Package com.viam.service.navigation.v1

Class NavigationServiceGrpc.NavigationServiceFutureStub

java.lang.Object

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

io.grpc.stub.AbstractFutureStub<NavigationServiceGrpc.NavigationServiceFutureStub>

com.viam.service.navigation.v1.NavigationServiceGrpc.NavigationServiceFutureStub

Enclosing class:

NavigationServiceGrpc

public static final class NavigationServiceGrpc.NavigationServiceFutureStub
extends io.grpc.stub.AbstractFutureStub<NavigationServiceGrpc.NavigationServiceFutureStub>

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

Methods inherited from class io.grpc.stub.AbstractFutureStub

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.NavigationServiceFutureStub build(io.grpc.Channel channel,
 io.grpc.CallOptions callOptions)

Specified by:

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

addLocation

public com.google.common.util.concurrent.ListenableFuture<Navigation.AddLocationResponse> addLocation(Navigation.AddLocationRequest request)

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

getLocation

public com.google.common.util.concurrent.ListenableFuture<Navigation.GetLocationResponse> getLocation(Navigation.GetLocationRequest request)

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

listLocations

public com.google.common.util.concurrent.ListenableFuture<Navigation.ListLocationsResponse> listLocations(Navigation.ListLocationsRequest request)

 ListLocations lists all saved locations on the active map.
 

updateLocation

public com.google.common.util.concurrent.ListenableFuture<Navigation.UpdateLocationResponse> updateLocation(Navigation.UpdateLocationRequest request)

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

deleteLocation

public com.google.common.util.concurrent.ListenableFuture<Navigation.DeleteLocationResponse> deleteLocation(Navigation.DeleteLocationRequest request)

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

addRoute

public com.google.common.util.concurrent.ListenableFuture<Navigation.AddRouteResponse> addRoute(Navigation.AddRouteRequest request)

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

getRoute

public com.google.common.util.concurrent.ListenableFuture<Navigation.GetRouteResponse> getRoute(Navigation.GetRouteRequest request)

 GetRoute returns a route by name.
 

listRoutes

public com.google.common.util.concurrent.ListenableFuture<Navigation.ListRoutesResponse> listRoutes(Navigation.ListRoutesRequest request)

 ListRoutes lists all routes on the active map.
 

updateRoute

public com.google.common.util.concurrent.ListenableFuture<Navigation.UpdateRouteResponse> updateRoute(Navigation.UpdateRouteRequest request)

 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.
 

deleteRoute

public com.google.common.util.concurrent.ListenableFuture<Navigation.DeleteRouteResponse> deleteRoute(Navigation.DeleteRouteRequest request)

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

addZone

public com.google.common.util.concurrent.ListenableFuture<Navigation.AddZoneResponse> addZone(Navigation.AddZoneRequest request)

 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.
 

getZone

public com.google.common.util.concurrent.ListenableFuture<Navigation.GetZoneResponse> getZone(Navigation.GetZoneRequest request)

 GetZone returns a zone by name.
 

listZones

public com.google.common.util.concurrent.ListenableFuture<Navigation.ListZonesResponse> listZones(Navigation.ListZonesRequest request)

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

updateZone

public com.google.common.util.concurrent.ListenableFuture<Navigation.UpdateZoneResponse> updateZone(Navigation.UpdateZoneRequest request)

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

deleteZone

public com.google.common.util.concurrent.ListenableFuture<Navigation.DeleteZoneResponse> deleteZone(Navigation.DeleteZoneRequest request)

 DeleteZone deletes a zone.
 

navigateToLocation

public com.google.common.util.concurrent.ListenableFuture<Navigation.NavigateToLocationResponse> navigateToLocation(Navigation.NavigateToLocationRequest request)

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

navigateToPoint

public com.google.common.util.concurrent.ListenableFuture<Navigation.NavigateToPointResponse> navigateToPoint(Navigation.NavigateToPointRequest request)

 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.
 

navigateRoute

public com.google.common.util.concurrent.ListenableFuture<Navigation.NavigateRouteResponse> navigateRoute(Navigation.NavigateRouteRequest request)

 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).
 

planToPoint

public com.google.common.util.concurrent.ListenableFuture<Navigation.PlanToPointResponse> planToPoint(Navigation.PlanToPointRequest request)

 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.
 

planToLocation

public com.google.common.util.concurrent.ListenableFuture<Navigation.PlanToLocationResponse> planToLocation(Navigation.PlanToLocationRequest request)

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

executePlan

public com.google.common.util.concurrent.ListenableFuture<Navigation.ExecutePlanResponse> executePlan(Navigation.ExecutePlanRequest request)

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

goToLocation

public com.google.common.util.concurrent.ListenableFuture<Navigation.GoToLocationResponse> goToLocation(Navigation.GoToLocationRequest request)

 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.
 

goToPoint

public com.google.common.util.concurrent.ListenableFuture<Navigation.GoToPointResponse> goToPoint(Navigation.GoToPointRequest request)

 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.
 

suspend

public com.google.common.util.concurrent.ListenableFuture<Navigation.SuspendResponse> suspend(Navigation.SuspendRequest request)

 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.
 

resume

public com.google.common.util.concurrent.ListenableFuture<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.
 

cancel

public com.google.common.util.concurrent.ListenableFuture<Navigation.CancelResponse> cancel(Navigation.CancelRequest request)

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

getPosition

public com.google.common.util.concurrent.ListenableFuture<Navigation.GetPositionResponse> getPosition(Navigation.GetPositionRequest request)

 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.
 

getNavigationStatus

public com.google.common.util.concurrent.ListenableFuture<Navigation.GetNavigationStatusResponse> getNavigationStatus(Navigation.GetNavigationStatusRequest request)

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

getProperties

public com.google.common.util.concurrent.ListenableFuture<Navigation.GetPropertiesResponse> getProperties(Navigation.GetPropertiesRequest request)

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

getCostmap

public com.google.common.util.concurrent.ListenableFuture<Navigation.GetCostmapResponse> getCostmap(Navigation.GetCostmapRequest request)

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

doCommand

public com.google.common.util.concurrent.ListenableFuture<Common.DoCommandResponse> doCommand(Common.DoCommandRequest request)

 DoCommand sends/receives arbitrary commands
 

getStatus

public com.google.common.util.concurrent.ListenableFuture<Common.GetStatusResponse> getStatus(Common.GetStatusRequest request)

 GetStatus returns the status of the resource