bosdyn-api 3.3.2__py3-none-any.whl → 4.0.1__py3-none-any.whl

bosdyn/api/robot_state_pb2.py

@@ -21,7 +21,7 @@ from google.protobuf import duration_pb2 as google_dot_protobuf_dot_duration__pb
 from google.protobuf import wrappers_pb2 as google_dot_protobuf_dot_wrappers__pb2
 
 
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@@ -36,8 +36,10 @@ _SYSTEMFAULTSTATE_AGGREGATEDENTRY = _SYSTEMFAULTSTATE.nested_types_by_name['Aggr
 _SYSTEMFAULT = DESCRIPTOR.message_types_by_name['SystemFault']
 _ESTOPSTATE = DESCRIPTOR.message_types_by_name['EStopState']
 _BATTERYSTATE = DESCRIPTOR.message_types_by_name['BatteryState']
+_SYSTEMSTATE = DESCRIPTOR.message_types_by_name['SystemState']
 _KINEMATICSTATE = DESCRIPTOR.message_types_by_name['KinematicState']
 _JOINTSTATE = DESCRIPTOR.message_types_by_name['JointState']
+_MOTORTEMPERATURE = DESCRIPTOR.message_types_by_name['MotorTemperature']
 _BEHAVIORFAULTSTATE = DESCRIPTOR.message_types_by_name['BehaviorFaultState']
 _BEHAVIORFAULT = DESCRIPTOR.message_types_by_name['BehaviorFault']
 _ROBOTMETRICS = DESCRIPTOR.message_types_by_name['RobotMetrics']
@@ -58,6 +60,12 @@ _ROBOTHARDWARECONFIGURATIONRESPONSE = DESCRIPTOR.message_types_by_name['RobotHar
 _ROBOTLINKMODELREQUEST = DESCRIPTOR.message_types_by_name['RobotLinkModelRequest']
 _ROBOTLINKMODELRESPONSE = DESCRIPTOR.message_types_by_name['RobotLinkModelResponse']
 _ROBOTIMPAIREDSTATE = DESCRIPTOR.message_types_by_name['RobotImpairedState']
+_COMBINEDJOINTSTATES = DESCRIPTOR.message_types_by_name['CombinedJointStates']
+_IMUSTATE = DESCRIPTOR.message_types_by_name['ImuState']
+_IMUSTATE_PACKET = _IMUSTATE.nested_types_by_name['Packet']
+_ROBOTSTATESTREAMREQUEST = DESCRIPTOR.message_types_by_name['RobotStateStreamRequest']
+_ROBOTSTATESTREAMRESPONSE = DESCRIPTOR.message_types_by_name['RobotStateStreamResponse']
+_ROBOTSTATESTREAMRESPONSE_COMMANDSTATE = _ROBOTSTATESTREAMRESPONSE.nested_types_by_name['CommandState']
 _POWERSTATE_MOTORPOWERSTATE = _POWERSTATE.enum_types_by_name['MotorPowerState']
 _POWERSTATE_SHOREPOWERSTATE = _POWERSTATE.enum_types_by_name['ShorePowerState']
 _POWERSTATE_ROBOTPOWERSTATE = _POWERSTATE.enum_types_by_name['RobotPowerState']
@@ -154,6 +162,13 @@ BatteryState = _reflection.GeneratedProtocolMessageType('BatteryState', (_messag
   })
 _sym_db.RegisterMessage(BatteryState)
 
+SystemState = _reflection.GeneratedProtocolMessageType('SystemState', (_message.Message,), {
+  'DESCRIPTOR' : _SYSTEMSTATE,
+  '__module__' : 'bosdyn.api.robot_state_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.SystemState)
+  })
+_sym_db.RegisterMessage(SystemState)
+
 KinematicState = _reflection.GeneratedProtocolMessageType('KinematicState', (_message.Message,), {
   'DESCRIPTOR' : _KINEMATICSTATE,
   '__module__' : 'bosdyn.api.robot_state_pb2'
@@ -168,6 +183,13 @@ JointState = _reflection.GeneratedProtocolMessageType('JointState', (_message.Me
   })
 _sym_db.RegisterMessage(JointState)
 
