Package com.viam.service.navigation.v1

Class NavigationServiceGrpc.NavigationServiceBlockingV2Stub

java.lang.Object

io.grpc.stub.AbstractStub<NavigationServiceGrpc.NavigationServiceBlockingV2Stub>

io.grpc.stub.AbstractBlockingStub<NavigationServiceGrpc.NavigationServiceBlockingV2Stub>

com.viam.service.navigation.v1.NavigationServiceGrpc.NavigationServiceBlockingV2Stub

Enclosing class:

NavigationServiceGrpc

public static final class NavigationServiceGrpc.NavigationServiceBlockingV2Stub
extends io.grpc.stub.AbstractBlockingStub<NavigationServiceGrpc.NavigationServiceBlockingV2Stub>

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

 A NavigationService declares the gRPC contract for a Navigation service.
 Each service instance is bound to exactly one controllable base and one map
 type (local SLAM or GPS). Apps save named locations, routes, and zones, then
 navigate with plan-then-drive or direct go-to motion.
 

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
Navigation.AddLocationResponse	addLocation(Navigation.AddLocationRequest request)	AddLocation saves a named position on the active map.
Navigation.AddRouteResponse	addRoute(Navigation.AddRouteRequest request)	AddRoute creates a named route from an ordered list of waypoints.
Navigation.AddZoneResponse	addZone(Navigation.AddZoneRequest request)	AddZone creates a keep-out or speed-limit zone on the active map.
protected NavigationServiceGrpc.NavigationServiceBlockingV2Stub	build(io.grpc.Channel channel, io.grpc.CallOptions callOptions)
Navigation.CancelResponse	cancel(Navigation.CancelRequest request)	Cancel stops all motion and discards both the active goal and any suspended goal.
Navigation.DeleteLocationResponse	deleteLocation(Navigation.DeleteLocationRequest request)	DeleteLocation deletes a saved location.
Navigation.DeleteRouteResponse	deleteRoute(Navigation.DeleteRouteRequest request)	DeleteRoute deletes a route.
Navigation.DeleteZoneResponse	deleteZone(Navigation.DeleteZoneRequest request)	DeleteZone deletes a zone.
Common.DoCommandResponse	doCommand(Common.DoCommandRequest request)	DoCommand sends/receives arbitrary commands
Navigation.ExecutePlanResponse	executePlan(Navigation.ExecutePlanRequest request)	ExecutePlan drives a Plan (typically from PlanToPoint or PlanToLocation).
Navigation.GetCostmapResponse	getCostmap(Navigation.GetCostmapRequest request)	GetCostmap returns the local or global costmap as a downsampled grid, for display in UIs.
Navigation.GetLocationResponse	getLocation(Navigation.GetLocationRequest request)	GetLocation returns a saved location by name.
Navigation.GetNavigationStatusResponse	getNavigationStatus(Navigation.GetNavigationStatusRequest request)	GetNavigationStatus returns the full navigation state, including the robot's current position and the latest goal.
Navigation.GetPositionResponse	getPosition(Navigation.GetPositionRequest request)	GetPosition returns the robot's current position on the active map.
Navigation.GetPropertiesResponse	getProperties(Navigation.GetPropertiesRequest request)	GetProperties returns the map type the service operates on and robot properties.
Navigation.GetRouteResponse	getRoute(Navigation.GetRouteRequest request)	GetRoute returns a route by name.
Common.GetStatusResponse	getStatus(Common.GetStatusRequest request)	GetStatus returns the status of the resource
Navigation.GetZoneResponse	getZone(Navigation.GetZoneRequest request)	GetZone returns a zone by name.
Navigation.GoToLocationResponse	goToLocation(Navigation.GoToLocationRequest request)	GoToLocation drives directly to a saved location with a closed-loop controller, without full path planning.
Navigation.GoToPointResponse	goToPoint(Navigation.GoToPointRequest request)	GoToPoint drives directly to a Position with a closed-loop controller, without full path planning.
Navigation.ListLocationsResponse	listLocations(Navigation.ListLocationsRequest request)	ListLocations lists all saved locations on the active map.
Navigation.ListRoutesResponse	listRoutes(Navigation.ListRoutesRequest request)	ListRoutes lists all routes on the active map.
Navigation.ListZonesResponse	listZones(Navigation.ListZonesRequest request)	ListZones lists zones on the active map, optionally filtered by type.
Navigation.NavigateRouteResponse	navigateRoute(Navigation.NavigateRouteRequest request)	NavigateRoute drives a route one waypoint at a time using the obstacle-aware planner.
Navigation.NavigateToLocationResponse	navigateToLocation(Navigation.NavigateToLocationRequest request)	NavigateToLocation plans an obstacle-aware path to a saved location and starts driving it.
Navigation.NavigateToPointResponse	navigateToPoint(Navigation.NavigateToPointRequest request)	NavigateToPoint plans an obstacle-aware path to a Position and starts driving it.
Navigation.PlanToLocationResponse	planToLocation(Navigation.PlanToLocationRequest request)	PlanToLocation computes a path to a saved location without moving.
Navigation.PlanToPointResponse	planToPoint(Navigation.PlanToPointRequest request)	PlanToPoint computes a path from the robot (or a given start) to a Position without moving.
Navigation.ResumeResponse	resume(Navigation.ResumeRequest request)	Resume resumes the suspended goal the same way it was started: planned navigation, simple go-to, or a route from its current waypoint.
Navigation.SuspendResponse	suspend(Navigation.SuspendRequest request)	Suspend stops motion but remembers the current goal, including the current waypoint and loop setting for routes.
Navigation.UpdateLocationResponse	updateLocation(Navigation.UpdateLocationRequest request)	UpdateLocation changes a saved location's position or name.
Navigation.UpdateRouteResponse	updateRoute(Navigation.UpdateRouteRequest request)	UpdateRoute renames a route and/or replaces its waypoints.
Navigation.UpdateZoneResponse	updateZone(Navigation.UpdateZoneRequest request)	UpdateZone changes a zone's type, geometry, speed limit, or name.

