# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc import warnings from cmvr.api import arm_command_pb2 as cmvr_dot_api_dot_arm__command__pb2 from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2 GRPC_GENERATED_VERSION = '1.76.0' GRPC_VERSION = grpc.__version__ _version_not_supported = False try: from grpc._utilities import first_version_is_lower _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) except ImportError: _version_not_supported = True if _version_not_supported: raise RuntimeError( f'The grpc package installed is at version {GRPC_VERSION},' + ' but the generated code in cmvr/api/arm_service_pb2_grpc.py depends on' + f' grpcio>={GRPC_GENERATED_VERSION}.' + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' ) class ArmServiceStub(object): """Missing associated documentation comment in .proto file.""" def __init__(self, channel): """Constructor. Args: channel: A grpc.Channel. """ self.torqueOff = channel.unary_unary( '/cmvr.api.ArmService/torqueOff', request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString, response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString, _registered_method=True) self.torqueOn = channel.unary_unary( '/cmvr.api.ArmService/torqueOn', request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString, response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString, _registered_method=True) self.moveJ = channel.unary_unary( '/cmvr.api.ArmService/moveJ', request_serializer=cmvr_dot_api_dot_arm__command__pb2.MoveJ.Request.SerializeToString, response_deserializer=cmvr_dot_api_dot_arm__command__pb2.MoveJ.Response.FromString, _registered_method=True) self.moveL = channel.unary_unary( '/cmvr.api.ArmService/moveL', request_serializer=cmvr_dot_api_dot_arm__command__pb2.MoveL.Request.SerializeToString, response_deserializer=cmvr_dot_api_dot_arm__command__pb2.MoveL.Response.FromString, _registered_method=True) self.speedJ = channel.unary_unary( '/cmvr.api.ArmService/speedJ', request_serializer=cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Request.SerializeToString, response_deserializer=cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Response.FromString, _registered_method=True) self.speedL = channel.unary_unary( '/cmvr.api.ArmService/speedL', request_serializer=cmvr_dot_api_dot_arm__command__pb2.SpeedL.Request.SerializeToString, response_deserializer=cmvr_dot_api_dot_arm__command__pb2.SpeedL.Response.FromString, _registered_method=True) self.servoJ = channel.unary_unary( '/cmvr.api.ArmService/servoJ', request_serializer=cmvr_dot_api_dot_arm__command__pb2.ServoJ.Request.SerializeToString, response_deserializer=cmvr_dot_api_dot_arm__command__pb2.ServoJ.Response.FromString, _registered_method=True) self.stopMotion = channel.unary_unary( '/cmvr.api.ArmService/stopMotion', request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString, response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString, _registered_method=True) self.getJointState = channel.unary_unary( '/cmvr.api.ArmService/getJointState', request_serializer=cmvr_dot_api_dot_arm__command__pb2.JointRequest.SerializeToString, response_deserializer=cmvr_dot_api_dot_arm__command__pb2.JointResponse.FromString, _registered_method=True) self.getPose = channel.unary_unary( '/cmvr.api.ArmService/getPose', request_serializer=cmvr_dot_api_dot_arm__command__pb2.GetPose.Request.SerializeToString, response_deserializer=cmvr_dot_api_dot_arm__command__pb2.GetPose.Response.FromString, _registered_method=True) self.calibrateZeroQ = channel.unary_unary( '/cmvr.api.ArmService/calibrateZeroQ', request_serializer=cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Request.SerializeToString, response_deserializer=cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Response.FromString, _registered_method=True) self.getPoseMatrix = channel.unary_unary( '/cmvr.api.ArmService/getPoseMatrix', request_serializer=cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Request.SerializeToString, response_deserializer=cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Response.FromString, _registered_method=True) self.computeForwardKinematics = channel.unary_unary( '/cmvr.api.ArmService/computeForwardKinematics', request_serializer=cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Request.SerializeToString, response_deserializer=cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Response.FromString, _registered_method=True) class ArmServiceServicer(object): """Missing associated documentation comment in .proto file.""" def torqueOff(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def torqueOn(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def moveJ(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def moveL(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def speedJ(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def speedL(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def servoJ(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def stopMotion(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def getJointState(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def getPose(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def calibrateZeroQ(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def getPoseMatrix(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def computeForwardKinematics(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def add_ArmServiceServicer_to_server(servicer, server): rpc_method_handlers = { 'torqueOff': grpc.unary_unary_rpc_method_handler( servicer.torqueOff, request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString, response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString, ), 'torqueOn': grpc.unary_unary_rpc_method_handler( servicer.torqueOn, request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString, response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString, ), 'moveJ': grpc.unary_unary_rpc_method_handler( servicer.moveJ, request_deserializer=cmvr_dot_api_dot_arm__command__pb2.MoveJ.Request.FromString, response_serializer=cmvr_dot_api_dot_arm__command__pb2.MoveJ.Response.SerializeToString, ), 'moveL': grpc.unary_unary_rpc_method_handler( servicer.moveL, request_deserializer=cmvr_dot_api_dot_arm__command__pb2.MoveL.Request.FromString, response_serializer=cmvr_dot_api_dot_arm__command__pb2.MoveL.Response.SerializeToString, ), 