Source code for bosdyn.client.spot_cam.compositor

# 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).

"""For clients to the Spot CAM Compositor service."""

from bosdyn.client.common import (BaseClient, handle_common_header_errors)
from bosdyn.api.spot_cam import service_pb2_grpc
from bosdyn.api.spot_cam import compositor_pb2

from google.protobuf.wrappers_pb2 import BoolValue

[docs]class CompositorClient(BaseClient): """A client calling Spot CAM Compositor services. """ default_service_name = 'spot-cam-compositor' service_type = 'bosdyn.api.spot_cam.CompositorService' def __init__(self): super(CompositorClient, self).__init__(service_pb2_grpc.CompositorServiceStub)
[docs] def set_screen(self, name, **kwargs): """Change the current view that is being streamed over the network""" request = compositor_pb2.SetScreenRequest(name=name) return self.call(self._stub.SetScreen, request, self._name_from_response, self._compositor_error_from_response, **kwargs)
[docs] def set_screen_async(self, name, **kwargs): """Async version of set_screen()""" request = compositor_pb2.SetScreenRequest(name=name) return self.call_async(self._stub.SetScreen, request, self._name_from_response, self._compositor_error_from_response, **kwargs)
[docs] def get_screen(self, **kwargs): """Get the currently selected screen""" request = compositor_pb2.GetScreenRequest() return self.call(self._stub.GetScreen, request, self._name_from_response, self._compositor_error_from_response, **kwargs)
[docs] def get_screen_async(self, **kwargs): """Async version of get_screen()""" request = compositor_pb2.GetScreenRequest() return self.call_async(self._stub.GetScreen, request, self._name_from_response, self._compositor_error_from_response, **kwargs)
[docs] def list_screens(self, **kwargs): """List available screens""" request = compositor_pb2.ListScreensRequest() return self.call(self._stub.ListScreens, request, self._screens_from_response, self._compositor_error_from_response, **kwargs)
[docs] def list_screens_async(self, **kwargs): """Async version of list_screens()""" request = compositor_pb2.ListScreensRequest() return self.call_async(self._stub.ListScreens, request, self._screens_from_response, self._compositor_error_from_response, **kwargs)
[docs] def get_visible_cameras(self, **kwargs): """List cameras on Spot CAM""" request = compositor_pb2.GetVisibleCamerasRequest() return self.call(self._stub.GetVisibleCameras, request, self._streams_from_response, self._compositor_error_from_response, **kwargs)
[docs] def get_visible_cameras_async(self, **kwargs): """Async version of get_visible_cameras()""" request = compositor_pb2.GetVisibleCamerasRequest() return self.call_async(self._stub.GetVisibleCameras, request, self._streams_from_response, self._compositor_error_from_response, **kwargs)
[docs] def set_ir_colormap(self, colormap, min_temp, max_temp, auto_scale, **kwargs): """Set IR colormap to use on Spot CAM Args: colormap (bosdyn.api.spot_cam.compositor_pb2.IrColorMap.ColorMap): IR display colormap min_temp (Float): minimum temperature on the temperature scale max_temp (Float): maximum temperature on the temperature scale auto_scale (Boolean): Auto-scale the color map. This is the most human-understandable option. min_temp and max_temp are ignored if this is set to True kwargs: extra arguments for controlling RPC details. """ scale = compositor_pb2.IrColorMap.ScalingPair(min=min_temp, max=max_temp) auto = BoolValue(value=auto_scale) ir_colormap = compositor_pb2.IrColorMap(colormap=colormap, scale=scale, auto_scale=auto) request = compositor_pb2.SetIrColormapRequest(map=ir_colormap) return self.call(self._stub.SetIrColormap, request, self._return_response, self._compositor_error_from_response, **kwargs)
[docs] def set_ir_colormap_async(self, colormap, min_temp, max_temp, auto_scale, **kwargs): """Async version of set_ir_colormap()""" scale = compositor_pb2.IrColorMap.ScalingPair(min=min_temp, max=max_temp) auto = BoolValue(value=auto_scale) ir_colormap = compositor_pb2.IrColorMap(colormap=colormap, scale=scale, auto_scale=auto) request = compositor_pb2.SetIrColormapRequest(map=ir_colormap) return self.call_async(self._stub.SetIrColormap, request, self._return_response, self._compositor_error_from_response, **kwargs)
[docs] def get_ir_colormap(self, **kwargs): """Get currently selected IR colormap on Spot CAM""" request = compositor_pb2.GetIrColormapRequest() return self.call(self._stub.GetIrColormap, request, self._colormap_from_response, self._compositor_error_from_response, **kwargs)
[docs] def get_ir_colormap_async(self, **kwargs): """Async version of get_ir_colormap()""" request = compositor_pb2.GetIrColormapRequest() return self.call_async(self._stub.GetIrColormap, request, self._colormap_from_response, self._compositor_error_from_response, **kwargs)
[docs] def set_ir_meter_overlay(self, x, y, enable, **kwargs): """Set IR reticle position to use on Spot CAM IR Args: x (Float): (0,1) horizontal coordinate of reticle y (Float): (0,1) vertical coordinate of reticle enable (Boolean): Enable the reticle on the display kwargs: extra arguments for controlling RPC details. """ coords = compositor_pb2.IrMeterOverlay.NormalizedCoordinates(x=x, y=y) overlay = compositor_pb2.IrMeterOverlay(enable=enable, coords=coords) request = compositor_pb2.SetIrMeterOverlayRequest(overlay=overlay) return self.call(self._stub.SetIrMeterOverlay, request, self._return_response, self._compositor_error_from_response, **kwargs)
[docs] def set_ir_meter_overlay_async(self, x, y, enable, **kwargs): """Async version of set_ir_meter_overlay()""" coords = compositor_pb2.IrMeterOverlay.NormalizedCoordinates(x=x, y=y) overlay = compositor_pb2.IrMeterOverlay(enable=enable, coords=coords) request = compositor_pb2.SetIrMeterOverlayRequest(overlay=overlay) return self.call_async(self._stub.SetIrMeterOverlay, request, self._return_response, self._compositor_error_from_response, **kwargs)
@staticmethod def _return_response(response): return response @staticmethod def _name_from_response(response): return response.name @staticmethod def _screens_from_response(response): return response.screens @staticmethod def _streams_from_response(response): return response.streams @staticmethod def _colormap_from_response(response): return response.map @staticmethod @handle_common_header_errors def _compositor_error_from_response(response): # pylint: disable=unused-argument return None