package cmvr.api;

import static io.grpc.MethodDescriptor.generateFullMethodName;

/**
 */
@javax.annotation.Generated(
    value = "by gRPC proto compiler (version 1.52.0)",
    comments = "Source: cmvr/api/humanoid_robot_service.proto")
@io.grpc.stub.annotations.GrpcGenerated
public final class HumanoidRobotServiceGrpc {

  private HumanoidRobotServiceGrpc() {}

  public static final String SERVICE_NAME = "cmvr.api.HumanoidRobotService";

  // Static method descriptors that strictly reflect the proto.
  private static volatile io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
      cmvr.api.Common.CommandHeader.Feedback> getTorqueOffMethod;

  @io.grpc.stub.annotations.RpcMethod(
      fullMethodName = SERVICE_NAME + '/' + "torqueOff",
      requestType = cmvr.api.Common.CommandHeader.Request.class,
      responseType = cmvr.api.Common.CommandHeader.Feedback.class,
      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
  public static io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
      cmvr.api.Common.CommandHeader.Feedback> getTorqueOffMethod() {
    io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback> getTorqueOffMethod;
    if ((getTorqueOffMethod = HumanoidRobotServiceGrpc.getTorqueOffMethod) == null) {
      synchronized (HumanoidRobotServiceGrpc.class) {
        if ((getTorqueOffMethod = HumanoidRobotServiceGrpc.getTorqueOffMethod) == null) {
          HumanoidRobotServiceGrpc.getTorqueOffMethod = getTorqueOffMethod =
              io.grpc.MethodDescriptor.<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback>newBuilder()
              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "torqueOff"))
              .setSampledToLocalTracing(true)
              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
                  cmvr.api.Common.CommandHeader.Request.getDefaultInstance()))
              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
                  cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance()))
              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("torqueOff"))
              .build();
        }
      }
    }
    return getTorqueOffMethod;
  }

  private static volatile io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
      cmvr.api.Common.CommandHeader.Feedback> getTorqueOnMethod;

  @io.grpc.stub.annotations.RpcMethod(
      fullMethodName = SERVICE_NAME + '/' + "torqueOn",
      requestType = cmvr.api.Common.CommandHeader.Request.class,
      responseType = cmvr.api.Common.CommandHeader.Feedback.class,
      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
  public static io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
      cmvr.api.Common.CommandHeader.Feedback> getTorqueOnMethod() {
    io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback> getTorqueOnMethod;
    if ((getTorqueOnMethod = HumanoidRobotServiceGrpc.getTorqueOnMethod) == null) {
      synchronized (HumanoidRobotServiceGrpc.class) {
        if ((getTorqueOnMethod = HumanoidRobotServiceGrpc.getTorqueOnMethod) == null) {
          HumanoidRobotServiceGrpc.getTorqueOnMethod = getTorqueOnMethod =
              io.grpc.MethodDescriptor.<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback>newBuilder()
              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "torqueOn"))
              .setSampledToLocalTracing(true)
              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
                  cmvr.api.Common.CommandHeader.Request.getDefaultInstance()))
              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
                  cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance()))
              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("torqueOn"))
              .build();
        }
      }
    }
    return getTorqueOnMethod;
  }

  private static volatile io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveJ.Request,
      cmvr.api.HumanoidRobotCommand.MoveJ.Response> getMoveJMethod;

  @io.grpc.stub.annotations.RpcMethod(
      fullMethodName = SERVICE_NAME + '/' + "moveJ",
      requestType = cmvr.api.HumanoidRobotCommand.MoveJ.Request.class,
      responseType = cmvr.api.HumanoidRobotCommand.MoveJ.Response.class,
      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
  public static io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveJ.Request,
      cmvr.api.HumanoidRobotCommand.MoveJ.Response> getMoveJMethod() {
    io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveJ.Request, cmvr.api.HumanoidRobotCommand.MoveJ.Response> getMoveJMethod;
    if ((getMoveJMethod = HumanoidRobotServiceGrpc.getMoveJMethod) == null) {
      synchronized (HumanoidRobotServiceGrpc.class) {
        if ((getMoveJMethod = HumanoidRobotServiceGrpc.getMoveJMethod) == null) {
          HumanoidRobotServiceGrpc.getMoveJMethod = getMoveJMethod =
              io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.MoveJ.Request, cmvr.api.HumanoidRobotCommand.MoveJ.Response>newBuilder()
              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "moveJ"))
              .setSampledToLocalTracing(true)
              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
                  cmvr.api.HumanoidRobotCommand.MoveJ.Request.getDefaultInstance()))
              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
                  cmvr.api.HumanoidRobotCommand.MoveJ.Response.getDefaultInstance()))
              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("moveJ"))
              .build();
        }
      }
    }
    return getMoveJMethod;
  }

