Package com.viam.service.motion.v1

Class MotionServiceGrpc.MotionServiceBlockingV2Stub

java.lang.Object
io.grpc.stub.AbstractStub<MotionServiceGrpc.MotionServiceBlockingV2Stub>
io.grpc.stub.AbstractBlockingStub<MotionServiceGrpc.MotionServiceBlockingV2Stub>
com.viam.service.motion.v1.MotionServiceGrpc.MotionServiceBlockingV2Stub
Enclosing class:
MotionServiceGrpc
public static final class MotionServiceGrpc.MotionServiceBlockingV2Stub extends io.grpc.stub.AbstractBlockingStub<MotionServiceGrpc.MotionServiceBlockingV2Stub>
A stub to allow clients to do synchronous rpc calls to service MotionService. 
 A MotionService declares the gRPC contract for a motion service

  • Method Details

    • build

      protected MotionServiceGrpc.MotionServiceBlockingV2Stub build(io.grpc.Channel channel, io.grpc.CallOptions callOptions)
      Specified by:
      build in class io.grpc.stub.AbstractStub<MotionServiceGrpc.MotionServiceBlockingV2Stub>

    • move

      public Motion.MoveResponse move(Motion.MoveRequest request) throws io.grpc.StatusException
      Throws:
      io.grpc.StatusException

    • moveOnMap

      public Motion.MoveOnMapResponse moveOnMap(Motion.MoveOnMapRequest request) throws io.grpc.StatusException
       Generate a plan and move a component to a specific pose
 with respect to the SLAM map's origin.
 May replan to avoid obstacles
      Throws:
      io.grpc.StatusException

    • moveOnGlobe

      public Motion.MoveOnGlobeResponse moveOnGlobe(Motion.MoveOnGlobeRequest request) throws io.grpc.StatusException
       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.
      Throws:
      io.grpc.StatusException

    • getPose

      @Deprecated public Motion.GetPoseResponse getPose(Motion.GetPoseRequest request) throws io.grpc.StatusException
      Deprecated.
      Throws:
      io.grpc.StatusException

    • stopPlan

      public Motion.StopPlanResponse stopPlan(Motion.StopPlanRequest request) throws io.grpc.StatusException
       Stops a Plan
      Throws:
      io.grpc.StatusException

    • listPlanStatuses

      public Motion.ListPlanStatusesResponse listPlanStatuses(Motion.ListPlanStatusesRequest request) throws io.grpc.StatusException
       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.
      Throws:
      io.grpc.StatusException

    • getPlan

      public Motion.GetPlanResponse getPlan(Motion.GetPlanRequest request) throws io.grpc.StatusException
       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.
      Throws:
      io.grpc.StatusException

    • doCommand

      public Common.DoCommandResponse doCommand(Common.DoCommandRequest request) throws io.grpc.StatusException
       DoCommand sends/receives arbitrary commands
      Throws:
      io.grpc.StatusException