Source code for bosdyn.client.gps.aggregator_client

# 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, 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