+MotorTemperature = _reflection.GeneratedProtocolMessageType('MotorTemperature', (_message.Message,), {
+  'DESCRIPTOR' : _MOTORTEMPERATURE,
+  '__module__' : 'bosdyn.api.robot_state_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.MotorTemperature)
+  })
+_sym_db.RegisterMessage(MotorTemperature)
+
 BehaviorFaultState = _reflection.GeneratedProtocolMessageType('BehaviorFaultState', (_message.Message,), {
   'DESCRIPTOR' : _BEHAVIORFAULTSTATE,
   '__module__' : 'bosdyn.api.robot_state_pb2'
@@ -310,6 +332,50 @@ RobotImpairedState = _reflection.GeneratedProtocolMessageType('RobotImpairedStat
   })
 _sym_db.RegisterMessage(RobotImpairedState)
 
+CombinedJointStates = _reflection.GeneratedProtocolMessageType('CombinedJointStates', (_message.Message,), {
+  'DESCRIPTOR' : _COMBINEDJOINTSTATES,
+  '__module__' : 'bosdyn.api.robot_state_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.CombinedJointStates)
+  })
+_sym_db.RegisterMessage(CombinedJointStates)
+
+ImuState = _reflection.GeneratedProtocolMessageType('ImuState', (_message.Message,), {
+
+  'Packet' : _reflection.GeneratedProtocolMessageType('Packet', (_message.Message,), {
+    'DESCRIPTOR' : _IMUSTATE_PACKET,
+    '__module__' : 'bosdyn.api.robot_state_pb2'
+    # @@protoc_insertion_point(class_scope:bosdyn.api.ImuState.Packet)
+    })
+  ,
+  'DESCRIPTOR' : _IMUSTATE,
+  '__module__' : 'bosdyn.api.robot_state_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.ImuState)
+  })
+_sym_db.RegisterMessage(ImuState)
+_sym_db.RegisterMessage(ImuState.Packet)
+
+RobotStateStreamRequest = _reflection.GeneratedProtocolMessageType('RobotStateStreamRequest', (_message.Message,), {
+  'DESCRIPTOR' : _ROBOTSTATESTREAMREQUEST,
+  '__module__' : 'bosdyn.api.robot_state_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.RobotStateStreamRequest)
+  })
+_sym_db.RegisterMessage(RobotStateStreamRequest)
+
+RobotStateStreamResponse = _reflection.GeneratedProtocolMessageType('RobotStateStreamResponse', (_message.Message,), {
+
+  'CommandState' : _reflection.GeneratedProtocolMessageType('CommandState', (_message.Message,), {
+    'DESCRIPTOR' : _ROBOTSTATESTREAMRESPONSE_COMMANDSTATE,
+    '__module__' : 'bosdyn.api.robot_state_pb2'
+    # @@protoc_insertion_point(class_scope:bosdyn.api.RobotStateStreamResponse.CommandState)
+    })
+  ,
+  'DESCRIPTOR' : _ROBOTSTATESTREAMRESPONSE,
+  '__module__' : 'bosdyn.api.robot_state_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.RobotStateStreamResponse)
+  })
+_sym_db.RegisterMessage(RobotStateStreamResponse)
+_sym_db.RegisterMessage(RobotStateStreamResponse.CommandState)
+
 if _descriptor._USE_C_DESCRIPTORS == False:
 
