diff --git a/gen/js/robot/v1/robot_grpc_web_pb.js b/gen/js/robot/v1/robot_grpc_web_pb.js index 9f698881c..7f6a3a59b 100644 --- a/gen/js/robot/v1/robot_grpc_web_pb.js +++ b/gen/js/robot/v1/robot_grpc_web_pb.js @@ -513,189 +513,6 @@ proto.viam.robot.v1.RobotServicePromiseClient.prototype.getModelsFromModules = }; -/** - * @const - * @type {!grpc.web.MethodDescriptor< - * !proto.viam.robot.v1.FrameSystemConfigRequest, - * !proto.viam.robot.v1.FrameSystemConfigResponse>} - */ -const methodDescriptor_RobotService_FrameSystemConfig = new grpc.web.MethodDescriptor( - '/viam.robot.v1.RobotService/FrameSystemConfig', - grpc.web.MethodType.UNARY, - proto.viam.robot.v1.FrameSystemConfigRequest, - proto.viam.robot.v1.FrameSystemConfigResponse, - /** - * @param {!proto.viam.robot.v1.FrameSystemConfigRequest} request - * @return {!Uint8Array} - */ - function(request) { - return request.serializeBinary(); - }, - proto.viam.robot.v1.FrameSystemConfigResponse.deserializeBinary -); - - -/** - * @param {!proto.viam.robot.v1.FrameSystemConfigRequest} request The - * request proto - * @param {?Object} metadata User defined - * call metadata - * @param {function(?grpc.web.RpcError, ?proto.viam.robot.v1.FrameSystemConfigResponse)} - * callback The callback function(error, response) - * @return {!grpc.web.ClientReadableStream|undefined} - * The XHR Node Readable Stream - */ -proto.viam.robot.v1.RobotServiceClient.prototype.frameSystemConfig = - function(request, metadata, callback) { - return this.client_.rpcCall(this.hostname_ + - '/viam.robot.v1.RobotService/FrameSystemConfig', - request, - metadata || {}, - methodDescriptor_RobotService_FrameSystemConfig, - callback); -}; - - -/** - * @param {!proto.viam.robot.v1.FrameSystemConfigRequest} request The - * request proto - * @param {?Object=} metadata User defined - * call metadata - * @return {!Promise} - * Promise that resolves to the response - */ -proto.viam.robot.v1.RobotServicePromiseClient.prototype.frameSystemConfig = - function(request, metadata) { - return this.client_.unaryCall(this.hostname_ + - '/viam.robot.v1.RobotService/FrameSystemConfig', - request, - metadata || {}, - methodDescriptor_RobotService_FrameSystemConfig); -}; - - -/** - * @const - * @type {!grpc.web.MethodDescriptor< - * !proto.viam.robot.v1.TransformPoseRequest, - * !proto.viam.robot.v1.TransformPoseResponse>} - */ -const methodDescriptor_RobotService_TransformPose = new grpc.web.MethodDescriptor( - '/viam.robot.v1.RobotService/TransformPose', - grpc.web.MethodType.UNARY, - proto.viam.robot.v1.TransformPoseRequest, - proto.viam.robot.v1.TransformPoseResponse, - /** - * @param {!proto.viam.robot.v1.TransformPoseRequest} request - * @return {!Uint8Array} - */ - function(request) { - return request.serializeBinary(); - }, - proto.viam.robot.v1.TransformPoseResponse.deserializeBinary -); - - -/** - * @param {!proto.viam.robot.v1.TransformPoseRequest} request The - * request proto - * @param {?Object} metadata User defined - * call metadata - * @param {function(?grpc.web.RpcError, ?proto.viam.robot.v1.TransformPoseResponse)} - * callback The callback function(error, response) - * @return {!grpc.web.ClientReadableStream|undefined} - * The XHR Node Readable Stream - */ -proto.viam.robot.v1.RobotServiceClient.prototype.transformPose = - function(request, metadata, callback) { - return this.client_.rpcCall(this.hostname_ + - '/viam.robot.v1.RobotService/TransformPose', - request, - metadata || {}, - methodDescriptor_RobotService_TransformPose, - callback); -}; - - -/** - * @param {!proto.viam.robot.v1.TransformPoseRequest} request The - * request proto - * @param {?Object=} metadata User defined - * call metadata - * @return {!Promise} - * Promise that resolves to the response - */ -proto.viam.robot.v1.RobotServicePromiseClient.prototype.transformPose = - function(request, metadata) { - return this.client_.unaryCall(this.hostname_ + - '/viam.robot.v1.RobotService/TransformPose', - request, - metadata || {}, - methodDescriptor_RobotService_TransformPose); -}; - - -/** - * @const - * @type {!grpc.web.MethodDescriptor< - * !proto.viam.robot.v1.TransformPCDRequest, - * !proto.viam.robot.v1.TransformPCDResponse>} - */ -const methodDescriptor_RobotService_TransformPCD = new grpc.web.MethodDescriptor( - '/viam.robot.v1.RobotService/TransformPCD', - grpc.web.MethodType.UNARY, - proto.viam.robot.v1.TransformPCDRequest, - proto.viam.robot.v1.TransformPCDResponse, - /** - * @param {!proto.viam.robot.v1.TransformPCDRequest} request - * @return {!Uint8Array} - */ - function(request) { - return request.serializeBinary(); - }, - proto.viam.robot.v1.TransformPCDResponse.deserializeBinary -); - - -/** - * @param {!proto.viam.robot.v1.TransformPCDRequest} request The - * request proto - * @param {?Object} metadata User defined - * call metadata - * @param {function(?grpc.web.RpcError, ?proto.viam.robot.v1.TransformPCDResponse)} - * callback The callback function(error, response) - * @return {!grpc.web.ClientReadableStream|undefined} - * The XHR Node Readable Stream - */ -proto.viam.robot.v1.RobotServiceClient.prototype.transformPCD = - function(request, metadata, callback) { - return this.client_.rpcCall(this.hostname_ + - '/viam.robot.v1.RobotService/TransformPCD', - request, - metadata || {}, - methodDescriptor_RobotService_TransformPCD, - callback); -}; - - -/** - * @param {!proto.viam.robot.v1.TransformPCDRequest} request The - * request proto - * @param {?Object=} metadata User defined - * call metadata - * @return {!Promise} - * Promise that resolves to the response - */ -proto.viam.robot.v1.RobotServicePromiseClient.prototype.transformPCD = - function(request, metadata) { - return this.client_.unaryCall(this.hostname_ + - '/viam.robot.v1.RobotService/TransformPCD', - request, - metadata || {}, - methodDescriptor_RobotService_TransformPCD); -}; - - /** * @const * @type {!grpc.web.MethodDescriptor< @@ -1423,5 +1240,249 @@ proto.viam.robot.v1.RobotServicePromiseClient.prototype.listTunnels = }; +/** + * @const + * @type {!grpc.web.MethodDescriptor< + * !proto.viam.robot.v1.FrameSystemConfigRequest, + * !proto.viam.robot.v1.FrameSystemConfigResponse>} + */ +const methodDescriptor_RobotService_FrameSystemConfig = new grpc.web.MethodDescriptor( + '/viam.robot.v1.RobotService/FrameSystemConfig', + grpc.web.MethodType.UNARY, + proto.viam.robot.v1.FrameSystemConfigRequest, + proto.viam.robot.v1.FrameSystemConfigResponse, + /** + * @param {!proto.viam.robot.v1.FrameSystemConfigRequest} request + * @return {!Uint8Array} + */ + function(request) { + return request.serializeBinary(); + }, + proto.viam.robot.v1.FrameSystemConfigResponse.deserializeBinary +); + + +/** + * @param {!proto.viam.robot.v1.FrameSystemConfigRequest} request The + * request proto + * @param {?Object} metadata User defined + * call metadata + * @param {function(?grpc.web.RpcError, ?proto.viam.robot.v1.FrameSystemConfigResponse)} + * callback The callback function(error, response) + * @return {!grpc.web.ClientReadableStream|undefined} + * The XHR Node Readable Stream + */ +proto.viam.robot.v1.RobotServiceClient.prototype.frameSystemConfig = + function(request, metadata, callback) { + return this.client_.rpcCall(this.hostname_ + + '/viam.robot.v1.RobotService/FrameSystemConfig', + request, + metadata || {}, + methodDescriptor_RobotService_FrameSystemConfig, + callback); +}; + + +/** + * @param {!proto.viam.robot.v1.FrameSystemConfigRequest} request The + * request proto + * @param {?Object=} metadata User defined + * call metadata + * @return {!Promise} + * Promise that resolves to the response + */ +proto.viam.robot.v1.RobotServicePromiseClient.prototype.frameSystemConfig = + function(request, metadata) { + return this.client_.unaryCall(this.hostname_ + + '/viam.robot.v1.RobotService/FrameSystemConfig', + request, + metadata || {}, + methodDescriptor_RobotService_FrameSystemConfig); +}; + + +/** + * @const + * @type {!grpc.web.MethodDescriptor< + * !proto.viam.robot.v1.GetPoseRequest, + * !proto.viam.robot.v1.GetPoseResponse>} + */ +const methodDescriptor_RobotService_GetPose = new grpc.web.MethodDescriptor( + '/viam.robot.v1.RobotService/GetPose', + grpc.web.MethodType.UNARY, + proto.viam.robot.v1.GetPoseRequest, + proto.viam.robot.v1.GetPoseResponse, + /** + * @param {!proto.viam.robot.v1.GetPoseRequest} request + * @return {!Uint8Array} + */ + function(request) { + return request.serializeBinary(); + }, + proto.viam.robot.v1.GetPoseResponse.deserializeBinary +); + + +/** + * @param {!proto.viam.robot.v1.GetPoseRequest} request The + * request proto + * @param {?Object} metadata User defined + * call metadata + * @param {function(?grpc.web.RpcError, ?proto.viam.robot.v1.GetPoseResponse)} + * callback The callback function(error, response) + * @return {!grpc.web.ClientReadableStream|undefined} + * The XHR Node Readable Stream + */ +proto.viam.robot.v1.RobotServiceClient.prototype.getPose = + function(request, metadata, callback) { + return this.client_.rpcCall(this.hostname_ + + '/viam.robot.v1.RobotService/GetPose', + request, + metadata || {}, + methodDescriptor_RobotService_GetPose, + callback); +}; + + +/** + * @param {!proto.viam.robot.v1.GetPoseRequest} request The + * request proto + * @param {?Object=} metadata User defined + * call metadata + * @return {!Promise} + * Promise that resolves to the response + */ +proto.viam.robot.v1.RobotServicePromiseClient.prototype.getPose = + function(request, metadata) { + return this.client_.unaryCall(this.hostname_ + + '/viam.robot.v1.RobotService/GetPose', + request, + metadata || {}, + methodDescriptor_RobotService_GetPose); +}; + + +/** + * @const + * @type {!grpc.web.MethodDescriptor< + * !proto.viam.robot.v1.TransformPoseRequest, + * !proto.viam.robot.v1.TransformPoseResponse>} + */ +const methodDescriptor_RobotService_TransformPose = new grpc.web.MethodDescriptor( + '/viam.robot.v1.RobotService/TransformPose', + grpc.web.MethodType.UNARY, + proto.viam.robot.v1.TransformPoseRequest, + proto.viam.robot.v1.TransformPoseResponse, + /** + * @param {!proto.viam.robot.v1.TransformPoseRequest} request + * @return {!Uint8Array} + */ + function(request) { + return request.serializeBinary(); + }, + proto.viam.robot.v1.TransformPoseResponse.deserializeBinary +); + + +/** + * @param {!proto.viam.robot.v1.TransformPoseRequest} request The + * request proto + * @param {?Object} metadata User defined + * call metadata + * @param {function(?grpc.web.RpcError, ?proto.viam.robot.v1.TransformPoseResponse)} + * callback The callback function(error, response) + * @return {!grpc.web.ClientReadableStream|undefined} + * The XHR Node Readable Stream + */ +proto.viam.robot.v1.RobotServiceClient.prototype.transformPose = + function(request, metadata, callback) { + return this.client_.rpcCall(this.hostname_ + + '/viam.robot.v1.RobotService/TransformPose', + request, + metadata || {}, + methodDescriptor_RobotService_TransformPose, + callback); +}; + + +/** + * @param {!proto.viam.robot.v1.TransformPoseRequest} request The + * request proto + * @param {?Object=} metadata User defined + * call metadata + * @return {!Promise} + * Promise that resolves to the response + */ +proto.viam.robot.v1.RobotServicePromiseClient.prototype.transformPose = + function(request, metadata) { + return this.client_.unaryCall(this.hostname_ + + '/viam.robot.v1.RobotService/TransformPose', + request, + metadata || {}, + methodDescriptor_RobotService_TransformPose); +}; + + +/** + * @const + * @type {!grpc.web.MethodDescriptor< + * !proto.viam.robot.v1.TransformPCDRequest, + * !proto.viam.robot.v1.TransformPCDResponse>} + */ +const methodDescriptor_RobotService_TransformPCD = new grpc.web.MethodDescriptor( + '/viam.robot.v1.RobotService/TransformPCD', + grpc.web.MethodType.UNARY, + proto.viam.robot.v1.TransformPCDRequest, + proto.viam.robot.v1.TransformPCDResponse, + /** + * @param {!proto.viam.robot.v1.TransformPCDRequest} request + * @return {!Uint8Array} + */ + function(request) { + return request.serializeBinary(); + }, + proto.viam.robot.v1.TransformPCDResponse.deserializeBinary +); + + +/** + * @param {!proto.viam.robot.v1.TransformPCDRequest} request The + * request proto + * @param {?Object} metadata User defined + * call metadata + * @param {function(?grpc.web.RpcError, ?proto.viam.robot.v1.TransformPCDResponse)} + * callback The callback function(error, response) + * @return {!grpc.web.ClientReadableStream|undefined} + * The XHR Node Readable Stream + */ +proto.viam.robot.v1.RobotServiceClient.prototype.transformPCD = + function(request, metadata, callback) { + return this.client_.rpcCall(this.hostname_ + + '/viam.robot.v1.RobotService/TransformPCD', + request, + metadata || {}, + methodDescriptor_RobotService_TransformPCD, + callback); +}; + + +/** + * @param {!proto.viam.robot.v1.TransformPCDRequest} request The + * request proto + * @param {?Object=} metadata User defined + * call metadata + * @return {!Promise} + * Promise that resolves to the response + */ +proto.viam.robot.v1.RobotServicePromiseClient.prototype.transformPCD = + function(request, metadata) { + return this.client_.unaryCall(this.hostname_ + + '/viam.robot.v1.RobotService/TransformPCD', + request, + metadata || {}, + methodDescriptor_RobotService_TransformPCD); +}; + + module.exports = proto.viam.robot.v1; diff --git a/gen/js/robot/v1/robot_pb.d.ts b/gen/js/robot/v1/robot_pb.d.ts index 2bb290f39..820538964 100644 --- a/gen/js/robot/v1/robot_pb.d.ts +++ b/gen/js/robot/v1/robot_pb.d.ts @@ -1350,6 +1350,64 @@ export namespace GetVersionResponse { } } +export class GetPoseRequest extends jspb.Message { + getComponentName(): string; + setComponentName(value: string): void; + + getDestinationFrame(): string; + setDestinationFrame(value: string): void; + + clearSupplementalTransformsList(): void; + getSupplementalTransformsList(): Array; + setSupplementalTransformsList(value: Array): void; + addSupplementalTransforms(value?: common_v1_common_pb.Transform, index?: number): common_v1_common_pb.Transform; + + hasExtra(): boolean; + clearExtra(): void; + getExtra(): google_protobuf_struct_pb.Struct | undefined; + setExtra(value?: google_protobuf_struct_pb.Struct): void; + + serializeBinary(): Uint8Array; + toObject(includeInstance?: boolean): GetPoseRequest.AsObject; + static toObject(includeInstance: boolean, msg: GetPoseRequest): GetPoseRequest.AsObject; + static extensions: {[key: number]: jspb.ExtensionFieldInfo}; + static extensionsBinary: {[key: number]: jspb.ExtensionFieldBinaryInfo}; + static serializeBinaryToWriter(message: GetPoseRequest, writer: jspb.BinaryWriter): void; + static deserializeBinary(bytes: Uint8Array): GetPoseRequest; + static deserializeBinaryFromReader(message: GetPoseRequest, reader: jspb.BinaryReader): GetPoseRequest; +} + +export namespace GetPoseRequest { + export type AsObject = { + componentName: string, + destinationFrame: string, + supplementalTransformsList: Array, + extra?: google_protobuf_struct_pb.Struct.AsObject, + } +} + +export class GetPoseResponse extends jspb.Message { + hasPose(): boolean; + clearPose(): void; + getPose(): common_v1_common_pb.PoseInFrame | undefined; + setPose(value?: common_v1_common_pb.PoseInFrame): void; + + serializeBinary(): Uint8Array; + toObject(includeInstance?: boolean): GetPoseResponse.AsObject; + static toObject(includeInstance: boolean, msg: GetPoseResponse): GetPoseResponse.AsObject; + static extensions: {[key: number]: jspb.ExtensionFieldInfo}; + static extensionsBinary: {[key: number]: jspb.ExtensionFieldBinaryInfo}; + static serializeBinaryToWriter(message: GetPoseResponse, writer: jspb.BinaryWriter): void; + static deserializeBinary(bytes: Uint8Array): GetPoseResponse; + static deserializeBinaryFromReader(message: GetPoseResponse, reader: jspb.BinaryReader): GetPoseResponse; +} + +export namespace GetPoseResponse { + export type AsObject = { + pose?: common_v1_common_pb.PoseInFrame.AsObject, + } +} + export interface PeerConnectionTypeMap { PEER_CONNECTION_TYPE_UNSPECIFIED: 0; PEER_CONNECTION_TYPE_GRPC: 1; diff --git a/gen/js/robot/v1/robot_pb.js b/gen/js/robot/v1/robot_pb.js index 1e576b2bc..97f52c5f4 100644 --- a/gen/js/robot/v1/robot_pb.js +++ b/gen/js/robot/v1/robot_pb.js @@ -42,6 +42,8 @@ goog.exportSymbol('proto.viam.robot.v1.GetModelsFromModulesRequest', null, globa goog.exportSymbol('proto.viam.robot.v1.GetModelsFromModulesResponse', null, global); goog.exportSymbol('proto.viam.robot.v1.GetOperationsRequest', null, global); goog.exportSymbol('proto.viam.robot.v1.GetOperationsResponse', null, global); +goog.exportSymbol('proto.viam.robot.v1.GetPoseRequest', null, global); +goog.exportSymbol('proto.viam.robot.v1.GetPoseResponse', null, global); goog.exportSymbol('proto.viam.robot.v1.GetSessionsRequest', null, global); goog.exportSymbol('proto.viam.robot.v1.GetSessionsResponse', null, global); goog.exportSymbol('proto.viam.robot.v1.GetStatusRequest', null, global); @@ -1283,6 +1285,48 @@ if (goog.DEBUG && !COMPILED) { */ proto.viam.robot.v1.GetVersionResponse.displayName = 'proto.viam.robot.v1.GetVersionResponse'; } +/** + * Generated by JsPbCodeGenerator. + * @param {Array=} opt_data Optional initial data array, typically from