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