   DESCRIPTOR._options = None
@@ -347,95 +413,111 @@ if _descriptor._USE_C_DESCRIPTORS == False:
   _SKELETON_LINK_OBJMODEL._serialized_start=400
   _SKELETON_LINK_OBJMODEL._serialized_end=452
   _HARDWARECONFIGURATION._serialized_start=455
-  _HARDWARECONFIGURATION._serialized_end=738
-  _ROBOTSTATE._serialized_start=741
-  _ROBOTSTATE._serialized_end=1328
-  _POWERSTATE._serialized_start=1331
-  _POWERSTATE._serialized_end=2790
-  _POWERSTATE_MOTORPOWERSTATE._serialized_start=1885
-  _POWERSTATE_MOTORPOWERSTATE._serialized_end=2226
-  _POWERSTATE_SHOREPOWERSTATE._serialized_start=2229
-  _POWERSTATE_SHOREPOWERSTATE._serialized_end=2430
-  _POWERSTATE_ROBOTPOWERSTATE._serialized_start=2432
-  _POWERSTATE_ROBOTPOWERSTATE._serialized_end=2533
-  _POWERSTATE_PAYLOADPORTSPOWERSTATE._serialized_start=2536
-  _POWERSTATE_PAYLOADPORTSPOWERSTATE._serialized_end=2668
-  _POWERSTATE_WIFIRADIOPOWERSTATE._serialized_start=2670
-  _POWERSTATE_WIFIRADIOPOWERSTATE._serialized_end=2790
-  _SYSTEMFAULTSTATE._serialized_start=2793
-  _SYSTEMFAULTSTATE._serialized_end=3055
-  _SYSTEMFAULTSTATE_AGGREGATEDENTRY._serialized_start=2972
-  _SYSTEMFAULTSTATE_AGGREGATEDENTRY._serialized_end=3055
-  _SYSTEMFAULT._serialized_start=3058
-  _SYSTEMFAULT._serialized_end=3400
-  _SYSTEMFAULT_SEVERITY._serialized_start=3307
-  _SYSTEMFAULT_SEVERITY._serialized_end=3400
-  _ESTOPSTATE._serialized_start=3403
-  _ESTOPSTATE._serialized_end=3727
-  _ESTOPSTATE_TYPE._serialized_start=3593
-  _ESTOPSTATE_TYPE._serialized_end=3655
-  _ESTOPSTATE_STATE._serialized_start=3657
-  _ESTOPSTATE_STATE._serialized_end=3727
-  _BATTERYSTATE._serialized_start=3730
-  _BATTERYSTATE._serialized_end=4202
-  _BATTERYSTATE_STATUS._serialized_start=4089
-  _BATTERYSTATE_STATUS._serialized_end=4202
-  _KINEMATICSTATE._serialized_start=4205
-  _KINEMATICSTATE._serialized_end=4554
-  _JOINTSTATE._serialized_start=4557
-  _JOINTSTATE._serialized_end=4775
-  _BEHAVIORFAULTSTATE._serialized_start=4777
-  _BEHAVIORFAULTSTATE._serialized_end=4840
-  _BEHAVIORFAULT._serialized_start=4843
-  _BEHAVIORFAULT._serialized_end=5201
-  _BEHAVIORFAULT_CAUSE._serialized_start=5038
-  _BEHAVIORFAULT_CAUSE._serialized_end=5125
-  _BEHAVIORFAULT_STATUS._serialized_start=5127
-  _BEHAVIORFAULT_STATUS._serialized_end=5201
-  _ROBOTMETRICS._serialized_start=5203
-  _ROBOTMETRICS._serialized_end=5304
-  _COMMSSTATE._serialized_start=5306
-  _COMMSSTATE._serialized_end=5419
-  _WIFISTATE._serialized_start=5422
-  _WIFISTATE._serialized_end=5564
-  _WIFISTATE_MODE._serialized_start=5500
-  _WIFISTATE_MODE._serialized_end=5564
-  _FOOTSTATE._serialized_start=5567
-  _FOOTSTATE._serialized_end=6119
-  _FOOTSTATE_TERRAINSTATE._serialized_start=5731
-  _FOOTSTATE_TERRAINSTATE._serialized_end=6051
-  _FOOTSTATE_CONTACT._serialized_start=6053
-  _FOOTSTATE_CONTACT._serialized_end=6119
-  _MANIPULATORSTATE._serialized_start=6122
-  _MANIPULATORSTATE._serialized_end=6786
-  _MANIPULATORSTATE_STOWSTATE._serialized_start=6514