a + * server response, or constructed directly in Javascript. The array is used + * in place and becomes part of the constructed object. It is not cloned. + * If no data is provided, the constructed object will be empty, but still + * valid. + * @extends {jspb.Message} + * @constructor + */ +proto.viam.robot.v1.GetPoseRequest = function(opt_data) { + jspb.Message.initialize(this, opt_data, 0, -1, proto.viam.robot.v1.GetPoseRequest.repeatedFields_, null); +}; +goog.inherits(proto.viam.robot.v1.GetPoseRequest, jspb.Message); +if (goog.DEBUG && !COMPILED) { + /** + * @public + * @override + */ + proto.viam.robot.v1.GetPoseRequest.displayName = 'proto.viam.robot.v1.GetPoseRequest'; +} +/** + * Generated by JsPbCodeGenerator. + * @param {Array=} opt_data Optional initial data array, typically from a + * server response, or constructed directly in Javascript. The array is used + * in place and becomes part of the constructed object. It is not cloned. + * If no data is provided, the constructed object will be empty, but still + * valid. + * @extends {jspb.Message} + * @constructor + */ +proto.viam.robot.v1.GetPoseResponse = function(opt_data) { + jspb.Message.initialize(this, opt_data, 0, -1, null, null); +}; +goog.inherits(proto.viam.robot.v1.GetPoseResponse, jspb.Message); +if (goog.DEBUG && !COMPILED) { + /** + * @public + * @override + */ + proto.viam.robot.v1.GetPoseResponse.displayName = 'proto.viam.robot.v1.GetPoseResponse'; +} @@ -10494,6 +10538,428 @@ proto.viam.robot.v1.GetVersionResponse.prototype.setApiVersion = function(value) }; + +/** + * List of repeated fields within this message type. + * @private {!Array} + * @const + */ +proto.viam.robot.v1.GetPoseRequest.repeatedFields_ = [3]; + + + +if (jspb.Message.GENERATE_TO_OBJECT) { +/** + * Creates an object representation of this proto. + * Field names that are reserved in JavaScript and will be renamed to pb_name. + * Optional fields that are not set will be set to undefined. + * To access a reserved field use, foo.pb_, eg, foo.pb_default. + * For the list of reserved names please see: + * net/proto2/compiler/js/internal/generator.cc#kKeyword. + * @param {boolean=} opt_includeInstance Deprecated. whether to include the + * JSPB instance for transitional soy proto support: + * http://goto/soy-param-migration + * @return {!Object} + */ +proto.viam.robot.v1.GetPoseRequest.prototype.toObject = function(opt_includeInstance) { + return proto.viam.robot.v1.GetPoseRequest.toObject(opt_includeInstance, this); +}; + + +/** + * Static version of the {@see toObject} method. + * @param {boolean|undefined} includeInstance Deprecated. Whether to include + * the JSPB instance for transitional soy proto support: + * http://goto/soy-param-migration + * @param {!proto.viam.robot.v1.GetPoseRequest} msg The msg instance to transform. + * @return {!Object} + * @suppress {unusedLocalVariables} f is only used for nested messages + */ +proto.viam.robot.v1.GetPoseRequest.toObject = function(includeInstance, msg) { + var f, obj = { + componentName: jspb.Message.getFieldWithDefault(msg, 1, ""), + destinationFrame: jspb.Message.getFieldWithDefault(msg, 2, ""), + supplementalTransformsList: jspb.Message.toObjectList(msg.getSupplementalTransformsList(), + common_v1_common_pb.Transform.toObject, includeInstance), + extra: (f = msg.getExtra()) && google_protobuf_struct_pb.Struct.toObject(includeInstance, f) + }; + + if (includeInstance) { + obj.$jspbMessageInstance = msg; + } + return obj; +}; +} + + +/** + * Deserializes binary data (in protobuf wire format). + * @param {jspb.ByteSource} bytes The bytes to deserialize. + * @return {!proto.viam.robot.v1.GetPoseRequest} + */ +proto.viam.robot.v1.GetPoseRequest.deserializeBinary = function(bytes) { + var reader = new jspb.BinaryReader(bytes); + var msg = new proto.viam.robot.v1.GetPoseRequest; + return proto.viam.robot.v1.GetPoseRequest.deserializeBinaryFromReader(msg, reader); +}; + + +/** + * Deserializes binary data (in protobuf wire format) from the + * given reader into the given message object. + * @param {!proto.viam.robot.v1.GetPoseRequest} msg The message object to deserialize into. + * @param {!jspb.BinaryReader} reader The BinaryReader to use. + * @return {!proto.viam.robot.v1.GetPoseRequest} + */ +proto.viam.robot.v1.GetPoseRequest.deserializeBinaryFromReader = function(msg, reader) { + while (reader.nextField()) { + if (reader.isEndGroup()) { + break; + } + var field = reader.getFieldNumber(); + switch (field) { + case 1: + var value = /** @type {string} */ (reader.readString()); + msg.setComponentName(value); + break; + case 2: + var value = /** @type {string} */ (reader.readString()); + msg.setDestinationFrame(value); + break; + case 3: + var value = new common_v1_common_pb.Transform; + reader.readMessage(value,common_v1_common_pb.Transform.deserializeBinaryFromReader); + msg.addSupplementalTransforms(value); + break; + case 99: + var value = new google_protobuf_struct_pb.Struct; + reader.readMessage(value,google_protobuf_struct_pb.Struct.deserializeBinaryFromReader); + msg.setExtra(value); + break; + default: + reader.skipField(); + break; + } + } + return msg; +}; + + +/** + * Serializes the message to binary data (in protobuf wire format). + * @return {!Uint8Array} + */ +proto.viam.robot.v1.GetPoseRequest.prototype.serializeBinary = function() { + var writer = new jspb.BinaryWriter(); + proto.viam.robot.v1.GetPoseRequest.serializeBinaryToWriter(this, writer); + return writer.getResultBuffer(); +}; + + +/** + * Serializes the given message to binary data (in protobuf wire + * format), writing to the given BinaryWriter. + * @param {!proto.viam.robot.v1.GetPoseRequest} message + * @param {!jspb.BinaryWriter} writer + * @suppress {unusedLocalVariables} f is only used for nested messages + */ +proto.viam.robot.v1.GetPoseRequest.serializeBinaryToWriter = function(message, writer) { + var f = undefined; + f = message.getComponentName(); + if (f.length > 0) { + writer.writeString( + 1, + f + ); + } + f = message.getDestinationFrame(); + if (f.length > 0) { + writer.writeString( + 2, + f + ); + } + f = message.getSupplementalTransformsList(); + if (f.length > 0) { + writer.writeRepeatedMessage( + 3, + f, + common_v1_common_pb.Transform.serializeBinaryToWriter + ); + } + f = message.getExtra(); + if (f != null) { + writer.writeMessage( + 99, + f, + google_protobuf_struct_pb.Struct.serializeBinaryToWriter + ); + } +}; + + +/** + * optional string component_name = 1; + * @return {string} + */ +proto.viam.robot.v1.GetPoseRequest.prototype.getComponentName = function() { + return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 1, "")); +}; + + +/** + * @param {string} value + * @return {!proto.viam.robot.v1.GetPoseRequest} returns this + */ +proto.viam.robot.v1.GetPoseRequest.prototype.setComponentName = function(value) { + return jspb.Message.setProto3StringField(this, 1, value); +}; + + +/** + * optional string destination_frame = 2; + * @return {string} + */ +proto.viam.robot.v1.GetPoseRequest.prototype.getDestinationFrame = function() { + return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 2, "")); +}; + + +/** + * @param {string} value + * @return {!proto.viam.robot.v1.GetPoseRequest} returns this + */ +proto.viam.robot.v1.GetPoseRequest.prototype.setDestinationFrame = function(value) { + return jspb.Message.setProto3StringField(this, 2, value); +}; + + +/** + * repeated viam.common.v1.Transform supplemental_transforms = 3; + * @return {!Array} + */ +proto.viam.robot.v1.GetPoseRequest.prototype.getSupplementalTransformsList = function() { + return /** @type{!Array} */ ( + jspb.Message.getRepeatedWrapperField(this, common_v1_common_pb.Transform, 3)); +}; + + +/** + * @param {!Array} value + * @return {!proto.viam.robot.v1.GetPoseRequest} returns this +*/ +proto.viam.robot.v1.GetPoseRequest.prototype.setSupplementalTransformsList = function(value) { + return jspb.Message.setRepeatedWrapperField(this, 3, value); +}; + + +/** + * @param {!proto.viam.common.v1.Transform=} opt_value + * @param {number=} opt_index + * @return {!proto.viam.common.v1.Transform} + */ +proto.viam.robot.v1.GetPoseRequest.prototype.addSupplementalTransforms = function(opt_value, opt_index) { + return jspb.Message.addToRepeatedWrapperField(this, 3, opt_value, proto.viam.common.v1.Transform, opt_index); +}; + + +/** + * Clears the list making it empty but non-null. + * @return {!proto.viam.robot.v1.GetPoseRequest} returns this + */ +proto.viam.robot.v1.GetPoseRequest.prototype.clearSupplementalTransformsList = function() { + return this.setSupplementalTransformsList([]); +}; + + +/** + * optional google.protobuf.Struct extra = 99; + * @return {?proto.google.protobuf.Struct} + */ +proto.viam.robot.v1.GetPoseRequest.prototype.getExtra = function() { + return /** @type{?proto.google.protobuf.Struct} */ ( + jspb.Message.getWrapperField(this, google_protobuf_struct_pb.Struct, 99)); +}; + + +/** + * @param {?proto.google.protobuf.Struct|undefined} value + * @return {!proto.viam.robot.v1.GetPoseRequest} returns this +*/ +proto.viam.robot.v1.GetPoseRequest.prototype.setExtra = function(value) { + return jspb.Message.setWrapperField(this, 99, value); +}; + + +/** + * Clears the message field making it undefined. + * @return {!proto.viam.robot.v1.GetPoseRequest} returns this + */ +proto.viam.robot.v1.GetPoseRequest.prototype.clearExtra = function() { + return this.setExtra(undefined); +}; + + +/** + * Returns whether this field is set. + * @return {boolean} + */ +proto.viam.robot.v1.GetPoseRequest.prototype.hasExtra = function() { + return jspb.Message.getField(this, 99) != null; +}; + + + + + +if (jspb.Message.GENERATE_TO_OBJECT) { +/** + * Creates an object representation of this proto. + * Field names that are reserved in JavaScript and will be renamed to pb_name. + * Optional fields that are not set will be set to undefined. + * To access a reserved field use, foo.pb_, eg, foo.pb_default. + * For the list of reserved names please see: + * net/proto2/compiler/js/internal/generator.cc#kKeyword. + * @param {boolean=} opt_includeInstance Deprecated. whether to include the + * JSPB instance for transitional soy proto support: + * http://goto/soy-param-migration + * @return {!Object} + */ +proto.viam.robot.v1.GetPoseResponse.prototype.toObject = function(opt_includeInstance) { + return proto.viam.robot.v1.GetPoseResponse.toObject(opt_includeInstance, this); +}; + + +/** + * Static version of the {@see toObject} method. + * @param {boolean|undefined} includeInstance Deprecated. Whether to include + * the JSPB instance for transitional soy proto support: + * http://goto/soy-param-migration + * @param {!proto.viam.robot.v1.GetPoseResponse} msg The msg instance to transform. + * @return {!Object} + * @suppress {unusedLocalVariables} f is only used for nested messages + */ +proto.viam.robot.v1.GetPoseResponse.toObject = function(includeInstance, msg) { + var f, obj = { + pose: (f = msg.getPose()) && common_v1_common_pb.PoseInFrame.toObject(includeInstance, f) + }; + + if (includeInstance) { + obj.$jspbMessageInstance = msg; + } + return obj; +}; +} + + +/** + * Deserializes binary data (in protobuf wire format). + * @param {jspb.ByteSource} bytes The bytes to deserialize. + * @return {!proto.viam.robot.v1.GetPoseResponse} + */ +proto.viam.robot.v1.GetPoseResponse.deserializeBinary = function(bytes) { + var reader = new jspb.BinaryReader(bytes); + var msg = new proto.viam.robot.v1.GetPoseResponse; + return proto.viam.robot.v1.GetPoseResponse.deserializeBinaryFromReader(msg, reader); +}; + + +/** + * Deserializes binary data (in protobuf wire format) from the + * given reader into the given message object. + * @param {!proto.viam.robot.v1.GetPoseResponse} msg The message object to deserialize into. + * @param {!jspb.BinaryReader} reader The BinaryReader to use. + * @return {!proto.viam.robot.v1.GetPoseResponse} + */ +proto.viam.robot.v1.GetPoseResponse.deserializeBinaryFromReader = function(msg, reader) { + while (reader.nextField()) { + if (reader.isEndGroup()) { + break; + } + var field = reader.getFieldNumber(); + switch (field) { + case 1: + var value = new common_v1_common_pb.PoseInFrame; + reader.readMessage(value,common_v1_common_pb.PoseInFrame.deserializeBinaryFromReader); + msg.setPose(value); + break; + default: + reader.skipField(); + break; + } + } + return msg; +}; + + +/** + * Serializes the message to binary data (in protobuf wire format). + * @return {!Uint8Array} + */ +proto.viam.robot.v1.GetPoseResponse.prototype.serializeBinary = function() { + var writer = new jspb.BinaryWriter(); + proto.viam.robot.v1.GetPoseResponse.serializeBinaryToWriter(this, writer); + return writer.getResultBuffer(); +}; + + +/** + * Serializes the given message to binary data (in protobuf wire + * format), writing to the given BinaryWriter. + * @param {!proto.viam.robot.v1.GetPoseResponse} message + * @param {!jspb.BinaryWriter} writer + * @suppress {unusedLocalVariables} f is only used for nested messages + */ +proto.viam.robot.v1.GetPoseResponse.serializeBinaryToWriter = function(message, writer) { + var f = undefined; + f = message.getPose(); + if (f != null) { + writer.writeMessage( + 1, + f, + common_v1_common_pb.PoseInFrame.serializeBinaryToWriter + ); + } +}; + + +/** + * optional viam.common.v1.PoseInFrame pose = 1; + * @return {?proto.viam.common.v1.PoseInFrame} + */ +proto.viam.robot.v1.GetPoseResponse.prototype.getPose = function() { + return /** @type{?proto.viam.common.v1.PoseInFrame} */ ( + jspb.Message.getWrapperField(this, common_v1_common_pb.PoseInFrame, 1)); +}; + + +/** + * @param {?proto.viam.common.v1.PoseInFrame|undefined} value + * @return {!proto.viam.robot.v1.GetPoseResponse} returns this +*/ +proto.viam.robot.v1.GetPoseResponse.prototype.setPose = function(value) { + return jspb.Message.setWrapperField(this, 1, value); +}; + + +/** + * Clears the message field making it undefined. + * @return {!proto.viam.robot.v1.GetPoseResponse} returns this + */ +proto.viam.robot.v1.GetPoseResponse.prototype.clearPose = function() { + return this.setPose(undefined); +}; + + +/** + * Returns whether this field is set. + * @return {boolean} + */ +proto.viam.robot.v1.GetPoseResponse.prototype.hasPose = function() { + return jspb.Message.getField(this, 1) != null; +}; + + /** * @enum {number} */ diff --git a/gen/js/robot/v1/robot_pb_service.d.ts b/gen/js/robot/v1/robot_pb_service.d.ts index 042d93078..d33a35330 100644 --- a/gen/js/robot/v1/robot_pb_service.d.ts +++ b/gen/js/robot/v1/robot_pb_service.d.ts @@ -67,33 +67,6 @@ type RobotServiceGetModelsFromModules = { readonly responseType: typeof robot_v1_robot_pb.GetModelsFromModulesResponse; }; -type RobotServiceFrameSystemConfig = { - readonly methodName: string; - readonly service: typeof RobotService; - readonly requestStream: false; - readonly responseStream: false; - readonly requestType: typeof robot_v1_robot_pb.FrameSystemConfigRequest; - readonly responseType: typeof robot_v1_robot_pb.FrameSystemConfigResponse; -}; - -type RobotServiceTransformPose = { - readonly methodName: string; - readonly service: typeof RobotService; - readonly requestStream: false; - readonly responseStream: false; - readonly requestType: typeof robot_v1_robot_pb.TransformPoseRequest; - readonly responseType: typeof robot_v1_robot_pb.TransformPoseResponse; -}; - -type RobotServiceTransformPCD = { - readonly methodName: string; - readonly service: typeof RobotService; - readonly requestStream: false; - readonly responseStream: false; - readonly requestType: typeof robot_v1_robot_pb.TransformPCDRequest; - readonly responseType: typeof robot_v1_robot_pb.TransformPCDResponse; -}; - type RobotServiceGetStatus = { readonly methodName: string; readonly service: typeof RobotService; @@ -211,6 +184,42 @@ type RobotServiceListTunnels = { readonly responseType: typeof robot_v1_robot_pb.ListTunnelsResponse; }; +type RobotServiceFrameSystemConfig = { + readonly methodName: string; + readonly service: typeof RobotService; + readonly requestStream: false; + readonly responseStream: false; + readonly requestType: typeof robot_v1_robot_pb.FrameSystemConfigRequest; + readonly responseType: typeof robot_v1_robot_pb.FrameSystemConfigResponse; +}; + +type RobotServiceGetPose = { + readonly methodName: string; + readonly service: typeof RobotService; + readonly requestStream: false; + readonly responseStream: false; + readonly requestType: typeof robot_v1_robot_pb.GetPoseRequest; + readonly responseType: typeof robot_v1_robot_pb.GetPoseResponse; +}; + +type RobotServiceTransformPose = { + readonly methodName: string; + readonly service: typeof RobotService; + readonly requestStream: false; + readonly responseStream: false; + readonly requestType: typeof robot_v1_robot_pb.TransformPoseRequest; + readonly responseType: typeof robot_v1_robot_pb.TransformPoseResponse; +}; + +type RobotServiceTransformPCD = { + readonly methodName: string; + readonly service: typeof RobotService; + readonly requestStream: false; + readonly responseStream: false; + readonly requestType: typeof robot_v1_robot_pb.TransformPCDRequest; + readonly responseType: typeof robot_v1_robot_pb.TransformPCDResponse; +}; + export