field	Description
protected final String	address

Constructor Summary

Constructors

Constructor	Description
BaseModule(String[] args)	Create a new Module with the args provided in the command line.

Method Summary

Modifier and Type	Method	Description
void	addResource(Module.AddResourceRequest request)
protected Level	getLogLevel()
protected abstract RobotClient	getParent()
protected abstract io.grpc.ServerBuilder<?>	getServerBuilder()
Module.ReadyResponse	ready(Module.ReadyRequest request)
void	reconfigureResource(Module.ReconfigureResourceRequest request)
void	removeResource(Module.RemoveResourceRequest request)
protected abstract void	setParentAddress(String parentAddress)
void	setReady(boolean ready)
void	start()	Start the module service and gRPC server
Set<String>	validateConfig(Module.ValidateConfigRequest request)

Methods inherited from class viam.module.v1.ModuleServiceGrpc.ModuleServiceImplBase

bindService

Methods inherited from class java.lang.Object

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

Methods inherited from interface viam.module.v1.ModuleServiceGrpc.AsyncService

addResource, ready, reconfigureResource, removeResource, validateConfig

Field Details

address

protected final String address

Constructor Details

BaseModule

public BaseModule(String[] args)

Create a new Module with the args provided in the command line. The first argument after the command must be the socket path. If the second argument after the command is "--log-level=debug", the Module's logger will be DEBUG level. Otherwise, it will be INFO level. See LogLevel documentation in the RDK for more information on how to start modules with a "log-level" commandline argument.

Method Details

getLogLevel

protected Level getLogLevel()

getServerBuilder

protected abstract io.grpc.ServerBuilder<?> getServerBuilder()

setReady

public void setReady(boolean ready)

setParentAddress

protected abstract void setParentAddress(String parentAddress)

getParent

protected abstract RobotClient getParent()

start

public void start()

Start the module service and gRPC server

addResource

public void addResource(Module.AddResourceRequest request)

reconfigureResource

public void reconfigureResource(Module.ReconfigureResourceRequest request)

removeResource

public void removeResource(Module.RemoveResourceRequest request)

ready

public Module.ReadyResponse ready(Module.ReadyRequest request)

validateConfig

public Set<String> validateConfig(Module.ValidateConfigRequest request)