v1

package
v0.1.230 Latest Latest
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 Go to latest Published: Nov 28, 2023 License: Apache-2.0 Imports: 19 Imported by: 3

Documentation

Overview

Package v1 is a reverse proxy.

It translates gRPC into RESTful JSON APIs.

Index

Constants

This section is empty.

Variables

View Source 
var File_service_slam_v1_slam_proto protoreflect.FileDescriptor
View Source 
var SLAMService_ServiceDesc = grpc.ServiceDesc{
	ServiceName: "viam.service.slam.v1.SLAMService",
	HandlerType: (*SLAMServiceServer)(nil),
	Methods: []grpc.MethodDesc{
		{
			MethodName: "GetPosition",
			Handler:    _SLAMService_GetPosition_Handler,
		},
		{
			MethodName: "GetLatestMapInfo",
			Handler:    _SLAMService_GetLatestMapInfo_Handler,
		},
		{
			MethodName: "DoCommand",
			Handler:    _SLAMService_DoCommand_Handler,
		},
	},
	Streams: []grpc.StreamDesc{
		{
			StreamName:    "GetPointCloudMap",
			Handler:       _SLAMService_GetPointCloudMap_Handler,
			ServerStreams: true,
		},
		{
			StreamName:    "GetInternalState",
			Handler:       _SLAMService_GetInternalState_Handler,
			ServerStreams: true,
		},
	},
	Metadata: "service/slam/v1/slam.proto",
}

SLAMService_ServiceDesc is the grpc.ServiceDesc for SLAMService service. It's only intended for direct use with grpc.RegisterService, and not to be introspected or modified (even as a copy)

Functions

func RegisterSLAMServiceHandler 

func RegisterSLAMServiceHandler(ctx context.Context, mux *runtime.ServeMux, conn *grpc.ClientConn) error

RegisterSLAMServiceHandler registers the http handlers for service SLAMService to "mux". The handlers forward requests to the grpc endpoint over "conn".

func RegisterSLAMServiceHandlerClient 

func RegisterSLAMServiceHandlerClient(ctx context.Context, mux *runtime.ServeMux, client SLAMServiceClient) error

RegisterSLAMServiceHandlerClient registers the http handlers for service SLAMService to "mux". The handlers forward requests to the grpc endpoint over the given implementation of "SLAMServiceClient". Note: the gRPC framework executes interceptors within the gRPC handler. If the passed in "SLAMServiceClient" doesn't go through the normal gRPC flow (creating a gRPC client etc.) then it will be up to the passed in "SLAMServiceClient" to call the correct interceptors.

func RegisterSLAMServiceHandlerFromEndpoint 

func RegisterSLAMServiceHandlerFromEndpoint(ctx context.Context, mux *runtime.ServeMux, endpoint string, opts []grpc.DialOption) (err error)

RegisterSLAMServiceHandlerFromEndpoint is same as RegisterSLAMServiceHandler but automatically dials to "endpoint" and closes the connection when "ctx" gets done.

func RegisterSLAMServiceHandlerServer 

func RegisterSLAMServiceHandlerServer(ctx context.Context, mux *runtime.ServeMux, server SLAMServiceServer) error

RegisterSLAMServiceHandlerServer registers the http handlers for service SLAMService to "mux". UnaryRPC :call SLAMServiceServer directly. StreamingRPC :currently unsupported pending https://github.com/grpc/grpc-go/issues/906. Note that using this registration option will cause many gRPC library features to stop working. Consider using RegisterSLAMServiceHandlerFromEndpoint instead.

func RegisterSLAMServiceServer 

func RegisterSLAMServiceServer(s grpc.ServiceRegistrar, srv SLAMServiceServer)

Types

type GetInternalStateRequest added in v0.1.42 

type GetInternalStateRequest struct {

	// Name of slam service
	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	// contains filtered or unexported fields
}

func (*GetInternalStateRequest) Descriptor deprecated added in v0.1.42 

func (*GetInternalStateRequest) Descriptor() ([]byte, []int)

