v1

package
v0.1.98 Latest Latest
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 Go to latest Published: Mar 28, 2023 License: Apache-2.0 Imports: 18 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_motion_v1_motion_proto protoreflect.FileDescriptor
View Source 
var MotionService_ServiceDesc = grpc.ServiceDesc{
	ServiceName: "viam.service.motion.v1.MotionService",
	HandlerType: (*MotionServiceServer)(nil),
	Methods: []grpc.MethodDesc{
		{
			MethodName: "Move",
			Handler:    _MotionService_Move_Handler,
		},
		{
			MethodName: "MoveSingleComponent",
			Handler:    _MotionService_MoveSingleComponent_Handler,
		},
		{
			MethodName: "GetPose",
			Handler:    _MotionService_GetPose_Handler,
		},
		{
			MethodName: "DoCommand",
			Handler:    _MotionService_DoCommand_Handler,
		},
	},
	Streams:  []grpc.StreamDesc{},
	Metadata: "service/motion/v1/motion.proto",
}

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

Functions

func RegisterMotionServiceHandler 

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

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

func RegisterMotionServiceHandlerClient 

func RegisterMotionServiceHandlerClient(ctx context.Context, mux *runtime.ServeMux, client MotionServiceClient) error

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

func RegisterMotionServiceHandlerFromEndpoint 

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

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

func RegisterMotionServiceHandlerServer 

func RegisterMotionServiceHandlerServer(ctx context.Context, mux *runtime.ServeMux, server MotionServiceServer) error

RegisterMotionServiceHandlerServer registers the http handlers for service MotionService to "mux". UnaryRPC :call MotionServiceServer 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 RegisterMotionServiceHandlerFromEndpoint instead.

func RegisterMotionServiceServer 

func RegisterMotionServiceServer(s grpc.ServiceRegistrar, srv MotionServiceServer)

Types

type CollisionSpecification added in v0.1.83 

type CollisionSpecification struct {

	// Pairs of frame which should be allowed to collide with one another
	Allows []*CollisionSpecification_AllowedFrameCollisions `protobuf:"bytes,1,rep,name=allows,proto3" json:"allows,omitempty"`
	// contains filtered or unexported fields
}

CollisionSpecification is used to selectively apply obstacle avoidance to specific parts of the robot

func (*CollisionSpecification) Descriptor deprecated added in v0.1.83 

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

Deprecated: Use CollisionSpecification.ProtoReflect.Descriptor instead.

func (*CollisionSpecification) GetAllows added in v0.1.83 

func (x *CollisionSpecification) GetAllows() []*CollisionSpecification_AllowedFrameCollisions

func (*CollisionSpecification) ProtoMessage added in v0.1.83 

func (*CollisionSpecification) ProtoMessage()

func (*CollisionSpecification) ProtoReflect added in v0.1.83 

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

func (*CollisionSpecification) Reset added in v0.1.83 

func (x *CollisionSpecification) Reset()

func (*CollisionSpecification) String added in v0.1.83 

func (x *CollisionSpecification) String() string

type CollisionSpecification_AllowedFrameCollisions added in v0.1.83 

type CollisionSpecification_AllowedFrameCollisions struct {
	Frame1 string `protobuf:"bytes,1,opt,name=frame1,proto3" json:"frame1,omitempty"`
	Frame2 string `protobuf:"bytes,2,opt,name=frame2,proto3" json:"frame2,omitempty"`
	// contains filtered or unexported fields
}

func (*CollisionSpecification_AllowedFrameCollisions) Descriptor deprecated added in v0.1.83 

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

Deprecated: Use CollisionSpecification_AllowedFrameCollisions.ProtoReflect.Descriptor instead.

