Package com.viam.service.motion.v1

Interface MotionServiceGrpc.AsyncService

All Known Implementing Classes:
MotionServiceGrpc.MotionServiceImplBase
Enclosing class:
MotionServiceGrpc
public static interface MotionServiceGrpc.AsyncService
 A MotionService declares the gRPC contract for a motion service

  • Method Details

    • move

      default void move(Motion.MoveRequest request, io.grpc.stub.StreamObserver<Motion.MoveResponse> responseObserver)

    • moveOnMap

      default void moveOnMap(Motion.MoveOnMapRequest request, io.grpc.stub.StreamObserver<Motion.MoveOnMapResponse> responseObserver)
       Generate a plan and move a component to a specific pose
 with respect to the SLAM map's origin.
 May replan to avoid obstacles

    • moveOnGlobe

      default void moveOnGlobe(Motion.MoveOnGlobeRequest request, io.grpc.stub.StreamObserver<Motion.MoveOnGlobeResponse> responseObserver)
       Generate and begin executing an execution to move a component
 to a specific GPS coordinate.
 May replan to avoid obstacles & account for location drift.
 Creates a new plan upon replanning.

    • getPose

      @Deprecated default void getPose(Motion.GetPoseRequest request, io.grpc.stub.StreamObserver<Motion.GetPoseResponse> responseObserver)
      Deprecated.

    • stopPlan

      default void stopPlan(Motion.StopPlanRequest request, io.grpc.stub.StreamObserver<Motion.StopPlanResponse> responseObserver)
       Stops a Plan

    • listPlanStatuses

      default void listPlanStatuses(Motion.ListPlanStatusesRequest request, io.grpc.stub.StreamObserver<Motion.ListPlanStatusesResponse> responseObserver)
       Returns the status of plans created by requests to move components
 that are executing OR are part of an execution which changed it state
 within the a 24HR TTL OR until the robot reinitializes.
 This currently only returns plans for MoveOnGlobe and MoveOnMap.

    • getPlan

      default void getPlan(Motion.GetPlanRequest request, io.grpc.stub.StreamObserver<Motion.GetPlanResponse> responseObserver)
       Returns the plan(s) & state history of the most recent execution to move a
 component. Returns a result if the last execution is still executing OR
 changed state within the last 24 hours AND the robot has not reinitialized.
 Plans are never mutated.
 Replans always create new plans.
 Replans share the execution_id of the previously executing plan.
 This currently only returns plans for MoveOnGlobe and MoveOnMap.

    • tempStreamArmJointPositions

      default io.grpc.stub.StreamObserver<Motion.TempStreamArmJointPositionsRequest> tempStreamArmJointPositions(io.grpc.stub.StreamObserver<Motion.TempStreamArmJointPositionsResponse> responseObserver)
       Streams joint-space waypoints to an arm. The first message on the stream must
 be an Init; every subsequent message must be a Targets batch. Closing the
 request stream drains any buffered trajectory to the arm before ending the
 call; canceling the call's context aborts the session immediately.
 This method and its associated types are named as Temp because this API is
 under active development, and its current shape should not be depended on.

    • doCommand

      default void doCommand(Common.DoCommandRequest request, io.grpc.stub.StreamObserver<Common.DoCommandResponse> responseObserver)
       DoCommand sends/receives arbitrary commands

    • getStatus

      default void getStatus(Common.GetStatusRequest request, io.grpc.stub.StreamObserver<Common.GetStatusResponse> responseObserver)
       GetStatus returns the status of the resource