  private static volatile io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveL.Request,
      cmvr.api.HumanoidRobotCommand.MoveL.Response> getMoveLMethod;

  @io.grpc.stub.annotations.RpcMethod(
      fullMethodName = SERVICE_NAME + '/' + "moveL",
      requestType = cmvr.api.HumanoidRobotCommand.MoveL.Request.class,
      responseType = cmvr.api.HumanoidRobotCommand.MoveL.Response.class,
      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
  public static io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveL.Request,
      cmvr.api.HumanoidRobotCommand.MoveL.Response> getMoveLMethod() {
    io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveL.Request, cmvr.api.HumanoidRobotCommand.MoveL.Response> getMoveLMethod;
    if ((getMoveLMethod = HumanoidRobotServiceGrpc.getMoveLMethod) == null) {
      synchronized (HumanoidRobotServiceGrpc.class) {
        if ((getMoveLMethod = HumanoidRobotServiceGrpc.getMoveLMethod) == null) {
          HumanoidRobotServiceGrpc.getMoveLMethod = getMoveLMethod =
              io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.MoveL.Request, cmvr.api.HumanoidRobotCommand.MoveL.Response>newBuilder()
              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "moveL"))
              .setSampledToLocalTracing(true)
              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
                  cmvr.api.HumanoidRobotCommand.MoveL.Request.getDefaultInstance()))
              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
                  cmvr.api.HumanoidRobotCommand.MoveL.Response.getDefaultInstance()))
              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("moveL"))
              .build();
        }
      }
    }
    return getMoveLMethod;
  }

  private static volatile io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedJ.Request,
      cmvr.api.HumanoidRobotCommand.SpeedJ.Response> getSpeedJMethod;

  @io.grpc.stub.annotations.RpcMethod(
      fullMethodName = SERVICE_NAME + '/' + "speedJ",
      requestType = cmvr.api.HumanoidRobotCommand.SpeedJ.Request.class,
      responseType = cmvr.api.HumanoidRobotCommand.SpeedJ.Response.class,
      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
  public static io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedJ.Request,
      cmvr.api.HumanoidRobotCommand.SpeedJ.Response> getSpeedJMethod() {
    io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedJ.Request, cmvr.api.HumanoidRobotCommand.SpeedJ.Response> getSpeedJMethod;
    if ((getSpeedJMethod = HumanoidRobotServiceGrpc.getSpeedJMethod) == null) {
      synchronized (HumanoidRobotServiceGrpc.class) {
        if ((getSpeedJMethod = HumanoidRobotServiceGrpc.getSpeedJMethod) == null) {
          HumanoidRobotServiceGrpc.getSpeedJMethod = getSpeedJMethod =
              io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.SpeedJ.Request, cmvr.api.HumanoidRobotCommand.SpeedJ.Response>newBuilder()
              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "speedJ"))
              .setSampledToLocalTracing(true)
              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
                  cmvr.api.HumanoidRobotCommand.SpeedJ.Request.getDefaultInstance()))
              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
                  cmvr.api.HumanoidRobotCommand.SpeedJ.Response.getDefaultInstance()))
              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("speedJ"))
              .build();
        }
      }
    }
    return getSpeedJMethod;
  }

  private static volatile io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedL.Request,
      cmvr.api.HumanoidRobotCommand.SpeedL.Response> getSpeedLMethod;

