67 lines
1.7 KiB
Python
67 lines
1.7 KiB
Python
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from google.protobuf.timestamp_pb2 import Timestamp
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from clients._path_setup import ensure_paths
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ensure_paths()
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from clients.base_client import RobotClientBase
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from cmvr.api import common_pb2
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from cmvr.api import hlc_command_pb2 as pb
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from cmvr.api import hlc_service_pb2_grpc as rpc
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class HlcClient(RobotClientBase):
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"""Client for calling cmvr.api.HlcService."""
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def _init_stubs(self, channel):
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self.stub = rpc.HlcServiceStub(channel)
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@staticmethod
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def _make_header(device_id: str):
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header = common_pb2.CommandHeader.Request()
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header.device_id = device_id
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timestamp = Timestamp()
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timestamp.GetCurrentTime()
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header.timestamp.CopyFrom(timestamp)
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return header
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def touch(
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self,
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u: int,
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v: int,
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max_force: float,
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device_id="hc01",
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timeout=None,
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):
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request = pb.Touch.Request()
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request.header.CopyFrom(self._make_header(device_id))
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request.u = u
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request.v = v
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request.max_force = max_force
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rpc_timeout = self.timeout if timeout is None else timeout
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response = self.stub.touch(request, timeout=rpc_timeout)
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return response
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def main():
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client = HlcClient()
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try:
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response = client.touch(
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u=12,
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v=34,
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max_force=10.0,
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device_id="hc01",
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)
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print("touch RPC call completed")
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print(f"success: {response.header.success}")
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print(f"error_message: {response.header.error_message}")
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print(f"timestamp: {response.header.timestamp.seconds}")
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return response
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finally:
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client.close()
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if __name__ == "__main__":
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main()
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