Deprecated: Use GetInternalStateRequest.ProtoReflect.Descriptor instead.

func (*GetInternalStateRequest) GetName added in v0.1.42 

func (x *GetInternalStateRequest) GetName() string

func (*GetInternalStateRequest) ProtoMessage added in v0.1.42 

func (*GetInternalStateRequest) ProtoMessage()

func (*GetInternalStateRequest) ProtoReflect added in v0.1.42 

func (x *GetInternalStateRequest) ProtoReflect() protoreflect.Message

func (*GetInternalStateRequest) Reset added in v0.1.42 

func (x *GetInternalStateRequest) Reset()

func (*GetInternalStateRequest) String added in v0.1.42 

func (x *GetInternalStateRequest) String() string

type GetInternalStateResponse added in v0.1.42 

type GetInternalStateResponse struct {

	// Chunk of the internal state of the SLAM algorithm required to continue
	// mapping/localization
	InternalStateChunk []byte `protobuf:"bytes,1,opt,name=internal_state_chunk,json=internalStateChunk,proto3" json:"internal_state_chunk,omitempty"`
	// contains filtered or unexported fields
}

func (*GetInternalStateResponse) Descriptor deprecated added in v0.1.42 

func (*GetInternalStateResponse) Descriptor() ([]byte, []int)

Deprecated: Use GetInternalStateResponse.ProtoReflect.Descriptor instead.

func (*GetInternalStateResponse) GetInternalStateChunk added in v0.1.98 

func (x *GetInternalStateResponse) GetInternalStateChunk() []byte

func (*GetInternalStateResponse) ProtoMessage added in v0.1.42 

func (*GetInternalStateResponse) ProtoMessage()

func (*GetInternalStateResponse) ProtoReflect added in v0.1.42 

func (x *GetInternalStateResponse) ProtoReflect() protoreflect.Message

func (*GetInternalStateResponse) Reset added in v0.1.42 

func (x *GetInternalStateResponse) Reset()

func (*GetInternalStateResponse) String added in v0.1.42 

func (x *GetInternalStateResponse) String() string

type GetLatestMapInfoRequest added in v0.1.136 

type GetLatestMapInfoRequest struct {

	// Name of the SLAM algo
	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	// contains filtered or unexported fields
}

func (*GetLatestMapInfoRequest) Descriptor deprecated added in v0.1.136 

func (*GetLatestMapInfoRequest) Descriptor() ([]byte, []int)

Deprecated: Use GetLatestMapInfoRequest.ProtoReflect.Descriptor instead.

func (*GetLatestMapInfoRequest) GetName added in v0.1.136 

func (x *GetLatestMapInfoRequest) GetName() string

func (*GetLatestMapInfoRequest) ProtoMessage added in v0.1.136 

func (*GetLatestMapInfoRequest) ProtoMessage()

func (*GetLatestMapInfoRequest) ProtoReflect added in v0.1.136 

func (x *GetLatestMapInfoRequest) ProtoReflect() protoreflect.Message

func (*GetLatestMapInfoRequest) Reset added in v0.1.136 

func (x *GetLatestMapInfoRequest) Reset()

func (*GetLatestMapInfoRequest) String added in v0.1.136 

func (x *GetLatestMapInfoRequest) String() string

type GetLatestMapInfoResponse added in v0.1.136 

type GetLatestMapInfoResponse struct {
	LastMapUpdate *timestamppb.Timestamp `protobuf:"bytes,1,opt,name=last_map_update,json=lastMapUpdate,proto3" json:"last_map_update,omitempty"`
	// contains filtered or unexported fields
}

func (*GetLatestMapInfoResponse) Descriptor deprecated added in v0.1.136 

func (*GetLatestMapInfoResponse) Descriptor() ([]byte, []int)

Deprecated: Use GetLatestMapInfoResponse.ProtoReflect.Descriptor instead.

