v1

package
v0.1.291 Latest Latest
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 Go to latest Published: Apr 23, 2024 License: Apache-2.0 Imports: 19 Imported by: 6

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 (
	PlanState_name = map[int32]string{
		0: "PLAN_STATE_UNSPECIFIED",
		1: "PLAN_STATE_IN_PROGRESS",
		2: "PLAN_STATE_STOPPED",
		3: "PLAN_STATE_SUCCEEDED",
		4: "PLAN_STATE_FAILED",
	}
	PlanState_value = map[string]int32{
		"PLAN_STATE_UNSPECIFIED": 0,
		"PLAN_STATE_IN_PROGRESS": 1,
		"PLAN_STATE_STOPPED":     2,
		"PLAN_STATE_SUCCEEDED":   3,
		"PLAN_STATE_FAILED":      4,
	}
)

Enum value maps for PlanState.

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: "MoveOnMap",
			Handler:    _MotionService_MoveOnMap_Handler,
		},
		{
			MethodName: "MoveOnGlobe",
			Handler:    _MotionService_MoveOnGlobe_Handler,
		},
		{
			MethodName: "GetPose",
			Handler:    _MotionService_GetPose_Handler,
		},
		{
			MethodName: "StopPlan",
			Handler:    _MotionService_StopPlan_Handler,
		},
		{
			MethodName: "ListPlanStatuses",
			Handler:    _MotionService_ListPlanStatuses_Handler,
		},
		{
			MethodName: "GetPlan",
			Handler:    _MotionService_GetPlan_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 ComponentState added in v0.1.198 

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

A pose

func (*ComponentState) Descriptor deprecated added in v0.1.198 

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

Deprecated: Use ComponentState.ProtoReflect.Descriptor instead.

func (*ComponentState) GetPose added in v0.1.198 

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

func (*ComponentState) ProtoMessage added in v0.1.198 

func (*ComponentState) ProtoMessage()

func (*ComponentState) ProtoReflect added in v0.1.198 

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

func (*ComponentState) Reset added in v0.1.198 

func (x *ComponentState) Reset()

func (*ComponentState) String added in v0.1.198 

func (x *ComponentState) 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 GetPlanRequest added in v0.1.198 

type GetPlanRequest struct {

	// The name of the motion service
	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	// The name of the component which was requested to be moved.
	ComponentName *v1.ResourceName `protobuf:"bytes,2,opt,name=component_name,json=componentName,proto3" json:"component_name,omitempty"`
	// If supplied, the response will only return
	// the the last plan for the component / execution
	LastPlanOnly bool `protobuf:"varint,3,opt,name=last_plan_only,json=lastPlanOnly,proto3" json:"last_plan_only,omitempty"`
	// If you want to know about the plans of a previous execution
	ExecutionId *string `protobuf:"bytes,4,opt,name=execution_id,json=executionId,proto3,oneof" json:"execution_id,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 (*GetPlanRequest) Descriptor deprecated added in v0.1.198 

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

Deprecated: Use GetPlanRequest.ProtoReflect.Descriptor instead.

func (*GetPlanRequest) GetComponentName added in v0.1.198 

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

func (*GetPlanRequest) GetExecutionId added in v0.1.198 

func (x *GetPlanRequest) GetExecutionId() string

func (*GetPlanRequest) GetExtra added in v0.1.198 

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

func (*GetPlanRequest) GetLastPlanOnly added in v0.1.198 

func (x *GetPlanRequest) GetLastPlanOnly() bool

func (*GetPlanRequest) GetName added in v0.1.198 

func (x *GetPlanRequest) GetName() string

func (*GetPlanRequest) ProtoMessage added in v0.1.198 

func (*GetPlanRequest) ProtoMessage()

func (*GetPlanRequest) ProtoReflect added in v0.1.198 

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

func (*GetPlanRequest) Reset added in v0.1.198 

func (x *GetPlanRequest) Reset()

func (*GetPlanRequest) String added in v0.1.198 

func (x *GetPlanRequest) String() string

type GetPlanResponse added in v0.1.198 

type GetPlanResponse struct {

	// The current plan and status that matches the request query
	CurrentPlanWithStatus *PlanWithStatus `` /* 128-byte string literal not displayed */
	// Returns the history of all previous plans that were
	// generated in ascending order.
	// This field will be empty if the motion service
	// did not need to re-plan.
	ReplanHistory []*PlanWithStatus `protobuf:"bytes,2,rep,name=replan_history,json=replanHistory,proto3" json:"replan_history,omitempty"`
	// contains filtered or unexported fields
}

func (*GetPlanResponse) Descriptor deprecated added in v0.1.198 

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

Deprecated: Use GetPlanResponse.ProtoReflect.Descriptor instead.