func (*CollisionSpecification_AllowedFrameCollisions) GetFrame1 added in v0.1.83 

func (x *CollisionSpecification_AllowedFrameCollisions) GetFrame1() string

func (*CollisionSpecification_AllowedFrameCollisions) GetFrame2 added in v0.1.83 

func (x *CollisionSpecification_AllowedFrameCollisions) GetFrame2() string

func (*CollisionSpecification_AllowedFrameCollisions) ProtoMessage added in v0.1.83 

func (*CollisionSpecification_AllowedFrameCollisions) ProtoMessage()

func (*CollisionSpecification_AllowedFrameCollisions) ProtoReflect added in v0.1.83 

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

func (*CollisionSpecification_AllowedFrameCollisions) Reset added in v0.1.83 

func (x *CollisionSpecification_AllowedFrameCollisions) Reset()

func (*CollisionSpecification_AllowedFrameCollisions) String added in v0.1.83 

func (x *CollisionSpecification_AllowedFrameCollisions) String() string

type Constraints added in v0.1.83 

type Constraints struct {

	// Typed message for a specific constraint
	LinearConstraint       []*LinearConstraint       `protobuf:"bytes,1,rep,name=linear_constraint,json=linearConstraint,proto3" json:"linear_constraint,omitempty"`
	OrientationConstraint  []*OrientationConstraint  `protobuf:"bytes,2,rep,name=orientation_constraint,json=orientationConstraint,proto3" json:"orientation_constraint,omitempty"`
	CollisionSpecification []*CollisionSpecification `` // Arc constraint, Time constraint, and others will be added here when they are supported
	/* 127-byte string literal not displayed */
	// contains filtered or unexported fields
}

Constraints specifies all enumerated constraints to be passed to Viam's motion planning, along with any optional parameters

func (*Constraints) Descriptor deprecated added in v0.1.83 

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

Deprecated: Use Constraints.ProtoReflect.Descriptor instead.

func (*Constraints) GetCollisionSpecification added in v0.1.83 

func (x *Constraints) GetCollisionSpecification() []*CollisionSpecification

func (*Constraints) GetLinearConstraint added in v0.1.83 

func (x *Constraints) GetLinearConstraint() []*LinearConstraint

func (*Constraints) GetOrientationConstraint added in v0.1.83 

func (x *Constraints) GetOrientationConstraint() []*OrientationConstraint

func (*Constraints) ProtoMessage added in v0.1.83 

func (*Constraints) ProtoMessage()

func (*Constraints) ProtoReflect added in v0.1.83 

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

func (*Constraints) Reset added in v0.1.83 

func (x *Constraints) Reset()

func (*Constraints) String added in v0.1.83 

func (x *Constraints) String() string

type GetPoseRequest 

type GetPoseRequest struct {
	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	// the component whose pose is being requested
	ComponentName *v1.ResourceName `protobuf:"bytes,2,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,3,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 `` /* 127-byte string literal not displayed */
	// Additional arguments to the method
	Extra *structpb.Struct `protobuf:"bytes,99,opt,name=extra,proto3" json:"extra,omitempty"`
	// contains filtered or unexported fields
}

func (*GetPoseRequest) Descriptor deprecated 

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

Deprecated: Use GetPoseRequest.ProtoReflect.Descriptor instead.

func (*GetPoseRequest) GetComponentName 

func (x *GetPoseRequest) GetComponentName() *v1.ResourceName

func (*GetPoseRequest) GetDestinationFrame 

func (x *GetPoseRequest) GetDestinationFrame() string

func (*GetPoseRequest) GetExtra 

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

func (*GetPoseRequest) GetName 

func (x *GetPoseRequest) GetName() string

func (*GetPoseRequest) GetSupplementalTransforms 

func (x *GetPoseRequest) GetSupplementalTransforms() []*v1.Transform

func (*GetPoseRequest) ProtoMessage 

func (*GetPoseRequest) ProtoMessage()

func (*GetPoseRequest) ProtoReflect 

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

func (*GetPoseRequest) Reset 

func (x *GetPoseRequest) Reset()

func (*GetPoseRequest) String 

func (x *GetPoseRequest) String() string

type GetPoseResponse 

type GetPoseResponse struct {
	Pose *v1.PoseInFrame `protobuf:"bytes,1,opt,name=pose,proto3" json:"pose,omitempty"`
	// contains filtered or unexported fields
}

func (*GetPoseResponse) Descriptor deprecated 

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

Deprecated: Use GetPoseResponse.ProtoReflect.Descriptor instead.