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, 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 NavigationServiceGrpc.NavigationServiceBlockingV2Stub build(io.grpc.Channel channel,
 io.grpc.CallOptions callOptions)

Specified by:

build in class io.grpc.stub.AbstractStub<NavigationServiceGrpc.NavigationServiceBlockingV2Stub>

addLocation

public Navigation.AddLocationResponse addLocation(Navigation.AddLocationRequest request)
                                           throws io.grpc.StatusException

 AddLocation saves a named position on the active map. If position is
 omitted, the robot's current position from GetPosition is saved.
 

Throws:

io.grpc.StatusException

getLocation

public Navigation.GetLocationResponse getLocation(Navigation.GetLocationRequest request)
                                           throws io.grpc.StatusException

 GetLocation returns a saved location by name. This does not return the
 robot's current position; use GetPosition for that.
 

Throws:

io.grpc.StatusException

listLocations

public Navigation.ListLocationsResponse listLocations(Navigation.ListLocationsRequest request)
                                               throws io.grpc.StatusException

 ListLocations lists all saved locations on the active map.
 

Throws:

io.grpc.StatusException

updateLocation

public Navigation.UpdateLocationResponse updateLocation(Navigation.UpdateLocationRequest request)
                                                 throws io.grpc.StatusException

 UpdateLocation changes a saved location's position or name. Renaming a
 location updates every route waypoint that references it.
 

Throws:

io.grpc.StatusException

deleteLocation

public Navigation.DeleteLocationResponse deleteLocation(Navigation.DeleteLocationRequest request)
                                                 throws io.grpc.StatusException

 DeleteLocation deletes a saved location. The location is also removed from
 every route that references it.
 