func (*GetPlanResponse) GetCurrentPlanWithStatus added in v0.1.198 

func (x *GetPlanResponse) GetCurrentPlanWithStatus() *PlanWithStatus

func (*GetPlanResponse) GetReplanHistory added in v0.1.198 

func (x *GetPlanResponse) GetReplanHistory() []*PlanWithStatus

func (*GetPlanResponse) ProtoMessage added in v0.1.198 

func (*GetPlanResponse) ProtoMessage()

func (*GetPlanResponse) ProtoReflect added in v0.1.198 

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

func (*GetPlanResponse) Reset added in v0.1.198 

func (x *GetPlanResponse) Reset()

func (*GetPlanResponse) String added in v0.1.198 

func (x *GetPlanResponse) 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.
	// Max allowable orientation deviation, in degrees, while on the shortest path between start / goal states
	OrientationToleranceDegs *float32 `` /* 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 ListPlanStatusesRequest added in v0.1.198 

type ListPlanStatusesRequest struct {

	// The name of the motion service
	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	// If supplied, the response will filter the
	// plan results for the supplied state
	OnlyActivePlans bool `protobuf:"varint,2,opt,name=only_active_plans,json=onlyActivePlans,proto3" json:"only_active_plans,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 (*ListPlanStatusesRequest) Descriptor deprecated added in v0.1.198 

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

Deprecated: Use ListPlanStatusesRequest.ProtoReflect.Descriptor instead.

func (*ListPlanStatusesRequest) GetExtra added in v0.1.198 

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

func (*ListPlanStatusesRequest) GetName added in v0.1.198 

func (x *ListPlanStatusesRequest) GetName() string

func (*ListPlanStatusesRequest) GetOnlyActivePlans added in v0.1.198 

func (x *ListPlanStatusesRequest) GetOnlyActivePlans() bool

func (*ListPlanStatusesRequest) ProtoMessage added in v0.1.198 

func (*ListPlanStatusesRequest) ProtoMessage()

func (*ListPlanStatusesRequest) ProtoReflect added in v0.1.198 

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

func (*ListPlanStatusesRequest) Reset added in v0.1.198 

func (x *ListPlanStatusesRequest) Reset()

func (*ListPlanStatusesRequest) String added in v0.1.198 

func (x *ListPlanStatusesRequest) String() string

type ListPlanStatusesResponse added in v0.1.198 

type ListPlanStatusesResponse struct {

	// List of last known statuses with the associated IDs of all plans within the TTL
	// ordered by timestamp in ascending order
	PlanStatusesWithIds []*PlanStatusWithID `protobuf:"bytes,1,rep,name=plan_statuses_with_ids,json=planStatusesWithIds,proto3" json:"plan_statuses_with_ids,omitempty"`
	// contains filtered or unexported fields
}

Status of all executed / executing plan statuses with associated IDs within the 24 hour TTL

func (*ListPlanStatusesResponse) Descriptor deprecated added in v0.1.198 

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

Deprecated: Use ListPlanStatusesResponse.ProtoReflect.Descriptor instead.

func (*ListPlanStatusesResponse) GetPlanStatusesWithIds added in v0.1.204 

func (x *ListPlanStatusesResponse) GetPlanStatusesWithIds() []*PlanStatusWithID

func (*ListPlanStatusesResponse) ProtoMessage added in v0.1.198 

func (*ListPlanStatusesResponse) ProtoMessage()

func (*ListPlanStatusesResponse) ProtoReflect added in v0.1.198 

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

func (*ListPlanStatusesResponse) Reset added in v0.1.198 

func (x *ListPlanStatusesResponse) Reset()

func (*ListPlanStatusesResponse) String added in v0.1.198 

func (x *ListPlanStatusesResponse) String() string

type MotionConfiguration added in v0.1.176 

type MotionConfiguration struct {

	// The ObstacleDetectors that will be used for transient obstacle avoidance
	ObstacleDetectors []*ObstacleDetector `protobuf:"bytes,1,rep,name=obstacle_detectors,json=obstacleDetectors,proto3" json:"obstacle_detectors,omitempty"`
	// Sets the frequency to poll for the position of the robot
	PositionPollingFrequencyHz *float64 `` /* 151-byte string literal not displayed */
	// Sets the frequency to poll the vision service(s) for new obstacles
	ObstaclePollingFrequencyHz *float64 `` /* 151-byte string literal not displayed */
	// Sets the distance in meters that a robot is allowed to deviate from the motion plan
	PlanDeviationM *float64 `protobuf:"fixed64,4,opt,name=plan_deviation_m,json=planDeviationM,proto3,oneof" json:"plan_deviation_m,omitempty"`
	// Optional linear velocity to target when moving
	LinearMPerSec *float64 `protobuf:"fixed64,5,opt,name=linear_m_per_sec,json=linearMPerSec,proto3,oneof" json:"linear_m_per_sec,omitempty"`
	// Optional angular velocity to target when turning
	AngularDegsPerSec *float64 `protobuf:"fixed64,6,opt,name=angular_degs_per_sec,json=angularDegsPerSec,proto3,oneof" json:"angular_degs_per_sec,omitempty"`
	// contains filtered or unexported fields
}

func (*MotionConfiguration) Descriptor deprecated added in v0.1.176 

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

Deprecated: Use MotionConfiguration.ProtoReflect.Descriptor instead.

