Source code for bosdyn.client.ir_enable_disable

# 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).

"""A client for the ir-enable-disable service."""
from bosdyn.client.common import common_header_errors
from bosdyn.client.common import BaseClient
from bosdyn.api import ir_enable_disable_pb2
from bosdyn.api import ir_enable_disable_service_pb2_grpc


[docs]class IREnableDisableServiceClient(BaseClient): """Client to enable and/or disable the robot's IR light emitters in the body and hand sensors.""" # Name of the service in the robot's directory listing. default_service_name = 'ir-enable-disable-service' # gRPC service proto definition implemented by this service service_type = 'bosdyn.api.IREnableDisableService' def __init__(self): super(IREnableDisableServiceClient, self).__init__(ir_enable_disable_service_pb2_grpc.IREnableDisableServiceStub)
[docs] def set_ir_enabled(self, enable, **kwargs): """ Enable and/or disable the robot's IR light emitters. Args: enable (bool): Whether or not to enable the emitters. """ if enable: request = ir_enable_disable_pb2.IREnableDisableRequest.REQUEST_ON else: request = ir_enable_disable_pb2.IREnableDisableRequest.REQUEST_OFF return self.call(self._stub.IREnableDisable, ir_enable_disable_pb2.IREnableDisableRequest(request=request), error_from_response=common_header_errors, **kwargs)
[docs] def set_ir_enabled_async(self, enable, **kwargs): """Async version of set_ir_enabled()""" if enable: request = ir_enable_disable_pb2.IREnableDisableRequest.REQUEST_ON else: request = ir_enable_disable_pb2.IREnableDisableRequest.REQUEST_OFF return self.call_async(self._stub.IREnableDisable, ir_enable_disable_pb2.IREnableDisableRequest(request=request), error_from_response=common_header_errors, **kwargs)