bosdyn-api 3.3.2__py3-none-any.whl → 4.0.0__py3-none-any.whl

bosdyn/api/power_service_pb2_grpc.py

@@ -35,6 +35,11 @@ class PowerServiceStub(object):
                 request_serializer=bosdyn_dot_api_dot_power__pb2.FanPowerCommandFeedbackRequest.SerializeToString,
                 response_deserializer=bosdyn_dot_api_dot_power__pb2.FanPowerCommandFeedbackResponse.FromString,
                 )
+        self.ResetSafetyStop = channel.unary_unary(
+                '/bosdyn.api.PowerService/ResetSafetyStop',
+                request_serializer=bosdyn_dot_api_dot_power__pb2.ResetSafetyStopRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_power__pb2.ResetSafetyStopResponse.FromString,
+                )
 
 
 class PowerServiceServicer(object):
@@ -71,6 +76,13 @@ class PowerServiceServicer(object):
         context.set_details('Method not implemented!')
         raise NotImplementedError('Method not implemented!')
 
+    def ResetSafetyStop(self, request, context):
+        """Reset the safety stop bit on SRSF-configured robots.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
 
 def add_PowerServiceServicer_to_server(servicer, server):
     rpc_method_handlers = {
@@ -94,6 +106,11 @@ def add_PowerServiceServicer_to_server(servicer, server):
                     request_deserializer=bosdyn_dot_api_dot_power__pb2.FanPowerCommandFeedbackRequest.FromString,
                     response_serializer=bosdyn_dot_api_dot_power__pb2.FanPowerCommandFeedbackResponse.SerializeToString,
             ),
+            'ResetSafetyStop': grpc.unary_unary_rpc_method_handler(
+                    servicer.ResetSafetyStop,
+                    request_deserializer=bosdyn_dot_api_dot_power__pb2.ResetSafetyStopRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_power__pb2.ResetSafetyStopResponse.SerializeToString,
+            ),
     }
     generic_handler = grpc.method_handlers_generic_handler(
             'bosdyn.api.PowerService', rpc_method_handlers)
@@ -172,3 +189,20 @@ class PowerService(object):
             bosdyn_dot_api_dot_power__pb2.FanPowerCommandFeedbackResponse.FromString,
             options, channel_credentials,
             insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def ResetSafetyStop(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.PowerService/ResetSafetyStop',
+            bosdyn_dot_api_dot_power__pb2.ResetSafetyStopRequest.SerializeToString,
+            bosdyn_dot_api_dot_power__pb2.ResetSafetyStopResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)

bosdyn/api/robot_command_pb2.py

@@ -12,15 +12,15 @@ from google.protobuf import symbol_database as _symbol_database
 _sym_db = _symbol_database.Default()
 