'speedJ': grpc.unary_unary_rpc_method_handler( servicer.speedJ, request_deserializer=cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Request.FromString, response_serializer=cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Response.SerializeToString, ), 'speedL': grpc.unary_unary_rpc_method_handler( servicer.speedL, request_deserializer=cmvr_dot_api_dot_arm__command__pb2.SpeedL.Request.FromString, response_serializer=cmvr_dot_api_dot_arm__command__pb2.SpeedL.Response.SerializeToString, ), 'servoJ': grpc.unary_unary_rpc_method_handler( servicer.servoJ, request_deserializer=cmvr_dot_api_dot_arm__command__pb2.ServoJ.Request.FromString, response_serializer=cmvr_dot_api_dot_arm__command__pb2.ServoJ.Response.SerializeToString, ), 'stopMotion': grpc.unary_unary_rpc_method_handler( servicer.stopMotion, request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString, response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString, ), 'getJointState': grpc.unary_unary_rpc_method_handler( servicer.getJointState, request_deserializer=cmvr_dot_api_dot_arm__command__pb2.JointRequest.FromString, response_serializer=cmvr_dot_api_dot_arm__command__pb2.JointResponse.SerializeToString, ), 'getPose': grpc.unary_unary_rpc_method_handler( servicer.getPose, request_deserializer=cmvr_dot_api_dot_arm__command__pb2.GetPose.Request.FromString, response_serializer=cmvr_dot_api_dot_arm__command__pb2.GetPose.Response.SerializeToString, ), 'calibrateZeroQ': grpc.unary_unary_rpc_method_handler( servicer.calibrateZeroQ, request_deserializer=cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Request.FromString, response_serializer=cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Response.SerializeToString, ), 'getPoseMatrix': grpc.unary_unary_rpc_method_handler( servicer.getPoseMatrix, request_deserializer=cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Request.FromString, response_serializer=cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Response.SerializeToString, ), 'computeForwardKinematics': grpc.unary_unary_rpc_method_handler( servicer.computeForwardKinematics, request_deserializer=cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Request.FromString, response_serializer=cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Response.SerializeToString, ), } generic_handler = grpc.method_handlers_generic_handler( 'cmvr.api.ArmService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) server.add_registered_method_handlers('cmvr.api.ArmService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. class ArmService(object): """Missing associated documentation comment in .proto file.""" @staticmethod def torqueOff(request, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.unary_unary( request, target, '/cmvr.api.ArmService/torqueOff', cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString, cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True) @staticmethod def torqueOn(request, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.unary_unary( request, target, '/cmvr.api.ArmService/torqueOn', cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString, cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True) @staticmethod def moveJ(request, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.unary_unary( request, target, '/cmvr.api.ArmService/moveJ', cmvr_dot_api_dot_arm__command__pb2.MoveJ.Request.SerializeToString, cmvr_dot_api_dot_arm__command__pb2.MoveJ.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True) @staticmethod def moveL(request, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.unary_unary( request, target, '/cmvr.api.ArmService/moveL', cmvr_dot_api_dot_arm__command__pb2.MoveL.Request.SerializeToString, cmvr_dot_api_dot_arm__command__pb2.MoveL.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True) @staticmethod def speedJ(request, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.unary_unary( request, target, '/cmvr.api.ArmService/speedJ', cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Request.SerializeToString, cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True) @staticmethod def speedL(request, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.unary_unary( request, target, '/cmvr.api.ArmService/speedL', cmvr_dot_api_dot_arm__command__pb2.SpeedL.Request.SerializeToString, cmvr_dot_api_dot_arm__command__pb2.SpeedL.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True) @staticmethod def servoJ(request, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.unary_unary( request, target, '/cmvr.api.ArmService/servoJ', cmvr_dot_api_dot_arm__command__pb2.ServoJ.Request.SerializeToString, cmvr_dot_api_dot_arm__command__pb2.ServoJ.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True) @staticmethod def stopMotion(request, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.unary_unary( request, target, '/cmvr.api.ArmService/stopMotion', cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString, cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True) @staticmethod def getJointState(request, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.unary_unary( request, target, '/cmvr.api.ArmService/getJointState', cmvr_dot_api_dot_arm__command__pb2.JointRequest.SerializeToString, cmvr_dot_api_dot_arm__command__pb2.JointResponse.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True) @staticmethod def getPose(request, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.unary_unary( request, target, '/cmvr.api.ArmService/getPose', cmvr_dot_api_dot_arm__command__pb2.GetPose.Request.SerializeToString, cmvr_dot_api_dot_arm__command__pb2.GetPose.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True) @staticmethod def calibrateZeroQ(request, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.unary_unary( request, target, '/cmvr.api.ArmService/calibrateZeroQ', cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Request.SerializeToString, cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True) @staticmethod def getPoseMatrix(request, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.unary_unary( request, target, '/cmvr.api.ArmService/getPoseMatrix', cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Request.SerializeToString, cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True) @staticmethod def computeForwardKinematics(request, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.unary_unary( request, target, '/cmvr.api.ArmService/computeForwardKinematics', cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Request.SerializeToString, cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)