-  _MANIPULATORSTATE_STOWSTATE._serialized_end=6594
-  _MANIPULATORSTATE_CARRYSTATE._serialized_start=6597
-  _MANIPULATORSTATE_CARRYSTATE._serialized_end=6732
-  _SERVICEFAULTSTATE._serialized_start=6789
-  _SERVICEFAULTSTATE._serialized_end=7056
-  _SERVICEFAULTSTATE_AGGREGATEDENTRY._serialized_start=6972
-  _SERVICEFAULTSTATE_AGGREGATEDENTRY._serialized_end=7056
-  _TERRAINSTATE._serialized_start=7058
-  _TERRAINSTATE._serialized_end=7098
-  _ROBOTSTATEREQUEST._serialized_start=7100
-  _ROBOTSTATEREQUEST._serialized_end=7162
-  _ROBOTSTATERESPONSE._serialized_start=7164
-  _ROBOTSTATERESPONSE._serialized_end=7273
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-  _ROBOTLINKMODELREQUEST._serialized_end=7773
-  _ROBOTLINKMODELRESPONSE._serialized_start=7775
-  _ROBOTLINKMODELRESPONSE._serialized_end=7899
-  _ROBOTIMPAIREDSTATE._serialized_start=7902
-  _ROBOTIMPAIREDSTATE._serialized_end=8488
-  _ROBOTIMPAIREDSTATE_IMPAIREDSTATUS._serialized_start=8147
-  _ROBOTIMPAIREDSTATE_IMPAIREDSTATUS._serialized_end=8488
+  _HARDWARECONFIGURATION._serialized_end=777
+  _ROBOTSTATE._serialized_start=780
+  _ROBOTSTATE._serialized_end=1414
+  _POWERSTATE._serialized_start=1417
+  _POWERSTATE._serialized_end=2876
+  _POWERSTATE_MOTORPOWERSTATE._serialized_start=1971
+  _POWERSTATE_MOTORPOWERSTATE._serialized_end=2312
+  _POWERSTATE_SHOREPOWERSTATE._serialized_start=2315
+  _POWERSTATE_SHOREPOWERSTATE._serialized_end=2516
+  _POWERSTATE_ROBOTPOWERSTATE._serialized_start=2518
+  _POWERSTATE_ROBOTPOWERSTATE._serialized_end=2619
+  _POWERSTATE_PAYLOADPORTSPOWERSTATE._serialized_start=2622
+  _POWERSTATE_PAYLOADPORTSPOWERSTATE._serialized_end=2754
+  _POWERSTATE_WIFIRADIOPOWERSTATE._serialized_start=2756
+  _POWERSTATE_WIFIRADIOPOWERSTATE._serialized_end=2876
+  _SYSTEMFAULTSTATE._serialized_start=2879
+  _SYSTEMFAULTSTATE._serialized_end=3141
+  _SYSTEMFAULTSTATE_AGGREGATEDENTRY._serialized_start=3058
+  _SYSTEMFAULTSTATE_AGGREGATEDENTRY._serialized_end=3141
+  _SYSTEMFAULT._serialized_start=3144
+  _SYSTEMFAULT._serialized_end=3486
+  _SYSTEMFAULT_SEVERITY._serialized_start=3393
+  _SYSTEMFAULT_SEVERITY._serialized_end=3486
+  _ESTOPSTATE._serialized_start=3489
+  _ESTOPSTATE._serialized_end=3813
+  _ESTOPSTATE_TYPE._serialized_start=3679
+  _ESTOPSTATE_TYPE._serialized_end=3741
+  _ESTOPSTATE_STATE._serialized_start=3743
+  _ESTOPSTATE_STATE._serialized_end=3813
+  _BATTERYSTATE._serialized_start=3816
+  _BATTERYSTATE._serialized_end=4288
+  _BATTERYSTATE_STATUS._serialized_start=4175
+  _BATTERYSTATE_STATUS._serialized_end=4288
+  _SYSTEMSTATE._serialized_start=4290
+  _SYSTEMSTATE._serialized_end=4361
+  _KINEMATICSTATE._serialized_start=4364
+  _KINEMATICSTATE._serialized_end=4713
+  _JOINTSTATE._serialized_start=4716
+  _JOINTSTATE._serialized_end=4934
+  _MOTORTEMPERATURE._serialized_start=4936
+  _MOTORTEMPERATURE._serialized_end=4989
+  _BEHAVIORFAULTSTATE._serialized_start=4991
+  _BEHAVIORFAULTSTATE._serialized_end=5054
+  _BEHAVIORFAULT._serialized_start=5057