  @io.grpc.stub.annotations.RpcMethod(
      fullMethodName = SERVICE_NAME + '/' + "speedL",
      requestType = cmvr.api.HumanoidRobotCommand.SpeedL.Request.class,
      responseType = cmvr.api.HumanoidRobotCommand.SpeedL.Response.class,
      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
  public static io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedL.Request,
      cmvr.api.HumanoidRobotCommand.SpeedL.Response> getSpeedLMethod() {
    io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedL.Request, cmvr.api.HumanoidRobotCommand.SpeedL.Response> getSpeedLMethod;
    if ((getSpeedLMethod = HumanoidRobotServiceGrpc.getSpeedLMethod) == null) {
      synchronized (HumanoidRobotServiceGrpc.class) {
        if ((getSpeedLMethod = HumanoidRobotServiceGrpc.getSpeedLMethod) == null) {
          HumanoidRobotServiceGrpc.getSpeedLMethod = getSpeedLMethod =
              io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.SpeedL.Request, cmvr.api.HumanoidRobotCommand.SpeedL.Response>newBuilder()
              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "speedL"))
              .setSampledToLocalTracing(true)
              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
                  cmvr.api.HumanoidRobotCommand.SpeedL.Request.getDefaultInstance()))
              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
                  cmvr.api.HumanoidRobotCommand.SpeedL.Response.getDefaultInstance()))
              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("speedL"))
              .build();
        }
      }
    }
    return getSpeedLMethod;
  }

  private static volatile io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.JointRequest,
      cmvr.api.HumanoidRobotCommand.JointResponse> getGetJointStateMethod;

  @io.grpc.stub.annotations.RpcMethod(
      fullMethodName = SERVICE_NAME + '/' + "getJointState",
      requestType = cmvr.api.HumanoidRobotCommand.JointRequest.class,
      responseType = cmvr.api.HumanoidRobotCommand.JointResponse.class,
      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
  public static io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.JointRequest,
      cmvr.api.HumanoidRobotCommand.JointResponse> getGetJointStateMethod() {
    io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.JointRequest, cmvr.api.HumanoidRobotCommand.JointResponse> getGetJointStateMethod;
    if ((getGetJointStateMethod = HumanoidRobotServiceGrpc.getGetJointStateMethod) == null) {
      synchronized (HumanoidRobotServiceGrpc.class) {
        if ((getGetJointStateMethod = HumanoidRobotServiceGrpc.getGetJointStateMethod) == null) {
          HumanoidRobotServiceGrpc.getGetJointStateMethod = getGetJointStateMethod =
              io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.JointRequest, cmvr.api.HumanoidRobotCommand.JointResponse>newBuilder()
              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "getJointState"))
              .setSampledToLocalTracing(true)
              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
                  cmvr.api.HumanoidRobotCommand.JointRequest.getDefaultInstance()))
              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
                  cmvr.api.HumanoidRobotCommand.JointResponse.getDefaultInstance()))
              .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("getJointState"))
              .build();
        }
      }
    }
    return getGetJointStateMethod;
  }

  /**
   * Creates a new async stub that supports all call types for the service
   */
  public static HumanoidRobotServiceStub newStub(io.grpc.Channel channel) {
    io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceStub> factory =
      new io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceStub>() {
        @java.lang.Override
        public HumanoidRobotServiceStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
          return new HumanoidRobotServiceStub(channel, callOptions);
        }
      };
    return HumanoidRobotServiceStub.newStub(factory, channel);
  }

  /**
   * Creates a new blocking-style stub that supports unary and streaming output calls on the service
   */
  public static HumanoidRobotServiceBlockingStub newBlockingStub(
      io.grpc.Channel channel) {
    io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceBlockingStub> factory =
      new io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceBlockingStub>() {
        @java.lang.Override
        public HumanoidRobotServiceBlockingStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
          return new HumanoidRobotServiceBlockingStub(channel, callOptions);
        }
      };
    return HumanoidRobotServiceBlockingStub.newStub(factory, channel);
  }

  /**
   * Creates a new ListenableFuture-style stub that supports unary calls on the service
   */
  public static HumanoidRobotServiceFutureStub newFutureStub(
      io.grpc.Channel channel) {
    io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceFutureStub> factory =
      new io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceFutureStub>() {
        @java.lang.Override
        public HumanoidRobotServiceFutureStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
          return new HumanoidRobotServiceFutureStub(channel, callOptions);
        }
      };
    return HumanoidRobotServiceFutureStub.newStub(factory, channel);
  }

  /**
   */
  public static abstract class HumanoidRobotServiceImplBase implements io.grpc.BindableService {

