Source code for bosdyn.client.local_grid

# Copyright (c) 2020 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).

"""Client support for the LocalGridService."""

from bosdyn.api import local_grid_pb2, local_grid_service_pb2_grpc
from bosdyn.client.common import BaseClient, common_header_errors


[docs]class LocalGridClient(BaseClient): """Client to access local grid local_grids from the robot.""" # Typical name of the service in the robot's directory listing. default_service_name = 'local-grid-service' # gRPC service proto definition implemented by this service service_type = 'bosdyn.api.LocalGridService' def __init__(self): super(LocalGridClient, self).__init__(local_grid_service_pb2_grpc.LocalGridServiceStub)
[docs] def get_local_grid_types(self, **kwargs): """Get a list of the local_grid types available from the robot. Returns: A list of the different types (string names) of local grids. Raises: RpcError: Problem communicating with the robot. """ return self.call(self._stub.GetLocalGridTypes, local_grid_pb2.GetLocalGridTypesRequest(), value_from_response=lambda res: res.local_grid_type, error_from_response=common_header_errors, **kwargs)
[docs] def get_local_grid_types_async(self, **kwargs): """Async version of get_local_grid_types().""" return self.call_async(self._stub.GetLocalGridTypes, local_grid_pb2.GetLocalGridTypesRequest(), value_from_response=lambda res: res.local_grid_type, error_from_response=common_header_errors, **kwargs)
[docs] def get_local_grids(self, local_grid_type_names, **kwargs): """Get a selection of local_grids of specified types. Args: local_grid_type_names (list of strings): List of strings specifying types local_grids to request. Available local_grid types may be requested using get_local_grid_types(). Returns: A list of LocalGridResponseProtos, each containing a local_grid or an error status code. Raises: RpcError: Problem communicating with the robot. """ request = local_grid_pb2.GetLocalGridsRequest() for local_grid_type_name in local_grid_type_names: request.local_grid_requests.add(local_grid_type_name=local_grid_type_name) return self.call(self._stub.GetLocalGrids, request, value_from_response=lambda res: res.local_grid_responses, error_from_response=common_header_errors, **kwargs)
[docs] def get_local_grids_async(self, local_grid_type_names, **kwargs): """Async version of get_local_grids().""" request = local_grid_pb2.GetLocalGridsRequest() for local_grid_type_name in local_grid_type_names: request.local_grid_requests.add(local_grid_type_name=local_grid_type_name) return self.call_async(self._stub.GetLocalGrids, request, value_from_response=lambda res: res.local_grid_responses, error_from_response=common_header_errors, **kwargs)