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

bosdyn/api/graph_nav/area_callback_service_pb2.py

@@ -15,7 +15,7 @@ _sym_db = _symbol_database.Default()
 from bosdyn.api.graph_nav import area_callback_pb2 as bosdyn_dot_api_dot_graph__nav_dot_area__callback__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n0bosdyn/api/graph_nav/area_callback_service.proto\x12\x14\x62osdyn.api.graph_nav\x1a(bosdyn/api/graph_nav/area_callback.proto2\xca\x04\n\x13\x41reaCallbackService\x12\x88\x01\n\x17\x41reaCallbackInformation\x12\x34.bosdyn.api.graph_nav.AreaCallbackInformationRequest\x1a\x35.bosdyn.api.graph_nav.AreaCallbackInformationResponse\"\x00\x12j\n\rBeginCallback\x12*.bosdyn.api.graph_nav.BeginCallbackRequest\x1a+.bosdyn.api.graph_nav.BeginCallbackResponse\"\x00\x12g\n\x0c\x42\x65ginControl\x12).bosdyn.api.graph_nav.BeginControlRequest\x1a*.bosdyn.api.graph_nav.BeginControlResponse\"\x00\x12m\n\x0eUpdateCallback\x12+.bosdyn.api.graph_nav.UpdateCallbackRequest\x1a,.bosdyn.api.graph_nav.UpdateCallbackResponse\"\x00\x12\x64\n\x0b\x45ndCallback\x12(.bosdyn.api.graph_nav.EndCallbackRequest\x1a).bosdyn.api.graph_nav.EndCallbackResponse\"\x00\x42\x1a\x42\x18\x41reaCallbackServiceProtob\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n0bosdyn/api/graph_nav/area_callback_service.proto\x12\x14\x62osdyn.api.graph_nav\x1a(bosdyn/api/graph_nav/area_callback.proto2\xb0\x05\n\x13\x41reaCallbackService\x12\x88\x01\n\x17\x41reaCallbackInformation\x12\x34.bosdyn.api.graph_nav.AreaCallbackInformationRequest\x1a\x35.bosdyn.api.graph_nav.AreaCallbackInformationResponse\"\x00\x12j\n\rBeginCallback\x12*.bosdyn.api.graph_nav.BeginCallbackRequest\x1a+.bosdyn.api.graph_nav.BeginCallbackResponse\"\x00\x12g\n\x0c\x42\x65ginControl\x12).bosdyn.api.graph_nav.BeginControlRequest\x1a*.bosdyn.api.graph_nav.BeginControlResponse\"\x00\x12m\n\x0eUpdateCallback\x12+.bosdyn.api.graph_nav.UpdateCallbackRequest\x1a,.bosdyn.api.graph_nav.UpdateCallbackResponse\"\x00\x12\x64\n\x0bRouteChange\x12(.bosdyn.api.graph_nav.RouteChangeRequest\x1a).bosdyn.api.graph_nav.RouteChangeResponse\"\x00\x12\x64\n\x0b\x45ndCallback\x12(.bosdyn.api.graph_nav.EndCallbackRequest\x1a).bosdyn.api.graph_nav.EndCallbackResponse\"\x00\x42\x1a\x42\x18\x41reaCallbackServiceProtob\x06proto3')
 
 
 
@@ -25,5 +25,5 @@ if _descriptor._USE_C_DESCRIPTORS == False:
   DESCRIPTOR._options = None
   DESCRIPTOR._serialized_options = b'B\030AreaCallbackServiceProto'
   _AREACALLBACKSERVICE._serialized_start=117
-  _AREACALLBACKSERVICE._serialized_end=703
+  _AREACALLBACKSERVICE._serialized_end=805
 # @@protoc_insertion_point(module_scope)

bosdyn/api/graph_nav/area_callback_service_pb2_grpc.py

@@ -34,6 +34,11 @@ class AreaCallbackServiceStub(object):
                 request_serializer=bosdyn_dot_api_dot_graph__nav_dot_area__callback__pb2.UpdateCallbackRequest.SerializeToString,
                 response_deserializer=bosdyn_dot_api_dot_graph__nav_dot_area__callback__pb2.UpdateCallbackResponse.FromString,
                 )
+        self.RouteChange = channel.unary_unary(
+                '/bosdyn.api.graph_nav.AreaCallbackService/RouteChange',
+                request_serializer=bosdyn_dot_api_dot_graph__nav_dot_area__callback__pb2.RouteChangeRequest.SerializeToString,
+                response_deserializer=bosdyn_dot_api_dot_graph__nav_dot_area__callback__pb2.RouteChangeResponse.FromString,
+                )
         self.EndCallback = channel.unary_unary(
                 '/bosdyn.api.graph_nav.AreaCallbackService/EndCallback',
                 request_serializer=bosdyn_dot_api_dot_graph__nav_dot_area__callback__pb2.EndCallbackRequest.SerializeToString,
@@ -45,7 +50,7 @@ class AreaCallbackServiceServicer(object):
     """Missing associated documentation comment in .proto file."""
 
