# 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).
from bosdyn.api import gripper_camera_param_service_pb2_grpc
from bosdyn.client.common import BaseClient, common_header_errors
[docs]class GripperCameraParamClient(BaseClient):
"""Client for the Gripper Camera Parameter service."""
default_service_name = 'gripper-camera-param'
service_type = 'bosdyn.api.GripperCameraParamService'
def __init__(self):
super(GripperCameraParamClient,
self).__init__(gripper_camera_param_service_pb2_grpc.GripperCameraParamServiceStub)
[docs] def set_camera_params(self, gripper_camera_param_request, **kwargs):
"""Issue a gripper camera parameter command to the robot.
Args:
gripper_camera_param_request (gripper_camera_param_pb2.GripperCameraParamRequest): The command request
to set gripper parameters.
Returns:
The GripperCameraParamResponse message, which only contains a header.
"""
return self.call(self._stub.SetParams, gripper_camera_param_request,
error_from_response=common_header_errors, **kwargs)
[docs] def set_camera_params_async(self, gripper_camera_param_request, **kwargs):
"""Async version of gripper_camera_param_service_command()."""
return self.call_async(self._stub.SetParams, gripper_camera_param_request,
error_from_response=common_header_errors, **kwargs)
[docs] def get_camera_params(self, gripper_camera_get_param_request, **kwargs):
"""Issue a request to get the current gripper camera parameters from the robot.
Args:
gripper_camera_get_param_request (gripper_camera_param_pb2.GripperCameraGetParamRequest): The command request
to get current gripper parameters.
Returns:
The GripperCameraGetParamResponses message, which contains the GripperCameraParams.
"""
return self.call(self._stub.GetParams, gripper_camera_get_param_request,
error_from_response=common_header_errors, **kwargs)
[docs] def get_camera_params_async(self, gripper_camera_get_param_request, **kwargs):
"""Async version of gripper_camera_get_param_service_command()."""
return self.call_async(self._stub.GetParams, gripper_camera_get_param_request,
error_from_response=common_header_errors, **kwargs)