Area Callback Service Servicer

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

Bases: bosdyn.api.graph_nav.area_callback_service_pb2_grpc.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)[source]

Return the configured AreaCallbackInformation.

BeginCallback(request, context)[source]

Begin the callback in a new region.

BeginControl(request, context)[source]

Receive robot control from GraphNav.

UpdateCallback(request, context)[source]

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

EndCallback(request, context)[source]

Terminate handling of this region.

Shutdown(timeout=5)[source]

Call to force run thread to terminate.

Parameters

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

Returns

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

Return type

bool