     def AreaCallbackInformation(self, request, context):
-        """Retreive information about how to operate the service, including what lease resources are
+        """Retrieve information about how to operate the service, including what lease resources are
         required by the navigation callback.
         """
         context.set_code(grpc.StatusCode.UNIMPLEMENTED)
@@ -54,33 +59,41 @@ class AreaCallbackServiceServicer(object):
 
     def BeginCallback(self, request, context):
         """BeginCallback is called once as the robot enters a AreaCallback region of a map. This call
-        initilizes the navigation callback for operation.
+        initializes the navigation callback for operation.
         """
         context.set_code(grpc.StatusCode.UNIMPLEMENTED)
         context.set_details('Method not implemented!')
         raise NotImplementedError('Method not implemented!')
 
     def BeginControl(self, request, context):
-        """BeginControl is called once after the area callback implementation requests control. Control is
-        handed off (via a lease) from the caller to the area callback.
+        """BeginControl is called once after the area callback implementation requests control. Control
+        is handed off (via a lease) from the caller to the area callback.
         """
         context.set_code(grpc.StatusCode.UNIMPLEMENTED)
         context.set_details('Method not implemented!')
         raise NotImplementedError('Method not implemented!')
 
     def UpdateCallback(self, request, context):
-        """UpdateCallback is called periodically while the callback is running. Area callback implementations
-        use UpdateCallback to dictate how caller should operate while callback is running (pause,
-        continue, etc.)
+        """UpdateCallback is called periodically while the callback is running. Area callback
+        implementations use UpdateCallback to dictate how caller should operate while callback is
+        running (pause, continue, etc.)
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def RouteChange(self, request, context):
+        """Called only if the route changes in the middle of the region (for example, if the robot is
+        blocked by an obstacle and re-routes).
         """
         context.set_code(grpc.StatusCode.UNIMPLEMENTED)
         context.set_details('Method not implemented!')
         raise NotImplementedError('Method not implemented!')
 
     def EndCallback(self, request, context):
-        """EndCallback is called once when the caller decides the navagation callback is over. This might
-        be because the robot exited the callback region or might be because the callback reported that it
-        finished doing work.
+        """EndCallback is called once when the caller decides the navigation callback is over. This
+        might be because the robot exited the callback region or might be because the callback
+        reported that it finished doing work.
         """
         context.set_code(grpc.StatusCode.UNIMPLEMENTED)
         context.set_details('Method not implemented!')
@@ -109,6 +122,11 @@ def add_AreaCallbackServiceServicer_to_server(servicer, server):
                     request_deserializer=bosdyn_dot_api_dot_graph__nav_dot_area__callback__pb2.UpdateCallbackRequest.FromString,
                     response_serializer=bosdyn_dot_api_dot_graph__nav_dot_area__callback__pb2.UpdateCallbackResponse.SerializeToString,
             ),
+            'RouteChange': grpc.unary_unary_rpc_method_handler(
+                    servicer.RouteChange,
+                    request_deserializer=bosdyn_dot_api_dot_graph__nav_dot_area__callback__pb2.RouteChangeRequest.FromString,
+                    response_serializer=bosdyn_dot_api_dot_graph__nav_dot_area__callback__pb2.RouteChangeResponse.SerializeToString,
+            ),
             'EndCallback': grpc.unary_unary_rpc_method_handler(
                     servicer.EndCallback,
                     request_deserializer=bosdyn_dot_api_dot_graph__nav_dot_area__callback__pb2.EndCallbackRequest.FromString,
@@ -192,6 +210,23 @@ class AreaCallbackService(object):
             options, channel_credentials,
             insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
 