func (*MotionConfiguration) GetAngularDegsPerSec added in v0.1.176 

func (x *MotionConfiguration) GetAngularDegsPerSec() float64

func (*MotionConfiguration) GetLinearMPerSec added in v0.1.176 

func (x *MotionConfiguration) GetLinearMPerSec() float64

func (*MotionConfiguration) GetObstacleDetectors added in v0.1.215 

func (x *MotionConfiguration) GetObstacleDetectors() []*ObstacleDetector

func (*MotionConfiguration) GetObstaclePollingFrequencyHz added in v0.1.176 

func (x *MotionConfiguration) GetObstaclePollingFrequencyHz() float64

func (*MotionConfiguration) GetPlanDeviationM added in v0.1.176 

func (x *MotionConfiguration) GetPlanDeviationM() float64

func (*MotionConfiguration) GetPositionPollingFrequencyHz added in v0.1.176 

func (x *MotionConfiguration) GetPositionPollingFrequencyHz() float64

func (*MotionConfiguration) ProtoMessage added in v0.1.176 

func (*MotionConfiguration) ProtoMessage()

func (*MotionConfiguration) ProtoReflect added in v0.1.176 

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

func (*MotionConfiguration) Reset added in v0.1.176 

func (x *MotionConfiguration) Reset()

func (*MotionConfiguration) String added in v0.1.176 

func (x *MotionConfiguration) String() string

type MotionServiceClient 

type MotionServiceClient interface {
	Move(ctx context.Context, in *MoveRequest, opts ...grpc.CallOption) (*MoveResponse, error)
	// Generate a plan and move a component to a specific pose
	// with respect to the SLAM map's origin.
	// May replan to avoid obstacles
	MoveOnMap(ctx context.Context, in *MoveOnMapRequest, opts ...grpc.CallOption) (*MoveOnMapResponse, error)
	// Generate and begin executing an execution to move a component
	// to a specific GPS coordinate.
	// 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)
	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)
	// Returns the status of plans created by requests to move components
	// that are executing OR are part of an execution which changed it state
	// within the a 24HR TTL OR until the robot reinitializes.
	// This currently only returns plans for MoveOnGlobe and MoveOnMap.
	ListPlanStatuses(ctx context.Context, in *ListPlanStatusesRequest, opts ...grpc.CallOption) (*ListPlanStatusesResponse, error)
	// Returns the plan(s) & state history of the most recent execution to move a
	// component. Returns a result if the last execution is still executing OR
	// changed state within the last 24 hours AND the robot has not reinitialized.
	// Plans are never mutated.
	// Replans always create new plans.
	// Replans share the execution_id of the previously executing plan.
	// This currently only returns plans for MoveOnGlobe and MoveOnMap.
	GetPlan(ctx context.Context, in *GetPlanRequest, opts ...grpc.CallOption) (*GetPlanResponse, 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)
	// Generate a plan and move a component to a specific pose
	// with respect to the SLAM map's origin.
	// May replan to avoid obstacles
	MoveOnMap(context.Context, *MoveOnMapRequest) (*MoveOnMapResponse, error)
	// Generate and begin executing an execution to move a component
	// to a specific GPS coordinate.
	// May replan to avoid obstacles & account for location drift.
	// Creates a new plan upon replanning.
	MoveOnGlobe(context.Context, *MoveOnGlobeRequest) (*MoveOnGlobeResponse, error)
	GetPose(context.Context, *GetPoseRequest) (*GetPoseResponse, error)
	// Stops a Plan
	StopPlan(context.Context, *StopPlanRequest) (*StopPlanResponse, error)
	// Returns the status of plans created by requests to move components
	// that are executing OR are part of an execution which changed it state
	// within the a 24HR TTL OR until the robot reinitializes.
	// This currently only returns plans for MoveOnGlobe and MoveOnMap.
	ListPlanStatuses(context.Context, *ListPlanStatusesRequest) (*ListPlanStatusesResponse, error)
	// Returns the plan(s) & state history of the most recent execution to move a
	// component. Returns a result if the last execution is still executing OR
	// changed state within the last 24 hours AND the robot has not reinitialized.
	// Plans are never mutated.
	// Replans always create new plans.
	// Replans share the execution_id of the previously executing plan.
	// This currently only returns plans for MoveOnGlobe and MoveOnMap.
	GetPlan(context.Context, *GetPlanRequest) (*GetPlanResponse, 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 MoveOnGlobeRequest added in v0.1.123 