func (*GetLatestMapInfoResponse) GetLastMapUpdate added in v0.1.136 

func (x *GetLatestMapInfoResponse) GetLastMapUpdate() *timestamppb.Timestamp

func (*GetLatestMapInfoResponse) ProtoMessage added in v0.1.136 

func (*GetLatestMapInfoResponse) ProtoMessage()

func (*GetLatestMapInfoResponse) ProtoReflect added in v0.1.136 

func (x *GetLatestMapInfoResponse) ProtoReflect() protoreflect.Message

func (*GetLatestMapInfoResponse) Reset added in v0.1.136 

func (x *GetLatestMapInfoResponse) Reset()

func (*GetLatestMapInfoResponse) String added in v0.1.136 

func (x *GetLatestMapInfoResponse) String() string

type GetPointCloudMapRequest added in v0.1.42 

type GetPointCloudMapRequest struct {

	// Name of slam service
	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	// contains filtered or unexported fields
}

func (*GetPointCloudMapRequest) Descriptor deprecated added in v0.1.42 

func (*GetPointCloudMapRequest) Descriptor() ([]byte, []int)

Deprecated: Use GetPointCloudMapRequest.ProtoReflect.Descriptor instead.

func (*GetPointCloudMapRequest) GetName added in v0.1.42 

func (x *GetPointCloudMapRequest) GetName() string

func (*GetPointCloudMapRequest) ProtoMessage added in v0.1.42 

func (*GetPointCloudMapRequest) ProtoMessage()

func (*GetPointCloudMapRequest) ProtoReflect added in v0.1.42 

func (x *GetPointCloudMapRequest) ProtoReflect() protoreflect.Message

func (*GetPointCloudMapRequest) Reset added in v0.1.42 

func (x *GetPointCloudMapRequest) Reset()

func (*GetPointCloudMapRequest) String added in v0.1.42 

func (x *GetPointCloudMapRequest) String() string

type GetPointCloudMapResponse added in v0.1.42 

type GetPointCloudMapResponse struct {

	// One chunk of the PointCloud.
	// For a given GetPointCloudMap request, concatenating all
	// GetPointCloudMapResponse.point_cloud_pcd_chunk values in the
	// order received result in the complete pointcloud in standard PCD
	// format where XY is the ground plane and positive Z is up, following
	// the Right Hand Rule.
	//
	// Read more about the pointcloud format here:
	// https://pointclouds.org/documentation/tutorials/pcd_file_format.html
	//
	// Viam expects pointcloud data with fields "x y z" or "x y z rgb", and for
	// this to be specified in the pointcloud header in the FIELDS entry. If color
	// data is included in the pointcloud, Viam's services assume that the color
	// value encodes a confidence score for that data point. Viam expects the
	// confidence score to be encoded in the blue parameter of the RGB value, on a
	// scale from 1-100.
	//
	// Pointclouds are little endian encoded.
	PointCloudPcdChunk []byte `protobuf:"bytes,1,opt,name=point_cloud_pcd_chunk,json=pointCloudPcdChunk,proto3" json:"point_cloud_pcd_chunk,omitempty"`
	// contains filtered or unexported fields
}

func (*GetPointCloudMapResponse) Descriptor deprecated added in v0.1.42 

func (*GetPointCloudMapResponse) Descriptor() ([]byte, []int)

Deprecated: Use GetPointCloudMapResponse.ProtoReflect.Descriptor instead.

func (*GetPointCloudMapResponse) GetPointCloudPcdChunk added in v0.1.98 

func (x *GetPointCloudMapResponse) GetPointCloudPcdChunk() []byte

func (*GetPointCloudMapResponse) ProtoMessage added in v0.1.42 

func (*GetPointCloudMapResponse) ProtoMessage()

func (*GetPointCloudMapResponse) ProtoReflect added in v0.1.42 

func (x *GetPointCloudMapResponse) ProtoReflect() protoreflect.Message

func (*GetPointCloudMapResponse) Reset added in v0.1.42 

func (x *GetPointCloudMapResponse) Reset()

func (*GetPointCloudMapResponse) String added in v0.1.42 

func (x *GetPointCloudMapResponse) String() string

type GetPositionRequest 

type GetPositionRequest struct {

	// Name of slam service
	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	// contains filtered or unexported fields
}

func (*GetPositionRequest) Descriptor deprecated 

func (*GetPositionRequest) Descriptor() ([]byte, []int)