func (*GetPoseResponse) GetPose 

func (x *GetPoseResponse) GetPose() *v1.PoseInFrame

func (*GetPoseResponse) ProtoMessage 

func (*GetPoseResponse) ProtoMessage()

func (*GetPoseResponse) ProtoReflect 

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

func (*GetPoseResponse) Reset 

func (x *GetPoseResponse) Reset()

func (*GetPoseResponse) String 

func (x *GetPoseResponse) String() string

type LinearConstraint added in v0.1.83 

type LinearConstraint struct {
	LineToleranceMm          *float32 `protobuf:"fixed32,1,opt,name=line_tolerance_mm,json=lineToleranceMm,proto3,oneof" json:"line_tolerance_mm,omitempty"` // Max linear deviation from straight-line between start and goal, in mm.
	OrientationToleranceDegs *float32 ``                                                                                                                     // Max allowable orientation deviation, in degrees, while on the shortest path between start / goal states
	/* 143-byte string literal not displayed */
	// contains filtered or unexported fields
}

LinearConstraint specifies that the component being moved should move linearly relative to its goal. It does not constrain the motion of components other than the `component_name` specified in motion.Move

func (*LinearConstraint) Descriptor deprecated added in v0.1.83 

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

Deprecated: Use LinearConstraint.ProtoReflect.Descriptor instead.

func (*LinearConstraint) GetLineToleranceMm added in v0.1.83 

func (x *LinearConstraint) GetLineToleranceMm() float32

func (*LinearConstraint) GetOrientationToleranceDegs added in v0.1.83 

func (x *LinearConstraint) GetOrientationToleranceDegs() float32

func (*LinearConstraint) ProtoMessage added in v0.1.83 

func (*LinearConstraint) ProtoMessage()

func (*LinearConstraint) ProtoReflect added in v0.1.83 

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

func (*LinearConstraint) Reset added in v0.1.83 

func (x *LinearConstraint) Reset()

func (*LinearConstraint) String added in v0.1.83 

func (x *LinearConstraint) String() string

type MotionServiceClient 

type MotionServiceClient interface {
	Move(ctx context.Context, in *MoveRequest, opts ...grpc.CallOption) (*MoveResponse, error)
	MoveSingleComponent(ctx context.Context, in *MoveSingleComponentRequest, opts ...grpc.CallOption) (*MoveSingleComponentResponse, error)
	GetPose(ctx context.Context, in *GetPoseRequest, opts ...grpc.CallOption) (*GetPoseResponse, error)
	// DoCommand sends/receives arbitrary commands
	DoCommand(ctx context.Context, in *v1.DoCommandRequest, opts ...grpc.CallOption) (*v1.DoCommandResponse, error)
}

MotionServiceClient is the client API for MotionService 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 NewMotionServiceClient 

func NewMotionServiceClient(cc grpc.ClientConnInterface) MotionServiceClient

type MotionServiceServer 

type MotionServiceServer interface {
	Move(context.Context, *MoveRequest) (*MoveResponse, error)
	MoveSingleComponent(context.Context, *MoveSingleComponentRequest) (*MoveSingleComponentResponse, error)
	GetPose(context.Context, *GetPoseRequest) (*GetPoseResponse, error)
	// DoCommand sends/receives arbitrary commands
	DoCommand(context.Context, *v1.DoCommandRequest) (*v1.DoCommandResponse, error)
	// contains filtered or unexported methods
}