+  _BEHAVIORFAULT._serialized_end=5415
+  _BEHAVIORFAULT_CAUSE._serialized_start=5252
+  _BEHAVIORFAULT_CAUSE._serialized_end=5339
+  _BEHAVIORFAULT_STATUS._serialized_start=5341
+  _BEHAVIORFAULT_STATUS._serialized_end=5415
+  _ROBOTMETRICS._serialized_start=5417
+  _ROBOTMETRICS._serialized_end=5518
+  _COMMSSTATE._serialized_start=5520
+  _COMMSSTATE._serialized_end=5633
+  _WIFISTATE._serialized_start=5636
+  _WIFISTATE._serialized_end=5778
+  _WIFISTATE_MODE._serialized_start=5714
+  _WIFISTATE_MODE._serialized_end=5778
+  _FOOTSTATE._serialized_start=5781
+  _FOOTSTATE._serialized_end=6333
+  _FOOTSTATE_TERRAINSTATE._serialized_start=5945
+  _FOOTSTATE_TERRAINSTATE._serialized_end=6265
+  _FOOTSTATE_CONTACT._serialized_start=6267
+  _FOOTSTATE_CONTACT._serialized_end=6333
+  _MANIPULATORSTATE._serialized_start=6336
+  _MANIPULATORSTATE._serialized_end=7000
+  _MANIPULATORSTATE_STOWSTATE._serialized_start=6728
+  _MANIPULATORSTATE_STOWSTATE._serialized_end=6808
+  _MANIPULATORSTATE_CARRYSTATE._serialized_start=6811
+  _MANIPULATORSTATE_CARRYSTATE._serialized_end=6946
+  _SERVICEFAULTSTATE._serialized_start=7003
+  _SERVICEFAULTSTATE._serialized_end=7270
+  _SERVICEFAULTSTATE_AGGREGATEDENTRY._serialized_start=7186
+  _SERVICEFAULTSTATE_AGGREGATEDENTRY._serialized_end=7270
+  _TERRAINSTATE._serialized_start=7272
+  _TERRAINSTATE._serialized_end=7312
+  _ROBOTSTATEREQUEST._serialized_start=7314
+  _ROBOTSTATEREQUEST._serialized_end=7376
+  _ROBOTSTATERESPONSE._serialized_start=7378
+  _ROBOTSTATERESPONSE._serialized_end=7487
+  _ROBOTMETRICSREQUEST._serialized_start=7489
+  _ROBOTMETRICSREQUEST._serialized_end=7553
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+  _ROBOTMETRICSRESPONSE._serialized_end=7670
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+  _ROBOTHARDWARECONFIGURATIONREQUEST._serialized_end=7750
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+  _ROBOTHARDWARECONFIGURATIONRESPONSE._serialized_end=7900
+  _ROBOTLINKMODELREQUEST._serialized_start=7902
+  _ROBOTLINKMODELREQUEST._serialized_end=7987
+  _ROBOTLINKMODELRESPONSE._serialized_start=7989
+  _ROBOTLINKMODELRESPONSE._serialized_end=8113
+  _ROBOTIMPAIREDSTATE._serialized_start=8116
+  _ROBOTIMPAIREDSTATE._serialized_end=8702
+  _ROBOTIMPAIREDSTATE_IMPAIREDSTATUS._serialized_start=8361
+  _ROBOTIMPAIREDSTATE_IMPAIREDSTATUS._serialized_end=8702
+  _COMBINEDJOINTSTATES._serialized_start=8705
+  _COMBINEDJOINTSTATES._serialized_end=8835
+  _IMUSTATE._serialized_start=8838
+  _IMUSTATE._serialized_end=9244
+  _IMUSTATE_PACKET._serialized_start=9014
+  _IMUSTATE_PACKET._serialized_end=9244
+  _ROBOTSTATESTREAMREQUEST._serialized_start=9246
+  _ROBOTSTATESTREAMREQUEST._serialized_end=9314
+  _ROBOTSTATESTREAMRESPONSE._serialized_start=9317
+  _ROBOTSTATESTREAMRESPONSE._serialized_end=9659
+  _ROBOTSTATESTREAMRESPONSE_COMMANDSTATE._serialized_start=9563
+  _ROBOTSTATESTREAMRESPONSE_COMMANDSTATE._serialized_end=9659
 # @@protoc_insertion_point(module_scope)