type MoveOnGlobeRequest struct {

	// Name of the motion service
	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	// Destination, encoded as a GeoPoint
	Destination *v1.GeoPoint `protobuf:"bytes,2,opt,name=destination,proto3" json:"destination,omitempty"`
	// Optional compass heading to achieve at the destination, in degrees [0-360)
	Heading *float64 `protobuf:"fixed64,3,opt,name=heading,proto3,oneof" json:"heading,omitempty"`
	// Component on the robot to move to the specified destination
	ComponentName *v1.ResourceName `protobuf:"bytes,4,opt,name=component_name,json=componentName,proto3" json:"component_name,omitempty"`
	// Name of the movement sensor which will be used to check robot location
	MovementSensorName *v1.ResourceName `protobuf:"bytes,5,opt,name=movement_sensor_name,json=movementSensorName,proto3" json:"movement_sensor_name,omitempty"`
	// Obstacles to be considered for motion planning
	Obstacles []*v1.GeoObstacle `protobuf:"bytes,6,rep,name=obstacles,proto3" json:"obstacles,omitempty"`
	// Optional set of motion configuration options
	MotionConfiguration *MotionConfiguration `protobuf:"bytes,7,opt,name=motion_configuration,json=motionConfiguration,proto3,oneof" json:"motion_configuration,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 (*MoveOnGlobeRequest) Descriptor deprecated added in v0.1.123 

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

Deprecated: Use MoveOnGlobeRequest.ProtoReflect.Descriptor instead.

func (*MoveOnGlobeRequest) GetComponentName added in v0.1.123 

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

func (*MoveOnGlobeRequest) GetDestination added in v0.1.123 

func (x *MoveOnGlobeRequest) GetDestination() *v1.GeoPoint

func (*MoveOnGlobeRequest) GetExtra added in v0.1.123 

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

func (*MoveOnGlobeRequest) GetHeading added in v0.1.123 

func (x *MoveOnGlobeRequest) GetHeading() float64

func (*MoveOnGlobeRequest) GetMotionConfiguration added in v0.1.176 

func (x *MoveOnGlobeRequest) GetMotionConfiguration() *MotionConfiguration

func (*MoveOnGlobeRequest) GetMovementSensorName added in v0.1.123 

func (x *MoveOnGlobeRequest) GetMovementSensorName() *v1.ResourceName

func (*MoveOnGlobeRequest) GetName added in v0.1.123 

func (x *MoveOnGlobeRequest) GetName() string

func (*MoveOnGlobeRequest) GetObstacles added in v0.1.123 

func (x *MoveOnGlobeRequest) GetObstacles() []*v1.GeoObstacle

func (*MoveOnGlobeRequest) ProtoMessage added in v0.1.123 

func (*MoveOnGlobeRequest) ProtoMessage()

func (*MoveOnGlobeRequest) ProtoReflect added in v0.1.123 

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

func (*MoveOnGlobeRequest) Reset added in v0.1.123 

func (x *MoveOnGlobeRequest) Reset()

func (*MoveOnGlobeRequest) String added in v0.1.123 

func (x *MoveOnGlobeRequest) String() string

type MoveOnGlobeResponse added in v0.1.123 

type MoveOnGlobeResponse struct {

	// The unique ID which identifies the execution.
	// Multiple plans will share the same execution_id if they were
	// generated due to replanning.
	ExecutionId string `protobuf:"bytes,1,opt,name=execution_id,json=executionId,proto3" json:"execution_id,omitempty"`
	// contains filtered or unexported fields
}

func (*MoveOnGlobeResponse) Descriptor deprecated added in v0.1.123 

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

Deprecated: Use MoveOnGlobeResponse.ProtoReflect.Descriptor instead.

func (*MoveOnGlobeResponse) GetExecutionId added in v0.1.238 

func (x *MoveOnGlobeResponse) GetExecutionId() string

func (*MoveOnGlobeResponse) ProtoMessage added in v0.1.123 

func (*MoveOnGlobeResponse) ProtoMessage()

func (*MoveOnGlobeResponse) ProtoReflect added in v0.1.123 

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

func (*MoveOnGlobeResponse) Reset added in v0.1.123 

func (x *MoveOnGlobeResponse) Reset()