 
+from bosdyn.api import basic_command_pb2 as bosdyn_dot_api_dot_basic__command__pb2
 from bosdyn.api import full_body_command_pb2 as bosdyn_dot_api_dot_full__body__command__pb2
 from bosdyn.api import header_pb2 as bosdyn_dot_api_dot_header__pb2
 from bosdyn.api import lease_pb2 as bosdyn_dot_api_dot_lease__pb2
-from bosdyn.api import mobility_command_pb2 as bosdyn_dot_api_dot_mobility__command__pb2
 from bosdyn.api import robot_state_pb2 as bosdyn_dot_api_dot_robot__state__pb2
 from bosdyn.api import synchronized_command_pb2 as bosdyn_dot_api_dot_synchronized__command__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1e\x62osdyn/api/robot_command.proto\x12\nbosdyn.api\x1a\"bosdyn/api/full_body_command.proto\x1a\x17\x62osdyn/api/header.proto\x1a\x16\x62osdyn/api/lease.proto\x1a!bosdyn/api/mobility_command.proto\x1a\x1c\x62osdyn/api/robot_state.proto\x1a%bosdyn/api/synchronized_command.proto\"\xe9\x01\n\x0cRobotCommand\x12@\n\x11\x66ull_body_command\x18\x01 \x01(\x0b\x32#.bosdyn.api.FullBodyCommand.RequestH\x00\x12G\n\x14synchronized_command\x18\x03 \x01(\x0b\x32\'.bosdyn.api.SynchronizedCommand.RequestH\x00\x12\x43\n\x10mobility_command\x18\x02 \x01(\x0b\x32#.bosdyn.api.MobilityCommand.RequestB\x02\x18\x01H\x00\x42\t\n\x07\x63ommand\"\xf7\x01\n\x14RobotCommandFeedback\x12\x42\n\x12\x66ull_body_feedback\x18\x02 \x01(\x0b\x32$.bosdyn.api.FullBodyCommand.FeedbackH\x00\x12I\n\x15synchronized_feedback\x18\x03 \x01(\x0b\x32(.bosdyn.api.SynchronizedCommand.FeedbackH\x00\x12\x45\n\x11mobility_feedback\x18\x01 \x01(\x0b\x32$.bosdyn.api.MobilityCommand.FeedbackB\x02\x18\x01H\x00\x42\t\n\x07\x63ommand\"\xa7\x01\n\x13RobotCommandRequest\x12)\n\x06header\x18\x01 \x01(\x0b\x32\x19.bosdyn.api.RequestHeader\x12 \n\x05lease\x18\x02 \x01(\x0b\x32\x11.bosdyn.api.Lease\x12)\n\x07\x63ommand\x18\x03 \x01(\x0b\x32\x18.bosdyn.api.RobotCommand\x12\x18\n\x10\x63lock_identifier\x18\x04 \x01(\t\"\xe5\x03\n\x14RobotCommandResponse\x12*\n\x06header\x18\x01 \x01(\x0b\x32\x1a.bosdyn.api.ResponseHeader\x12\x34\n\x10lease_use_result\x18\x02 \x01(\x0b\x32\x1a.bosdyn.api.LeaseUseResult\x12\x37\n\x06status\x18\x03 \x01(\x0e\x32\'.bosdyn.api.RobotCommandResponse.Status\x12\x0f\n\x07message\x18\x04 \x01(\t\x12\x18\n\x10robot_command_id\x18\x05 \x01(\r\"\x86\x02\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\r\n\tSTATUS_OK\x10\x01\x12\x1a\n\x16STATUS_INVALID_REQUEST\x10\x02\x12\x16\n\x12STATUS_UNSUPPORTED\x10\x03\x12\x16\n\x12STATUS_NO_TIMESYNC\x10\x04\x12\x12\n\x0eSTATUS_EXPIRED\x10\x05\x12\x16\n\x12STATUS_TOO_DISTANT\x10\x06\x12\x19\n\x15STATUS_NOT_POWERED_ON\x10\x07\x12\x19\n\x15STATUS_BEHAVIOR_FAULT\x10\t\x12\x11\n\rSTATUS_DOCKED\x10\n\x12\x18\n\x14STATUS_UNKNOWN_FRAME\x10\x08\"b\n\x1bRobotCommandFeedbackRequest\x12)\n\x06header\x18\x01 \x01(\x0b\x32\x19.bosdyn.api.RequestHeader\x12\x18\n\x10robot_command_id\x18\x02 \x01(\r\"\x9e\x03\n\x1cRobotCommandFeedbackResponse\x12*\n\x06header\x18\x01 \x01(\x0b\x32\x1a.bosdyn.api.ResponseHeader\x12\x34\n\x10lease_use_result\x18\x05 \x01(\x0b\x32\x1a.bosdyn.api.LeaseUseResult\x12\x43\n\x06status\x18\x02 \x01(\x0e\x32/.bosdyn.api.RobotCommandFeedbackResponse.StatusB\x02\x18\x01\x12\x13\n\x07message\x18\x03 \x01(\tB\x02\x18\x01\x12\x32\n\x08\x66\x65\x65\x64\x62\x61\x63k\x18\x04 \x01(\x0b\x32 .bosdyn.api.RobotCommandFeedback\"\x8d\x01\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\x15\n\x11STATUS_PROCESSING\x10\x01\x12\x1d\n\x19STATUS_COMMAND_OVERRIDDEN\x10\x02\x12\x1c\n\x18STATUS_COMMAND_TIMED_OUT\x10\x03\x12\x17\n\x13STATUS_ROBOT_FROZEN\x10\x04\x1a\x02\x18\x01\"\x83\x01\n\x19\x43learBehaviorFaultRequest\x12)\n\x06header\x18\x01 \x01(\x0b\x32\x19.bosdyn.api.RequestHeader\x12 \n\x05lease\x18\x02 \x01(\x0b\x32\x11.bosdyn.api.Lease\x12\x19\n\x11\x62\x65havior_fault_id\x18\x03 \x01(\r\"\xf3\x02\n\x1a\x43learBehaviorFaultResponse\x12*\n\x06header\x18\x01 \x01(\x0b\x32\x1a.bosdyn.api.ResponseHeader\x12\x34\n\x10lease_use_result\x18\x02 \x01(\x0b\x32\x1a.bosdyn.api.LeaseUseResult\x12=\n\x06status\x18\x03 \x01(\x0e\x32-.bosdyn.api.ClearBehaviorFaultResponse.Status\x12\x31\n\x0e\x62\x65havior_fault\x18\x04 \x01(\x0b\x32\x19.bosdyn.api.BehaviorFault\x12\x37\n\x16\x62locking_system_faults\x18\x05 \x03(\x0b\x32\x17.bosdyn.api.SystemFault\"H\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\x12\n\x0eSTATUS_CLEARED\x10\x01\x12\x16\n\x12STATUS_NOT_CLEARED\x10\x02\x42\x13\x42\x11RobotCommandProtob\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1e\x62osdyn/api/robot_command.proto\x12\nbosdyn.api\x1a\x1e\x62osdyn/api/basic_command.proto\x1a\"bosdyn/api/full_body_command.proto\x1a\x17\x62osdyn/api/header.proto\x1a\x16\x62osdyn/api/lease.proto\x1a\x1c\x62osdyn/api/robot_state.proto\x1a%bosdyn/api/synchronized_command.proto\"\xaa\x01\n\x0cRobotCommand\x12@\n\x11\x66ull_body_command\x18\x01 \x01(\x0b\x32#.bosdyn.api.FullBodyCommand.RequestH\x00\x12G\n\x14synchronized_command\x18\x03 \x01(\x0b\x32\'.bosdyn.api.SynchronizedCommand.RequestH\x00\x42\t\n\x07\x63ommandJ\x04\x08\x02\x10\x03\"\xb6\x01\n\x14RobotCommandFeedback\x12\x42\n\x12\x66ull_body_feedback\x18\x02 \x01(\x0b\x32$.bosdyn.api.FullBodyCommand.FeedbackH\x00\x12I\n\x15synchronized_feedback\x18\x03 \x01(\x0b\x32(.bosdyn.api.SynchronizedCommand.FeedbackH\x00\x42\t\n\x07\x63ommandJ\x04\x08\x01\x10\x02\"\xa7\x01\n\x13RobotCommandRequest\x12)\n\x06header\x18\x01 \x01(\x0b\x32\x19.bosdyn.api.RequestHeader\x12 \n\x05lease\x18\x02 \x01(\x0b\x32\x11.bosdyn.api.Lease\x12)\n\x07\x63ommand\x18\x03 \x01(\x0b\x32\x18.bosdyn.api.RobotCommand\x12\x18\n\x10\x63lock_identifier\x18\x04 \x01(\t\"\xe5\x03\n\x14RobotCommandResponse\x12*\n\x06header\x18\x01 \x01(\x0b\x32\x1a.bosdyn.api.ResponseHeader\x12\x34\n\x10lease_use_result\x18\x02 \x01(\x0b\x32\x1a.bosdyn.api.LeaseUseResult\x12\x37\n\x06status\x18\x03 \x01(\x0e\x32\'.bosdyn.api.RobotCommandResponse.Status\x12\x0f\n\x07message\x18\x04 \x01(\t\x12\x18\n\x10robot_command_id\x18\x05 \x01(\r\"\x86\x02\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\r\n\tSTATUS_OK\x10\x01\x12\x1a\n\x16STATUS_INVALID_REQUEST\x10\x02\x12\x16\n\x12STATUS_UNSUPPORTED\x10\x03\x12\x16\n\x12STATUS_NO_TIMESYNC\x10\x04\x12\x12\n\x0eSTATUS_EXPIRED\x10\x05\x12\x16\n\x12STATUS_TOO_DISTANT\x10\x06\x12\x19\n\x15STATUS_NOT_POWERED_ON\x10\x07\x12\x19\n\x15STATUS_BEHAVIOR_FAULT\x10\t\x12\x11\n\rSTATUS_DOCKED\x10\n\x12\x18\n\x14STATUS_UNKNOWN_FRAME\x10\x08\"b\n\x1bRobotCommandFeedbackRequest\x12)\n\x06header\x18\x01 \x01(\x0b\x32\x19.bosdyn.api.RequestHeader\x12\x18\n\x10robot_command_id\x18\x02 \x01(\r\"\xc0\x01\n\x1cRobotCommandFeedbackResponse\x12*\n\x06header\x18\x01 \x01(\x0b\x32\x1a.bosdyn.api.ResponseHeader\x12\x34\n\x10lease_use_result\x18\x05 \x01(\x0b\x32\x1a.bosdyn.api.LeaseUseResult\x12\x32\n\x08\x66\x65\x65\x64\x62\x61\x63k\x18\x04 \x01(\x0b\x32 .bosdyn.api.RobotCommandFeedbackJ\x04\x08\x02\x10\x03J\x04\x08\x03\x10\x04\"\x83\x01\n\x19\x43learBehaviorFaultRequest\x12)\n\x06header\x18\x01 \x01(\x0b\x32\x19.bosdyn.api.RequestHeader\x12 \n\x05lease\x18\x02 \x01(\x0b\x32\x11.bosdyn.api.Lease\x12\x19\n\x11\x62\x65havior_fault_id\x18\x03 \x01(\r\"\xf3\x02\n\x1a\x43learBehaviorFaultResponse\x12*\n\x06header\x18\x01 \x01(\x0b\x32\x1a.bosdyn.api.ResponseHeader\x12\x34\n\x10lease_use_result\x18\x02 \x01(\x0b\x32\x1a.bosdyn.api.LeaseUseResult\x12=\n\x06status\x18\x03 \x01(\x0e\x32-.bosdyn.api.ClearBehaviorFaultResponse.Status\x12\x31\n\x0e\x62\x65havior_fault\x18\x04 \x01(\x0b\x32\x19.bosdyn.api.BehaviorFault\x12\x37\n\x16\x62locking_system_faults\x18\x05 \x03(\x0b\x32\x17.bosdyn.api.SystemFault\"H\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\x12\n\x0eSTATUS_CLEARED\x10\x01\x12\x16\n\x12STATUS_NOT_CLEARED\x10\x02\"\x85\x01\n\x19JointControlStreamRequest\x12)\n\x06header\x18\x01 \x01(\x0b\x32\x19.bosdyn.api.RequestHeader\x12=\n\rjoint_command\x18\x02 \x01(\x0b\x32&.bosdyn.api.JointCommand.UpdateRequest\"\xa3\x02\n\x1aJointControlStreamResponse\x12*\n\x06header\x18\x01 \x01(\x0b\x32\x1a.bosdyn.api.ResponseHeader\x12=\n\x06status\x18\x02 \x01(\x0e\x32-.bosdyn.api.JointControlStreamResponse.Status\x12\x0f\n\x07message\x18\x03 \x01(\t\"\x88\x01\n\x06Status\x12\x12\n\x0eSTATUS_UNKNOWN\x10\x00\x12\r\n\tSTATUS_OK\x10\x01\x12\x1a\n\x16STATUS_INVALID_REQUEST\x10\x02\x12\x13\n\x0fSTATUS_INACTIVE\x10\x03\x12\x12\n\x0eSTATUS_EXPIRED\x10\x04\x12\x16\n\x12STATUS_TOO_DISTANT\x10\x05\x42\x13\x42\x11RobotCommandProtob\x06proto3')
 