    /**
     */
    public void torqueOff(cmvr.api.Common.CommandHeader.Request request,
        io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getTorqueOffMethod(), responseObserver);
    }

    /**
     */
    public void torqueOn(cmvr.api.Common.CommandHeader.Request request,
        io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getTorqueOnMethod(), responseObserver);
    }

    /**
     */
    public void moveJ(cmvr.api.HumanoidRobotCommand.MoveJ.Request request,
        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.MoveJ.Response> responseObserver) {
      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMoveJMethod(), responseObserver);
    }

    /**
     */
    public void moveL(cmvr.api.HumanoidRobotCommand.MoveL.Request request,
        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.MoveL.Response> responseObserver) {
      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMoveLMethod(), responseObserver);
    }

    /**
     */
    public void speedJ(cmvr.api.HumanoidRobotCommand.SpeedJ.Request request,
        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.SpeedJ.Response> responseObserver) {
      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSpeedJMethod(), responseObserver);
    }

    /**
     */
    public void speedL(cmvr.api.HumanoidRobotCommand.SpeedL.Request request,
        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.SpeedL.Response> responseObserver) {
      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSpeedLMethod(), responseObserver);
    }

    /**
     */
    public void getJointState(cmvr.api.HumanoidRobotCommand.JointRequest request,
        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.JointResponse> responseObserver) {
      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetJointStateMethod(), responseObserver);
    }

    @java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
      return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
          .addMethod(
            getTorqueOffMethod(),
            io.grpc.stub.ServerCalls.asyncUnaryCall(
              new MethodHandlers<
                cmvr.api.Common.CommandHeader.Request,
                cmvr.api.Common.CommandHeader.Feedback>(
                  this, METHODID_TORQUE_OFF)))
          .addMethod(
            getTorqueOnMethod(),
            io.grpc.stub.ServerCalls.asyncUnaryCall(
              new MethodHandlers<
                cmvr.api.Common.CommandHeader.Request,
                cmvr.api.Common.CommandHeader.Feedback>(
                  this, METHODID_TORQUE_ON)))
          .addMethod(
            getMoveJMethod(),
            io.grpc.stub.ServerCalls.asyncUnaryCall(
              new MethodHandlers<
                cmvr.api.HumanoidRobotCommand.MoveJ.Request,
                cmvr.api.HumanoidRobotCommand.MoveJ.Response>(
                  this, METHODID_MOVE_J)))
          .addMethod(
            getMoveLMethod(),
            io.grpc.stub.ServerCalls.asyncUnaryCall(
              new MethodHandlers<
                cmvr.api.HumanoidRobotCommand.MoveL.Request,
                cmvr.api.HumanoidRobotCommand.MoveL.Response>(
                  this, METHODID_MOVE_L)))
          .addMethod(
            getSpeedJMethod(),
            io.grpc.stub.ServerCalls.asyncUnaryCall(
              new MethodHandlers<
                cmvr.api.HumanoidRobotCommand.SpeedJ.Request,
                cmvr.api.HumanoidRobotCommand.SpeedJ.Response>(
                  this, METHODID_SPEED_J)))
          .addMethod(
            getSpeedLMethod(),
            io.grpc.stub.ServerCalls.asyncUnaryCall(
              new MethodHandlers<
                cmvr.api.HumanoidRobotCommand.SpeedL.Request,
                cmvr.api.HumanoidRobotCommand.SpeedL.Response>(
                  this, METHODID_SPEED_L)))
          .addMethod(
            getGetJointStateMethod(),
            io.grpc.stub.ServerCalls.asyncUnaryCall(
              new MethodHandlers<
                cmvr.api.HumanoidRobotCommand.JointRequest,
                cmvr.api.HumanoidRobotCommand.JointResponse>(
                  this, METHODID_GET_JOINT_STATE)))
          .build();
    }
  }

  /**
   */
  public static final class HumanoidRobotServiceStub extends io.grpc.stub.AbstractAsyncStub<HumanoidRobotServiceStub> {
    private HumanoidRobotServiceStub(
        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
      super(channel, callOptions);
    }

    @java.lang.Override
    protected HumanoidRobotServiceStub build(
        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
      return new HumanoidRobotServiceStub(channel, callOptions);
    }

