# Copyright (c) 2023 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 use the Gps Aggregator service."""
import collections
from bosdyn.api.gps import aggregator_pb2, aggregator_service_pb2_grpc, gps_pb2
from bosdyn.client.common import (BaseClient, common_header_errors, error_factory, error_pair,
handle_common_header_errors, handle_unset_status_error)
from bosdyn.client.exceptions import ResponseError
[docs]class AggregatorClient(BaseClient):
"""Client for the Gps Aggregator service."""
default_service_name = 'gps-aggregator'
service_type = 'bosdyn.api.gps.AggregatorService'
def __init__(self):
super(AggregatorClient, self).__init__(aggregator_service_pb2_grpc.AggregatorServiceStub)
[docs] def new_gps_data(self, data_points, gps_device, **kwargs):
"""Tell the robot about new GPS data that was collected.
Args:
data_points (collection of bosdyn.api.gps.GpsDataPoint): All the data you want to send.
gps_device (collection of bosdyn.api.gps.GpsDevice): The identifier of this device.
Returns:
An instance of bosdyn.api.NewGpsDataResponse
Raises:
RpcError: Problem communicating with the robot.
"""
req = aggregator_pb2.NewGpsDataRequest()
req.data_points.extend(data_points)
req.gps_device.CopyFrom(gps_device)
return self.call(self._stub.NewGpsData, req, None, error_from_response=_new_gps_data_error,
copy_request=False, **kwargs)
[docs] def new_gps_data_async(self, data_points, gps_device, **kwargs):
"""Async version of new_gps_data()"""
req = aggregator_pb2.NewGpsDataRequest()
req.data_points.extend(data_points)
req.gps_device.CopyFrom(gps_device)
return self.call_async(self._stub.NewGpsData, req, None,
error_from_response=_new_gps_data_error, copy_request=False,
**kwargs)
@handle_common_header_errors
def _new_gps_data_error(response):
"""Return an exception based on response from New GPS Data RPC, None if no error."""
return None