+    @staticmethod
+    def RouteChange(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.graph_nav.AreaCallbackService/RouteChange',
+            bosdyn_dot_api_dot_graph__nav_dot_area__callback__pb2.RouteChangeRequest.SerializeToString,
+            bosdyn_dot_api_dot_graph__nav_dot_area__callback__pb2.RouteChangeResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
     @staticmethod
     def EndCallback(request,
             target,

bosdyn/api/graph_nav/gps_pb2.py

@@ -0,0 +1,40 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: bosdyn/api/graph_nav/gps.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.gps import gps_pb2 as bosdyn_dot_api_dot_gps_dot_gps__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1e\x62osdyn/api/graph_nav/gps.proto\x12\x14\x62osdyn.api.graph_nav\x1a\x19\x62osdyn/api/geometry.proto\x1a\x18\x62osdyn/api/gps/gps.proto\"\x8e\x04\n\x0fGPSLocalization\x12\x43\n\x0elive_gps_state\x18\x01 \x01(\x0e\x32+.bosdyn.api.graph_nav.GPSLocalization.State\x12\x42\n\rmap_gps_state\x18\x02 \x01(\x0e\x32+.bosdyn.api.graph_nav.GPSLocalization.State\x12,\n\x0f\x65\x63\x65\x66_tform_body\x18\x03 \x01(\x0b\x32\x13.bosdyn.api.SE3Pose\x12\x36\n\x19latitude_longitude_height\x18\x04 \x01(\x0b\x32\x13.bosdyn.api.gps.LLH\"\x8b\x02\n\x05State\x12\x11\n\rSTATE_UNKNOWN\x10\x00\x12\x0c\n\x08STATE_OK\x10\x01\x12\x14\n\x10STATE_BAD_FRAMES\x10\x02\x12\x18\n\x14STATE_NO_GPS_OBJECTS\x10\x03\x12\x1d\n\x19STATE_REGISTRATION_NOT_OK\x10\x04\x12\x17\n\x13STATE_NO_GPS_STATES\x10\x05\x12\x1f\n\x1bSTATE_NOT_ENOUGH_SATELLITES\x10\x06\x12\x17\n\x13STATE_NO_ECEF_FRAME\x10\x07\x12\x14\n\x10STATE_HIGH_ERROR\x10\x08\x12\x0f\n\x0bSTATE_STALE\x10\t\x12\x18\n\x14STATE_INTERNAL_ERROR\x10\nB\x12\x42\x10GraphNavGPSProtob\x06proto3')
+
+
+
+_GPSLOCALIZATION = DESCRIPTOR.message_types_by_name['GPSLocalization']
+_GPSLOCALIZATION_STATE = _GPSLOCALIZATION.enum_types_by_name['State']
+GPSLocalization = _reflection.GeneratedProtocolMessageType('GPSLocalization', (_message.Message,), {
+  'DESCRIPTOR' : _GPSLOCALIZATION,
+  '__module__' : 'bosdyn.api.graph_nav.gps_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.graph_nav.GPSLocalization)
+  })
+_sym_db.RegisterMessage(GPSLocalization)
+
+if _descriptor._USE_C_DESCRIPTORS == False:
+
+  DESCRIPTOR._options = None
+  DESCRIPTOR._serialized_options = b'B\020GraphNavGPSProto'
+  _GPSLOCALIZATION._serialized_start=110
+  _GPSLOCALIZATION._serialized_end=636
+  _GPSLOCALIZATION_STATE._serialized_start=369
+  _GPSLOCALIZATION_STATE._serialized_end=636
+# @@protoc_insertion_point(module_scope)