class RobotService { static readonly serviceName: string; static readonly GetOperations: RobotServiceGetOperations; @@ -220,9 +229,6 @@ export class RobotService { static readonly CancelOperation: RobotServiceCancelOperation; static readonly BlockForOperation: RobotServiceBlockForOperation; static readonly GetModelsFromModules: RobotServiceGetModelsFromModules; - static readonly FrameSystemConfig: RobotServiceFrameSystemConfig; - static readonly TransformPose: RobotServiceTransformPose; - static readonly TransformPCD: RobotServiceTransformPCD; static readonly GetStatus: RobotServiceGetStatus; static readonly StreamStatus: RobotServiceStreamStatus; static readonly StopAll: RobotServiceStopAll; @@ -236,6 +242,10 @@ export class RobotService { static readonly GetVersion: RobotServiceGetVersion; static readonly Tunnel: RobotServiceTunnel; static readonly ListTunnels: RobotServiceListTunnels; + static readonly FrameSystemConfig: RobotServiceFrameSystemConfig; + static readonly GetPose: RobotServiceGetPose; + static readonly TransformPose: RobotServiceTransformPose; + static readonly TransformPCD: RobotServiceTransformPCD; } export type ServiceError = { message: string, code: number; metadata: grpc.Metadata } @@ -333,33 +343,6 @@ export class RobotServiceClient { requestMessage: robot_v1_robot_pb.GetModelsFromModulesRequest, callback: (error: ServiceError|null, responseMessage: robot_v1_robot_pb.GetModelsFromModulesResponse|null) => void ): UnaryResponse; - frameSystemConfig( - requestMessage: robot_v1_robot_pb.FrameSystemConfigRequest, - metadata: grpc.Metadata, - callback: (error: ServiceError|null, responseMessage: robot_v1_robot_pb.FrameSystemConfigResponse|null) => void - ): UnaryResponse; - frameSystemConfig( - requestMessage: robot_v1_robot_pb.FrameSystemConfigRequest, - callback: (error: ServiceError|null, responseMessage: robot_v1_robot_pb.FrameSystemConfigResponse|null) => void - ): UnaryResponse; - transformPose( - requestMessage: robot_v1_robot_pb.TransformPoseRequest, - metadata: grpc.Metadata, - callback: (error: ServiceError|null, responseMessage: robot_v1_robot_pb.TransformPoseResponse|null) => void - ): UnaryResponse; - transformPose( - requestMessage: robot_v1_robot_pb.TransformPoseRequest, - callback: (error: ServiceError|null, responseMessage: robot_v1_robot_pb.TransformPoseResponse|null) => void - ): UnaryResponse; - transformPCD( - requestMessage: robot_v1_robot_pb.TransformPCDRequest, - metadata: grpc.Metadata, - callback: (error: ServiceError|null, responseMessage: robot_v1_robot_pb.TransformPCDResponse|null) => void - ): UnaryResponse; - transformPCD( - requestMessage: robot_v1_robot_pb.TransformPCDRequest, - callback: (error: ServiceError|null, responseMessage: robot_v1_robot_pb.TransformPCDResponse|null) => void - ): UnaryResponse; getStatus( requestMessage: robot_v1_robot_pb.GetStatusRequest, metadata: grpc.Metadata, @@ -461,5 +444,41 @@ export class RobotServiceClient { requestMessage: robot_v1_robot_pb.ListTunnelsRequest, callback: (error: ServiceError|null, responseMessage: robot_v1_robot_pb.ListTunnelsResponse|null) => void ): UnaryResponse; + frameSystemConfig( + requestMessage: robot_v1_robot_pb.FrameSystemConfigRequest, + metadata: grpc.Metadata, + callback: (error: ServiceError|null, responseMessage: robot_v1_robot_pb.FrameSystemConfigResponse|null) => void + ): UnaryResponse; + frameSystemConfig( + requestMessage: robot_v1_robot_pb.FrameSystemConfigRequest, + callback: (error: ServiceError|null, responseMessage: robot_v1_robot_pb.FrameSystemConfigResponse|null) => void + ): UnaryResponse; + getPose( + requestMessage: robot_v1_robot_pb.GetPoseRequest, + metadata: grpc.Metadata, + callback: (error: ServiceError|null, responseMessage: robot_v1_robot_pb.GetPoseResponse|null) => void + ): UnaryResponse; + getPose( + requestMessage: robot_v1_robot_pb.GetPoseRequest, + callback: (error: ServiceError|null, responseMessage: robot_v1_robot_pb.GetPoseResponse|null) => void + ): UnaryResponse; + transformPose( + requestMessage: robot_v1_robot_pb.TransformPoseRequest, + metadata: grpc.Metadata, + callback: (error: ServiceError|null, responseMessage: robot_v1_robot_pb.TransformPoseResponse|null) => void + ): UnaryResponse; + transformPose( + requestMessage: robot_v1_robot_pb.TransformPoseRequest, + callback: (error: ServiceError|null, responseMessage: robot_v1_robot_pb.TransformPoseResponse|null) => void + ): UnaryResponse; + transformPCD( + requestMessage: robot_v1_robot_pb.TransformPCDRequest, + metadata: grpc.Metadata, + callback: (error: ServiceError|null, responseMessage: robot_v1_robot_pb.TransformPCDResponse|null) => void + ): UnaryResponse; + transformPCD( + requestMessage: robot_v1_robot_pb.TransformPCDRequest, + callback: (error: ServiceError|null, responseMessage: robot_v1_robot_pb.TransformPCDResponse|null) => void + ): UnaryResponse; } diff --git a/gen/js/robot/v1/robot_pb_service.js b/gen/js/robot/v1/robot_pb_service.js index f8662166e..8df7abc65 100644 --- a/gen/js/robot/v1/robot_pb_service.js +++ b/gen/js/robot/v1/robot_pb_service.js @@ -73,33 +73,6 @@ RobotService.GetModelsFromModules = { responseType: robot_v1_robot_pb.GetModelsFromModulesResponse }; -RobotService.FrameSystemConfig = { - methodName: "FrameSystemConfig", - service: RobotService, - requestStream: false, - responseStream: false, - requestType: robot_v1_robot_pb.FrameSystemConfigRequest, - responseType: robot_v1_robot_pb.FrameSystemConfigResponse -}; - -RobotService.TransformPose = { - methodName: "TransformPose", - service: RobotService, - requestStream: false, - responseStream: false, - requestType: robot_v1_robot_pb.TransformPoseRequest, - responseType: robot_v1_robot_pb.TransformPoseResponse -}; - -RobotService.TransformPCD = { - methodName: "TransformPCD", - service: RobotService, - requestStream: false, - responseStream: false, - requestType: robot_v1_robot_pb.TransformPCDRequest, - responseType: robot_v1_robot_pb.TransformPCDResponse -}; - RobotService.GetStatus = { methodName: "GetStatus", service: RobotService, @@ -217,6 +190,42 @@ RobotService.ListTunnels = { responseType: robot_v1_robot_pb.ListTunnelsResponse }; +RobotService.FrameSystemConfig = { + methodName: "FrameSystemConfig", + service: RobotService, + requestStream: false, + responseStream: false, + requestType: robot_v1_robot_pb.FrameSystemConfigRequest, + responseType: robot_v1_robot_pb.FrameSystemConfigResponse +}; + +RobotService.GetPose = { + methodName: "GetPose", + service: RobotService, + requestStream: false, + responseStream: false, + requestType: robot_v1_robot_pb.GetPoseRequest, + responseType: robot_v1_robot_pb.GetPoseResponse +}; + +RobotService.TransformPose = { + methodName: "TransformPose", + service: RobotService, + requestStream: false, + responseStream: false, + requestType: robot_v1_robot_pb.TransformPoseRequest, + responseType: robot_v1_robot_pb.TransformPoseResponse +}; + +RobotService.TransformPCD = { + methodName: "TransformPCD", + service: RobotService, + requestStream: false, + responseStream: false, + requestType: robot_v1_robot_pb.TransformPCDRequest, + responseType: robot_v1_robot_pb.TransformPCDResponse +}; + exports.RobotService = RobotService; function RobotServiceClient(serviceHost, options) { @@ -441,99 +450,6 @@ RobotServiceClient.prototype.getModelsFromModules = function getModelsFromModule }; }; -RobotServiceClient.prototype.frameSystemConfig = function frameSystemConfig(requestMessage, metadata, callback) { - if (arguments.length === 2) { - callback = arguments[1]; - } - var client = grpc.unary(RobotService.FrameSystemConfig, { - request: requestMessage, - host: this.serviceHost, - metadata: metadata, - transport: this.options.transport, - debug: this.options.debug, - onEnd: function (response) { - if (callback) { - if (response.status !== grpc.Code.OK) { - var err = new Error(response.statusMessage); - err.code = response.status; - err.metadata = response.trailers; - callback(err, null); - } else { - callback(null, response.message); - } - } - } - }); - return { - cancel: function () { - callback = null; - client.close(); - } - }; -}; - -RobotServiceClient.prototype.transformPose = function transformPose(requestMessage, metadata, callback) { - if (arguments.length === 2) { - callback = arguments[1]; - } - var client = grpc.unary(RobotService.TransformPose, { - request: requestMessage, - host: this.serviceHost, - metadata: metadata, - transport: this.options.transport, - debug: this.options.debug, - onEnd: function (response) { - if (callback) { - if (response.status !== grpc.Code.OK) { - var err = new Error(response.statusMessage); - err.code = response.status; - err.metadata = response.trailers; - callback(err, null); - } else { - callback(null, response.message); - } - } - } - }); - return { - cancel: function () { - callback = null; - client.close(); - } - }; -}; - -RobotServiceClient.prototype.transformPCD = function transformPCD(requestMessage, metadata, callback) { - if (arguments.length === 2) { - callback = arguments[1]; - } - var client = grpc.unary(RobotService.TransformPCD, { - request: requestMessage, - host: this.serviceHost, - metadata: metadata, - transport: this.options.transport, - debug: this.options.debug, - onEnd: function (response) { - if (callback) { - if (response.status !== grpc.Code.OK) { - var err = new Error(response.statusMessage); - err.code = response.status; - err.metadata = response.trailers; - callback(err, null); - } else { - callback(null, response.message); - } - } - } - }); - return { - cancel: function () { - callback = null; - client.close(); - } - }; -}; - RobotServiceClient.prototype.getStatus = function getStatus(requestMessage, metadata, callback) { if (arguments.length === 2) { callback = arguments[1]; @@ -959,5 +875,129 @@ RobotServiceClient.prototype.listTunnels = function listTunnels(requestMessage, }; }; +RobotServiceClient.prototype.frameSystemConfig = function frameSystemConfig(requestMessage, metadata, callback) { + if (arguments.length === 2) { + callback = arguments[1]; + } + var client = grpc.unary(RobotService.FrameSystemConfig, { + request: requestMessage, + host: this.serviceHost, + metadata: metadata, + transport: this.options.transport, + debug: this.options.debug, + onEnd: function (response) { + if (callback) { + if (response.status !== grpc.Code.OK) { + var err = new Error(response.statusMessage); + err.code = response.status; + err.metadata = response.trailers; + callback(err, null); + } else { + callback(null, response.message); + } + } + } + }); + return { + cancel: function () { + callback = null; + client.close(); + } + }; +}; + +RobotServiceClient.prototype.getPose = function getPose(requestMessage, metadata, callback) { + if (arguments.length === 2) { + callback = arguments[1]; + } + var client = grpc.unary(RobotService.GetPose, { + request: requestMessage, + host: this.serviceHost, + metadata: metadata, + transport: this.options.transport, + debug: this.options.debug, + onEnd: function (response) { + if (callback) { + if (response.status !== grpc.Code.OK) { + var err = new Error(response.statusMessage); + err.code = response.status; + err.metadata = response.trailers; + callback(err, null); + } else { + callback(null, response.message); + } + } + } + }); + return { + cancel: function () { + callback = null; + client.close(); + } + }; +}; + +RobotServiceClient.prototype.transformPose = function transformPose(requestMessage, metadata, callback) { + if (arguments.length === 2) { + callback = arguments[1]; + } + var client = grpc.unary(RobotService.TransformPose, { + request: requestMessage, + host: this.serviceHost, + metadata: metadata, + transport: this.options.transport, + debug: this.options.debug, + onEnd: function (response) { + if (callback) { + if (response.status !== grpc.Code.OK) { + var err = new Error(response.statusMessage); + err.code = response.status; + err.metadata = response.trailers; + callback(err, null); + } else { + callback(null, response.message); + } + } + } + }); + return { + cancel: function () { + callback = null; + client.close(); + } + }; +}; + +RobotServiceClient.prototype.transformPCD = function transformPCD(requestMessage, metadata, callback) { + if (arguments.length === 2) { + callback = arguments[1]; + } + var client = grpc.unary(RobotService.TransformPCD, { + request: requestMessage, + host: this.serviceHost, + metadata: metadata, + transport: this.options.transport, + debug: this.options.debug, + onEnd: function (response) { + if (callback) { + if (response.status !== grpc.Code.OK) { + var err = new Error(response.statusMessage); + err.code = response.status; + err.metadata = response.trailers; + callback(err, null); + } else { + callback(null, response.message); + } + } + } + }); + return { + cancel: function () { + callback = null; + client.close(); + } + }; +}; + exports.RobotServiceClient = RobotServiceClient; diff --git a/proto/viam/robot/v1/robot.proto b/proto/viam/robot/v1/robot.proto index a06ef2191..1c64d38de 100644 --- a/proto/viam/robot/v1/robot.proto +++ b/proto/viam/robot/v1/robot.proto @@ -44,18 +44,6 @@ service RobotService { option (google.api.http) = {get: "/viam/api/v1/module_models"}; } - rpc FrameSystemConfig(FrameSystemConfigRequest) returns (FrameSystemConfigResponse) { - option (google.api.http) = {get: "/viam/api/v1/frame_system/config"}; - } - - rpc TransformPose(TransformPoseRequest) returns (TransformPoseResponse) { - option (google.api.http) = {get: "/viam/api/v1/frame_system/transform_pose"}; - } - - rpc TransformPCD(TransformPCDRequest) returns (TransformPCDResponse) { - option (google.api.http) = {get: "/viam/api/v1/frame_system/transform_pcd"}; - } - // GetStatus returns the list of all statuses requested. An empty request signifies all resources. rpc GetStatus(GetStatusRequest) returns (GetStatusResponse) { option (google.api.http) = {get: "/viam/api/v1/status"}; @@ -122,6 +110,28 @@ service RobotService { rpc ListTunnels(ListTunnelsRequest) returns (ListTunnelsResponse) { option (google.api.http) = {get: "/viam/api/v1/list_tunnels"}; } + + // The below methods constitute the methods accessible to modules as part of the FrameSystem service. + + // FrameSystemConfig returns the information relevant to building the robot's frame system. + rpc FrameSystemConfig(FrameSystemConfigRequest) returns (FrameSystemConfigResponse) { + option (google.api.http) = {get: "/viam/api/v1/frame_system/config"}; + } + + // GetPose returns the pose of a component in a desired referenceframe. + rpc GetPose(GetPoseRequest) returns (GetPoseResponse) { + option (google.api.http) = {get: "/viam/api/v1/frame_system/pose"}; + } + + // TransformPose returns a pose in one referenceframe in a desired referenceframe. + rpc TransformPose(TransformPoseRequest) returns (TransformPoseResponse) { + option (google.api.http) = {get: "/viam/api/v1/frame_system/transform_pose"}; + } + + // TransformPose returns a point cloud in one referenceframe in a desired referenceframe. + rpc TransformPCD(TransformPCDRequest) returns (TransformPCDResponse) { + option (google.api.http) = {get: "/viam/api/v1/frame_system/transform_pcd"}; + } } message TunnelRequest { @@ -425,3 +435,21 @@ message GetVersionResponse { string api_version = 3; } + +message GetPoseRequest { + // the component whose pose is being requested + string component_name = 1; + // the reference frame in which the component's pose + // should be provided, if unset this defaults + // to the "world" reference frame + string destination_frame = 2; + // pose information on any additional reference frames that are needed + // to compute the component's pose + repeated common.v1.Transform supplemental_transforms = 3; + // Additional arguments to the method + google.protobuf.Struct extra = 99; +} + +message GetPoseResponse { + common.v1.PoseInFrame pose = 1; +} diff --git a/proto/viam/service/motion/v1/motion.proto b/proto/viam/service/motion/v1/motion.proto index 45fb86c7c..c30ea4acd 100644 --- a/proto/viam/service/motion/v1/motion.proto +++ b/proto/viam/service/motion/v1/motion.proto @@ -33,6 +33,7 @@ service MotionService { rpc GetPose(GetPoseRequest) returns (GetPoseResponse) { option (google.api.http) = {get: "/viam/api/v1/service/motion/{name}/pose"}; + option deprecated = true; } // Stops a Plan @@ -160,6 +161,7 @@ message MoveOnGlobeResponse { } message GetPoseRequest { + option deprecated = true; string name = 1; // the component whose pose is being requested common.v1.ResourceName component_name = 2; @@ -175,6 +177,7 @@ message GetPoseRequest { } message GetPoseResponse { + option deprecated = true; common.v1.PoseInFrame pose = 1; } diff --git a/robot/v1/robot.pb.go b/robot/v1/robot.pb.go index abd84ea93..c26acd670 100644 --- a/robot/v1/robot.pb.go +++ b/robot/v1/robot.pb.go @@ -2965,6 +2965,127 @@ func (x *GetVersionResponse) GetApiVersion() string { return "" } +type GetPoseRequest struct { + state protoimpl.MessageState + sizeCache protoimpl.SizeCache + unknownFields protoimpl.UnknownFields + + // the component whose pose is being requested + ComponentName string `protobuf:"bytes,1,opt,name=component_name,json=componentName,proto3" json:"component_name,omitempty"` + // the