    /**
     */
    public void torqueOff(cmvr.api.Common.CommandHeader.Request request,
        io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
      io.grpc.stub.ClientCalls.asyncUnaryCall(
          getChannel().newCall(getTorqueOffMethod(), getCallOptions()), request, responseObserver);
    }

    /**
     */
    public void torqueOn(cmvr.api.Common.CommandHeader.Request request,
        io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
      io.grpc.stub.ClientCalls.asyncUnaryCall(
          getChannel().newCall(getTorqueOnMethod(), getCallOptions()), request, responseObserver);
    }

    /**
     */
    public void moveJ(cmvr.api.HumanoidRobotCommand.MoveJ.Request request,
        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.MoveJ.Response> responseObserver) {
      io.grpc.stub.ClientCalls.asyncUnaryCall(
          getChannel().newCall(getMoveJMethod(), getCallOptions()), request, responseObserver);
    }

    /**
     */
    public void moveL(cmvr.api.HumanoidRobotCommand.MoveL.Request request,
        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.MoveL.Response> responseObserver) {
      io.grpc.stub.ClientCalls.asyncUnaryCall(
          getChannel().newCall(getMoveLMethod(), getCallOptions()), request, responseObserver);
    }

    /**
     */
    public void speedJ(cmvr.api.HumanoidRobotCommand.SpeedJ.Request request,
        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.SpeedJ.Response> responseObserver) {
      io.grpc.stub.ClientCalls.asyncUnaryCall(
          getChannel().newCall(getSpeedJMethod(), getCallOptions()), request, responseObserver);
    }

    /**
     */
    public void speedL(cmvr.api.HumanoidRobotCommand.SpeedL.Request request,
        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.SpeedL.Response> responseObserver) {
      io.grpc.stub.ClientCalls.asyncUnaryCall(
          getChannel().newCall(getSpeedLMethod(), getCallOptions()), request, responseObserver);
    }

    /**
     */
    public void getJointState(cmvr.api.HumanoidRobotCommand.JointRequest request,
        io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.JointResponse> responseObserver) {
      io.grpc.stub.ClientCalls.asyncUnaryCall(
          getChannel().newCall(getGetJointStateMethod(), getCallOptions()), request, responseObserver);
    }
  }

  /**
   */
  public static final class HumanoidRobotServiceBlockingStub extends io.grpc.stub.AbstractBlockingStub<HumanoidRobotServiceBlockingStub> {
    private HumanoidRobotServiceBlockingStub(
        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
      super(channel, callOptions);
    }

    @java.lang.Override
    protected HumanoidRobotServiceBlockingStub build(
        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
      return new HumanoidRobotServiceBlockingStub(channel, callOptions);
    }

    /**
     */
    public cmvr.api.Common.CommandHeader.Feedback torqueOff(cmvr.api.Common.CommandHeader.Request request) {
      return io.grpc.stub.ClientCalls.blockingUnaryCall(
          getChannel(), getTorqueOffMethod(), getCallOptions(), request);
    }

    /**
     */
    public cmvr.api.Common.CommandHeader.Feedback torqueOn(cmvr.api.Common.CommandHeader.Request request) {
      return io.grpc.stub.ClientCalls.blockingUnaryCall(
          getChannel(), getTorqueOnMethod(), getCallOptions(), request);
    }

    /**
     */
    public cmvr.api.HumanoidRobotCommand.MoveJ.Response moveJ(cmvr.api.HumanoidRobotCommand.MoveJ.Request request) {
      return io.grpc.stub.ClientCalls.blockingUnaryCall(
          getChannel(), getMoveJMethod(), getCallOptions(), request);
    }

    /**
     */
    public cmvr.api.HumanoidRobotCommand.MoveL.Response moveL(cmvr.api.HumanoidRobotCommand.MoveL.Request request) {
      return io.grpc.stub.ClientCalls.blockingUnaryCall(
          getChannel(), getMoveLMethod(), getCallOptions(), request);
    }

    /**
     */
    public cmvr.api.HumanoidRobotCommand.SpeedJ.Response speedJ(cmvr.api.HumanoidRobotCommand.SpeedJ.Request request) {
      return io.grpc.stub.ClientCalls.blockingUnaryCall(
          getChannel(), getSpeedJMethod(), getCallOptions(), request);
    }