MotionServiceServer is the server API for MotionService service. All implementations must embed UnimplementedMotionServiceServer for forward compatibility

type MoveRequest 

type MoveRequest struct {
	Name            string           `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	Destination     *v1.PoseInFrame  `protobuf:"bytes,2,opt,name=destination,proto3" json:"destination,omitempty"`
	ComponentName   *v1.ResourceName `protobuf:"bytes,3,opt,name=component_name,json=componentName,proto3" json:"component_name,omitempty"`
	WorldState      *v1.WorldState   `protobuf:"bytes,4,opt,name=world_state,json=worldState,proto3,oneof" json:"world_state,omitempty"`
	Constraints     *Constraints     `protobuf:"bytes,5,opt,name=constraints,proto3,oneof" json:"constraints,omitempty"`
	SlamServiceName *v1.ResourceName `protobuf:"bytes,6,opt,name=slam_service_name,json=slamServiceName,proto3,oneof" json:"slam_service_name,omitempty"`
	// Additional arguments to the method
	Extra *structpb.Struct `protobuf:"bytes,99,opt,name=extra,proto3" json:"extra,omitempty"`
	// contains filtered or unexported fields
}

func (*MoveRequest) Descriptor deprecated 

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

Deprecated: Use MoveRequest.ProtoReflect.Descriptor instead.

func (*MoveRequest) GetComponentName 

func (x *MoveRequest) GetComponentName() *v1.ResourceName

func (*MoveRequest) GetConstraints added in v0.1.83 

func (x *MoveRequest) GetConstraints() *Constraints

func (*MoveRequest) GetDestination 

func (x *MoveRequest) GetDestination() *v1.PoseInFrame

func (*MoveRequest) GetExtra 

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

func (*MoveRequest) GetName 

func (x *MoveRequest) GetName() string

func (*MoveRequest) GetSlamServiceName added in v0.1.89 

func (x *MoveRequest) GetSlamServiceName() *v1.ResourceName

func (*MoveRequest) GetWorldState 

func (x *MoveRequest) GetWorldState() *v1.WorldState

func (*MoveRequest) ProtoMessage 

func (*MoveRequest) ProtoMessage()

func (*MoveRequest) ProtoReflect 

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

func (*MoveRequest) Reset 

func (x *MoveRequest) Reset()

func (*MoveRequest) String 

func (x *MoveRequest) String() string

type MoveResponse 

type MoveResponse struct {
	Success bool `protobuf:"varint,1,opt,name=success,proto3" json:"success,omitempty"`
	// contains filtered or unexported fields
}

func (*MoveResponse) Descriptor deprecated 

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

Deprecated: Use MoveResponse.ProtoReflect.Descriptor instead.

func (*MoveResponse) GetSuccess 

func (x *MoveResponse) GetSuccess() bool

func (*MoveResponse) ProtoMessage 

func (*MoveResponse) ProtoMessage()

func (*MoveResponse) ProtoReflect 

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

func (*MoveResponse) Reset 

func (x *MoveResponse) Reset()

func (*MoveResponse) String 

func (x *MoveResponse) String() string

type MoveSingleComponentRequest 

type MoveSingleComponentRequest struct {
	Name          string           `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	Destination   *v1.PoseInFrame  `protobuf:"bytes,2,opt,name=destination,proto3" json:"destination,omitempty"`
	ComponentName *v1.ResourceName `protobuf:"bytes,3,opt,name=component_name,json=componentName,proto3" json:"component_name,omitempty"`
	WorldState    *v1.WorldState   `protobuf:"bytes,4,opt,name=world_state,json=worldState,proto3,oneof" json:"world_state,omitempty"`
	// Additional arguments to the method
	Extra *structpb.Struct `protobuf:"bytes,99,opt,name=extra,proto3" json:"extra,omitempty"`
	// contains filtered or unexported fields
}

func (*MoveSingleComponentRequest) Descriptor deprecated 

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

Deprecated: Use MoveSingleComponentRequest.ProtoReflect.Descriptor instead.

