Package com.viam.service.motion.v1

Class MotionServiceGrpc.MotionServiceBlockingStub

java.lang.Object

io.grpc.stub.AbstractStub<S>

io.grpc.stub.AbstractBlockingStub<MotionServiceGrpc.MotionServiceBlockingStub>

com.viam.service.motion.v1.MotionServiceGrpc.MotionServiceBlockingStub

Enclosing class:

MotionServiceGrpc

public static final class MotionServiceGrpc.MotionServiceBlockingStub
extends io.grpc.stub.AbstractBlockingStub<MotionServiceGrpc.MotionServiceBlockingStub>

A stub to allow clients to do synchronous rpc calls to service MotionService.

 A MotionService declares the gRPC contract for a motion service
 

Nested Class Summary

Nested classes/interfaces inherited from class io.grpc.stub.AbstractStub

io.grpc.stub.AbstractStub.StubFactory<T extends io.grpc.stub.AbstractStub<T>>

Method Summary

Modifier and Type	Method	Description
protected MotionServiceGrpc.MotionServiceBlockingStub	build(io.grpc.Channel channel, io.grpc.CallOptions callOptions)
Common.DoCommandResponse	doCommand(Common.DoCommandRequest request)	DoCommand sends/receives arbitrary commands
Motion.GetPlanResponse	getPlan(Motion.GetPlanRequest request)	Returns the plan(s) & state history of the most recent execution to move a component.
Motion.GetPoseResponse	getPose(Motion.GetPoseRequest request)
Motion.ListPlanStatusesResponse	listPlanStatuses(Motion.ListPlanStatusesRequest request)	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.
Motion.MoveResponse	move(Motion.MoveRequest request)
Motion.MoveOnGlobeResponse	moveOnGlobe(Motion.MoveOnGlobeRequest request)	Generate and begin executing an execution to move a component to a specific GPS coordinate.
Motion.MoveOnMapResponse	moveOnMap(Motion.MoveOnMapRequest request)	Generate a plan and move a component to a specific pose with respect to the SLAM map's origin.
Motion.StopPlanResponse	stopPlan(Motion.StopPlanRequest request)	Stops a Plan

Methods inherited from class io.grpc.stub.AbstractBlockingStub

newStub, newStub

Methods inherited from class io.grpc.stub.AbstractStub

getCallOptions, getChannel, withCallCredentials, withChannel, withCompression, withDeadline, withDeadlineAfter, withExecutor, withInterceptors, withMaxInboundMessageSize, withMaxOutboundMessageSize, withOnReadyThreshold, withOption, withWaitForReady

Methods inherited from class java.lang.Object

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

Method Details

build

protected MotionServiceGrpc.MotionServiceBlockingStub build(io.grpc.Channel channel,
 io.grpc.CallOptions callOptions)

Specified by:

build in class io.grpc.stub.AbstractStub<MotionServiceGrpc.MotionServiceBlockingStub>

move

public Motion.MoveResponse move(Motion.MoveRequest request)

moveOnMap

public Motion.MoveOnMapResponse moveOnMap(Motion.MoveOnMapRequest request)

 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

public Motion.MoveOnGlobeResponse moveOnGlobe(Motion.MoveOnGlobeRequest request)

 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

public Motion.GetPoseResponse getPose(Motion.GetPoseRequest request)

stopPlan

public Motion.StopPlanResponse stopPlan(Motion.StopPlanRequest request)

 Stops a Plan
 

listPlanStatuses

public Motion.ListPlanStatusesResponse listPlanStatuses(Motion.ListPlanStatusesRequest request)

 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

public Motion.GetPlanResponse getPlan(Motion.GetPlanRequest request)

 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.
 

doCommand

public Common.DoCommandResponse doCommand(Common.DoCommandRequest request)

 DoCommand sends/receives arbitrary commands