func (*MoveOnGlobeResponse) String added in v0.1.123 

func (x *MoveOnGlobeResponse) String() string

type MoveOnMapRequest added in v0.1.104 

type MoveOnMapRequest struct {

	// Name of the motion service
	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	// Specify a destination to, which can be any pose with respect to the SLAM map's origin
	Destination *v1.Pose `protobuf:"bytes,2,opt,name=destination,proto3" json:"destination,omitempty"`
	// Component on the robot to move to the specified destination
	ComponentName *v1.ResourceName `protobuf:"bytes,3,opt,name=component_name,json=componentName,proto3" json:"component_name,omitempty"`
	// Name of the slam service from which the SLAM map is requested
	SlamServiceName *v1.ResourceName `protobuf:"bytes,4,opt,name=slam_service_name,json=slamServiceName,proto3" json:"slam_service_name,omitempty"`
	// Optional set of motion configuration options
	MotionConfiguration *MotionConfiguration `protobuf:"bytes,5,opt,name=motion_configuration,json=motionConfiguration,proto3,oneof" json:"motion_configuration,omitempty"`
	// Obstacles to be considered for motion planning
	Obstacles []*v1.Geometry `protobuf:"bytes,6,rep,name=obstacles,proto3" json:"obstacles,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 (*MoveOnMapRequest) Descriptor deprecated added in v0.1.104 

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

Deprecated: Use MoveOnMapRequest.ProtoReflect.Descriptor instead.

func (*MoveOnMapRequest) GetComponentName added in v0.1.104 

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

func (*MoveOnMapRequest) GetDestination added in v0.1.104 

func (x *MoveOnMapRequest) GetDestination() *v1.Pose

func (*MoveOnMapRequest) GetExtra added in v0.1.104 

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

func (*MoveOnMapRequest) GetMotionConfiguration added in v0.1.255 

func (x *MoveOnMapRequest) GetMotionConfiguration() *MotionConfiguration

func (*MoveOnMapRequest) GetName added in v0.1.104 

func (x *MoveOnMapRequest) GetName() string

func (*MoveOnMapRequest) GetObstacles added in v0.1.256 

func (x *MoveOnMapRequest) GetObstacles() []*v1.Geometry

func (*MoveOnMapRequest) GetSlamServiceName added in v0.1.104 

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

func (*MoveOnMapRequest) ProtoMessage added in v0.1.104 

func (*MoveOnMapRequest) ProtoMessage()

func (*MoveOnMapRequest) ProtoReflect added in v0.1.104 

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

func (*MoveOnMapRequest) Reset added in v0.1.104 

func (x *MoveOnMapRequest) Reset()

func (*MoveOnMapRequest) String added in v0.1.104 

func (x *MoveOnMapRequest) String() string

type MoveOnMapResponse added in v0.1.104 

type MoveOnMapResponse struct {

	// The unique ID which identifies the execution.
	// Multiple plans will share the same execution_id if they were
	// generated due to replanning.
	ExecutionId string `protobuf:"bytes,1,opt,name=execution_id,json=executionId,proto3" json:"execution_id,omitempty"`
	// contains filtered or unexported fields
}

func (*MoveOnMapResponse) Descriptor deprecated added in v0.1.104 

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

Deprecated: Use MoveOnMapResponse.ProtoReflect.Descriptor instead.

func (*MoveOnMapResponse) GetExecutionId added in v0.1.255 

func (x *MoveOnMapResponse) GetExecutionId() string

func (*MoveOnMapResponse) ProtoMessage added in v0.1.104 

func (*MoveOnMapResponse) ProtoMessage()

func (*MoveOnMapResponse) ProtoReflect added in v0.1.104 

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

func (*MoveOnMapResponse) Reset added in v0.1.104 

func (x *MoveOnMapResponse) Reset()

func (*MoveOnMapResponse) String added in v0.1.104 

func (x *MoveOnMapResponse) String() string

type MoveRequest 

type MoveRequest struct {

	// Name of the motion service
	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	// Destination to move to, which can a pose in the reference frame of any frame in the robot's frame system
	Destination *v1.PoseInFrame `protobuf:"bytes,2,opt,name=destination,proto3" json:"destination,omitempty"`
	// Component on the robot to move to the specified destination
	ComponentName *v1.ResourceName `protobuf:"bytes,3,opt,name=component_name,json=componentName,proto3" json:"component_name,omitempty"`
	// Avoid obstacles by specifying their geometries in the world state
	// Augment the frame system of the robot by specifying additional transforms to add to it for the duration of the Move
	WorldState *v1.WorldState `protobuf:"bytes,4,opt,name=world_state,json=worldState,proto3,oneof" json:"world_state,omitempty"`
	// Constrain the way the robot will move
	Constraints *Constraints `protobuf:"bytes,5,opt,name=constraints,proto3,oneof" json:"constraints,omitempty"`
	// Additional arguments to the method
	Extra *structpb.Struct `protobuf:"bytes,99,opt,name=extra,proto3" json:"extra,omitempty"`
	// contains filtered or unexported fields
}

Moves any component on the robot to a specified destination which can be from the reference frame of any other component on the robot.