 
 
@@ -32,9 +32,11 @@ _ROBOTCOMMANDFEEDBACKREQUEST = DESCRIPTOR.message_types_by_name['RobotCommandFee
 _ROBOTCOMMANDFEEDBACKRESPONSE = DESCRIPTOR.message_types_by_name['RobotCommandFeedbackResponse']
 _CLEARBEHAVIORFAULTREQUEST = DESCRIPTOR.message_types_by_name['ClearBehaviorFaultRequest']
 _CLEARBEHAVIORFAULTRESPONSE = DESCRIPTOR.message_types_by_name['ClearBehaviorFaultResponse']
+_JOINTCONTROLSTREAMREQUEST = DESCRIPTOR.message_types_by_name['JointControlStreamRequest']
+_JOINTCONTROLSTREAMRESPONSE = DESCRIPTOR.message_types_by_name['JointControlStreamResponse']
 _ROBOTCOMMANDRESPONSE_STATUS = _ROBOTCOMMANDRESPONSE.enum_types_by_name['Status']
-_ROBOTCOMMANDFEEDBACKRESPONSE_STATUS = _ROBOTCOMMANDFEEDBACKRESPONSE.enum_types_by_name['Status']
 _CLEARBEHAVIORFAULTRESPONSE_STATUS = _CLEARBEHAVIORFAULTRESPONSE.enum_types_by_name['Status']
+_JOINTCONTROLSTREAMRESPONSE_STATUS = _JOINTCONTROLSTREAMRESPONSE.enum_types_by_name['Status']
 RobotCommand = _reflection.GeneratedProtocolMessageType('RobotCommand', (_message.Message,), {
   'DESCRIPTOR' : _ROBOTCOMMAND,
   '__module__' : 'bosdyn.api.robot_command_pb2'
@@ -91,40 +93,48 @@ ClearBehaviorFaultResponse = _reflection.GeneratedProtocolMessageType('ClearBeha
   })
 _sym_db.RegisterMessage(ClearBehaviorFaultResponse)
 