bosdyn/api/robot_state_service_pb2.py

@@ -15,15 +15,18 @@ _sym_db = _symbol_database.Default()
 from bosdyn.api import robot_state_pb2 as bosdyn_dot_api_dot_robot__state__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n$bosdyn/api/robot_state_service.proto\x12\nbosdyn.api\x1a\x1c\x62osdyn/api/robot_state.proto2\x9e\x03\n\x11RobotStateService\x12P\n\rGetRobotState\x12\x1d.bosdyn.api.RobotStateRequest\x1a\x1e.bosdyn.api.RobotStateResponse\"\x00\x12V\n\x0fGetRobotMetrics\x12\x1f.bosdyn.api.RobotMetricsRequest\x1a .bosdyn.api.RobotMetricsResponse\"\x00\x12\x80\x01\n\x1dGetRobotHardwareConfiguration\x12-.bosdyn.api.RobotHardwareConfigurationRequest\x1a..bosdyn.api.RobotHardwareConfigurationResponse\"\x00\x12\\\n\x11GetRobotLinkModel\x12!.bosdyn.api.RobotLinkModelRequest\x1a\".bosdyn.api.RobotLinkModelResponse\"\x00\x42\x18\x42\x16RobotStateServiceProtob\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n$bosdyn/api/robot_state_service.proto\x12\nbosdyn.api\x1a\x1c\x62osdyn/api/robot_state.proto2\x9e\x03\n\x11RobotStateService\x12P\n\rGetRobotState\x12\x1d.bosdyn.api.RobotStateRequest\x1a\x1e.bosdyn.api.RobotStateResponse\"\x00\x12V\n\x0fGetRobotMetrics\x12\x1f.bosdyn.api.RobotMetricsRequest\x1a .bosdyn.api.RobotMetricsResponse\"\x00\x12\x80\x01\n\x1dGetRobotHardwareConfiguration\x12-.bosdyn.api.RobotHardwareConfigurationRequest\x1a..bosdyn.api.RobotHardwareConfigurationResponse\"\x00\x12\\\n\x11GetRobotLinkModel\x12!.bosdyn.api.RobotLinkModelRequest\x1a\".bosdyn.api.RobotLinkModelResponse\"\x00\x32\x82\x01\n\x1aRobotStateStreamingService\x12\x64\n\x13GetRobotStateStream\x12#.bosdyn.api.RobotStateStreamRequest\x1a$.bosdyn.api.RobotStateStreamResponse\"\x00\x30\x01\x42\x18\x42\x16RobotStateServiceProtob\x06proto3')
 
 
 
 _ROBOTSTATESERVICE = DESCRIPTOR.services_by_name['RobotStateService']
+_ROBOTSTATESTREAMINGSERVICE = DESCRIPTOR.services_by_name['RobotStateStreamingService']
 if _descriptor._USE_C_DESCRIPTORS == False:
 
   DESCRIPTOR._options = None
   DESCRIPTOR._serialized_options = b'B\026RobotStateServiceProto'
   _ROBOTSTATESERVICE._serialized_start=83
   _ROBOTSTATESERVICE._serialized_end=497
+  _ROBOTSTATESTREAMINGSERVICE._serialized_start=500
+  _ROBOTSTATESTREAMINGSERVICE._serialized_end=630
 # @@protoc_insertion_point(module_scope)

bosdyn/api/robot_state_service_pb2_grpc.py

@@ -6,7 +6,8 @@ from bosdyn.api import robot_state_pb2 as bosdyn_dot_api_dot_robot__state__pb2
 
 
 class RobotStateServiceStub(object):
-    """The robot state service tracks all information about the measured and computed states of the robot at the current time.
+    """The robot state service tracks all information about the measured and computed states of the
+    robot at the current time.
     """
 
     def __init__(self, channel):
@@ -38,7 +39,8 @@ class RobotStateServiceStub(object):
 
 
 class RobotStateServiceServicer(object):
-    """The robot state service tracks all information about the measured and computed states of the robot at the current time.
+    """The robot state service tracks all information about the measured and computed states of the
+    robot at the current time.
     """
 
     def GetRobotState(self, request, context):
@@ -101,7 +103,8 @@ def add_RobotStateServiceServicer_to_server(servicer, server):
 
  # This class is part of an EXPERIMENTAL API.
 class RobotStateService(object):
-    """The robot state service tracks all information about the measured and computed states of the robot at the current time.
+    """The robot state service tracks all information about the measured and computed states of the
+    robot at the current time.
     """
 