Deprecated: Use GetPositionRequest.ProtoReflect.Descriptor instead.

func (*GetPositionRequest) GetName 

func (x *GetPositionRequest) GetName() string

func (*GetPositionRequest) ProtoMessage 

func (*GetPositionRequest) ProtoMessage()

func (*GetPositionRequest) ProtoReflect 

func (x *GetPositionRequest) ProtoReflect() protoreflect.Message

func (*GetPositionRequest) Reset 

func (x *GetPositionRequest) Reset()

func (*GetPositionRequest) String 

func (x *GetPositionRequest) String() string

type GetPositionResponse 

type GetPositionResponse struct {

	// Current position of the specified component in the SLAM Map
	Pose *v1.Pose `protobuf:"bytes,1,opt,name=pose,proto3" json:"pose,omitempty"`
	// This is usually the name of the camera that is in the SLAM config
	ComponentReference string `protobuf:"bytes,2,opt,name=component_reference,json=componentReference,proto3" json:"component_reference,omitempty"`
	// Additional information in the response
	Extra *structpb.Struct `protobuf:"bytes,99,opt,name=extra,proto3" json:"extra,omitempty"`
	// contains filtered or unexported fields
}

func (*GetPositionResponse) Descriptor deprecated 

func (*GetPositionResponse) Descriptor() ([]byte, []int)

Deprecated: Use GetPositionResponse.ProtoReflect.Descriptor instead.

func (*GetPositionResponse) GetComponentReference added in v0.1.98 

func (x *GetPositionResponse) GetComponentReference() string

func (*GetPositionResponse) GetExtra added in v0.1.1 

func (x *GetPositionResponse) GetExtra() *structpb.Struct

func (*GetPositionResponse) GetPose 

func (x *GetPositionResponse) GetPose() *v1.Pose

func (*GetPositionResponse) ProtoMessage 

func (*GetPositionResponse) ProtoMessage()

func (*GetPositionResponse) ProtoReflect 

func (x *GetPositionResponse) ProtoReflect() protoreflect.Message

func (*GetPositionResponse) Reset 

func (x *GetPositionResponse) Reset()

func (*GetPositionResponse) String 

func (x *GetPositionResponse) String() string

type SLAMServiceClient 

type SLAMServiceClient interface {
	// GetPosition returns the current estimated position of the robot with
	// respect to a returned component reference.
	GetPosition(ctx context.Context, in *GetPositionRequest, opts ...grpc.CallOption) (*GetPositionResponse, error)
	// GetPointCloudMap returns the latest pointcloud map available where XY is the ground
	// plane and positive Z is up, following the Right Hand Rule.
	GetPointCloudMap(ctx context.Context, in *GetPointCloudMapRequest, opts ...grpc.CallOption) (SLAMService_GetPointCloudMapClient, error)
	// GetInternalState returns the internal map as defined by the specified slam
	// algorithm required to continue mapping/localizing.
	// This endpoint is not intended for end users.
	GetInternalState(ctx context.Context, in *GetInternalStateRequest, opts ...grpc.CallOption) (SLAMService_GetInternalStateClient, error)
	// GetLatestMapInfo returns a message indicating details regarding the
	// latest map returned to the system.
	GetLatestMapInfo(ctx context.Context, in *GetLatestMapInfoRequest, opts ...grpc.CallOption) (*GetLatestMapInfoResponse, error)
	// DoCommand sends/receives arbitrary commands.
	DoCommand(ctx context.Context, in *v1.DoCommandRequest, opts ...grpc.CallOption) (*v1.DoCommandResponse, error)
}

SLAMServiceClient is the client API for SLAMService service.