    /**
     */
    public cmvr.api.HumanoidRobotCommand.SpeedL.Response speedL(cmvr.api.HumanoidRobotCommand.SpeedL.Request request) {
      return io.grpc.stub.ClientCalls.blockingUnaryCall(
          getChannel(), getSpeedLMethod(), getCallOptions(), request);
    }

    /**
     */
    public cmvr.api.HumanoidRobotCommand.JointResponse getJointState(cmvr.api.HumanoidRobotCommand.JointRequest request) {
      return io.grpc.stub.ClientCalls.blockingUnaryCall(
          getChannel(), getGetJointStateMethod(), getCallOptions(), request);
    }
  }

  /**
   */
  public static final class HumanoidRobotServiceFutureStub extends io.grpc.stub.AbstractFutureStub<HumanoidRobotServiceFutureStub> {
    private HumanoidRobotServiceFutureStub(
        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
      super(channel, callOptions);
    }

    @java.lang.Override
    protected HumanoidRobotServiceFutureStub build(
        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
      return new HumanoidRobotServiceFutureStub(channel, callOptions);
    }

    /**
     */
    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.Common.CommandHeader.Feedback> torqueOff(
        cmvr.api.Common.CommandHeader.Request request) {
      return io.grpc.stub.ClientCalls.futureUnaryCall(
          getChannel().newCall(getTorqueOffMethod(), getCallOptions()), request);
    }

    /**
     */
    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.Common.CommandHeader.Feedback> torqueOn(
        cmvr.api.Common.CommandHeader.Request request) {
      return io.grpc.stub.ClientCalls.futureUnaryCall(
          getChannel().newCall(getTorqueOnMethod(), getCallOptions()), request);
    }

    /**
     */
    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.HumanoidRobotCommand.MoveJ.Response> moveJ(
        cmvr.api.HumanoidRobotCommand.MoveJ.Request request) {
      return io.grpc.stub.ClientCalls.futureUnaryCall(
          getChannel().newCall(getMoveJMethod(), getCallOptions()), request);
    }

    /**
     */
    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.HumanoidRobotCommand.MoveL.Response> moveL(
        cmvr.api.HumanoidRobotCommand.MoveL.Request request) {
      return io.grpc.stub.ClientCalls.futureUnaryCall(
          getChannel().newCall(getMoveLMethod(), getCallOptions()), request);
    }

    /**
     */
    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.HumanoidRobotCommand.SpeedJ.Response> speedJ(
        cmvr.api.HumanoidRobotCommand.SpeedJ.Request request) {
      return io.grpc.stub.ClientCalls.futureUnaryCall(
          getChannel().newCall(getSpeedJMethod(), getCallOptions()), request);
    }

    /**
     */
    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.HumanoidRobotCommand.SpeedL.Response> speedL(
        cmvr.api.HumanoidRobotCommand.SpeedL.Request request) {
      return io.grpc.stub.ClientCalls.futureUnaryCall(
          getChannel().newCall(getSpeedLMethod(), getCallOptions()), request);
    }

    /**
     */
    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.HumanoidRobotCommand.JointResponse> getJointState(
        cmvr.api.HumanoidRobotCommand.JointRequest request) {
      return io.grpc.stub.ClientCalls.futureUnaryCall(
          getChannel().newCall(getGetJointStateMethod(), getCallOptions()), request);
    }
  }

  private static final int METHODID_TORQUE_OFF = 0;
  private static final int METHODID_TORQUE_ON = 1;
  private static final int METHODID_MOVE_J = 2;
  private static final int METHODID_MOVE_L = 3;
  private static final int METHODID_SPEED_J = 4;
  private static final int METHODID_SPEED_L = 5;
  private static final int METHODID_GET_JOINT_STATE = 6;

  private static final class MethodHandlers<Req, Resp> implements
      io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
      io.grpc.stub.ServerCalls.ServerStreamingMethod<Req, Resp>,
      io.grpc.stub.ServerCalls.ClientStreamingMethod<Req, Resp>,
      io.grpc.stub.ServerCalls.BidiStreamingMethod<Req, Resp> {
    private final HumanoidRobotServiceImplBase serviceImpl;
    private final int methodId;

    MethodHandlers(HumanoidRobotServiceImplBase serviceImpl, int methodId) {
      this.serviceImpl = serviceImpl;
      this.methodId = methodId;
    }