Throws:

io.grpc.StatusException

addRoute

public Navigation.AddRouteResponse addRoute(Navigation.AddRouteRequest request)
                                     throws io.grpc.StatusException

 AddRoute creates a named route from an ordered list of waypoints. Every
 referenced location must already exist.
 

Throws:

io.grpc.StatusException

getRoute

public Navigation.GetRouteResponse getRoute(Navigation.GetRouteRequest request)
                                     throws io.grpc.StatusException

 GetRoute returns a route by name.
 

Throws:

io.grpc.StatusException

listRoutes

public Navigation.ListRoutesResponse listRoutes(Navigation.ListRoutesRequest request)
                                         throws io.grpc.StatusException

 ListRoutes lists all routes on the active map.
 

Throws:

io.grpc.StatusException

updateRoute

public Navigation.UpdateRouteResponse updateRoute(Navigation.UpdateRouteRequest request)
                                           throws io.grpc.StatusException

 UpdateRoute renames a route and/or replaces its waypoints. An unset
 waypoints list leaves the waypoints unchanged. A set list, including an
 empty one, replaces them.
 

Throws:

io.grpc.StatusException

deleteRoute

public Navigation.DeleteRouteResponse deleteRoute(Navigation.DeleteRouteRequest request)
                                           throws io.grpc.StatusException

 DeleteRoute deletes a route. The locations it references are not affected.
 

Throws:

io.grpc.StatusException

addZone

public Navigation.AddZoneResponse addZone(Navigation.AddZoneRequest request)
                                   throws io.grpc.StatusException

 AddZone creates a keep-out or speed-limit zone on the active map. The
 planner avoids keep-out zones and caps speed inside speed-limit zones.
 

Throws:

io.grpc.StatusException

getZone

public Navigation.GetZoneResponse getZone(Navigation.GetZoneRequest request)
                                   throws io.grpc.StatusException

 GetZone returns a zone by name.
 

Throws:

io.grpc.StatusException

listZones

public Navigation.ListZonesResponse listZones(Navigation.ListZonesRequest request)
                                       throws io.grpc.StatusException

 ListZones lists zones on the active map, optionally filtered by type.
 

Throws:

io.grpc.StatusException

updateZone

public Navigation.UpdateZoneResponse updateZone(Navigation.UpdateZoneRequest request)
                                         throws io.grpc.StatusException

 UpdateZone changes a zone's type, geometry, speed limit, or name.
 

Throws:

io.grpc.StatusException

deleteZone

public Navigation.DeleteZoneResponse deleteZone(Navigation.DeleteZoneRequest request)
                                         throws io.grpc.StatusException

 DeleteZone deletes a zone.
 

Throws:

io.grpc.StatusException

navigateToLocation

public Navigation.NavigateToLocationResponse navigateToLocation(Navigation.NavigateToLocationRequest request)
                                                         throws io.grpc.StatusException

 NavigateToLocation plans an obstacle-aware path to a saved location and
 starts driving it. Returns once the goal is accepted; track progress with
 GetNavigationStatus.
 

Throws:

io.grpc.StatusException

navigateToPoint

public Navigation.NavigateToPointResponse navigateToPoint(Navigation.NavigateToPointRequest request)
                                                   throws io.grpc.StatusException

 NavigateToPoint plans an obstacle-aware path to a Position and starts
 driving it. Returns once the goal is accepted; track progress with
 GetNavigationStatus. On a Pose, theta defaults to 0 if omitted.
 

Throws:

io.grpc.StatusException

navigateRoute

public Navigation.NavigateRouteResponse navigateRoute(Navigation.NavigateRouteRequest request)
                                               throws io.grpc.StatusException

 NavigateRoute drives a route one waypoint at a time using the
 obstacle-aware planner. Provide either route_name (a saved route) or
 waypoints (an inline list).
 