reference frame in which the component's pose + // should be provided, if unset this defaults + // to the "world" reference frame + DestinationFrame string `protobuf:"bytes,2,opt,name=destination_frame,json=destinationFrame,proto3" json:"destination_frame,omitempty"` + // pose information on any additional reference frames that are needed + // to compute the component's pose + SupplementalTransforms []*v1.Transform `protobuf:"bytes,3,rep,name=supplemental_transforms,json=supplementalTransforms,proto3" json:"supplemental_transforms,omitempty"` + // Additional arguments to the method + Extra *structpb.Struct `protobuf:"bytes,99,opt,name=extra,proto3" json:"extra,omitempty"` +} + +func (x *GetPoseRequest) Reset() { + *x = GetPoseRequest{} + mi := &file_robot_v1_robot_proto_msgTypes[57] + ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) + ms.StoreMessageInfo(mi) +} + +func (x *GetPoseRequest) String() string { + return protoimpl.X.MessageStringOf(x) +} + +func (*GetPoseRequest) ProtoMessage() {} + +func (x *GetPoseRequest) ProtoReflect() protoreflect.Message { + mi := &file_robot_v1_robot_proto_msgTypes[57] + if x != nil { + ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) + if ms.LoadMessageInfo() == nil { + ms.StoreMessageInfo(mi) + } + return ms + } + return mi.MessageOf(x) +} + +// Deprecated: Use GetPoseRequest.ProtoReflect.Descriptor instead. +func (*GetPoseRequest) Descriptor() ([]byte, []int) { + return file_robot_v1_robot_proto_rawDescGZIP(), []int{57} +} + +func (x *GetPoseRequest) GetComponentName() string { + if x != nil { + return x.ComponentName + } + return "" +} + +func (x *GetPoseRequest) GetDestinationFrame() string { + if x != nil { + return x.DestinationFrame + } + return "" +} + +func (x *GetPoseRequest) GetSupplementalTransforms() []*v1.Transform { + if x != nil { + return x.SupplementalTransforms + } + return nil +} + +func (x *GetPoseRequest) GetExtra() *structpb.Struct { + if x != nil { + return x.Extra + } + return nil +} + +type GetPoseResponse struct { + state protoimpl.MessageState + sizeCache protoimpl.SizeCache + unknownFields protoimpl.UnknownFields + + Pose *v1.PoseInFrame `protobuf:"bytes,1,opt,name=pose,proto3" json:"pose,omitempty"` +} + +func (x *GetPoseResponse) Reset() { + *x = GetPoseResponse{} + mi := &file_robot_v1_robot_proto_msgTypes[58] + ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) + ms.StoreMessageInfo(mi) +} + +func (x *GetPoseResponse) String() string { + return protoimpl.X.MessageStringOf(x) +} + +func (*GetPoseResponse) ProtoMessage() {} + +func (x *GetPoseResponse) ProtoReflect() protoreflect.Message { + mi := &file_robot_v1_robot_proto_msgTypes[58] + if x != nil { + ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) + if ms.LoadMessageInfo() == nil { + ms.StoreMessageInfo(mi) + } + return ms + } + return mi.MessageOf(x) +} + +// Deprecated: Use GetPoseResponse.ProtoReflect.Descriptor instead. +func (*GetPoseResponse) Descriptor() ([]byte, []int) { + return file_robot_v1_robot_proto_rawDescGZIP(), []int{58} +} + +func (x *GetPoseResponse) GetPose() *v1.PoseInFrame { + if x != nil { + return x.Pose + } + return nil +} + var File_robot_v1_robot_proto protoreflect.FileDescriptor var file_robot_v1_robot_proto_rawDesc = []byte{ @@ -3302,200 +3423,226 @@ var file_robot_v1_robot_proto_rawDesc = []byte{ 0x18, 0x0a, 0x07, 0x76, 0x65, 0x72, 0x73, 0x69, 0x6f, 0x6e, 0x18, 0x02, 0x20, 0x01, 0x28, 0x09, 0x52, 0x07, 0x76, 0x65, 0x72, 0x73, 0x69, 0x6f, 0x6e, 0x12, 0x1f, 0x0a, 0x0b, 0x61, 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viam.robot.v1.GetMachineStatusResponse.State @@ -3576,65 +3723,67 @@ var file_robot_v1_robot_proto_goTypes = []any{ (*ConfigStatus)(nil), // 57: viam.robot.v1.ConfigStatus (*GetVersionRequest)(nil), // 58: viam.robot.v1.GetVersionRequest (*GetVersionResponse)(nil), // 59: viam.robot.v1.GetVersionResponse - (*durationpb.Duration)(nil), // 60: google.protobuf.Duration - (*v1.Transform)(nil), // 61: viam.common.v1.Transform - (*structpb.Struct)(nil), // 62: google.protobuf.Struct - (*v1.PoseInFrame)(nil), // 63: viam.common.v1.PoseInFrame - (*v1.ResourceName)(nil), // 64: viam.common.v1.ResourceName - (*timestamppb.Timestamp)(nil), // 65: google.protobuf.Timestamp - (*v1.LogEntry)(nil), // 66: viam.common.v1.LogEntry + (*GetPoseRequest)(nil), // 60: viam.robot.v1.GetPoseRequest + (*GetPoseResponse)(nil), // 61: viam.robot.v1.GetPoseResponse + (*durationpb.Duration)(nil), // 62: google.protobuf.Duration + (*v1.Transform)(nil), // 63: viam.common.v1.Transform + (*structpb.Struct)(nil), // 64: google.protobuf.Struct + (*v1.PoseInFrame)(nil), // 65: viam.common.v1.PoseInFrame + (*v1.ResourceName)(nil), // 66: viam.common.v1.ResourceName + (*timestamppb.Timestamp)(nil), // 67: google.protobuf.Timestamp + (*v1.LogEntry)(nil), // 68: viam.common.v1.LogEntry } var file_robot_v1_robot_proto_depIdxs = []int32{ 7, // 0: viam.robot.v1.ListTunnelsResponse.tunnels:type_name -> viam.robot.v1.Tunnel - 60, // 1: viam.robot.v1.Tunnel.connection_timeout:type_name -> google.protobuf.Duration - 61, // 2: viam.robot.v1.FrameSystemConfig.frame:type_name -> viam.common.v1.Transform - 62, // 3: viam.robot.v1.FrameSystemConfig.kinematics:type_name -> google.protobuf.Struct - 61, // 4: viam.robot.v1.FrameSystemConfigRequest.supplemental_transforms:type_name -> viam.common.v1.Transform + 62, // 1: viam.robot.v1.Tunnel.connection_timeout:type_name -> google.protobuf.Duration + 63, // 2: viam.robot.v1.FrameSystemConfig.frame:type_name -> viam.common.v1.Transform + 64, // 3: viam.robot.v1.FrameSystemConfig.kinematics:type_name -> google.protobuf.Struct + 63, // 4: viam.robot.v1.FrameSystemConfigRequest.supplemental_transforms:type_name -> viam.common.v1.Transform 8, // 5: viam.robot.v1.FrameSystemConfigResponse.frame_system_configs:type_name -> viam.robot.v1.FrameSystemConfig - 63, // 6: viam.robot.v1.TransformPoseRequest.source:type_name -> viam.common.v1.PoseInFrame - 61, // 7: viam.robot.v1.TransformPoseRequest.supplemental_transforms:type_name -> viam.common.v1.Transform - 63, // 8: viam.robot.v1.TransformPoseResponse.pose:type_name -> viam.common.v1.PoseInFrame - 64, // 9: viam.robot.v1.ResourceNamesResponse.resources:type_name -> viam.common.v1.ResourceName - 64, // 10: viam.robot.v1.ResourceRPCSubtype.subtype:type_name -> viam.common.v1.ResourceName + 65, // 6: viam.robot.v1.TransformPoseRequest.source:type_name -> viam.common.v1.PoseInFrame + 63, // 7: viam.robot.v1.TransformPoseRequest.supplemental_transforms:type_name -> viam.common.v1.Transform + 65, // 8: viam.robot.v1.TransformPoseResponse.pose:type_name -> viam.common.v1.PoseInFrame + 66, // 9: viam.robot.v1.ResourceNamesResponse.resources:type_name -> viam.common.v1.ResourceName + 66, // 10: viam.robot.v1.ResourceRPCSubtype.subtype:type_name -> viam.common.v1.ResourceName 17, // 11: viam.robot.v1.ResourceRPCSubtypesResponse.resource_rpc_subtypes:type_name -> viam.robot.v1.ResourceRPCSubtype - 62, // 12: viam.robot.v1.Operation.arguments:type_name -> google.protobuf.Struct - 65, // 13: viam.robot.v1.Operation.started:type_name -> google.protobuf.Timestamp + 64, // 12: viam.robot.v1.Operation.arguments:type_name -> google.protobuf.Struct + 67, // 13: viam.robot.v1.Operation.started:type_name -> google.protobuf.Timestamp 20, // 14: viam.robot.v1.GetOperationsResponse.operations:type_name -> viam.robot.v1.Operation 0, // 15: viam.robot.v1.PeerConnectionInfo.type:type_name -> viam.robot.v1.PeerConnectionType 27, // 16: viam.robot.v1.Session.peer_connection_info:type_name -> viam.robot.v1.PeerConnectionInfo 28, // 17: viam.robot.v1.GetSessionsResponse.sessions:type_name -> viam.robot.v1.Session 31, // 18: viam.robot.v1.GetModelsFromModulesResponse.models:type_name -> viam.robot.v1.ModuleModel - 64, // 19: viam.robot.v1.Status.name:type_name -> viam.common.v1.ResourceName - 62, // 20: viam.robot.v1.Status.status:type_name -> google.protobuf.Struct - 65, // 21: viam.robot.v1.Status.last_reconfigured:type_name -> google.protobuf.Timestamp - 64, // 22: viam.robot.v1.GetStatusRequest.resource_names:type_name -> viam.common.v1.ResourceName + 66, // 19: viam.robot.v1.Status.name:type_name -> viam.common.v1.ResourceName + 64, // 20: viam.robot.v1.Status.status:type_name -> google.protobuf.Struct + 67, // 21: viam.robot.v1.Status.last_reconfigured:type_name -> google.protobuf.Timestamp + 66, // 22: viam.robot.v1.GetStatusRequest.resource_names:type_name -> viam.common.v1.ResourceName 34, // 23: viam.robot.v1.GetStatusResponse.status:type_name -> viam.robot.v1.Status - 64, // 24: viam.robot.v1.StreamStatusRequest.resource_names:type_name -> viam.common.v1.ResourceName - 60, // 25: viam.robot.v1.StreamStatusRequest.every:type_name -> google.protobuf.Duration + 66, // 24: viam.robot.v1.StreamStatusRequest.resource_names:type_name -> viam.common.v1.ResourceName + 62, // 25: viam.robot.v1.StreamStatusRequest.every:type_name -> google.protobuf.Duration 34, // 26: viam.robot.v1.StreamStatusResponse.status:type_name -> viam.robot.v1.Status - 64, // 27: viam.robot.v1.StopExtraParameters.name:type_name -> viam.common.v1.ResourceName - 62, // 28: viam.robot.v1.StopExtraParameters.params:type_name -> google.protobuf.Struct + 66, // 27: viam.robot.v1.StopExtraParameters.name:type_name -> viam.common.v1.ResourceName + 64, // 28: viam.robot.v1.StopExtraParameters.params:type_name -> google.protobuf.Struct 39, // 29: viam.robot.v1.StopAllRequest.extra:type_name -> viam.robot.v1.StopExtraParameters - 60, // 30: viam.robot.v1.StartSessionResponse.heartbeat_window:type_name -> google.protobuf.Duration - 66, // 31: viam.robot.v1.LogRequest.logs:type_name -> viam.common.v1.LogEntry + 62, // 30: viam.robot.v1.StartSessionResponse.heartbeat_window:type_name -> google.protobuf.Duration + 68, // 31: viam.robot.v1.LogRequest.logs:type_name -> viam.common.v1.LogEntry 56, // 32: viam.robot.v1.GetMachineStatusResponse.resources:type_name -> viam.robot.v1.ResourceStatus 57, // 33: viam.robot.v1.GetMachineStatusResponse.config:type_name -> viam.robot.v1.ConfigStatus 1, // 34: viam.robot.v1.GetMachineStatusResponse.state:type_name -> viam.robot.v1.GetMachineStatusResponse.State - 64, // 35: viam.robot.v1.ResourceStatus.name:type_name -> viam.common.v1.ResourceName + 66, // 35: viam.robot.v1.ResourceStatus.name:type_name -> viam.common.v1.ResourceName 2, // 36: viam.robot.v1.ResourceStatus.state:type_name -> viam.robot.v1.ResourceStatus.State - 65, // 37: viam.robot.v1.ResourceStatus.last_updated:type_name -> google.protobuf.Timestamp + 67, // 37: viam.robot.v1.ResourceStatus.last_updated:type_name -> google.protobuf.Timestamp 49, // 38: viam.robot.v1.ResourceStatus.cloud_metadata:type_name -> viam.robot.v1.GetCloudMetadataResponse - 65, // 39: viam.robot.v1.ConfigStatus.last_updated:type_name -> google.protobuf.Timestamp - 21, // 40: viam.robot.v1.RobotService.GetOperations:input_type -> viam.robot.v1.GetOperationsRequest - 29, // 41: viam.robot.v1.RobotService.GetSessions:input_type -> viam.robot.v1.GetSessionsRequest - 15, // 42: viam.robot.v1.RobotService.ResourceNames:input_type -> viam.robot.v1.ResourceNamesRequest - 18, // 43: viam.robot.v1.RobotService.ResourceRPCSubtypes:input_type -> viam.robot.v1.ResourceRPCSubtypesRequest - 23, // 44: viam.robot.v1.RobotService.CancelOperation:input_type -> viam.robot.v1.CancelOperationRequest - 25, // 45: viam.robot.v1.RobotService.BlockForOperation:input_type -> viam.robot.v1.BlockForOperationRequest - 32, // 46: viam.robot.v1.RobotService.GetModelsFromModules:input_type -> viam.robot.v1.GetModelsFromModulesRequest - 9, // 47: viam.robot.v1.RobotService.FrameSystemConfig:input_type -> viam.robot.v1.FrameSystemConfigRequest - 11, // 48: viam.robot.v1.RobotService.TransformPose:input_type -> viam.robot.v1.TransformPoseRequest - 13, // 49: viam.robot.v1.RobotService.TransformPCD:input_type -> viam.robot.v1.TransformPCDRequest + 67, // 39: viam.robot.v1.ConfigStatus.last_updated:type_name -> google.protobuf.Timestamp + 63, // 40: viam.robot.v1.GetPoseRequest.supplemental_transforms:type_name -> viam.common.v1.Transform + 64, // 41: viam.robot.v1.GetPoseRequest.extra:type_name -> google.protobuf.Struct + 65, // 42: viam.robot.v1.GetPoseResponse.pose:type_name -> viam.common.v1.PoseInFrame + 21, // 43: viam.robot.v1.RobotService.GetOperations:input_type -> viam.robot.v1.GetOperationsRequest + 29, // 44: viam.robot.v1.RobotService.GetSessions:input_type -> viam.robot.v1.GetSessionsRequest + 15, // 45: viam.robot.v1.RobotService.ResourceNames:input_type -> viam.robot.v1.ResourceNamesRequest + 18, // 46: viam.robot.v1.RobotService.ResourceRPCSubtypes:input_type -> viam.robot.v1.ResourceRPCSubtypesRequest + 23, // 47: viam.robot.v1.RobotService.CancelOperation:input_type -> viam.robot.v1.CancelOperationRequest + 25, // 48: viam.robot.v1.RobotService.BlockForOperation:input_type -> viam.robot.v1.BlockForOperationRequest + 32, // 49: viam.robot.v1.RobotService.GetModelsFromModules:input_type -> viam.robot.v1.GetModelsFromModulesRequest 35, // 50: viam.robot.v1.RobotService.GetStatus:input_type -> viam.robot.v1.GetStatusRequest 37, // 51: viam.robot.v1.RobotService.StreamStatus:input_type -> viam.robot.v1.StreamStatusRequest 40, // 52: viam.robot.v1.RobotService.StopAll:input_type -> viam.robot.v1.StopAllRequest @@ -3648,34 +3797,39 @@ var file_robot_v1_robot_proto_depIdxs = []int32{ 58, // 60: viam.robot.v1.RobotService.GetVersion:input_type -> viam.robot.v1.GetVersionRequest 3, // 61: viam.robot.v1.RobotService.Tunnel:input_type -> viam.robot.v1.TunnelRequest 5, // 62: viam.robot.v1.RobotService.ListTunnels:input_type -> viam.robot.v1.ListTunnelsRequest - 22, // 63: viam.robot.v1.RobotService.GetOperations:output_type -> viam.robot.v1.GetOperationsResponse - 30, // 64: viam.robot.v1.RobotService.GetSessions:output_type -> viam.robot.v1.GetSessionsResponse - 16, // 65: viam.robot.v1.RobotService.ResourceNames:output_type -> viam.robot.v1.ResourceNamesResponse - 19, // 66: viam.robot.v1.RobotService.ResourceRPCSubtypes:output_type -> viam.robot.v1.ResourceRPCSubtypesResponse - 24, // 67: viam.robot.v1.RobotService.CancelOperation:output_type -> viam.robot.v1.CancelOperationResponse - 26, // 68: viam.robot.v1.RobotService.BlockForOperation:output_type -> viam.robot.v1.BlockForOperationResponse - 33, // 69: viam.robot.v1.RobotService.GetModelsFromModules:output_type -> viam.robot.v1.GetModelsFromModulesResponse - 10, // 70: viam.robot.v1.RobotService.FrameSystemConfig:output_type -> viam.robot.v1.FrameSystemConfigResponse - 12, // 71: viam.robot.v1.RobotService.TransformPose:output_type -> viam.robot.v1.TransformPoseResponse - 14, // 72: viam.robot.v1.RobotService.TransformPCD:output_type -> viam.robot.v1.TransformPCDResponse - 36, // 73: viam.robot.v1.RobotService.GetStatus:output_type -> viam.robot.v1.GetStatusResponse - 38, // 74: viam.robot.v1.RobotService.StreamStatus:output_type -> viam.robot.v1.StreamStatusResponse - 41, // 75: viam.robot.v1.RobotService.StopAll:output_type -> viam.robot.v1.StopAllResponse - 43, // 76: viam.robot.v1.RobotService.StartSession:output_type -> viam.robot.v1.StartSessionResponse - 45, // 77: viam.robot.v1.RobotService.SendSessionHeartbeat:output_type -> viam.robot.v1.SendSessionHeartbeatResponse - 47, // 78: viam.robot.v1.RobotService.Log:output_type -> viam.robot.v1.LogResponse - 49, // 79: viam.robot.v1.RobotService.GetCloudMetadata:output_type -> viam.robot.v1.GetCloudMetadataResponse - 51, // 80: viam.robot.v1.RobotService.RestartModule:output_type -> viam.robot.v1.RestartModuleResponse - 53, // 81: viam.robot.v1.RobotService.Shutdown:output_type -> viam.robot.v1.ShutdownResponse - 55, // 82: viam.robot.v1.RobotService.GetMachineStatus:output_type -> viam.robot.v1.GetMachineStatusResponse - 59, // 83: viam.robot.v1.RobotService.GetVersion:output_type -> viam.robot.v1.GetVersionResponse - 4, // 84: viam.robot.v1.RobotService.Tunnel:output_type -> viam.robot.v1.TunnelResponse - 6, // 85: viam.robot.v1.RobotService.ListTunnels:output_type -> viam.robot.v1.ListTunnelsResponse - 63, // [63:86] is the sub-list for method output_type - 40, // [40:63] is the sub-list for method input_type - 40, // [40:40] is the sub-list for extension type_name - 40, // [40:40] is the sub-list for extension extendee - 0, // [0:40] is the sub-list for field type_name + 9, // 63: viam.robot.v1.RobotService.FrameSystemConfig:input_type -> viam.robot.v1.FrameSystemConfigRequest + 60, // 64: viam.robot.v1.RobotService.GetPose:input_type -> viam.robot.v1.GetPoseRequest + 11, // 65: viam.robot.v1.RobotService.TransformPose:input_type -> viam.robot.v1.TransformPoseRequest + 13, // 66: viam.robot.v1.RobotService.TransformPCD:input_type -> viam.robot.v1.TransformPCDRequest + 22, // 67: viam.robot.v1.RobotService.GetOperations:output_type -> viam.robot.v1.GetOperationsResponse + 30, // 68: viam.robot.v1.RobotService.GetSessions:output_type -> viam.robot.v1.GetSessionsResponse + 16, // 69: viam.robot.v1.RobotService.ResourceNames:output_type -> viam.robot.v1.ResourceNamesResponse + 19, // 70: viam.robot.v1.RobotService.ResourceRPCSubtypes:output_type -> viam.robot.v1.ResourceRPCSubtypesResponse + 24, // 71: viam.robot.v1.RobotService.CancelOperation:output_type -> viam.robot.v1.CancelOperationResponse + 26, // 72: viam.robot.v1.RobotService.BlockForOperation:output_type -> viam.robot.v1.BlockForOperationResponse + 33, // 73: viam.robot.v1.RobotService.GetModelsFromModules:output_type -> viam.robot.v1.GetModelsFromModulesResponse + 36, // 74: viam.robot.v1.RobotService.GetStatus:output_type -> viam.robot.v1.GetStatusResponse + 38, // 75: viam.robot.v1.RobotService.StreamStatus:output_type -> viam.robot.v1.StreamStatusResponse + 41, // 76: viam.robot.v1.RobotService.StopAll:output_type -> viam.robot.v1.StopAllResponse + 43, // 77: viam.robot.v1.RobotService.StartSession:output_type -> viam.robot.v1.StartSessionResponse + 45, // 78: viam.robot.v1.RobotService.SendSessionHeartbeat:output_type -> viam.robot.v1.SendSessionHeartbeatResponse + 47, // 79: viam.robot.v1.RobotService.Log:output_type -> viam.robot.v1.LogResponse + 49, // 80: viam.robot.v1.RobotService.GetCloudMetadata:output_type -> viam.robot.v1.GetCloudMetadataResponse + 51, // 81: viam.robot.v1.RobotService.RestartModule:output_type -> viam.robot.v1.RestartModuleResponse + 53, // 82: viam.robot.v1.RobotService.Shutdown:output_type -> viam.robot.v1.ShutdownResponse + 55, // 83: viam.robot.v1.RobotService.GetMachineStatus:output_type -> viam.robot.v1.GetMachineStatusResponse + 59, // 84: viam.robot.v1.RobotService.GetVersion:output_type -> viam.robot.v1.GetVersionResponse + 4, // 85: viam.robot.v1.RobotService.Tunnel:output_type -> viam.robot.v1.TunnelResponse + 6, // 86: viam.robot.v1.RobotService.ListTunnels:output_type -> viam.robot.v1.ListTunnelsResponse + 10, // 87: viam.robot.v1.RobotService.FrameSystemConfig:output_type -> viam.robot.v1.FrameSystemConfigResponse + 61, // 88: viam.robot.v1.RobotService.GetPose:output_type -> viam.robot.v1.GetPoseResponse + 12, // 89: viam.robot.v1.RobotService.TransformPose:output_type -> viam.robot.v1.TransformPoseResponse + 14, // 90: viam.robot.v1.RobotService.TransformPCD:output_type -> viam.robot.v1.TransformPCDResponse + 67, // [67:91] is the sub-list for method output_type + 43, // [43:67] is the sub-list for method input_type + 43, // [43:43] is the sub-list for extension type_name + 43, // [43:43] is the sub-list for extension extendee + 0, // [0:43] is the sub-list for field type_name } func init() { file_robot_v1_robot_proto_init() } @@ -3697,7 +3851,7 @@ func file_robot_v1_robot_proto_init() { GoPackagePath: reflect.TypeOf(x{}).PkgPath(), RawDescriptor: file_robot_v1_robot_proto_rawDesc, NumEnums: 3, - NumMessages: 57, + NumMessages: 59, NumExtensions: 0, NumServices: 1, }, diff --git a/robot/v1/robot.pb.gw.go b/robot/v1/robot.pb.gw.go index 0aaab8601..b5f88cb05 100644 --- a/robot/v1/robot.pb.gw.go +++ b/robot/v1/robot.pb.gw.go @@ -193,114 +193,6 @@ func local_request_RobotService_GetModelsFromModules_0(ctx context.Context, mars } -var ( - filter_RobotService_FrameSystemConfig_0 = &utilities.DoubleArray{Encoding: map[string]int{}, Base: []int(nil), Check: []int(nil)} -) - -func request_RobotService_FrameSystemConfig_0(ctx context.Context, marshaler runtime.Marshaler, client RobotServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq FrameSystemConfigRequest - var metadata runtime.ServerMetadata - - if err := req.ParseForm(); err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) - } - if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_RobotService_FrameSystemConfig_0); err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) - } - - msg, err := client.FrameSystemConfig(ctx, &protoReq, grpc.Header(&metadata.HeaderMD), grpc.Trailer(&metadata.TrailerMD)) - return msg, metadata, err - -} - -func local_request_RobotService_FrameSystemConfig_0(ctx context.Context, marshaler runtime.Marshaler, server RobotServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq FrameSystemConfigRequest - var metadata runtime.ServerMetadata - - if err := req.ParseForm(); err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) - } - if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_RobotService_FrameSystemConfig_0); err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) - } - - msg, err := server.FrameSystemConfig(ctx, &protoReq) - return msg, metadata, err - -} - -var ( - filter_RobotService_TransformPose_0 = &utilities.DoubleArray{Encoding: map[string]int{}, Base: []int(nil), Check: []int(nil)} -) - -func request_RobotService_TransformPose_0(ctx context.Context, marshaler runtime.Marshaler, client RobotServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq TransformPoseRequest - var metadata runtime.ServerMetadata - - if err := req.ParseForm(); err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) - } - if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_RobotService_TransformPose_0); err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) - } - - msg, err := client.TransformPose(ctx, &protoReq, grpc.Header(&metadata.HeaderMD), grpc.Trailer(&metadata.TrailerMD)) - return msg, metadata, err - -} - -func local_request_RobotService_TransformPose_0(ctx context.Context, marshaler runtime.Marshaler, server RobotServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq TransformPoseRequest - var metadata runtime.ServerMetadata - - if err := req.ParseForm(); err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) - } - if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_RobotService_TransformPose_0); err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) - } - - msg, err := server.TransformPose(ctx, &protoReq) - return msg, metadata, err - -} - -var ( - filter_RobotService_TransformPCD_0 = &utilities.DoubleArray{Encoding: map[string]int{}, Base: []int(nil), Check: []int(nil)} -) - -func request_RobotService_TransformPCD_0(ctx context.Context, marshaler runtime.Marshaler, client RobotServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq TransformPCDRequest - var metadata runtime.ServerMetadata - - if err := req.ParseForm(); err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) - } - if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_RobotService_TransformPCD_0); err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) - } - - msg, err := client.TransformPCD(ctx, &protoReq, grpc.Header(&metadata.HeaderMD), grpc.Trailer(&metadata.TrailerMD)) - return msg, metadata, err - -} - -func local_request_RobotService_TransformPCD_0(ctx context.Context, marshaler runtime.Marshaler, server RobotServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq TransformPCDRequest - var metadata runtime.ServerMetadata - - if err := req.ParseForm(); err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) - } - if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_RobotService_TransformPCD_0); err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) - } - - msg, err := server.TransformPCD(ctx, &protoReq) - return msg, metadata, err - -} - var ( filter_RobotService_GetStatus_0 = &utilities.DoubleArray{Encoding: map[string]int{}, Base: []int(nil), Check: []int(nil)} ) @@ -694,6 +586,150 @@ func local_request_RobotService_ListTunnels_0(ctx context.Context, marshaler run } +var ( + filter_RobotService_FrameSystemConfig_0 = &utilities.DoubleArray{Encoding: map[string]int{}, Base: []int(nil), Check: []int(nil)} +) + +func request_RobotService_FrameSystemConfig_0(ctx context.Context, marshaler runtime.Marshaler, client RobotServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { + var protoReq FrameSystemConfigRequest + var metadata runtime.ServerMetadata + + if err := req.ParseForm(); err != nil { + return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) + } + if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_RobotService_FrameSystemConfig_0); err != nil { + return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) + } + + msg, err := client.FrameSystemConfig(ctx, &protoReq, grpc.Header(&metadata.HeaderMD), grpc.Trailer(&metadata.TrailerMD)) + return msg, metadata, err + +} + +func local_request_RobotService_FrameSystemConfig_0(ctx context.Context, marshaler runtime.Marshaler, server RobotServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { + var protoReq FrameSystemConfigRequest + var metadata runtime.ServerMetadata + + if err := req.ParseForm(); err != nil { + return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) + } + if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_RobotService_FrameSystemConfig_0); err != nil { + return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) + } + + msg, err := server.FrameSystemConfig(ctx, &protoReq) + return msg, metadata, err + +} + +var ( + filter_RobotService_GetPose_0 = &utilities.DoubleArray{Encoding: map[string]int{}, Base: []int(nil), Check: []int(nil)} +) + +func request_RobotService_GetPose_0(ctx context.Context, marshaler runtime.Marshaler, client RobotServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { + var protoReq GetPoseRequest + var metadata runtime.ServerMetadata + + if err := req.ParseForm(); err != nil { + return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) + } + if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_RobotService_GetPose_0); err != nil { + return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) + } + + msg, err := client.GetPose(ctx, &protoReq, grpc.Header(&metadata.HeaderMD), grpc.Trailer(&metadata.TrailerMD)) + return msg, metadata, err + +} + +func local_request_RobotService_GetPose_0(ctx context.Context, marshaler runtime.Marshaler, server RobotServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { + var protoReq GetPoseRequest + var metadata runtime.ServerMetadata + + if err := req.ParseForm(); err != nil { + return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) + } + if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_RobotService_GetPose_0); err != nil { + return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) + } + + msg, err := server.GetPose(ctx, &protoReq) + return msg, metadata, err + +} + +var ( + filter_RobotService_TransformPose_0 = &utilities.DoubleArray{Encoding: map[string]int{}, Base: []int(nil), Check: []int(nil)} +) + +func request_RobotService_TransformPose_0(ctx context.Context, marshaler runtime.Marshaler, client RobotServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { + var protoReq TransformPoseRequest + var metadata runtime.ServerMetadata + + if err := req.ParseForm(); err != nil { + return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) + } + if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_RobotService_TransformPose_0); err != nil { + return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) + } + + msg, err := client.TransformPose(ctx, &protoReq, grpc.Header(&metadata.HeaderMD), grpc.Trailer(&metadata.TrailerMD)) + return msg, metadata, err + +} + +func local_request_RobotService_TransformPose_0(ctx context.Context, marshaler runtime.Marshaler, server RobotServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { + var protoReq TransformPoseRequest + var metadata runtime.ServerMetadata + + if err := req.ParseForm(); err != nil { + return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) + } + if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_RobotService_TransformPose_0); err != nil { + return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) + } + + msg, err := server.TransformPose(ctx, &protoReq) + return msg, metadata, err + +} + +var ( + filter_RobotService_TransformPCD_0 = &utilities.DoubleArray{Encoding: map[string]int{}, Base: []int(nil), Check: []int(nil)} +) + +func request_RobotService_TransformPCD_0(ctx context.Context, marshaler runtime.Marshaler, client RobotServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { + var protoReq TransformPCDRequest + var metadata runtime.ServerMetadata + + if err := req.ParseForm(); err != nil { + return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) + } + if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_RobotService_TransformPCD_0); err != nil { + return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) + } + + msg, err := client.TransformPCD(ctx, &protoReq, grpc.Header(&metadata.HeaderMD), grpc.Trailer(&metadata.TrailerMD)) + return msg, metadata, err + +} + +func local_request_RobotService_TransformPCD_0(ctx context.Context, marshaler runtime.Marshaler, server RobotServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { + var protoReq TransformPCDRequest + var metadata runtime.ServerMetadata + + if err := req.ParseForm(); err != nil { + return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) + } + if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_RobotService_TransformPCD_0); err != nil { + return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) + } + + msg, err := server.TransformPCD(ctx, &protoReq) + return msg, metadata, err + +} + // RegisterRobotServiceHandlerServer registers the http handlers for service RobotService to "mux". // UnaryRPC :call RobotServiceServer directly. // StreamingRPC :currently unsupported pending https://github.com/grpc/grpc-go/issues/906. @@ -875,7 +911,7 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu }) - mux.Handle("GET", pattern_RobotService_FrameSystemConfig_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_GetStatus_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() var stream runtime.ServerTransportStream @@ -883,12 +919,12 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/FrameSystemConfig", runtime.WithHTTPPathPattern("/viam/api/v1/frame_system/config")) + annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetStatus", runtime.WithHTTPPathPattern("/viam/api/v1/status")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := local_request_RobotService_FrameSystemConfig_0(annotatedContext, inboundMarshaler, server, req, pathParams) + resp, md, err := local_request_RobotService_GetStatus_0(annotatedContext, inboundMarshaler, server, req, pathParams) md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer()) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { @@ -896,11 +932,18 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu return } - forward_RobotService_FrameSystemConfig_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_GetStatus_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("GET", pattern_RobotService_TransformPose_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_StreamStatus_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + err := status.Error(codes.Unimplemented, "streaming calls are not yet supported in the in-process transport") + _, outboundMarshaler := runtime.MarshalerForRequest(mux, req) + runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) + return + }) + + mux.Handle("GET", pattern_RobotService_StopAll_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() var stream runtime.ServerTransportStream @@ -908,12 +951,12 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/TransformPose", runtime.WithHTTPPathPattern("/viam/api/v1/frame_system/transform_pose")) + annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/StopAll", runtime.WithHTTPPathPattern("/viam/api/v1/stop_all")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := local_request_RobotService_TransformPose_0(annotatedContext, inboundMarshaler, server, req, pathParams) + resp, md, err := local_request_RobotService_StopAll_0(annotatedContext, inboundMarshaler, server, req, pathParams) md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer()) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { @@ -921,11 +964,11 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu return } - forward_RobotService_TransformPose_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_StopAll_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("GET", pattern_RobotService_TransformPCD_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("POST", pattern_RobotService_StartSession_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() var stream runtime.ServerTransportStream @@ -933,12 +976,12 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/TransformPCD", runtime.WithHTTPPathPattern("/viam/api/v1/frame_system/transform_pcd")) + annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/StartSession", runtime.WithHTTPPathPattern("/viam/api/v1/sessions")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := local_request_RobotService_TransformPCD_0(annotatedContext, inboundMarshaler, server, req, pathParams) + resp, md, err := local_request_RobotService_StartSession_0(annotatedContext, inboundMarshaler, server, req, pathParams) md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer()) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { @@ -946,11 +989,11 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu return } - forward_RobotService_TransformPCD_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_StartSession_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("GET", pattern_RobotService_GetStatus_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("POST", pattern_RobotService_SendSessionHeartbeat_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() var stream runtime.ServerTransportStream @@ -958,12 +1001,12 