bosdyn/api/graph_nav/gps_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
+

bosdyn/api/graph_nav/graph_nav_pb2.py

@@ -15,6 +15,8 @@ _sym_db = _symbol_database.Default()
 from bosdyn.api import basic_command_pb2 as bosdyn_dot_api_dot_basic__command__pb2
 from bosdyn.api import data_chunk_pb2 as bosdyn_dot_api_dot_data__chunk__pb2
 from bosdyn.api import geometry_pb2 as bosdyn_dot_api_dot_geometry__pb2
+from bosdyn.api.gps import gps_pb2 as bosdyn_dot_api_dot_gps_dot_gps__pb2
+from bosdyn.api.graph_nav import gps_pb2 as bosdyn_dot_api_dot_graph__nav_dot_gps__pb2
 from bosdyn.api.graph_nav import nav_pb2 as bosdyn_dot_api_dot_graph__nav_dot_nav__pb2
 from bosdyn.api.graph_nav import map_pb2 as bosdyn_dot_api_dot_graph__nav_dot_map__pb2
 from bosdyn.api.graph_nav import area_callback_pb2 as bosdyn_dot_api_dot_graph__nav_dot_area__callback__pb2
@@ -23,11 +25,12 @@ from bosdyn.api import lease_pb2 as bosdyn_dot_api_dot_lease__pb2
 from bosdyn.api import license_pb2 as bosdyn_dot_api_dot_license__pb2
 from bosdyn.api import robot_state_pb2 as bosdyn_dot_api_dot_robot__state__pb2
 from bosdyn.api import service_fault_pb2 as bosdyn_dot_api_dot_service__fault__pb2
+from google.protobuf import wrappers_pb2 as google_dot_protobuf_dot_wrappers__pb2
 from google.protobuf import duration_pb2 as google_dot_protobuf_dot_duration__pb2
 from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n$bosdyn/api/graph_nav/graph_nav.proto\x12\x14\x62osdyn.api.graph_nav\x1a\x1e\x62osdyn/api/basic_command.proto\x1a\x1b\x62osdyn/api/data_chunk.proto\x1a\x19\x62osdyn/api/geometry.proto\x1a\x1e\x62osdyn/api/graph_nav/nav.proto\x1a\x1e\x62osdyn/api/graph_nav/map.proto\x1a(bosdyn/api/graph_nav/area_callback.proto\x1a\x17\x62osdyn/api/header.proto\x1a\x16\x62osdyn/api/lease.proto\x1a\x18\x62osdyn/api/license.proto\x1a\x1c\x62osdyn/api/robot_state.proto\x1a\x1e\x62osdyn/api/service_fault.proto\x1a\x1egoogle/protobuf/duration.proto\x1a\x1fgoogle/protobuf/timestamp.proto\"<\n\x17VisualRefinementOptions\x12!\n\x19verify_refinement_quality\x18\x01 \x01(\x08\"\xc7\x05\n\x16SetLocalizationRequest\x12)\n\x06header\x18\x01 \x01(\x0b\x32\x19.bosdyn.api.RequestHeader\x12\x39\n\rinitial_guess\x18\x03 \x01(\x0b\x32\".bosdyn.api.graph_nav.Localization\x12*\n\rko_tform_body\x18\x04 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@@ -44,6 +47,7 @@ _NAVIGATETORESPONSE = DESCRIPTOR.message_types_by_name['NavigateToResponse']
 _ROUTEFOLLOWINGPARAMS = DESCRIPTOR.message_types_by_name['RouteFollowingParams']
 _NAVIGATEROUTEREQUEST = DESCRIPTOR.message_types_by_name['NavigateRouteRequest']
 _NAVIGATEROUTERESPONSE = DESCRIPTOR.message_types_by_name['NavigateRouteResponse']
+_GPSNAVIGATIONPARAMS = DESCRIPTOR.message_types_by_name['GPSNavigationParams']
 _NAVIGATETOANCHORREQUEST = DESCRIPTOR.message_types_by_name['NavigateToAnchorRequest']
 _NAVIGATETOANCHORRESPONSE = DESCRIPTOR.message_types_by_name['NavigateToAnchorResponse']
 _NAVIGATIONFEEDBACKREQUEST = DESCRIPTOR.message_types_by_name['NavigationFeedbackRequest']
@@ -84,6 +88,7 @@ _ROUTEFOLLOWINGPARAMS_RESUMEBEHAVIOR = _ROUTEFOLLOWINGPARAMS.enum_types_by_name[
 _ROUTEFOLLOWINGPARAMS_ROUTEBLOCKEDBEHAVIOR = _ROUTEFOLLOWINGPARAMS.enum_types_by_name['RouteBlockedBehavior']
 _NAVIGATEROUTERESPONSE_STATUS = _NAVIGATEROUTERESPONSE.enum_types_by_name['Status']
 _NAVIGATETOANCHORRESPONSE_STATUS = _NAVIGATETOANCHORRESPONSE.enum_types_by_name['Status']
+_NAVIGATETOANCHORRESPONSE_GPSSTATUS = _NAVIGATETOANCHORRESPONSE.enum_types_by_name['GPSStatus']
 _NAVIGATIONFEEDBACKRESPONSE_ACTIVEREGIONINFORMATION_AREACALLBACKSTATUS = _NAVIGATIONFEEDBACKRESPONSE_ACTIVEREGIONINFORMATION.enum_types_by_name['AreaCallbackStatus']
 _NAVIGATIONFEEDBACKRESPONSE_STATUS = _NAVIGATIONFEEDBACKRESPONSE.enum_types_by_name['Status']
 _NAVIGATIONFEEDBACKRESPONSE_ROUTEFOLLOWINGSTATUS = _NAVIGATIONFEEDBACKRESPONSE.enum_types_by_name['RouteFollowingStatus']
@@ -187,6 +192,13 @@ NavigateRouteResponse = _reflection.GeneratedProtocolMessageType('NavigateRouteR
   })
 _sym_db.RegisterMessage(NavigateRouteResponse)
 