     @staticmethod
@@ -171,3 +174,68 @@ class RobotStateService(object):
             bosdyn_dot_api_dot_robot__state__pb2.RobotLinkModelResponse.FromString,
             options, channel_credentials,
             insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+
+class RobotStateStreamingServiceStub(object):
+    """This service is in BETA and may undergo changes in future releases.
+    """
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.GetRobotStateStream = channel.unary_stream(
+                '/bosdyn.api.RobotStateStreamingService/GetRobotStateStream',
+                request_serializer=bosdyn_dot_api_dot_robot__state__pb2.RobotStateStreamRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_robot__state__pb2.RobotStateStreamResponse.FromString,
+                )
+
+
+class RobotStateStreamingServiceServicer(object):
+    """This service is in BETA and may undergo changes in future releases.
+    """
+
+    def GetRobotStateStream(self, request, context):
+        """Lightweight Streaming version of RobotState
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_RobotStateStreamingServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'GetRobotStateStream': grpc.unary_stream_rpc_method_handler(
+                    servicer.GetRobotStateStream,
+                    request_deserializer=bosdyn_dot_api_dot_robot__state__pb2.RobotStateStreamRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_robot__state__pb2.RobotStateStreamResponse.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'bosdyn.api.RobotStateStreamingService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+
+
+ # This class is part of an EXPERIMENTAL API.
+class RobotStateStreamingService(object):
+    """This service is in BETA and may undergo changes in future releases.
+    """
+
+    @staticmethod
+    def GetRobotStateStream(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_stream(request, target, '/bosdyn.api.RobotStateStreamingService/GetRobotStateStream',
+            bosdyn_dot_api_dot_robot__state__pb2.RobotStateStreamRequest.SerializeToString,
+            bosdyn_dot_api_dot_robot__state__pb2.RobotStateStreamResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)