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) 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 ObstacleDetector added in v0.1.215 

type ObstacleDetector struct {
	VisionService *v1.ResourceName `protobuf:"bytes,1,opt,name=vision_service,json=visionService,proto3" json:"vision_service,omitempty"`
	Camera        *v1.ResourceName `protobuf:"bytes,2,opt,name=camera,proto3" json:"camera,omitempty"`
	// contains filtered or unexported fields
}

Pairs a vision service with a camera, informing the service about which camera it may use

func (*ObstacleDetector) Descriptor deprecated added in v0.1.215 

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

Deprecated: Use ObstacleDetector.ProtoReflect.Descriptor instead.

func (*ObstacleDetector) GetCamera added in v0.1.215 

func (x *ObstacleDetector) GetCamera() *v1.ResourceName

func (*ObstacleDetector) GetVisionService added in v0.1.215 

func (x *ObstacleDetector) GetVisionService() *v1.ResourceName

func (*ObstacleDetector) ProtoMessage added in v0.1.215 

func (*ObstacleDetector) ProtoMessage()

func (*ObstacleDetector) ProtoReflect added in v0.1.215 

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

func (*ObstacleDetector) Reset added in v0.1.215 

func (x *ObstacleDetector) Reset()

func (*ObstacleDetector) String added in v0.1.215 

func (x *ObstacleDetector) String() string

type OrientationConstraint added in v0.1.83 

type OrientationConstraint struct {

	// Max allowable orientation deviation, in degrees, while on the shortest path between start / goal states
	OrientationToleranceDegs *float32 `` /* 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 Plan added in v0.1.198 

type Plan struct {

	// The plan's unique ID
	Id string `protobuf:"bytes,1,opt,name=id,proto3" json:"id,omitempty"`
	// The component requested to be moved.
	// Used for tracking & stopping.
	// NOTE: A plan may move more components than just the
	// root component.
	ComponentName *v1.ResourceName `protobuf:"bytes,2,opt,name=component_name,json=componentName,proto3" json:"component_name,omitempty"`
	// The unique ID which identifies the execution.
	// Multiple plans will share the same execution_id if they were
	// generated due to replanning
	ExecutionId string `protobuf:"bytes,3,opt,name=execution_id,json=executionId,proto3" json:"execution_id,omitempty"`
	// The steps of a plan is an ordered list of plan steps
	Steps []*PlanStep `protobuf:"bytes,4,rep,name=steps,proto3" json:"steps,omitempty"`
	// contains filtered or unexported fields
}

A plan describes a motion plan

func (*Plan) Descriptor deprecated added in v0.1.198 

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

Deprecated: Use Plan.ProtoReflect.Descriptor instead.

func (*Plan) GetComponentName added in v0.1.198 

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

func (*Plan) GetExecutionId added in v0.1.198 

func (x *Plan) GetExecutionId() string

func (*Plan) GetId added in v0.1.198 

func (x *Plan) GetId() string

func (*Plan) GetSteps added in v0.1.198 

func (x *Plan) GetSteps() []*PlanStep

func (*Plan) ProtoMessage added in v0.1.198 

func (*Plan) ProtoMessage()

func (*Plan) ProtoReflect added in v0.1.198 

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

func (*Plan) Reset added in v0.1.198 

func (x *Plan) Reset()

func (*Plan) String added in v0.1.198 

func (x *Plan) String() string

type PlanState added in v0.1.198 

type PlanState int32

The states that a plan can be in. InProgress if the plan is executing. Stopped if the plan was stopped. Suceeded if the robot reached its destination successfully. Failed if the robot did not reach its destination. 

const (
	PlanState_PLAN_STATE_UNSPECIFIED PlanState = 0
	PlanState_PLAN_STATE_IN_PROGRESS PlanState = 1
	PlanState_PLAN_STATE_STOPPED     PlanState = 2
	PlanState_PLAN_STATE_SUCCEEDED   PlanState = 3
	PlanState_PLAN_STATE_FAILED      PlanState = 4
)

func (PlanState) Descriptor added in v0.1.198 

func (PlanState) Descriptor() protoreflect.EnumDescriptor

func (PlanState) Enum added in v0.1.198 

func (x PlanState) Enum() *PlanState

func (PlanState) EnumDescriptor deprecated added in v0.1.198 

func (PlanState) EnumDescriptor() ([]byte, []int)

Deprecated: Use PlanState.Descriptor instead.