+GPSNavigationParams = _reflection.GeneratedProtocolMessageType('GPSNavigationParams', (_message.Message,), {
+  'DESCRIPTOR' : _GPSNAVIGATIONPARAMS,
+  '__module__' : 'bosdyn.api.graph_nav.graph_nav_pb2'
+  # @@protoc_insertion_point(class_scope:bosdyn.api.graph_nav.GPSNavigationParams)
+  })
+_sym_db.RegisterMessage(GPSNavigationParams)
+
 NavigateToAnchorRequest = _reflection.GeneratedProtocolMessageType('NavigateToAnchorRequest', (_message.Message,), {
   'DESCRIPTOR' : _NAVIGATETOANCHORREQUEST,
   '__module__' : 'bosdyn.api.graph_nav.graph_nav_pb2'
@@ -402,132 +414,136 @@ if _descriptor._USE_C_DESCRIPTORS == False:
   _NAVIGATIONFEEDBACKRESPONSE_AREACALLBACKERRORSENTRY._serialized_options = b'8\001'
   _NAVIGATIONFEEDBACKRESPONSE_ACTIVEREGIONINFORMATIONENTRY._options = None
   _NAVIGATIONFEEDBACKRESPONSE_ACTIVEREGIONINFORMATIONENTRY._serialized_options = b'8\001'
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-  _VISUALREFINEMENTOPTIONS._serialized_end=518
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-  _SETLOCALIZATIONREQUEST._serialized_end=1232
-  _SETLOCALIZATIONREQUEST_FIDUCIALINIT._serialized_start=1054
-  _SETLOCALIZATIONREQUEST_FIDUCIALINIT._serialized_end=1218
-  _SENSORCOMPATIBILITYSTATUS._serialized_start=1234
-  _SENSORCOMPATIBILITYSTATUS._serialized_end=1325
-  _SETLOCALIZATIONRESPONSE._serialized_start=1328
-  _SETLOCALIZATIONRESPONSE._serialized_end=2533
-  _SETLOCALIZATIONRESPONSE_SUSPECTEDAMBIGUITY._serialized_start=1922
-  _SETLOCALIZATIONRESPONSE_SUSPECTEDAMBIGUITY._serialized_end=2003
-  _SETLOCALIZATIONRESPONSE_STATUS._serialized_start=2006
-  _SETLOCALIZATIONRESPONSE_STATUS._serialized_end=2345
-  _SETLOCALIZATIONRESPONSE_QUALITYCHECKRESULT._serialized_start=2348
-  _SETLOCALIZATIONRESPONSE_QUALITYCHECKRESULT._serialized_end=2533
-  _ROUTEGENPARAMS._serialized_start=2535
-  _ROUTEGENPARAMS._serialized_end=2551
-  _TRAVELPARAMS._serialized_start=2554
-  _TRAVELPARAMS._serialized_end=3219
-  _TRAVELPARAMS_FEATUREQUALITYTOLERANCE._serialized_start=3105
-  _TRAVELPARAMS_FEATUREQUALITYTOLERANCE._serialized_end=3219
-  _MODIFYNAVIGATIONRESPONSE._serialized_start=3222
-  _MODIFYNAVIGATIONRESPONSE._serialized_end=3496
-  _MODIFYNAVIGATIONRESPONSE_STATUS._serialized_start=3420
-  _MODIFYNAVIGATIONRESPONSE_STATUS._serialized_end=3496
-  _NAVIGATETOREQUEST._serialized_start=3499
-  _NAVIGATETOREQUEST._serialized_end=4004
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-  _NAVIGATETORESPONSE_STATUS._serialized_end=4779
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-  _ROUTEFOLLOWINGPARAMS._serialized_end=5413
-  _ROUTEFOLLOWINGPARAMS_STARTROUTEBEHAVIOR._serialized_start=5082
-  _ROUTEFOLLOWINGPARAMS_STARTROUTEBEHAVIOR._serialized_end=5199
-  _ROUTEFOLLOWINGPARAMS_RESUMEBEHAVIOR._serialized_start=5201
-  _ROUTEFOLLOWINGPARAMS_RESUMEBEHAVIOR._serialized_end=5311
-  _ROUTEFOLLOWINGPARAMS_ROUTEBLOCKEDBEHAVIOR._serialized_start=5313
-  _ROUTEFOLLOWINGPARAMS_ROUTEBLOCKEDBEHAVIOR._serialized_end=5413
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-  _VALIDATEGRAPHRESPONSE_STATUS._serialized_end=15999
+  _VISUALREFINEMENTOPTIONS._serialized_start=548
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+  _VALIDATEGRAPHRESPONSE_STATUS._serialized_start=16744
+  _VALIDATEGRAPHRESPONSE_STATUS._serialized_end=16852
 # @@protoc_insertion_point(module_scope)