Source code for bosdyn.client.door

# Copyright (c) 2021 Boston Dynamics, Inc.  All rights reserved.
#
# Downloading, reproducing, distributing or otherwise using the SDK Software
# is subject to the terms and conditions of the Boston Dynamics Software
# Development Kit License (20191101-BDSDK-SL).

"""For clients to the door service."""

from bosdyn.client.common import (BaseClient, handle_common_header_errors,
                                  handle_lease_use_result_errors)

from bosdyn.api.spot import door_service_pb2_grpc

from .lease import add_lease_wallet_processors


[docs]class DoorClient(BaseClient): """Client for the door service.""" default_service_name = 'door' service_type = 'bosdyn.api.spot.DoorService' def __init__(self): super(DoorClient, self).__init__(door_service_pb2_grpc.DoorServiceStub)
[docs] def open_door(self, request, **kwargs): """Issue a open door command to the robot. Args: request (door_pb2.OpenDoorCommandRequest): The door command. Returns: The full OpenDoorCommandResponse message, which includes a command id for feedback. Raises: RpcError: Problem communicating with the robot. LeaseUseError: The lease for the request failed. """ return self.call(self._stub.OpenDoor, request, None, _open_door_error_handler, **kwargs)
[docs] def open_door_async(self, request, **kwargs): """Async version of open_door().""" return self.call_async(self._stub.OpenDoor, request, None, _open_door_error_handler, **kwargs)
[docs] def open_door_feedback(self, request, **kwargs): """Get feedback from the robot on a specific door command. Args: request (door_pb2.OpenDoorFeedbackRequest): The request for feedback of the door command. Returns: The full OpenDoorFeedbackResponse message. Raises: RpcError: Problem communicating with the robot. """ return self.call(self._stub.OpenDoorFeedback, request, None, _open_door_feedback_error_handler, **kwargs)
[docs] def open_door_feedback_async(self, request, **kwargs): """Async version of open_door_feedback().""" return self.call_async(self._stub.OpenDoorFeedback, request, None, _open_door_feedback_error_handler, **kwargs)
[docs] def update_from(self, other): """Update instance from another object. Args: other: The object where to copy from. """ # The door service requires a lease. super(DoorClient, self).update_from(other) if self.lease_wallet: add_lease_wallet_processors(self, self.lease_wallet)
@handle_common_header_errors @handle_lease_use_result_errors def _open_door_error_handler(response): """Return a custom exception based on response, None if no error.""" return None @handle_common_header_errors def _open_door_feedback_error_handler(response): """Return a custom exception based on response, None if no error.""" return None