Throws:

io.grpc.StatusException

planToPoint

public Navigation.PlanToPointResponse planToPoint(Navigation.PlanToPointRequest request)
                                           throws io.grpc.StatusException

 PlanToPoint computes a path from the robot (or a given start) to a
 Position without moving. Pass a feasible result to ExecutePlan to drive it.
 Raises an error if no path exists.
 

Throws:

io.grpc.StatusException

planToLocation

public Navigation.PlanToLocationResponse planToLocation(Navigation.PlanToLocationRequest request)
                                                 throws io.grpc.StatusException

 PlanToLocation computes a path to a saved location without moving. Accepts
 the same optional start as PlanToPoint. Raises an error if no path exists.
 

Throws:

io.grpc.StatusException

executePlan

public Navigation.ExecutePlanResponse executePlan(Navigation.ExecutePlanRequest request)
                                           throws io.grpc.StatusException

 ExecutePlan drives a Plan (typically from PlanToPoint or PlanToLocation).
 While navigating, the active path is available on GetNavigationStatus. Rejected if
 the path is empty.
 

Throws:

io.grpc.StatusException

goToLocation

public Navigation.GoToLocationResponse goToLocation(Navigation.GoToLocationRequest request)
                                             throws io.grpc.StatusException

 GoToLocation drives directly to a saved location with a closed-loop
 controller, without full path planning. Intended for short hops and
 docking. With wait false, returns immediately while navigating.
 

Throws:

io.grpc.StatusException

goToPoint

public Navigation.GoToPointResponse goToPoint(Navigation.GoToPointRequest request)
                                       throws io.grpc.StatusException

 GoToPoint drives directly to a Position with a closed-loop controller,
 without full path planning. Intended for short hops and docking. With wait
 false, returns immediately while navigating.
 

Throws:

io.grpc.StatusException

suspend

public Navigation.SuspendResponse suspend(Navigation.SuspendRequest request)
                                   throws io.grpc.StatusException

 Suspend stops motion but remembers the current goal, including the current
 waypoint and loop setting for routes. A suspended goal must be canceled
 before a new one starts.
 

Throws:

io.grpc.StatusException

resume

public Navigation.ResumeResponse resume(Navigation.ResumeRequest request)
                                 throws io.grpc.StatusException

 Resume resumes the suspended goal the same way it was started: planned
 navigation, simple go-to, or a route from its current waypoint.
 

Throws:

io.grpc.StatusException

cancel

public Navigation.CancelResponse cancel(Navigation.CancelRequest request)
                                 throws io.grpc.StatusException

 Cancel stops all motion and discards both the active goal and any
 suspended goal.
 

Throws:

io.grpc.StatusException

getPosition

public Navigation.GetPositionResponse getPosition(Navigation.GetPositionRequest request)
                                           throws io.grpc.StatusException

 GetPosition returns the robot's current position on the active map. Use
 this for frequent position polling; GetNavigationStatus reports the same position
 alongside the rest of the navigation state.
 

Throws:

io.grpc.StatusException

getNavigationStatus

public Navigation.GetNavigationStatusResponse getNavigationStatus(Navigation.GetNavigationStatusRequest request)
                                                           throws io.grpc.StatusException

 GetNavigationStatus returns the full navigation state, including the robot's
 current position and the latest goal.
 

Throws:

io.grpc.StatusException

getProperties

public Navigation.GetPropertiesResponse getProperties(Navigation.GetPropertiesRequest request)
                                               throws io.grpc.StatusException

 GetProperties returns the map type the service operates on and robot
 properties. These values do not change while the service is running.
 

Throws:

io.grpc.StatusException

getCostmap

public Navigation.GetCostmapResponse getCostmap(Navigation.GetCostmapRequest request)
                                         throws io.grpc.StatusException

 GetCostmap returns the local or global costmap as a downsampled grid, for
 display in UIs.
 

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

getStatus

public Common.GetStatusResponse getStatus(Common.GetStatusRequest request)
                                   throws io.grpc.StatusException

 GetStatus returns the status of the resource
 

Throws:

io.grpc.StatusException