+JointControlStreamRequest = _reflection.GeneratedProtocolMessageType('JointControlStreamRequest', (_message.Message,), {
+  'DESCRIPTOR' : _JOINTCONTROLSTREAMREQUEST,
+  '__module__' : 'bosdyn.api.robot_command_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.JointControlStreamRequest)
+  })
+_sym_db.RegisterMessage(JointControlStreamRequest)
+
+JointControlStreamResponse = _reflection.GeneratedProtocolMessageType('JointControlStreamResponse', (_message.Message,), {
+  'DESCRIPTOR' : _JOINTCONTROLSTREAMRESPONSE,
+  '__module__' : 'bosdyn.api.robot_command_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.JointControlStreamResponse)
+  })
+_sym_db.RegisterMessage(JointControlStreamResponse)
+
 if _descriptor._USE_C_DESCRIPTORS == False:
 
   DESCRIPTOR._options = None
   DESCRIPTOR._serialized_options = b'B\021RobotCommandProto'
-  _ROBOTCOMMAND.fields_by_name['mobility_command']._options = None
-  _ROBOTCOMMAND.fields_by_name['mobility_command']._serialized_options = b'\030\001'
-  _ROBOTCOMMANDFEEDBACK.fields_by_name['mobility_feedback']._options = None
-  _ROBOTCOMMANDFEEDBACK.fields_by_name['mobility_feedback']._serialized_options = b'\030\001'
-  _ROBOTCOMMANDFEEDBACKRESPONSE_STATUS._options = None
-  _ROBOTCOMMANDFEEDBACKRESPONSE_STATUS._serialized_options = b'\030\001'
-  _ROBOTCOMMANDFEEDBACKRESPONSE.fields_by_name['status']._options = None
-  _ROBOTCOMMANDFEEDBACKRESPONSE.fields_by_name['status']._serialized_options = b'\030\001'
-  _ROBOTCOMMANDFEEDBACKRESPONSE.fields_by_name['message']._options = None
-  _ROBOTCOMMANDFEEDBACKRESPONSE.fields_by_name['message']._serialized_options = b'\030\001'
-  _ROBOTCOMMAND._serialized_start=236
-  _ROBOTCOMMAND._serialized_end=469
-  _ROBOTCOMMANDFEEDBACK._serialized_start=472
-  _ROBOTCOMMANDFEEDBACK._serialized_end=719
-  _ROBOTCOMMANDREQUEST._serialized_start=722
-  _ROBOTCOMMANDREQUEST._serialized_end=889
-  _ROBOTCOMMANDRESPONSE._serialized_start=892
-  _ROBOTCOMMANDRESPONSE._serialized_end=1377
-  _ROBOTCOMMANDRESPONSE_STATUS._serialized_start=1115
-  _ROBOTCOMMANDRESPONSE_STATUS._serialized_end=1377
-  _ROBOTCOMMANDFEEDBACKREQUEST._serialized_start=1379
-  _ROBOTCOMMANDFEEDBACKREQUEST._serialized_end=1477
-  _ROBOTCOMMANDFEEDBACKRESPONSE._serialized_start=1480
-  _ROBOTCOMMANDFEEDBACKRESPONSE._serialized_end=1894
-  _ROBOTCOMMANDFEEDBACKRESPONSE_STATUS._serialized_start=1753
-  _ROBOTCOMMANDFEEDBACKRESPONSE_STATUS._serialized_end=1894
-  _CLEARBEHAVIORFAULTREQUEST._serialized_start=1897
-  _CLEARBEHAVIORFAULTREQUEST._serialized_end=2028
-  _CLEARBEHAVIORFAULTRESPONSE._serialized_start=2031
-  _CLEARBEHAVIORFAULTRESPONSE._serialized_end=2402
-  _CLEARBEHAVIORFAULTRESPONSE_STATUS._serialized_start=2330
-  _CLEARBEHAVIORFAULTRESPONSE_STATUS._serialized_end=2402
+  _ROBOTCOMMAND._serialized_start=233
+  _ROBOTCOMMAND._serialized_end=403
+  _ROBOTCOMMANDFEEDBACK._serialized_start=406
+  _ROBOTCOMMANDFEEDBACK._serialized_end=588
+  _ROBOTCOMMANDREQUEST._serialized_start=591
+  _ROBOTCOMMANDREQUEST._serialized_end=758
+  _ROBOTCOMMANDRESPONSE._serialized_start=761
+  _ROBOTCOMMANDRESPONSE._serialized_end=1246
+  _ROBOTCOMMANDRESPONSE_STATUS._serialized_start=984
+  _ROBOTCOMMANDRESPONSE_STATUS._serialized_end=1246
+  _ROBOTCOMMANDFEEDBACKREQUEST._serialized_start=1248
+  _ROBOTCOMMANDFEEDBACKREQUEST._serialized_end=1346
+  _ROBOTCOMMANDFEEDBACKRESPONSE._serialized_start=1349
+  _ROBOTCOMMANDFEEDBACKRESPONSE._serialized_end=1541
+  _CLEARBEHAVIORFAULTREQUEST._serialized_start=1544
+  _CLEARBEHAVIORFAULTREQUEST._serialized_end=1675
+  _CLEARBEHAVIORFAULTRESPONSE._serialized_start=1678
+  _CLEARBEHAVIORFAULTRESPONSE._serialized_end=2049
+  _CLEARBEHAVIORFAULTRESPONSE_STATUS._serialized_start=1977
+  _CLEARBEHAVIORFAULTRESPONSE_STATUS._serialized_end=2049
+  _JOINTCONTROLSTREAMREQUEST._serialized_start=2052
+  _JOINTCONTROLSTREAMREQUEST._serialized_end=2185
+  _JOINTCONTROLSTREAMRESPONSE._serialized_start=2188
+  _JOINTCONTROLSTREAMRESPONSE._serialized_end=2479
+  _JOINTCONTROLSTREAMRESPONSE_STATUS._serialized_start=2343
+  _JOINTCONTROLSTREAMRESPONSE_STATUS._serialized_end=2479
 # @@protoc_insertion_point(module_scope)

bosdyn/api/robot_command_service_pb2.py

@@ -15,15 +15,18 @@ _sym_db = _symbol_database.Default()
 from bosdyn.api import robot_command_pb2 as bosdyn_dot_api_dot_robot__command__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n&bosdyn/api/robot_command_service.proto\x12\nbosdyn.api\x1a\x1e\x62osdyn/api/robot_command.proto2\xbe\x02\n\x13RobotCommandService\x12S\n\x0cRobotCommand\x12\x1f.bosdyn.api.RobotCommandRequest\x1a .bosdyn.api.RobotCommandResponse\"\x00\x12k\n\x14RobotCommandFeedback\x12\'.bosdyn.api.RobotCommandFeedbackRequest\x1a(.bosdyn.api.RobotCommandFeedbackResponse\"\x00\x12\x65\n\x12\x43learBehaviorFault\x12%.bosdyn.api.ClearBehaviorFaultRequest\x1a&.bosdyn.api.ClearBehaviorFaultResponse\"\x00\x42\x1a\x42\x18RobotCommandServiceProtob\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n&bosdyn/api/robot_command_service.proto\x12\nbosdyn.api\x1a\x1e\x62osdyn/api/robot_command.proto2\xbe\x02\n\x13RobotCommandService\x12S\n\x0cRobotCommand\x12\x1f.bosdyn.api.RobotCommandRequest\x1a .bosdyn.api.RobotCommandResponse\"\x00\x12k\n\x14RobotCommandFeedback\x12\'.bosdyn.api.RobotCommandFeedbackRequest\x1a(.bosdyn.api.RobotCommandFeedbackResponse\"\x00\x12\x65\n\x12\x43learBehaviorFault\x12%.bosdyn.api.ClearBehaviorFaultRequest\x1a&.bosdyn.api.ClearBehaviorFaultResponse\"\x00\x32\x87\x01\n\x1cRobotCommandStreamingService\x12g\n\x12JointControlStream\x12%.bosdyn.api.JointControlStreamRequest\x1a&.bosdyn.api.JointControlStreamResponse\"\x00(\x01\x42\x1a\x42\x18RobotCommandServiceProtob\x06proto3')
 