bosdyn/api/signals_pb2.py

@@ -0,0 +1,101 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: bosdyn/api/signals.proto
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from bosdyn.api import geometry_pb2 as bosdyn_dot_api_dot_geometry__pb2
+from bosdyn.api import alerts_pb2 as bosdyn_dot_api_dot_alerts__pb2
+from bosdyn.api import units_pb2 as bosdyn_dot_api_dot_units__pb2
+from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2
+from google.protobuf import wrappers_pb2 as google_dot_protobuf_dot_wrappers__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x18\x62osdyn/api/signals.proto\x12\nbosdyn.api\x1a\x19\x62osdyn/api/geometry.proto\x1a\x17\x62osdyn/api/alerts.proto\x1a\x16\x62osdyn/api/units.proto\x1a\x1fgoogle/protobuf/timestamp.proto\x1a\x1egoogle/protobuf/wrappers.proto\"E\n\x11SignalDisplayInfo\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\x13\n\x0b\x64\x65scription\x18\x02 \x01(\t\x12\r\n\x05order\x18\x03 \x01(\x03\"\xbd\x01\n\x10SensorOutputSpec\x12\"\n\x06\x62ounds\x18\x01 \x01(\x0b\x32\x12.bosdyn.api.Bounds\x12\x30\n\nresolution\x18\x02 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\x12 \n\x05units\x18\x03 \x01(\x0b\x32\x11.bosdyn.api.Units\x12\x31\n\x0bsample_rate\x18\x04 \x01(\x0b\x32\x1c.google.protobuf.DoubleValue\"\xa0\x01\n\x12\x41lertConditionSpec\x12)\n\nalert_data\x18\x01 \x01(\x0b\x32\x15.bosdyn.api.AlertData\x12\r\n\x03min\x18\x02 \x01(\x01H\x00\x12\r\n\x03max\x18\x03 \x01(\x01H\x00\x12$\n\x06\x62ounds\x18\x04 \x01(\x0b\x32\x12.bosdyn.api.BoundsH\x00\x12\x13\n\tcondition\x18\x05 \x01(\x08H\x00\x42\x06\n\x04type\"\x97\x01\n\nSignalSpec\x12+\n\x04info\x18\x01 \x01(\x0b\x32\x1d.bosdyn.api.SignalDisplayInfo\x12,\n\x06sensor\x18\x02 \x01(\x0b\x32\x1c.bosdyn.api.SensorOutputSpec\x12.\n\x06\x61lerts\x18\x03 \x03(\x0b\x32\x1e.bosdyn.api.AlertConditionSpec\"\xba\x01\n\nSignalData\x12)\n\x04\x64\x61ta\x18\x01 \x01(\x0b\x32\x1b.bosdyn.api.SignalData.Data\x12-\n\ttimestamp\x18\x02 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x1aR\n\x04\x44\x61ta\x12\x10\n\x06\x64ouble\x18\x01 \x01(\x01H\x00\x12\r\n\x03int\x18\x02 \x01(\x03H\x00\x12\x10\n\x06string\x18\x03 \x01(\tH\x00\x12\x0e\n\x04\x62ool\x18\x04 \x01(\x08H\x00\x42\x07\n\x05value\"b\n\x06Signal\x12+\n\x0bsignal_spec\x18\x01 \x01(\x0b\x32\x16.bosdyn.api.SignalSpec\x12+\n\x0bsignal_data\x18\x02 \x01(\x0b\x32\x16.bosdyn.api.SignalDataB\x0e\x42\x0cSignalsProtob\x06proto3')
+
+
+
+_SIGNALDISPLAYINFO = DESCRIPTOR.message_types_by_name['SignalDisplayInfo']
+_SENSOROUTPUTSPEC = DESCRIPTOR.message_types_by_name['SensorOutputSpec']
+_ALERTCONDITIONSPEC = DESCRIPTOR.message_types_by_name['AlertConditionSpec']
+_SIGNALSPEC = DESCRIPTOR.message_types_by_name['SignalSpec']
+_SIGNALDATA = DESCRIPTOR.message_types_by_name['SignalData']
+_SIGNALDATA_DATA = _SIGNALDATA.nested_types_by_name['Data']
+_SIGNAL = DESCRIPTOR.message_types_by_name['Signal']
+SignalDisplayInfo = _reflection.GeneratedProtocolMessageType('SignalDisplayInfo', (_message.Message,), {
+  'DESCRIPTOR' : _SIGNALDISPLAYINFO,
+  '__module__' : 'bosdyn.api.signals_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.SignalDisplayInfo)
+  })
+_sym_db.RegisterMessage(SignalDisplayInfo)
+
+SensorOutputSpec = _reflection.GeneratedProtocolMessageType('SensorOutputSpec', (_message.Message,), {
+  'DESCRIPTOR' : _SENSOROUTPUTSPEC,
+  '__module__' : 'bosdyn.api.signals_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.SensorOutputSpec)
+  })
+_sym_db.RegisterMessage(SensorOutputSpec)
+
+AlertConditionSpec = _reflection.GeneratedProtocolMessageType('AlertConditionSpec', (_message.Message,), {
+  'DESCRIPTOR' : _ALERTCONDITIONSPEC,
+  '__module__' : 'bosdyn.api.signals_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.AlertConditionSpec)
+  })
+_sym_db.RegisterMessage(AlertConditionSpec)
+
+SignalSpec = _reflection.GeneratedProtocolMessageType('SignalSpec', (_message.Message,), {
+  'DESCRIPTOR' : _SIGNALSPEC,
+  '__module__' : 'bosdyn.api.signals_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.SignalSpec)
+  })
+_sym_db.RegisterMessage(SignalSpec)
+
+SignalData = _reflection.GeneratedProtocolMessageType('SignalData', (_message.Message,), {
+
+  'Data' : _reflection.GeneratedProtocolMessageType('Data', (_message.Message,), {
+    'DESCRIPTOR' : _SIGNALDATA_DATA,
+    '__module__' : 'bosdyn.api.signals_pb2'
+    # @@protoc_insertion_point(class_scope:bosdyn.api.SignalData.Data)
+    })
+  ,
+  'DESCRIPTOR' : _SIGNALDATA,
+  '__module__' : 'bosdyn.api.signals_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.SignalData)
+  })
+_sym_db.RegisterMessage(SignalData)
+_sym_db.RegisterMessage(SignalData.Data)
+
+Signal = _reflection.GeneratedProtocolMessageType('Signal', (_message.Message,), {
+  'DESCRIPTOR' : _SIGNAL,
+  '__module__' : 'bosdyn.api.signals_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.Signal)
+  })
+_sym_db.RegisterMessage(Signal)
+
+if _descriptor._USE_C_DESCRIPTORS == False:
+
+  DESCRIPTOR._options = None
+  DESCRIPTOR._serialized_options = b'B\014SignalsProto'
+  _SIGNALDISPLAYINFO._serialized_start=181
+  _SIGNALDISPLAYINFO._serialized_end=250
+  _SENSOROUTPUTSPEC._serialized_start=253
+  _SENSOROUTPUTSPEC._serialized_end=442
+  _ALERTCONDITIONSPEC._serialized_start=445
+  _ALERTCONDITIONSPEC._serialized_end=605
+  _SIGNALSPEC._serialized_start=608
+  _SIGNALSPEC._serialized_end=759
+  _SIGNALDATA._serialized_start=762
+  _SIGNALDATA._serialized_end=948
+  _SIGNALDATA_DATA._serialized_start=866
+  _SIGNALDATA_DATA._serialized_end=948
+  _SIGNAL._serialized_start=950
+  _SIGNAL._serialized_end=1048
+# @@protoc_insertion_point(module_scope)

bosdyn/api/signals_pb2_grpc.py

@@ -0,0 +1,4 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+