Area Callback Service Servicer

class bosdyn.client.area_callback_service_servicer.AreaCallbackServiceServicer(robot: Robot, config: AreaCallbackServiceConfig, area_callback_builder_fn: Callable[[AreaCallbackServiceConfig, Robot], AreaCallbackRegionHandlerBase])

Bases: AreaCallbackServiceServicer

Implementation of area callback service.

Parameters:

• robot – The Robot object used to create service clients.

• config – The AreaCallbackServiceConfig defining the data for the AreaCallbackInformation response.

• area_callback_builder_fn – Callable to create the AreaCallbackRegionHandlerBase subclass that implements the details of the callback. Usually this will simply be the class itself.

SERVICE_TYPE = 'bosdyn.api.graph_nav.AreaCallbackService'

AreaCallbackInformation(request, context)

Return the configured AreaCallbackInformation.

BeginCallback(request, context)

Begin the callback in a new region.

BeginControl(request, context)

Receive robot control from GraphNav.

UpdateCallback(request, context)

Regular updates from GraphNav, with responses to update the policy.

EndCallback(request, context)

Terminate handling of this region.

RouteChange(request, context)

Called when we re-route within the callback. Most callbacks do not need to know about changes in the route, and can ignore this.

Shutdown(timeout=5)

Call to force run thread to terminate.

Parameters:

timeout (float, optional) – Time allowed to run thread to shut down. Defaults to 5.

Returns:

True if the thread correctly shut down within the allowed time.

Return type:

bool