func (*MoveSingleComponentRequest) GetComponentName 

func (x *MoveSingleComponentRequest) GetComponentName() *v1.ResourceName

func (*MoveSingleComponentRequest) GetDestination 

func (x *MoveSingleComponentRequest) GetDestination() *v1.PoseInFrame

func (*MoveSingleComponentRequest) GetExtra 

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

func (*MoveSingleComponentRequest) GetName 

func (x *MoveSingleComponentRequest) GetName() string

func (*MoveSingleComponentRequest) GetWorldState 

func (x *MoveSingleComponentRequest) GetWorldState() *v1.WorldState

func (*MoveSingleComponentRequest) ProtoMessage 

func (*MoveSingleComponentRequest) ProtoMessage()

func (*MoveSingleComponentRequest) ProtoReflect 

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

func (*MoveSingleComponentRequest) Reset 

func (x *MoveSingleComponentRequest) Reset()

func (*MoveSingleComponentRequest) String 

func (x *MoveSingleComponentRequest) String() string

type MoveSingleComponentResponse 

type MoveSingleComponentResponse struct {
	Success bool `protobuf:"varint,1,opt,name=success,proto3" json:"success,omitempty"`
	// contains filtered or unexported fields
}

func (*MoveSingleComponentResponse) Descriptor deprecated 

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

Deprecated: Use MoveSingleComponentResponse.ProtoReflect.Descriptor instead.

func (*MoveSingleComponentResponse) GetSuccess 

func (x *MoveSingleComponentResponse) GetSuccess() bool

func (*MoveSingleComponentResponse) ProtoMessage 

func (*MoveSingleComponentResponse) ProtoMessage()

func (*MoveSingleComponentResponse) ProtoReflect 

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

func (*MoveSingleComponentResponse) Reset 

func (x *MoveSingleComponentResponse) Reset()

func (*MoveSingleComponentResponse) String 

func (x *MoveSingleComponentResponse) String() string

type OrientationConstraint added in v0.1.83 

type OrientationConstraint struct {
	OrientationToleranceDegs *float32 `` // Max allowable orientation deviation, in degrees, while on the shortest path between start / goal states
	/* 143-byte string literal not displayed */
	// contains filtered or unexported fields
}

OrientationConstraint specifies that the component being moved will not deviate its orientation beyond some threshold relative to the goal. It does not constrain the motion of components other than the `component_name` specified in motion.Move

func (*OrientationConstraint) Descriptor deprecated added in v0.1.83 

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

Deprecated: Use OrientationConstraint.ProtoReflect.Descriptor instead.

func (*OrientationConstraint) GetOrientationToleranceDegs added in v0.1.83 

func (x *OrientationConstraint) GetOrientationToleranceDegs() float32

func (*OrientationConstraint) ProtoMessage added in v0.1.83 

func (*OrientationConstraint) ProtoMessage()

func (*OrientationConstraint) ProtoReflect added in v0.1.83 

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

func (*OrientationConstraint) Reset added in v0.1.83 

func (x *OrientationConstraint) Reset()

func (*OrientationConstraint) String added in v0.1.83 

func (x *OrientationConstraint) String() string

type UnimplementedMotionServiceServer 

type UnimplementedMotionServiceServer struct {
}

UnimplementedMotionServiceServer must be embedded to have forward compatible implementations.

func (UnimplementedMotionServiceServer) DoCommand added in v0.1.80 

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

func (UnimplementedMotionServiceServer) GetPose 

func (UnimplementedMotionServiceServer) GetPose(context.Context, *GetPoseRequest) (*GetPoseResponse, error)

func (UnimplementedMotionServiceServer) Move 

func (UnimplementedMotionServiceServer) Move(context.Context, *MoveRequest) (*MoveResponse, error)

func (UnimplementedMotionServiceServer) MoveSingleComponent 

func (UnimplementedMotionServiceServer) MoveSingleComponent(context.Context, *MoveSingleComponentRequest) (*MoveSingleComponentResponse, error)

type UnsafeMotionServiceServer 

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

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

Source Files

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