For semantics around ctx use and closing/ending streaming RPCs, please refer to https://pkg.go.dev/google.golang.org/grpc/?tab=doc#ClientConn.NewStream.

func NewSLAMServiceClient 

func NewSLAMServiceClient(cc grpc.ClientConnInterface) SLAMServiceClient

type SLAMServiceServer 

type SLAMServiceServer interface {
	// GetPosition returns the current estimated position of the robot with
	// respect to a returned component reference.
	GetPosition(context.Context, *GetPositionRequest) (*GetPositionResponse, error)
	// GetPointCloudMap returns the latest pointcloud map available where XY is the ground
	// plane and positive Z is up, following the Right Hand Rule.
	GetPointCloudMap(*GetPointCloudMapRequest, SLAMService_GetPointCloudMapServer) error
	// GetInternalState returns the internal map as defined by the specified slam
	// algorithm required to continue mapping/localizing.
	// This endpoint is not intended for end users.
	GetInternalState(*GetInternalStateRequest, SLAMService_GetInternalStateServer) error
	// GetLatestMapInfo returns a message indicating details regarding the
	// latest map returned to the system.
	GetLatestMapInfo(context.Context, *GetLatestMapInfoRequest) (*GetLatestMapInfoResponse, error)
	// DoCommand sends/receives arbitrary commands.
	DoCommand(context.Context, *v1.DoCommandRequest) (*v1.DoCommandResponse, error)
	// contains filtered or unexported methods
}

SLAMServiceServer is the server API for SLAMService service. All implementations must embed UnimplementedSLAMServiceServer for forward compatibility

type SLAMService_GetInternalStateClient added in v0.1.98 

type SLAMService_GetInternalStateClient interface {
	Recv() (*GetInternalStateResponse, error)
	grpc.ClientStream
}

type SLAMService_GetInternalStateServer added in v0.1.98 

type SLAMService_GetInternalStateServer interface {
	Send(*GetInternalStateResponse) error
	grpc.ServerStream
}

type SLAMService_GetPointCloudMapClient added in v0.1.98 

type SLAMService_GetPointCloudMapClient interface {
	Recv() (*GetPointCloudMapResponse, error)
	grpc.ClientStream
}

type SLAMService_GetPointCloudMapServer added in v0.1.98 

type SLAMService_GetPointCloudMapServer interface {
	Send(*GetPointCloudMapResponse) error
	grpc.ServerStream
}

type UnimplementedSLAMServiceServer 

type UnimplementedSLAMServiceServer struct {
}

UnimplementedSLAMServiceServer must be embedded to have forward compatible implementations.

func (UnimplementedSLAMServiceServer) DoCommand added in v0.1.80 

func (UnimplementedSLAMServiceServer) DoCommand(context.Context, *v1.DoCommandRequest) (*v1.DoCommandResponse, error)

func (UnimplementedSLAMServiceServer) GetInternalState added in v0.1.42 

func (UnimplementedSLAMServiceServer) GetInternalState(*GetInternalStateRequest, SLAMService_GetInternalStateServer) error

func (UnimplementedSLAMServiceServer) GetLatestMapInfo added in v0.1.136 

func (UnimplementedSLAMServiceServer) GetLatestMapInfo(context.Context, *GetLatestMapInfoRequest) (*GetLatestMapInfoResponse, error)

func (UnimplementedSLAMServiceServer) GetPointCloudMap added in v0.1.42 

func (UnimplementedSLAMServiceServer) GetPointCloudMap(*GetPointCloudMapRequest, SLAMService_GetPointCloudMapServer) error

func (UnimplementedSLAMServiceServer) GetPosition 

func (UnimplementedSLAMServiceServer) GetPosition(context.Context, *GetPositionRequest) (*GetPositionResponse, error)

type UnsafeSLAMServiceServer 

type UnsafeSLAMServiceServer interface {
	// contains filtered or unexported methods
}

UnsafeSLAMServiceServer may be embedded to opt out of forward compatibility for this service. Use of this interface is not recommended, as added methods to SLAMServiceServer will result in compilation errors.

Source Files

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