 
 
 _ROBOTCOMMANDSERVICE = DESCRIPTOR.services_by_name['RobotCommandService']
+_ROBOTCOMMANDSTREAMINGSERVICE = DESCRIPTOR.services_by_name['RobotCommandStreamingService']
 if _descriptor._USE_C_DESCRIPTORS == False:
 
   DESCRIPTOR._options = None
   DESCRIPTOR._serialized_options = b'B\030RobotCommandServiceProto'
   _ROBOTCOMMANDSERVICE._serialized_start=87
   _ROBOTCOMMANDSERVICE._serialized_end=405
+  _ROBOTCOMMANDSTREAMINGSERVICE._serialized_start=408
+  _ROBOTCOMMANDSTREAMINGSERVICE._serialized_end=543
 # @@protoc_insertion_point(module_scope)

bosdyn/api/robot_command_service_pb2_grpc.py

@@ -48,7 +48,7 @@ class RobotCommandServiceServicer(object):
         """A client queries this RPC to determine a robot's progress towards completion of a command.
         This updates the client with metrics like "distance to goal."
         The client should use this feedback to determine whether the current command has
-        succeeeded or failed, and thus send the next command.
+        succeeded or failed, and thus send the next command.
         """
         context.set_code(grpc.StatusCode.UNIMPLEMENTED)
         context.set_details('Method not implemented!')
@@ -140,3 +140,74 @@ class RobotCommandService(object):
             bosdyn_dot_api_dot_robot__command__pb2.ClearBehaviorFaultResponse.FromString,
             options, channel_credentials,
             insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+
+class RobotCommandStreamingServiceStub(object):
+    """This service is used to stream high rate commands to the robot once they have been activated
+    using RobotCommandService.RobotCommand
+    This service is in BETA and may undergo changes in future releases.
+    """
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.JointControlStream = channel.stream_unary(
+                '/bosdyn.api.RobotCommandStreamingService/JointControlStream',
+                request_serializer=bosdyn_dot_api_dot_robot__command__pb2.JointControlStreamRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_robot__command__pb2.JointControlStreamResponse.FromString,
+                )
+
+
+class RobotCommandStreamingServiceServicer(object):
+    """This service is used to stream high rate commands to the robot once they have been activated
+    using RobotCommandService.RobotCommand
+    This service is in BETA and may undergo changes in future releases.
+    """
+
+    def JointControlStream(self, request_iterator, context):
+        """Command updates for joint control
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_RobotCommandStreamingServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'JointControlStream': grpc.stream_unary_rpc_method_handler(
+                    servicer.JointControlStream,
+                    request_deserializer=bosdyn_dot_api_dot_robot__command__pb2.JointControlStreamRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_robot__command__pb2.JointControlStreamResponse.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'bosdyn.api.RobotCommandStreamingService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+
+
+ # This class is part of an EXPERIMENTAL API.
+class RobotCommandStreamingService(object):
+    """This service is used to stream high rate commands to the robot once they have been activated
+    using RobotCommandService.RobotCommand
+    This service is in BETA and may undergo changes in future releases.
+    """
+
+    @staticmethod
+    def JointControlStream(request_iterator,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.stream_unary(request_iterator, target, '/bosdyn.api.RobotCommandStreamingService/JointControlStream',
+            bosdyn_dot_api_dot_robot__command__pb2.JointControlStreamRequest.SerializeToString,
+            bosdyn_dot_api_dot_robot__command__pb2.JointControlStreamResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)