func (PlanState) Number added in v0.1.198 

func (x PlanState) Number() protoreflect.EnumNumber

func (PlanState) String added in v0.1.198 

func (x PlanState) String() string

func (PlanState) Type added in v0.1.198 

func (PlanState) Type() protoreflect.EnumType

type PlanStatus added in v0.1.198 

type PlanStatus struct {

	// The state of the plan execution
	State PlanState `protobuf:"varint,1,opt,name=state,proto3,enum=viam.service.motion.v1.PlanState" json:"state,omitempty"`
	// The time the executing plan transtioned to the state
	Timestamp *timestamppb.Timestamp `protobuf:"bytes,2,opt,name=timestamp,proto3" json:"timestamp,omitempty"`
	// The reason for the state change. If motion plan failed
	// this will return the error message.
	// If motion needed to re-plan, this will return
	// the re-plan reason.
	Reason *string `protobuf:"bytes,3,opt,name=reason,proto3,oneof" json:"reason,omitempty"`
	// contains filtered or unexported fields
}

Plan status describes the state of a given plan at a point in time

func (*PlanStatus) Descriptor deprecated added in v0.1.198 

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

Deprecated: Use PlanStatus.ProtoReflect.Descriptor instead.

func (*PlanStatus) GetReason added in v0.1.198 

func (x *PlanStatus) GetReason() string

func (*PlanStatus) GetState added in v0.1.198 

func (x *PlanStatus) GetState() PlanState

func (*PlanStatus) GetTimestamp added in v0.1.198 

func (x *PlanStatus) GetTimestamp() *timestamppb.Timestamp

func (*PlanStatus) ProtoMessage added in v0.1.198 

func (*PlanStatus) ProtoMessage()

func (*PlanStatus) ProtoReflect added in v0.1.198 

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

func (*PlanStatus) Reset added in v0.1.198 

func (x *PlanStatus) Reset()

func (*PlanStatus) String added in v0.1.198 

func (x *PlanStatus) String() string

type PlanStatusWithID added in v0.1.204 

type PlanStatusWithID struct {

	// The unique ID of the plan
	PlanId string `protobuf:"bytes,1,opt,name=plan_id,json=planId,proto3" json:"plan_id,omitempty"`
	// The component to be moved.
	// Used for tracking & stopping.
	// NOTE: A plan may move more components than just the
	// component_name.
	ComponentName *v1.ResourceName `protobuf:"bytes,2,opt,name=component_name,json=componentName,proto3" json:"component_name,omitempty"`
	// The unique ID which identifies the plan execution.
	// Multiple plans will share the same execution_id if they were
	// generated due to replanning.
	ExecutionId string      `protobuf:"bytes,3,opt,name=execution_id,json=executionId,proto3" json:"execution_id,omitempty"`
	Status      *PlanStatus `protobuf:"bytes,4,opt,name=status,proto3" json:"status,omitempty"`
	// contains filtered or unexported fields
}

PlanStatusWithID describes the state of a given plan at a point in time plus the plan_id, component_name and execution_id the status is associated with

func (*PlanStatusWithID) Descriptor deprecated added in v0.1.204 

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

Deprecated: Use PlanStatusWithID.ProtoReflect.Descriptor instead.

func (*PlanStatusWithID) GetComponentName added in v0.1.204 

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

func (*PlanStatusWithID) GetExecutionId added in v0.1.204 

func (x *PlanStatusWithID) GetExecutionId() string

func (*PlanStatusWithID) GetPlanId added in v0.1.204 

func (x *PlanStatusWithID) GetPlanId() string

func (*PlanStatusWithID) GetStatus added in v0.1.204 

func (x *PlanStatusWithID) GetStatus() *PlanStatus

func (*PlanStatusWithID) ProtoMessage added in v0.1.204 

func (*PlanStatusWithID) ProtoMessage()

func (*PlanStatusWithID) ProtoReflect added in v0.1.204 

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

func (*PlanStatusWithID) Reset added in v0.1.204 

func (x *PlanStatusWithID) Reset()

func (*PlanStatusWithID) String added in v0.1.204 

func (x *PlanStatusWithID) String() string

type PlanStep added in v0.1.198 

type PlanStep struct {

	// A step is the component state each
	// component resource should reach while executing
	// that step of the plan.
	// Keys are the fully qualified component name.
	Step map[string]*ComponentState `` /* 149-byte string literal not displayed */
	// contains filtered or unexported fields
}

func (*PlanStep) Descriptor deprecated added in v0.1.198 

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

Deprecated: Use PlanStep.ProtoReflect.Descriptor instead.