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetStatus", runtime.WithHTTPPathPattern("/viam/api/v1/status")) + annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/SendSessionHeartbeat", runtime.WithHTTPPathPattern("/viam/api/v1/sessions/{id}/heartbeat")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := local_request_RobotService_GetStatus_0(annotatedContext, inboundMarshaler, server, req, pathParams) + resp, md, err := local_request_RobotService_SendSessionHeartbeat_0(annotatedContext, inboundMarshaler, server, req, pathParams) md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer()) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { @@ -971,18 +1014,36 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu return } - forward_RobotService_GetStatus_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_SendSessionHeartbeat_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("GET", pattern_RobotService_StreamStatus_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { - err := status.Error(codes.Unimplemented, "streaming calls are not yet supported in the in-process transport") - _, outboundMarshaler := runtime.MarshalerForRequest(mux, req) - runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) - return + mux.Handle("POST", pattern_RobotService_Log_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + ctx, cancel := context.WithCancel(req.Context()) + defer cancel() + var stream runtime.ServerTransportStream + ctx = grpc.NewContextWithServerTransportStream(ctx, &stream) + inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) + var err error + var annotatedContext context.Context + annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/Log", runtime.WithHTTPPathPattern("/viam/api/v1/log")) + if err != nil { + runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) + return + } + resp, md, err := local_request_RobotService_Log_0(annotatedContext, inboundMarshaler, server, req, pathParams) + md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer()) + annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) + if err != nil { + runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) + return + } + + forward_RobotService_Log_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + }) - mux.Handle("GET", pattern_RobotService_StopAll_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_GetCloudMetadata_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() var stream runtime.ServerTransportStream @@ -990,12 +1051,12 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/StopAll", runtime.WithHTTPPathPattern("/viam/api/v1/stop_all")) + annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetCloudMetadata", runtime.WithHTTPPathPattern("/viam/api/v1/cloud_metadata")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := local_request_RobotService_StopAll_0(annotatedContext, inboundMarshaler, server, req, pathParams) + resp, md, err := local_request_RobotService_GetCloudMetadata_0(annotatedContext, inboundMarshaler, server, req, pathParams) md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer()) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { @@ -1003,11 +1064,11 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu return } - forward_RobotService_StopAll_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_GetCloudMetadata_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("POST", pattern_RobotService_StartSession_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("POST", pattern_RobotService_RestartModule_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() var stream runtime.ServerTransportStream @@ -1015,12 +1076,12 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/StartSession", runtime.WithHTTPPathPattern("/viam/api/v1/sessions")) + annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/RestartModule", runtime.WithHTTPPathPattern("/viam/api/v1/restart_module")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := local_request_RobotService_StartSession_0(annotatedContext, inboundMarshaler, server, req, pathParams) + resp, md, err := local_request_RobotService_RestartModule_0(annotatedContext, inboundMarshaler, server, req, pathParams) md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer()) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { @@ -1028,11 +1089,11 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu return } - forward_RobotService_StartSession_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_RestartModule_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("POST", pattern_RobotService_SendSessionHeartbeat_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("POST", pattern_RobotService_Shutdown_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() var stream runtime.ServerTransportStream @@ -1040,12 +1101,12 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/SendSessionHeartbeat", runtime.WithHTTPPathPattern("/viam/api/v1/sessions/{id}/heartbeat")) + annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/Shutdown", runtime.WithHTTPPathPattern("/viam/api/v1/shutdown")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := local_request_RobotService_SendSessionHeartbeat_0(annotatedContext, inboundMarshaler, server, req, pathParams) + resp, md, err := local_request_RobotService_Shutdown_0(annotatedContext, inboundMarshaler, server, req, pathParams) md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer()) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { @@ -1053,11 +1114,11 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu return } - forward_RobotService_SendSessionHeartbeat_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_Shutdown_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("POST", pattern_RobotService_Log_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_GetMachineStatus_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() var stream runtime.ServerTransportStream @@ -1065,12 +1126,12 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/Log", runtime.WithHTTPPathPattern("/viam/api/v1/log")) + annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetMachineStatus", runtime.WithHTTPPathPattern("/viam/api/v1/machine_status")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := local_request_RobotService_Log_0(annotatedContext, inboundMarshaler, server, req, pathParams) + resp, md, err := local_request_RobotService_GetMachineStatus_0(annotatedContext, inboundMarshaler, server, req, pathParams) md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer()) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { @@ -1078,11 +1139,11 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu return } - forward_RobotService_Log_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_GetMachineStatus_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("GET", pattern_RobotService_GetCloudMetadata_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_GetVersion_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() var stream runtime.ServerTransportStream @@ -1090,12 +1151,12 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetCloudMetadata", runtime.WithHTTPPathPattern("/viam/api/v1/cloud_metadata")) + annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetVersion", runtime.WithHTTPPathPattern("/viam/api/v1/version")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := local_request_RobotService_GetCloudMetadata_0(annotatedContext, inboundMarshaler, server, req, pathParams) + resp, md, err := local_request_RobotService_GetVersion_0(annotatedContext, inboundMarshaler, server, req, pathParams) md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer()) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { @@ -1103,11 +1164,18 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu return } - forward_RobotService_GetCloudMetadata_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_GetVersion_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("POST", pattern_RobotService_RestartModule_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("POST", pattern_RobotService_Tunnel_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + err := status.Error(codes.Unimplemented, "streaming calls are not yet supported in the in-process transport") + _, outboundMarshaler := runtime.MarshalerForRequest(mux, req) + runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) + return + }) + + mux.Handle("GET", pattern_RobotService_ListTunnels_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() var stream runtime.ServerTransportStream @@ -1115,12 +1183,12 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/RestartModule", runtime.WithHTTPPathPattern("/viam/api/v1/restart_module")) + annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/ListTunnels", runtime.WithHTTPPathPattern("/viam/api/v1/list_tunnels")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := local_request_RobotService_RestartModule_0(annotatedContext, inboundMarshaler, server, req, pathParams) + resp, md, err := local_request_RobotService_ListTunnels_0(annotatedContext, inboundMarshaler, server, req, pathParams) md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer()) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { @@ -1128,11 +1196,11 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu return } - forward_RobotService_RestartModule_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_ListTunnels_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("POST", pattern_RobotService_Shutdown_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_FrameSystemConfig_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() var stream runtime.ServerTransportStream @@ -1140,12 +1208,12 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/Shutdown", runtime.WithHTTPPathPattern("/viam/api/v1/shutdown")) + annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/FrameSystemConfig", runtime.WithHTTPPathPattern("/viam/api/v1/frame_system/config")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := local_request_RobotService_Shutdown_0(annotatedContext, inboundMarshaler, server, req, pathParams) + resp, md, err := local_request_RobotService_FrameSystemConfig_0(annotatedContext, inboundMarshaler, server, req, pathParams) md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer()) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { @@ -1153,11 +1221,11 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu return } - forward_RobotService_Shutdown_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_FrameSystemConfig_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("GET", pattern_RobotService_GetMachineStatus_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_GetPose_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() var stream runtime.ServerTransportStream @@ -1165,12 +1233,12 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetMachineStatus", runtime.WithHTTPPathPattern("/viam/api/v1/machine_status")) + annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetPose", runtime.WithHTTPPathPattern("/viam/api/v1/frame_system/pose")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := local_request_RobotService_GetMachineStatus_0(annotatedContext, inboundMarshaler, server, req, pathParams) + resp, md, err := local_request_RobotService_GetPose_0(annotatedContext, inboundMarshaler, server, req, pathParams) md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer()) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { @@ -1178,11 +1246,11 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu return } - forward_RobotService_GetMachineStatus_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_GetPose_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("GET", pattern_RobotService_GetVersion_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_TransformPose_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() var stream runtime.ServerTransportStream @@ -1190,12 +1258,12 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetVersion", runtime.WithHTTPPathPattern("/viam/api/v1/version")) + annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/TransformPose", runtime.WithHTTPPathPattern("/viam/api/v1/frame_system/transform_pose")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := local_request_RobotService_GetVersion_0(annotatedContext, inboundMarshaler, server, req, pathParams) + resp, md, err := local_request_RobotService_TransformPose_0(annotatedContext, inboundMarshaler, server, req, pathParams) md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer()) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { @@ -1203,18 +1271,11 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu return } - forward_RobotService_GetVersion_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) - - }) + forward_RobotService_TransformPose_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) - mux.Handle("POST", pattern_RobotService_Tunnel_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { - err := status.Error(codes.Unimplemented, "streaming calls are not yet supported in the in-process transport") - _, outboundMarshaler := runtime.MarshalerForRequest(mux, req) - runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) - return }) - mux.Handle("GET", pattern_RobotService_ListTunnels_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_TransformPCD_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() var stream runtime.ServerTransportStream @@ -1222,12 +1283,12 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/ListTunnels", runtime.WithHTTPPathPattern("/viam/api/v1/list_tunnels")) + annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.robot.v1.RobotService/TransformPCD", runtime.WithHTTPPathPattern("/viam/api/v1/frame_system/transform_pcd")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := local_request_RobotService_ListTunnels_0(annotatedContext, inboundMarshaler, server, req, pathParams) + resp, md, err := local_request_RobotService_TransformPCD_0(annotatedContext, inboundMarshaler, server, req, pathParams) md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer()) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { @@ -1235,7 +1296,7 @@ func RegisterRobotServiceHandlerServer(ctx context.Context, mux *runtime.ServeMu return } - forward_RobotService_ListTunnels_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_TransformPCD_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) @@ -1434,355 +1495,377 @@ func RegisterRobotServiceHandlerClient(ctx context.Context, mux *runtime.ServeMu }) - mux.Handle("GET", pattern_RobotService_FrameSystemConfig_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_GetStatus_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/FrameSystemConfig", runtime.WithHTTPPathPattern("/viam/api/v1/frame_system/config")) + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetStatus", runtime.WithHTTPPathPattern("/viam/api/v1/status")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := request_RobotService_FrameSystemConfig_0(annotatedContext, inboundMarshaler, client, req, pathParams) + resp, md, err := request_RobotService_GetStatus_0(annotatedContext, inboundMarshaler, client, req, pathParams) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) return } - forward_RobotService_FrameSystemConfig_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_GetStatus_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("GET", pattern_RobotService_TransformPose_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_StreamStatus_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/TransformPose", runtime.WithHTTPPathPattern("/viam/api/v1/frame_system/transform_pose")) + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/StreamStatus", runtime.WithHTTPPathPattern("/viam/api/v1/status/stream")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := request_RobotService_TransformPose_0(annotatedContext, inboundMarshaler, client, req, pathParams) + resp, md, err := request_RobotService_StreamStatus_0(annotatedContext, inboundMarshaler, client, req, pathParams) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) return } - forward_RobotService_TransformPose_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_StreamStatus_0(annotatedContext, mux, outboundMarshaler, w, req, func() (proto.Message, error) { return resp.Recv() }, mux.GetForwardResponseOptions()...) }) - mux.Handle("GET", pattern_RobotService_TransformPCD_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_StopAll_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/TransformPCD", runtime.WithHTTPPathPattern("/viam/api/v1/frame_system/transform_pcd")) + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/StopAll", runtime.WithHTTPPathPattern("/viam/api/v1/stop_all")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := request_RobotService_TransformPCD_0(annotatedContext, inboundMarshaler, client, req, pathParams) + resp, md, err := request_RobotService_StopAll_0(annotatedContext, inboundMarshaler, client, req, pathParams) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) return } - forward_RobotService_TransformPCD_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_StopAll_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("GET", pattern_RobotService_GetStatus_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("POST", pattern_RobotService_StartSession_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetStatus", runtime.WithHTTPPathPattern("/viam/api/v1/status")) + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/StartSession", runtime.WithHTTPPathPattern("/viam/api/v1/sessions")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := request_RobotService_GetStatus_0(annotatedContext, inboundMarshaler, client, req, pathParams) + resp, md, err := request_RobotService_StartSession_0(annotatedContext, inboundMarshaler, client, req, pathParams) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) return } - forward_RobotService_GetStatus_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_StartSession_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("GET", pattern_RobotService_StreamStatus_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("POST", pattern_RobotService_SendSessionHeartbeat_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/StreamStatus", runtime.WithHTTPPathPattern("/viam/api/v1/status/stream")) + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/SendSessionHeartbeat", runtime.WithHTTPPathPattern("/viam/api/v1/sessions/{id}/heartbeat")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := request_RobotService_StreamStatus_0(annotatedContext, inboundMarshaler, client, req, pathParams) + resp, md, err := request_RobotService_SendSessionHeartbeat_0(annotatedContext, inboundMarshaler, client, req, pathParams) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) return } - forward_RobotService_StreamStatus_0(annotatedContext, mux, outboundMarshaler, w, req, func() (proto.Message, error) { return resp.Recv() }, mux.GetForwardResponseOptions()...) + forward_RobotService_SendSessionHeartbeat_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("GET", pattern_RobotService_StopAll_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("POST", pattern_RobotService_Log_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/StopAll", runtime.WithHTTPPathPattern("/viam/api/v1/stop_all")) + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/Log", runtime.WithHTTPPathPattern("/viam/api/v1/log")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := request_RobotService_StopAll_0(annotatedContext, inboundMarshaler, client, req, pathParams) + resp, md, err := request_RobotService_Log_0(annotatedContext, inboundMarshaler, client, req, pathParams) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) return } - forward_RobotService_StopAll_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_Log_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("POST", pattern_RobotService_StartSession_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_GetCloudMetadata_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/StartSession", runtime.WithHTTPPathPattern("/viam/api/v1/sessions")) + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetCloudMetadata", runtime.WithHTTPPathPattern("/viam/api/v1/cloud_metadata")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := request_RobotService_StartSession_0(annotatedContext, inboundMarshaler, client, req, pathParams) + resp, md, err := request_RobotService_GetCloudMetadata_0(annotatedContext, inboundMarshaler, client, req, pathParams) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) return } - forward_RobotService_StartSession_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_GetCloudMetadata_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("POST", pattern_RobotService_SendSessionHeartbeat_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("POST", pattern_RobotService_RestartModule_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/SendSessionHeartbeat", runtime.WithHTTPPathPattern("/viam/api/v1/sessions/{id}/heartbeat")) + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/RestartModule", runtime.WithHTTPPathPattern("/viam/api/v1/restart_module")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := request_RobotService_SendSessionHeartbeat_0(annotatedContext, inboundMarshaler, client, req, pathParams) + resp, md, err := request_RobotService_RestartModule_0(annotatedContext, inboundMarshaler, client, req, pathParams) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) return } - forward_RobotService_SendSessionHeartbeat_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_RestartModule_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("POST", pattern_RobotService_Log_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("POST", pattern_RobotService_Shutdown_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/Log", runtime.WithHTTPPathPattern("/viam/api/v1/log")) + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/Shutdown", runtime.WithHTTPPathPattern("/viam/api/v1/shutdown")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := request_RobotService_Log_0(annotatedContext, inboundMarshaler, client, req, pathParams) + resp, md, err := request_RobotService_Shutdown_0(annotatedContext, inboundMarshaler, client, req, pathParams) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) return } - forward_RobotService_Log_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_Shutdown_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("GET", pattern_RobotService_GetCloudMetadata_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_GetMachineStatus_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetCloudMetadata", runtime.WithHTTPPathPattern("/viam/api/v1/cloud_metadata")) + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetMachineStatus", runtime.WithHTTPPathPattern("/viam/api/v1/machine_status")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := request_RobotService_GetCloudMetadata_0(annotatedContext, inboundMarshaler, client, req, pathParams) + resp, md, err := request_RobotService_GetMachineStatus_0(annotatedContext, inboundMarshaler, client, req, pathParams) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) return } - forward_RobotService_GetCloudMetadata_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_GetMachineStatus_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("POST", pattern_RobotService_RestartModule_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_GetVersion_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/RestartModule", runtime.WithHTTPPathPattern("/viam/api/v1/restart_module")) + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetVersion", runtime.WithHTTPPathPattern("/viam/api/v1/version")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := request_RobotService_RestartModule_0(annotatedContext, inboundMarshaler, client, req, pathParams) + resp, md, err := request_RobotService_GetVersion_0(annotatedContext, inboundMarshaler, client, req, pathParams) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) return } - forward_RobotService_RestartModule_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_GetVersion_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("POST", pattern_RobotService_Shutdown_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("POST", pattern_RobotService_Tunnel_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/Shutdown", runtime.WithHTTPPathPattern("/viam/api/v1/shutdown")) + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/Tunnel", runtime.WithHTTPPathPattern("/viam.robot.v1.RobotService/Tunnel")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := request_RobotService_Shutdown_0(annotatedContext, inboundMarshaler, client, req, pathParams) + resp, md, err := request_RobotService_Tunnel_0(annotatedContext, inboundMarshaler, client, req, pathParams) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) return } - forward_RobotService_Shutdown_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_Tunnel_0(annotatedContext, mux, outboundMarshaler, w, req, func() (proto.Message, error) { return resp.Recv() }, mux.GetForwardResponseOptions()...) }) - mux.Handle("GET", pattern_RobotService_GetMachineStatus_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_ListTunnels_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetMachineStatus", runtime.WithHTTPPathPattern("/viam/api/v1/machine_status")) + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/ListTunnels", runtime.WithHTTPPathPattern("/viam/api/v1/list_tunnels")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := request_RobotService_GetMachineStatus_0(annotatedContext, inboundMarshaler, client, req, pathParams) + resp, md, err := request_RobotService_ListTunnels_0(annotatedContext, inboundMarshaler, client, req, pathParams) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) return } - forward_RobotService_GetMachineStatus_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_ListTunnels_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("GET", pattern_RobotService_GetVersion_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_FrameSystemConfig_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetVersion", runtime.WithHTTPPathPattern("/viam/api/v1/version")) + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/FrameSystemConfig", runtime.WithHTTPPathPattern("/viam/api/v1/frame_system/config")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := request_RobotService_GetVersion_0(annotatedContext, inboundMarshaler, client, req, pathParams) + resp, md, err := request_RobotService_FrameSystemConfig_0(annotatedContext, inboundMarshaler, client, req, pathParams) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) return } - forward_RobotService_GetVersion_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_FrameSystemConfig_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("POST", pattern_RobotService_Tunnel_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_GetPose_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/Tunnel", runtime.WithHTTPPathPattern("/viam.robot.v1.RobotService/Tunnel")) + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/GetPose", runtime.WithHTTPPathPattern("/viam/api/v1/frame_system/pose")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := request_RobotService_Tunnel_0(annotatedContext, inboundMarshaler, client, req, pathParams) + resp, md, err := request_RobotService_GetPose_0(annotatedContext, inboundMarshaler, client, req, pathParams) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) return } - forward_RobotService_Tunnel_0(annotatedContext, mux, outboundMarshaler, w, req, func() (proto.Message, error) { return resp.Recv() }, mux.GetForwardResponseOptions()...) + forward_RobotService_GetPose_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) - mux.Handle("GET", pattern_RobotService_ListTunnels_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + mux.Handle("GET", pattern_RobotService_TransformPose_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) var err error var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/ListTunnels", runtime.WithHTTPPathPattern("/viam/api/v1/list_tunnels")) + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/TransformPose", runtime.WithHTTPPathPattern("/viam/api/v1/frame_system/transform_pose")) if err != nil { runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) return } - resp, md, err := request_RobotService_ListTunnels_0(annotatedContext, inboundMarshaler, client, req, pathParams) + resp, md, err := request_RobotService_TransformPose_0(annotatedContext, inboundMarshaler, client, req, pathParams) annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) if err != nil { runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) return } - forward_RobotService_ListTunnels_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + forward_RobotService_TransformPose_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) + + }) + + mux.Handle("GET", pattern_RobotService_TransformPCD_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { + ctx, cancel := context.WithCancel(req.Context()) + defer cancel() + inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) + var err error + var annotatedContext context.Context + annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.robot.v1.RobotService/TransformPCD", runtime.WithHTTPPathPattern("/viam/api/v1/frame_system/transform_pcd")) + if err != nil { + runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) + return + } + resp, md, err := request_RobotService_TransformPCD_0(annotatedContext, inboundMarshaler, client, req, pathParams) + annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) + if err != nil { + runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) + return + } + + forward_RobotService_TransformPCD_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) }) @@ -1804,12 +1887,6 @@ var ( pattern_RobotService_GetModelsFromModules_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3}, []string{"viam", "api", "v1", "module_models"}, "")) - pattern_RobotService_FrameSystemConfig_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4}, []string{"viam", "api", "v1", "frame_system", "config"}, "")) - - pattern_RobotService_TransformPose_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4}, []string{"viam", "api", "v1", "frame_system", "transform_pose"}, "")) - - pattern_RobotService_TransformPCD_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4}, []string{"viam", "api", "v1", "frame_system", "transform_pcd"}, "")) - pattern_RobotService_GetStatus_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3}, []string{"viam", "api", "v1", "status"}, "")) pattern_RobotService_StreamStatus_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4}, []string{"viam", "api", "v1", "status", "stream"}, "")) @@ -1835,6 +1912,14 @@ var ( pattern_RobotService_Tunnel_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1}, []string{"viam.robot.v1.RobotService", "Tunnel"}, "")) pattern_RobotService_ListTunnels_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3}, []string{"viam", "api", "v1", "list_tunnels"}, "")) + + pattern_RobotService_FrameSystemConfig_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4}, []string{"viam", "api", "v1", "frame_system", "config"}, "")) + + pattern_RobotService_GetPose_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4}, []string{"viam", "api", "v1", "frame_system", "pose"}, "")) + + pattern_RobotService_TransformPose_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4}, []string{"viam", "api", "v1", "frame_system", "transform_pose"}, "")) + + pattern_RobotService_TransformPCD_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4}, []string{"viam", "api", "v1", "frame_system", "transform_pcd"}, "")) ) var ( @@ -1852,12 +1937,6 @@ var ( forward_RobotService_GetModelsFromModules_0 = runtime.ForwardResponseMessage - forward_RobotService_FrameSystemConfig_0 = runtime.ForwardResponseMessage - - forward_RobotService_TransformPose_0 = runtime.ForwardResponseMessage - - forward_RobotService_TransformPCD_0 = runtime.ForwardResponseMessage - forward_RobotService_GetStatus_0 = runtime.ForwardResponseMessage forward_RobotService_StreamStatus_0 = runtime.ForwardResponseStream @@ -1883,4 +1962,12 @@ var ( forward_RobotService_Tunnel_0 = runtime.ForwardResponseStream forward_RobotService_ListTunnels_0 = runtime.ForwardResponseMessage + + forward_RobotService_FrameSystemConfig_0 = runtime.ForwardResponseMessage + + forward_RobotService_GetPose_0 = runtime.ForwardResponseMessage + + forward_RobotService_TransformPose_0 = runtime.ForwardResponseMessage + + forward_RobotService_TransformPCD_0 = runtime.ForwardResponseMessage ) diff --git a/robot/v1/robot_grpc.pb.go b/robot/v1/robot_grpc.pb.go index 229ced84c..3d29166cb 100644 --- a/robot/v1/robot_grpc.pb.go +++ b/robot/v1/robot_grpc.pb.go @@ -32,9 +32,6 @@ type RobotServiceClient interface { BlockForOperation(ctx context.Context, in *BlockForOperationRequest, opts ...grpc.CallOption) (*BlockForOperationResponse, error) // GetModelsFromModules returns the list of models supported in modules on the machine. GetModelsFromModules(ctx context.Context, in *GetModelsFromModulesRequest, opts ...grpc.CallOption) (*GetModelsFromModulesResponse, error) - FrameSystemConfig(ctx context.Context, in *FrameSystemConfigRequest, opts ...grpc.CallOption) (*FrameSystemConfigResponse, error) - TransformPose(ctx context.Context, in *TransformPoseRequest, opts ...grpc.CallOption) (*TransformPoseResponse, error) - TransformPCD(ctx context.Context, in *TransformPCDRequest, opts ...grpc.CallOption) (*TransformPCDResponse, error) // Deprecated: Do not use. // GetStatus returns the list of all statuses requested. An empty request signifies all resources. GetStatus(ctx context.Context, in *GetStatusRequest, opts ...grpc.CallOption) (*GetStatusResponse, error) @@ -65,6 +62,14 @@ type RobotServiceClient interface { Tunnel(ctx context.Context, opts ...grpc.CallOption) (RobotService_TunnelClient, error) // ListTunnels lists all available tunnels configured on the robot. ListTunnels(ctx context.Context, in *ListTunnelsRequest, opts ...grpc.CallOption) (*ListTunnelsResponse, error) + // FrameSystemConfig returns the information relevant to building the robot's frame system. + FrameSystemConfig(ctx