Package com.viam.service.motion.v1

Class MotionServiceGrpc.MotionServiceFutureStub

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

  • Method Details

    • build

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

    • move

      public com.google.common.util.concurrent.ListenableFuture<Motion.MoveResponse> move(Motion.MoveRequest request)

    • moveOnMap

      public com.google.common.util.concurrent.ListenableFuture<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 com.google.common.util.concurrent.ListenableFuture<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 com.google.common.util.concurrent.ListenableFuture<Motion.GetPoseResponse> getPose(Motion.GetPoseRequest request)

    • stopPlan

      public com.google.common.util.concurrent.ListenableFuture<Motion.StopPlanResponse> stopPlan(Motion.StopPlanRequest request)
       Stops a Plan

    • listPlanStatuses

      public com.google.common.util.concurrent.ListenableFuture<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 com.google.common.util.concurrent.ListenableFuture<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 com.google.common.util.concurrent.ListenableFuture<Common.DoCommandResponse> doCommand(Common.DoCommandRequest request)
       DoCommand sends/receives arbitrary commands