Package com.viam.sdk.core.robot

Class RobotClient

java.lang.Object

com.viam.sdk.core.robot.RobotClient

All Implemented Interfaces:

Closeable, AutoCloseable

public class RobotClient
extends Object
implements Closeable

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	RobotClient.Options<MediaStreamT>

Constructor Summary

Constructors

Constructor	Description
RobotClient(Channel chan)
RobotClient(Channel chan, RobotClient.Options<MediaStreamT> options)
RobotClient(io.grpc.ManagedChannel chan)

Method Summary

Modifier and Type	Method	Description
void	addStream(String name)
void	blockForOperation(String id)
void	cancelOperation(String id)
void	close()
List<Robot.Discovery>	discoverComponents(List<Robot.DiscoveryQuery> queries)
Component	getComponent(Common.ResourceName name)
List<Robot.FrameSystemConfig>	getFrameSystemConfig()
List<Robot.FrameSystemConfig>	getFrameSystemConfig(List<Common.Transform> additionalTransforms)
List<Robot.Operation>	getOperations()
<ResourceT> ResourceT	getResource(Class<ResourceT> resourceClass, Common.ResourceName name)
List<Common.ResourceName>	getResourceNames()
Service	getService(Common.ResourceName name)
List<Robot.Status>	getStatus()
List<Robot.Status>	getStatus(List<Common.ResourceName> resourceNames)
void	refresh()
void	removeStream(String name)
void	stopAll()
void	stopAll(Map<Common.ResourceName,Map<String,com.google.protobuf.Value>> extra)
void	transformPointCloud()
Common.PoseInFrame	transformPose(Common.PoseInFrame query, String destination)
Common.PoseInFrame	transformPose(Common.PoseInFrame query, String destination, List<Common.Transform> additionalTransforms)

Methods inherited from class java.lang.Object

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

Constructor Details

RobotClient

public RobotClient(Channel chan)

RobotClient

public RobotClient(Channel chan,
 RobotClient.Options<MediaStreamT> options)

RobotClient

public RobotClient(io.grpc.ManagedChannel chan)

Method Details

refresh

public void refresh()

getComponent

public Component getComponent(Common.ResourceName name)

getService

public Service getService(Common.ResourceName name)

getResource

public <ResourceT> ResourceT getResource(Class<ResourceT> resourceClass,
 Common.ResourceName name)

getResourceNames

public List<Common.ResourceName> getResourceNames()

getStatus

public List<Robot.Status> getStatus()

getStatus

public List<Robot.Status> getStatus(List<Common.ResourceName> resourceNames)

getOperations

public List<Robot.Operation> getOperations()

cancelOperation

public void cancelOperation(String id)

blockForOperation

public void blockForOperation(String id)

getFrameSystemConfig

public List<Robot.FrameSystemConfig> getFrameSystemConfig()

getFrameSystemConfig

public List<Robot.FrameSystemConfig> getFrameSystemConfig(List<Common.Transform> additionalTransforms)

transformPose

public Common.PoseInFrame transformPose(Common.PoseInFrame query,
 String destination)

transformPose

public Common.PoseInFrame transformPose(Common.PoseInFrame query,
 String destination,
 List<Common.Transform> additionalTransforms)

transformPointCloud

public void transformPointCloud()

discoverComponents

public List<Robot.Discovery> discoverComponents(List<Robot.DiscoveryQuery> queries)

stopAll

public void stopAll()

stopAll

public void stopAll(Map<Common.ResourceName,Map<String,com.google.protobuf.Value>> extra)

addStream

public void addStream(String name)

removeStream

public void removeStream(String name)

close

public void close()

Specified by:

close in interface AutoCloseable

Specified by:

close in interface Closeable