context.Context, in *FrameSystemConfigRequest, opts ...grpc.CallOption) (*FrameSystemConfigResponse, error) + // GetPose returns the pose of a component in a desired referenceframe. + GetPose(ctx context.Context, in *GetPoseRequest, opts ...grpc.CallOption) (*GetPoseResponse, error) + // TransformPose returns a pose in one referenceframe in a desired referenceframe. + TransformPose(ctx context.Context, in *TransformPoseRequest, opts ...grpc.CallOption) (*TransformPoseResponse, error) + // TransformPose returns a point cloud in one referenceframe in a desired referenceframe. + TransformPCD(ctx context.Context, in *TransformPCDRequest, opts ...grpc.CallOption) (*TransformPCDResponse, error) } type robotServiceClient struct { @@ -138,33 +143,6 @@ func (c *robotServiceClient) GetModelsFromModules(ctx context.Context, in *GetMo return out, nil } -func (c *robotServiceClient) FrameSystemConfig(ctx context.Context, in *FrameSystemConfigRequest, opts ...grpc.CallOption) (*FrameSystemConfigResponse, error) { - out := new(FrameSystemConfigResponse) - err := c.cc.Invoke(ctx, "/viam.robot.v1.RobotService/FrameSystemConfig", in, out, opts...) - if err != nil { - return nil, err - } - return out, nil -} - -func (c *robotServiceClient) TransformPose(ctx context.Context, in *TransformPoseRequest, opts ...grpc.CallOption) (*TransformPoseResponse, error) { - out := new(TransformPoseResponse) - err := c.cc.Invoke(ctx, "/viam.robot.v1.RobotService/TransformPose", in, out, opts...) - if err != nil { - return nil, err - } - return out, nil -} - -func (c *robotServiceClient) TransformPCD(ctx context.Context, in *TransformPCDRequest, opts ...grpc.CallOption) (*TransformPCDResponse, error) { - out := new(TransformPCDResponse) - err := c.cc.Invoke(ctx, "/viam.robot.v1.RobotService/TransformPCD", in, out, opts...) - if err != nil { - return nil, err - } - return out, nil -} - // Deprecated: Do not use. func (c *robotServiceClient) GetStatus(ctx context.Context, in *GetStatusRequest, opts ...grpc.CallOption) (*GetStatusResponse, error) { out := new(GetStatusResponse) @@ -329,6 +307,42 @@ func (c *robotServiceClient) ListTunnels(ctx context.Context, in *ListTunnelsReq return out, nil } +func (c *robotServiceClient) FrameSystemConfig(ctx context.Context, in *FrameSystemConfigRequest, opts ...grpc.CallOption) (*FrameSystemConfigResponse, error) { + out := new(FrameSystemConfigResponse) + err := c.cc.Invoke(ctx, "/viam.robot.v1.RobotService/FrameSystemConfig", in, out, opts...) + if err != nil { + return nil, err + } + return out, nil +} + +func (c *robotServiceClient) GetPose(ctx context.Context, in *GetPoseRequest, opts ...grpc.CallOption) (*GetPoseResponse, error) { + out := new(GetPoseResponse) + err := c.cc.Invoke(ctx, "/viam.robot.v1.RobotService/GetPose", in, out, opts...) + if err != nil { + return nil, err + } + return out, nil +} + +func (c *robotServiceClient) TransformPose(ctx context.Context, in *TransformPoseRequest, opts ...grpc.CallOption) (*TransformPoseResponse, error) { + out := new(TransformPoseResponse) + err := c.cc.Invoke(ctx, "/viam.robot.v1.RobotService/TransformPose", in, out, opts...) + if err != nil { + return nil, err + } + return out, nil +} + +func (c *robotServiceClient) TransformPCD(ctx context.Context, in *TransformPCDRequest, opts ...grpc.CallOption) (*TransformPCDResponse, error) { + out := new(TransformPCDResponse) + err := c.cc.Invoke(ctx, "/viam.robot.v1.RobotService/TransformPCD", in, out, opts...) + if err != nil { + return nil, err + } + return out, nil +} + // RobotServiceServer is the server API for RobotService service. // All implementations must embed UnimplementedRobotServiceServer // for forward compatibility @@ -343,9 +357,6 @@ type RobotServiceServer interface { BlockForOperation(context.Context, *BlockForOperationRequest) (*BlockForOperationResponse, error) // GetModelsFromModules returns the list of models supported in modules on the machine. GetModelsFromModules(context.Context, *GetModelsFromModulesRequest) (*GetModelsFromModulesResponse, error) - FrameSystemConfig(context.Context, *FrameSystemConfigRequest) (*FrameSystemConfigResponse, error) - TransformPose(context.Context, *TransformPoseRequest) (*TransformPoseResponse, error) - TransformPCD(context.Context, *TransformPCDRequest) (*TransformPCDResponse, error) // Deprecated: Do not use. // GetStatus returns the list of all statuses requested. An empty request signifies all resources. GetStatus(context.Context, *GetStatusRequest) (*GetStatusResponse, error) @@ -376,6 +387,14 @@ type RobotServiceServer interface { Tunnel(RobotService_TunnelServer) error // ListTunnels lists all available tunnels configured on the robot. ListTunnels(context.Context, *ListTunnelsRequest) (*ListTunnelsResponse, error) + // FrameSystemConfig returns the information relevant to building the robot's frame system. + FrameSystemConfig(context.Context, *FrameSystemConfigRequest) (*FrameSystemConfigResponse, error) + // GetPose returns the pose of a component in a desired referenceframe. + GetPose(context.Context, *GetPoseRequest) (*GetPoseResponse, error) + // TransformPose returns a pose in one referenceframe in a desired referenceframe. + TransformPose(context.Context, *TransformPoseRequest) (*TransformPoseResponse, error) + // TransformPose returns a point cloud in one referenceframe in a desired referenceframe. + TransformPCD(context.Context, *TransformPCDRequest) (*TransformPCDResponse, error) mustEmbedUnimplementedRobotServiceServer() } @@ -404,15 +423,6 @@ func (UnimplementedRobotServiceServer) BlockForOperation(context.Context, *Block func (UnimplementedRobotServiceServer) GetModelsFromModules(context.Context, *GetModelsFromModulesRequest) (*GetModelsFromModulesResponse, error) { return nil, status.Errorf(codes.Unimplemented, "method GetModelsFromModules not implemented") } -func (UnimplementedRobotServiceServer) FrameSystemConfig(context.Context, *FrameSystemConfigRequest) (*FrameSystemConfigResponse, error) { - return nil, status.Errorf(codes.Unimplemented, "method FrameSystemConfig not implemented") -} -func (UnimplementedRobotServiceServer) TransformPose(context.Context, *TransformPoseRequest) (*TransformPoseResponse, error) { - return nil, status.Errorf(codes.Unimplemented, "method TransformPose not implemented") -} -func (UnimplementedRobotServiceServer) TransformPCD(context.Context, *TransformPCDRequest) (*TransformPCDResponse, error) { - return nil, status.Errorf(codes.Unimplemented, "method TransformPCD not implemented") -} func (UnimplementedRobotServiceServer) GetStatus(context.Context, *GetStatusRequest) (*GetStatusResponse, error) { return nil, status.Errorf(codes.Unimplemented, "method GetStatus not implemented") } @@ -452,6 +462,18 @@ func (UnimplementedRobotServiceServer) Tunnel(RobotService_TunnelServer) error { func (UnimplementedRobotServiceServer) ListTunnels(context.Context, *ListTunnelsRequest) (*ListTunnelsResponse, error) { return nil, status.Errorf(codes.Unimplemented, "method ListTunnels not implemented") } +func (UnimplementedRobotServiceServer) FrameSystemConfig(context.Context, *FrameSystemConfigRequest) (*FrameSystemConfigResponse, error) { + return nil, status.Errorf(codes.Unimplemented, "method FrameSystemConfig not implemented") +} +func (UnimplementedRobotServiceServer) GetPose(context.Context, *GetPoseRequest) (*GetPoseResponse, error) { + return nil, status.Errorf(codes.Unimplemented, "method GetPose not implemented") +} +func (UnimplementedRobotServiceServer) TransformPose(context.Context, *TransformPoseRequest) (*TransformPoseResponse, error) { + return nil, status.Errorf(codes.Unimplemented, "method TransformPose not implemented") +} +func (UnimplementedRobotServiceServer) TransformPCD(context.Context, *TransformPCDRequest) (*TransformPCDResponse, error) { + return nil, status.Errorf(codes.Unimplemented, "method TransformPCD not implemented") +} func (UnimplementedRobotServiceServer) mustEmbedUnimplementedRobotServiceServer() {} // UnsafeRobotServiceServer may be embedded to opt out of forward compatibility for this service. @@ -591,60 +613,6 @@ func _RobotService_GetModelsFromModules_Handler(srv interface{}, ctx context.Con return interceptor(ctx, in, info, handler) } -func _RobotService_FrameSystemConfig_Handler(srv interface{}, ctx context.Context, dec func(interface{}) error, interceptor grpc.UnaryServerInterceptor) (interface{}, error) { - in := new(FrameSystemConfigRequest) - if err := dec(in); err != nil { - return nil, err - } - if interceptor == nil { - return srv.(RobotServiceServer).FrameSystemConfig(ctx, in) - } - info := &grpc.UnaryServerInfo{ - Server: srv, - FullMethod: "/viam.robot.v1.RobotService/FrameSystemConfig", - } - handler := func(ctx context.Context, req interface{}) (interface{}, error) { - return srv.(RobotServiceServer).FrameSystemConfig(ctx, req.(*FrameSystemConfigRequest)) - } - return interceptor(ctx, in, info, handler) -} - -func _RobotService_TransformPose_Handler(srv interface{}, ctx context.Context, dec func(interface{}) error, interceptor grpc.UnaryServerInterceptor) (interface{}, error) { - in := new(TransformPoseRequest) - if err := dec(in); err != nil { - return nil, err - } - if interceptor == nil { - return srv.(RobotServiceServer).TransformPose(ctx, in) - } - info := &grpc.UnaryServerInfo{ - Server: srv, - FullMethod: "/viam.robot.v1.RobotService/TransformPose", - } - handler := func(ctx context.Context, req interface{}) (interface{}, error) { - return srv.(RobotServiceServer).TransformPose(ctx, req.(*TransformPoseRequest)) - } - return interceptor(ctx, in, info, handler) -} - -func _RobotService_TransformPCD_Handler(srv interface{}, ctx context.Context, dec func(interface{}) error, interceptor grpc.UnaryServerInterceptor) (interface{}, error) { - in := new(TransformPCDRequest) - if err := dec(in); err != nil { - return nil, err - } - if interceptor == nil { - return srv.(RobotServiceServer).TransformPCD(ctx, in) - } - info := &grpc.UnaryServerInfo{ - Server: srv, - FullMethod: "/viam.robot.v1.RobotService/TransformPCD", - } - handler := func(ctx context.Context, req interface{}) (interface{}, error) { - return srv.(RobotServiceServer).TransformPCD(ctx, req.(*TransformPCDRequest)) - } - return interceptor(ctx, in, info, handler) -} - func _RobotService_GetStatus_Handler(srv interface{}, ctx context.Context, dec func(interface{}) error, interceptor grpc.UnaryServerInterceptor) (interface{}, error) { in := new(GetStatusRequest) if err := dec(in); err != nil { @@ -890,6 +858,78 @@ func _RobotService_ListTunnels_Handler(srv interface{}, ctx context.Context, dec return interceptor(ctx, in, info, handler) } +func _RobotService_FrameSystemConfig_Handler(srv interface{}, ctx context.Context, dec func(interface{}) error, interceptor grpc.UnaryServerInterceptor) (interface{}, error) { + in := new(FrameSystemConfigRequest) + if err := dec(in); err != nil { + return nil, err + } + if interceptor == nil { + return srv.(RobotServiceServer).FrameSystemConfig(ctx, in) + } + info := &grpc.UnaryServerInfo{ + Server: srv, + FullMethod: "/viam.robot.v1.RobotService/FrameSystemConfig", + } + handler := func(ctx context.Context, req interface{}) (interface{}, error) { + return srv.(RobotServiceServer).FrameSystemConfig(ctx, req.(*FrameSystemConfigRequest)) + } + return interceptor(ctx, in, info, handler) +} + +func _RobotService_GetPose_Handler(srv interface{}, ctx context.Context, dec func(interface{}) error, interceptor grpc.UnaryServerInterceptor) (interface{}, error) { + in := new(GetPoseRequest) + if err := dec(in); err != nil { + return nil, err + } + if interceptor == nil { + return srv.(RobotServiceServer).GetPose(ctx, in) + } + info := &grpc.UnaryServerInfo{ + Server: srv, + FullMethod: "/viam.robot.v1.RobotService/GetPose", + } + handler := func(ctx context.Context, req interface{}) (interface{}, error) { + return srv.(RobotServiceServer).GetPose(ctx, req.(*GetPoseRequest)) + } + return interceptor(ctx, in, info, handler) +} + +func _RobotService_TransformPose_Handler(srv interface{}, ctx context.Context, dec func(interface{}) error, interceptor grpc.UnaryServerInterceptor) (interface{}, error) { + in := new(TransformPoseRequest) + if err := dec(in); err != nil { + return nil, err + } + if interceptor == nil { + return srv.(RobotServiceServer).TransformPose(ctx, in) + } + info := &grpc.UnaryServerInfo{ + Server: srv, + FullMethod: "/viam.robot.v1.RobotService/TransformPose", + } + handler := func(ctx context.Context, req interface{}) (interface{}, error) { + return srv.(RobotServiceServer).TransformPose(ctx, req.(*TransformPoseRequest)) + } + return interceptor(ctx, in, info, handler) +} + +func _RobotService_TransformPCD_Handler(srv interface{}, ctx context.Context, dec func(interface{}) error, interceptor grpc.UnaryServerInterceptor) (interface{}, error) { + in := new(TransformPCDRequest) + if err := dec(in); err != nil { + return nil, err + } + if interceptor == nil { + return srv.(RobotServiceServer).TransformPCD(ctx, in) + } + info := &grpc.UnaryServerInfo{ + Server: srv, + FullMethod: "/viam.robot.v1.RobotService/TransformPCD", + } + handler := func(ctx context.Context, req interface{}) (interface{}, error) { + return srv.(RobotServiceServer).TransformPCD(ctx, req.(*TransformPCDRequest)) + } + return interceptor(ctx, in, info, handler) +} + // RobotService_ServiceDesc is the grpc.ServiceDesc for RobotService service. // It's only intended for direct use with grpc.RegisterService, // and not to be introspected or modified (even as a copy) @@ -925,18 +965,6 @@ var RobotService_ServiceDesc = grpc.ServiceDesc{ MethodName: "GetModelsFromModules", Handler: _RobotService_GetModelsFromModules_Handler, }, - { - MethodName: "FrameSystemConfig", - Handler: _RobotService_FrameSystemConfig_Handler, - }, - { - MethodName: "TransformPose", - Handler: _RobotService_TransformPose_Handler, - }, - { - MethodName: "TransformPCD", - Handler: _RobotService_TransformPCD_Handler, - }, { MethodName: "GetStatus", Handler: _RobotService_GetStatus_Handler, @@ -981,6 +1009,22 @@ var RobotService_ServiceDesc = grpc.ServiceDesc{ MethodName: "ListTunnels", Handler: _RobotService_ListTunnels_Handler, }, + { + MethodName: "FrameSystemConfig", + Handler: _RobotService_FrameSystemConfig_Handler, + }, + { + MethodName: "GetPose", + Handler: _RobotService_GetPose_Handler, + }, + { + MethodName: "TransformPose", + Handler: _RobotService_TransformPose_Handler, + }, + { + MethodName: "TransformPCD", + Handler: _RobotService_TransformPCD_Handler, + }, }, Streams: []grpc.StreamDesc{ { diff --git a/service/motion/v1/motion.pb.go b/service/motion/v1/motion.pb.go index a992aae67..2f0aaf44b 100644 --- a/service/motion/v1/motion.pb.go +++ b/service/motion/v1/motion.pb.go @@ -681,6 +681,7 @@ func (x *MoveOnGlobeResponse) GetExecutionId() string { return "" } +// Deprecated: Marked as deprecated in service/motion/v1/motion.proto. type GetPoseRequest struct { state protoimpl.MessageState sizeCache protoimpl.SizeCache @@ -765,6 +766,7 @@ func (x *GetPoseRequest) GetExtra() *structpb.Struct { return nil } +// Deprecated: Marked as deprecated in service/motion/v1/motion.proto. type GetPoseResponse struct { state protoimpl.MessageState sizeCache protoimpl.SizeCache @@ -1977,7 +1979,7 @@ var file_service_motion_v1_motion_proto_rawDesc = []byte{ 0x6f, 0x76, 0x65, 0x4f, 0x6e, 0x47, 0x6c, 0x6f, 0x62, 0x65, 0x52, 0x65, 0x73, 0x70, 0x6f, 0x6e, 0x73, 0x65, 0x12, 0x21, 0x0a, 0x0c, 0x65, 0x78, 0x65, 0x63, 0x75, 0x74, 0x69, 0x6f, 0x6e, 0x5f, 0x69, 0x64, 0x18, 0x01, 0x20, 0x01, 0x28, 0x09, 0x52, 0x0b, 0x65, 0x78, 0x65, 0x63, 0x75, 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b/service/motion/v1/motion_grpc.pb.go index 8623fae0c..d1b06c192 100644 --- a/service/motion/v1/motion_grpc.pb.go +++ b/service/motion/v1/motion_grpc.pb.go @@ -33,6 +33,7 @@ type MotionServiceClient interface { // May replan to avoid obstacles & account for location drift. // Creates a new plan upon replanning. MoveOnGlobe(ctx context.Context, in *MoveOnGlobeRequest, opts ...grpc.CallOption) (*MoveOnGlobeResponse, error) + // Deprecated: Do not use. GetPose(ctx context.Context, in *GetPoseRequest, opts ...grpc.CallOption) (*GetPoseResponse, error) // Stops a Plan StopPlan(ctx context.Context, in *StopPlanRequest, opts ...grpc.CallOption) (*StopPlanResponse, error) @@ -88,6 +89,7 @@ func (c *motionServiceClient) MoveOnGlobe(ctx context.Context, in *MoveOnGlobeRe return out, nil } +// Deprecated: Do not use. func (c *motionServiceClient) GetPose(ctx context.Context, in *GetPoseRequest, opts ...grpc.CallOption) (*GetPoseResponse, error) { out := new(GetPoseResponse) err := c.cc.Invoke(ctx, "/viam.service.motion.v1.MotionService/GetPose", in, out, opts...) @@ -147,6 +149,7 @@ type MotionServiceServer interface { // May replan to avoid obstacles & account for location drift. // Creates a new plan upon replanning. MoveOnGlobe(context.Context, *MoveOnGlobeRequest) (*MoveOnGlobeResponse, error) + // Deprecated: Do not use. GetPose(context.Context, *GetPoseRequest) (*GetPoseResponse, error) // Stops a Plan StopPlan(context.Context, *StopPlanRequest) (*StopPlanResponse, error)