Package com.viam.service.navigation.v1

Class NavigationServiceGrpc.NavigationServiceStub

java.lang.Object

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

io.grpc.stub.AbstractAsyncStub<NavigationServiceGrpc.NavigationServiceStub>

com.viam.service.navigation.v1.NavigationServiceGrpc.NavigationServiceStub

Enclosing class:

NavigationServiceGrpc

public static final class NavigationServiceGrpc.NavigationServiceStub
extends io.grpc.stub.AbstractAsyncStub<NavigationServiceGrpc.NavigationServiceStub>

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

Methods inherited from class io.grpc.stub.AbstractAsyncStub

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

Specified by:

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

addLocation

public void addLocation(Navigation.AddLocationRequest request,
 io.grpc.stub.StreamObserver<Navigation.AddLocationResponse> responseObserver)

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

getLocation

public void getLocation(Navigation.GetLocationRequest request,
 io.grpc.stub.StreamObserver<Navigation.GetLocationResponse> responseObserver)

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

listLocations

public void listLocations(Navigation.ListLocationsRequest request,
 io.grpc.stub.StreamObserver<Navigation.ListLocationsResponse> responseObserver)

 ListLocations lists all saved locations on the active map.
 

updateLocation

public void updateLocation(Navigation.UpdateLocationRequest request,
 io.grpc.stub.StreamObserver<Navigation.UpdateLocationResponse> responseObserver)

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

deleteLocation

public void deleteLocation(Navigation.DeleteLocationRequest request,
 io.grpc.stub.StreamObserver<Navigation.DeleteLocationResponse> responseObserver)

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

addRoute

public void addRoute(Navigation.AddRouteRequest request,
 io.grpc.stub.StreamObserver<Navigation.AddRouteResponse> responseObserver)

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

getRoute

public void getRoute(Navigation.GetRouteRequest request,
 io.grpc.stub.StreamObserver<Navigation.GetRouteResponse> responseObserver)

 GetRoute returns a route by name.
 

listRoutes

public void listRoutes(Navigation.ListRoutesRequest request,
 io.grpc.stub.StreamObserver<Navigation.ListRoutesResponse> responseObserver)

 ListRoutes lists all routes on the active map.
 

updateRoute

public void updateRoute(Navigation.UpdateRouteRequest request,
 io.grpc.stub.StreamObserver<Navigation.UpdateRouteResponse> responseObserver)

 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 void deleteRoute(Navigation.DeleteRouteRequest request,
 io.grpc.stub.StreamObserver<Navigation.DeleteRouteResponse> responseObserver)

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

addZone

public void addZone(Navigation.AddZoneRequest request,
 io.grpc.stub.StreamObserver<Navigation.AddZoneResponse> responseObserver)

 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 void getZone(Navigation.GetZoneRequest request,
 io.grpc.stub.StreamObserver<Navigation.GetZoneResponse> responseObserver)

 GetZone returns a zone by name.
 

listZones

public void listZones(Navigation.ListZonesRequest request,
 io.grpc.stub.StreamObserver<Navigation.ListZonesResponse> responseObserver)

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

updateZone

public void updateZone(Navigation.UpdateZoneRequest request,
 io.grpc.stub.StreamObserver<Navigation.UpdateZoneResponse> responseObserver)

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

deleteZone

public void deleteZone(Navigation.DeleteZoneRequest request,
 io.grpc.stub.StreamObserver<Navigation.DeleteZoneResponse> responseObserver)

 DeleteZone deletes a zone.
 

navigateToLocation

public void navigateToLocation(Navigation.NavigateToLocationRequest request,
 io.grpc.stub.StreamObserver<Navigation.NavigateToLocationResponse> responseObserver)

 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 void navigateToPoint(Navigation.NavigateToPointRequest request,
 io.grpc.stub.StreamObserver<Navigation.NavigateToPointResponse> responseObserver)

 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 void navigateRoute(Navigation.NavigateRouteRequest request,
 io.grpc.stub.StreamObserver<Navigation.NavigateRouteResponse> responseObserver)

 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 void planToPoint(Navigation.PlanToPointRequest request,
 io.grpc.stub.StreamObserver<Navigation.PlanToPointResponse> responseObserver)

 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 void planToLocation(Navigation.PlanToLocationRequest request,
 io.grpc.stub.StreamObserver<Navigation.PlanToLocationResponse> responseObserver)

 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 void executePlan(Navigation.ExecutePlanRequest request,
 io.grpc.stub.StreamObserver<Navigation.ExecutePlanResponse> responseObserver)

 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 void goToLocation(Navigation.GoToLocationRequest request,
 io.grpc.stub.StreamObserver<Navigation.GoToLocationResponse> responseObserver)

 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 void goToPoint(Navigation.GoToPointRequest request,
 io.grpc.stub.StreamObserver<Navigation.GoToPointResponse> responseObserver)

 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 void suspend(Navigation.SuspendRequest request,
 io.grpc.stub.StreamObserver<Navigation.SuspendResponse> responseObserver)

 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 void resume(Navigation.ResumeRequest request,
 io.grpc.stub.StreamObserver<Navigation.ResumeResponse> responseObserver)

 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 void cancel(Navigation.CancelRequest request,
 io.grpc.stub.StreamObserver<Navigation.CancelResponse> responseObserver)

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

getPosition

public void getPosition(Navigation.GetPositionRequest request,
 io.grpc.stub.StreamObserver<Navigation.GetPositionResponse> responseObserver)

 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 void getNavigationStatus(Navigation.GetNavigationStatusRequest request,
 io.grpc.stub.StreamObserver<Navigation.GetNavigationStatusResponse> responseObserver)

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

getProperties

public void getProperties(Navigation.GetPropertiesRequest request,
 io.grpc.stub.StreamObserver<Navigation.GetPropertiesResponse> responseObserver)

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

getCostmap

public void getCostmap(Navigation.GetCostmapRequest request,
 io.grpc.stub.StreamObserver<Navigation.GetCostmapResponse> responseObserver)

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

doCommand

public void doCommand(Common.DoCommandRequest request,
 io.grpc.stub.StreamObserver<Common.DoCommandResponse> responseObserver)

 DoCommand sends/receives arbitrary commands
 

getStatus

public void getStatus(Common.GetStatusRequest request,
 io.grpc.stub.StreamObserver<Common.GetStatusResponse> responseObserver)

 GetStatus returns the status of the resource