func (*PlanStep) GetStep added in v0.1.198 

func (x *PlanStep) GetStep() map[string]*ComponentState

func (*PlanStep) ProtoMessage added in v0.1.198 

func (*PlanStep) ProtoMessage()

func (*PlanStep) ProtoReflect added in v0.1.198 

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

func (*PlanStep) Reset added in v0.1.198 

func (x *PlanStep) Reset()

func (*PlanStep) String added in v0.1.198 

func (x *PlanStep) String() string

type PlanWithStatus added in v0.1.198 

type PlanWithStatus struct {

	// The plan
	Plan *Plan `protobuf:"bytes,1,opt,name=plan,proto3" json:"plan,omitempty"`
	// The current status of the plan
	Status *PlanStatus `protobuf:"bytes,2,opt,name=status,proto3" json:"status,omitempty"`
	// The prior status changes that have happened during plan execution
	StatusHistory []*PlanStatus `protobuf:"bytes,3,rep,name=status_history,json=statusHistory,proto3" json:"status_history,omitempty"`
	// contains filtered or unexported fields
}

Describes a plan, its current status & all status changes that have occured previously on that plan

func (*PlanWithStatus) Descriptor deprecated added in v0.1.198 

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

Deprecated: Use PlanWithStatus.ProtoReflect.Descriptor instead.

func (*PlanWithStatus) GetPlan added in v0.1.198 

func (x *PlanWithStatus) GetPlan() *Plan

func (*PlanWithStatus) GetStatus added in v0.1.198 

func (x *PlanWithStatus) GetStatus() *PlanStatus

func (*PlanWithStatus) GetStatusHistory added in v0.1.198 

func (x *PlanWithStatus) GetStatusHistory() []*PlanStatus

func (*PlanWithStatus) ProtoMessage added in v0.1.198 

func (*PlanWithStatus) ProtoMessage()

func (*PlanWithStatus) ProtoReflect added in v0.1.198 

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

func (*PlanWithStatus) Reset added in v0.1.198 

func (x *PlanWithStatus) Reset()

func (*PlanWithStatus) String added in v0.1.198 

func (x *PlanWithStatus) String() string

type StopPlanRequest added in v0.1.198 

type StopPlanRequest struct {

	// The name of the motion service
	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	// The component of the currently executing plan to stop
	ComponentName *v1.ResourceName `protobuf:"bytes,2,opt,name=component_name,json=componentName,proto3" json:"component_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 (*StopPlanRequest) Descriptor deprecated added in v0.1.198 

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

Deprecated: Use StopPlanRequest.ProtoReflect.Descriptor instead.

func (*StopPlanRequest) GetComponentName added in v0.1.205 

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

func (*StopPlanRequest) GetExtra added in v0.1.198 

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

func (*StopPlanRequest) GetName added in v0.1.198 

func (x *StopPlanRequest) GetName() string

func (*StopPlanRequest) ProtoMessage added in v0.1.198 

func (*StopPlanRequest) ProtoMessage()

func (*StopPlanRequest) ProtoReflect added in v0.1.198 

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

func (*StopPlanRequest) Reset added in v0.1.198 

func (x *StopPlanRequest) Reset()

func (*StopPlanRequest) String added in v0.1.198 

func (x *StopPlanRequest) String() string

type StopPlanResponse added in v0.1.198 

type StopPlanResponse struct {
	// contains filtered or unexported fields
}

func (*StopPlanResponse) Descriptor deprecated added in v0.1.198 

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

Deprecated: Use StopPlanResponse.ProtoReflect.Descriptor instead.

func (*StopPlanResponse) ProtoMessage added in v0.1.198 

func (*StopPlanResponse) ProtoMessage()

func (*StopPlanResponse) ProtoReflect added in v0.1.198 

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

func (*StopPlanResponse) Reset added in v0.1.198 

func (x *StopPlanResponse) Reset()

func (*StopPlanResponse) String added in v0.1.198 

func (x *StopPlanResponse) 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) GetPlan added in v0.1.198 

func (UnimplementedMotionServiceServer) GetPlan(context.Context, *GetPlanRequest) (*GetPlanResponse, error)

func (UnimplementedMotionServiceServer) GetPose 

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

func (UnimplementedMotionServiceServer) ListPlanStatuses added in v0.1.198 

func (UnimplementedMotionServiceServer) ListPlanStatuses(context.Context, *ListPlanStatusesRequest) (*ListPlanStatusesResponse, error)

func (UnimplementedMotionServiceServer) Move 

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

func (UnimplementedMotionServiceServer) MoveOnGlobe added in v0.1.123 

func (UnimplementedMotionServiceServer) MoveOnGlobe(context.Context, *MoveOnGlobeRequest) (*MoveOnGlobeResponse, error)

func (UnimplementedMotionServiceServer) MoveOnMap added in v0.1.104 

func (UnimplementedMotionServiceServer) MoveOnMap(context.Context, *MoveOnMapRequest) (*MoveOnMapResponse, error)

func (UnimplementedMotionServiceServer) StopPlan added in v0.1.198 

func (UnimplementedMotionServiceServer) StopPlan(context.Context, *StopPlanRequest) (*StopPlanResponse, 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.

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