    @java.lang.Override
    @java.lang.SuppressWarnings("unchecked")
    public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserver) {
      switch (methodId) {
        case METHODID_TORQUE_OFF:
          serviceImpl.torqueOff((cmvr.api.Common.CommandHeader.Request) request,
              (io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback>) responseObserver);
          break;
        case METHODID_TORQUE_ON:
          serviceImpl.torqueOn((cmvr.api.Common.CommandHeader.Request) request,
              (io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback>) responseObserver);
          break;
        case METHODID_MOVE_J:
          serviceImpl.moveJ((cmvr.api.HumanoidRobotCommand.MoveJ.Request) request,
              (io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.MoveJ.Response>) responseObserver);
          break;
        case METHODID_MOVE_L:
          serviceImpl.moveL((cmvr.api.HumanoidRobotCommand.MoveL.Request) request,
              (io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.MoveL.Response>) responseObserver);
          break;
        case METHODID_SPEED_J:
          serviceImpl.speedJ((cmvr.api.HumanoidRobotCommand.SpeedJ.Request) request,
              (io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.SpeedJ.Response>) responseObserver);
          break;
        case METHODID_SPEED_L:
          serviceImpl.speedL((cmvr.api.HumanoidRobotCommand.SpeedL.Request) request,
              (io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.SpeedL.Response>) responseObserver);
          break;
        case METHODID_GET_JOINT_STATE:
          serviceImpl.getJointState((cmvr.api.HumanoidRobotCommand.JointRequest) request,
              (io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.JointResponse>) responseObserver);
          break;
        default:
          throw new AssertionError();
      }
    }

    @java.lang.Override
    @java.lang.SuppressWarnings("unchecked")
    public io.grpc.stub.StreamObserver<Req> invoke(
        io.grpc.stub.StreamObserver<Resp> responseObserver) {
      switch (methodId) {
        default:
          throw new AssertionError();
      }
    }
  }

  private static abstract class HumanoidRobotServiceBaseDescriptorSupplier
      implements io.grpc.protobuf.ProtoFileDescriptorSupplier, io.grpc.protobuf.ProtoServiceDescriptorSupplier {
    HumanoidRobotServiceBaseDescriptorSupplier() {}

    @java.lang.Override
    public com.google.protobuf.Descriptors.FileDescriptor getFileDescriptor() {
      return cmvr.api.HumanoidRobotServiceOuterClass.getDescriptor();
    }

    @java.lang.Override
    public com.google.protobuf.Descriptors.ServiceDescriptor getServiceDescriptor() {
      return getFileDescriptor().findServiceByName("HumanoidRobotService");
    }
  }

  private static final class HumanoidRobotServiceFileDescriptorSupplier
      extends HumanoidRobotServiceBaseDescriptorSupplier {
    HumanoidRobotServiceFileDescriptorSupplier() {}
  }

  private static final class HumanoidRobotServiceMethodDescriptorSupplier
      extends HumanoidRobotServiceBaseDescriptorSupplier
      implements io.grpc.protobuf.ProtoMethodDescriptorSupplier {
    private final String methodName;

    HumanoidRobotServiceMethodDescriptorSupplier(String methodName) {
      this.methodName = methodName;
    }

    @java.lang.Override
    public com.google.protobuf.Descriptors.MethodDescriptor getMethodDescriptor() {
      return getServiceDescriptor().findMethodByName(methodName);
    }
  }

  private static volatile io.grpc.ServiceDescriptor serviceDescriptor;

  public static io.grpc.ServiceDescriptor getServiceDescriptor() {
    io.grpc.ServiceDescriptor result = serviceDescriptor;
    if (result == null) {
      synchronized (HumanoidRobotServiceGrpc.class) {
        result = serviceDescriptor;
        if (result == null) {
          serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
              .setSchemaDescriptor(new HumanoidRobotServiceFileDescriptorSupplier())
              .addMethod(getTorqueOffMethod())
              .addMethod(getTorqueOnMethod())
              .addMethod(getMoveJMethod())
              .addMethod(getMoveLMethod())
              .addMethod(getSpeedJMethod())
              .addMethod(getSpeedLMethod())
              .addMethod(getGetJointStateMethod())
              .build();
        }
      }
    }
    return result;
  }
}