Source code for bosdyn.client.spot_cam.lighting

# 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).

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

import logging

_LOGGER = logging.getLogger(__name__)

from bosdyn.client.common import (BaseClient, common_header_errors, handle_common_header_errors)
from bosdyn.api.spot_cam import service_pb2_grpc
from bosdyn.api.spot_cam import LED_pb2


[docs]class LightingClient(BaseClient): """A client calling Spot CAM Lighting service. """ default_service_name = 'spot-cam-lighting' service_type = 'bosdyn.api.spot_cam.LightingService' def __init__(self): super(LightingClient, self).__init__(service_pb2_grpc.LightingServiceStub)
[docs] def get_led_brightness(self, **kwargs): """Retrieve the brightness value [0, 1] of each LED at indices [0, max).""" request = LED_pb2.GetLEDBrightnessRequest() return self.call(self._stub.GetLEDBrightness, request, self._get_led_brightness_from_response, self._lighting_error_from_response, **kwargs)
[docs] def get_led_brightness_async(self, **kwargs): """Async version of get_led_brightness()""" request = LED_pb2.GetLEDBrightnessRequest() return self.call_async(self._stub.GetLEDBrightness, request, self._get_led_brightness_from_response, self._lighting_error_from_response, **kwargs)
[docs] def set_led_brightness(self, brightnesses, **kwargs): """Set the brightness value [0, 1] of each LED at indices [0, max).""" request = LED_pb2.SetLEDBrightnessRequest() for i, brightness in enumerate(brightnesses): if i >= 4: break request.brightnesses[i] = brightness return self.call(self._stub.SetLEDBrightness, request, self._set_led_brightness_from_response, self._lighting_error_from_response, **kwargs)
[docs] def set_led_brightness_async(self, brightnesses, **kwargs): """Async version of set_led_brightness()""" request = LED_pb2.SetLEDBrightnessRequest() for i, brightness in enumerate(brightnesses): if i >= 4: break request.brightnesses[i] = brightness return self.call_async(self._stub.SetLEDBrightness, request, self._set_led_brightness_from_response, self._lighting_error_from_response, **kwargs)
@staticmethod def _get_led_brightness_from_response(response): return response.brightnesses @staticmethod def _set_led_brightness_from_response(response): pass @staticmethod @handle_common_header_errors def _lighting_error_from_response(response): # pylint: disable=unused-argument return None