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

bosdyn/client/signals_helpers.py

@@ -0,0 +1,105 @@
+# Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.
+#
+# Downloading, reproducing, distributing or otherwise using the SDK Software
+# is subject to the terms and conditions of the Boston Dynamics Software
+# Development Kit License (20191101-BDSDK-SL).
+
+"""Helpers for working with DAQ plugins and signals.proto."""
+from bosdyn.api.alerts_pb2 import AlertData
+from bosdyn.api.data_acquisition_pb2 import LiveDataResponse
+from bosdyn.api.signals_pb2 import AlertConditionSpec, Signal, SignalData, SignalSpec
+from bosdyn.client.units_helpers import units_to_string
+
+
+def build_max_alert_spec(value: float, severity: AlertData.SeverityLevel) -> AlertConditionSpec:
+    """Builds a max AlertConditionSpec.
+
+    Args:
+        value(float): Max threshold.
+        severity(str): Severity of alert.
+    Returns:
+        AlertConditionSpec
+    """
+    alert = AlertConditionSpec()
+    alert.max = value
+    alert.alert_data.severity = severity
+    return alert
+
+
+def build_simple_signal(name: str, value: float, units: str, max_warning: float = None,
+                        max_critical: float = None) -> Signal:
+    """Builds a simple signal with a float value, string units, and optional max alerts.
+
+    Args:
+        name(str): Name of the signal.
+        value(float): Signal data value.
+        units(str): Simple units.
+        max_warning(float): Max warning threshold.
+        max_critical(float): Max critical threshold.
+    Returns:
+        Signal
+    """
+    # Bundle spec/data together as a signal.
+    signal = Signal()
+
+    # Setup signal specification.
+    signal_spec = signal.signal_spec
+    signal_spec.info.name = name
+    signal_spec.sensor.units.name = units
+    if max_warning:
+        alert_spec_1 = build_max_alert_spec(max_warning,
+                                            AlertData.SeverityLevel.SEVERITY_LEVEL_WARN)
+        signal_spec.alerts.append(alert_spec_1)
+    if max_critical:
+        alert_spec_2 = build_max_alert_spec(max_critical,
+                                            AlertData.SeverityLevel.SEVERITY_LEVEL_CRITICAL)
+        signal_spec.alerts.append(alert_spec_2)
+
+    # Add value to signal data.
+    signal.signal_data.data.double = value
+
+    return signal
+
+
+def build_capability_live_data(signals: dict,
+                               capability_name: str) -> LiveDataResponse.CapabilityLiveData:
+    """Takes a dictionary of signals and copies them into a CapabilityLiveData message.
+
+    Args:
+        signals(dict[str, Signal]): A dictionary of signal id to Signal.
+        capability_name(str): The capability name.
+    Returns:
+        CapabilityLiveData
+    """
+    capability_live_data = LiveDataResponse.CapabilityLiveData()
+    capability_live_data.name = capability_name
+    capability_live_data.status = LiveDataResponse.CapabilityLiveData.Status.STATUS_OK
+    for signal_id, signal in signals.items():
+        capability_live_data.signals[signal_id].CopyFrom(signal)
+    return capability_live_data
+
+
+def build_live_data_response(live_data_capabilities: list) -> LiveDataResponse:
+    """Takes a list of CapabilityLiveData and adds them to a LiveDataResponse.
+
+    Args:
+        live_data_capabilities(list[LiveDataResponse.CapabilityLiveData]): A list of CapabilityLiveData.
+    Returns:
+        LiveDataResponse
+    """
+    response = LiveDataResponse()
+    response.live_data.extend(live_data_capabilities)
+    return response
+
+
+def get_data(signal_data: SignalData):
+    """Checks type of SignalData and returns the value.
+
+    Args:
+        signal_data(SignalData): Signal data.
+    Returns:
+        The data value.
+    """
+    return getattr(signal_data.data, signal_data.data.WhichOneof('value'), None)
+
+

bosdyn/client/spot_cam/compositor.py

@@ -119,7 +119,9 @@ class CompositorClient(BaseClient):
             kwargs: extra arguments for controlling RPC details.
         """
         coords = compositor_pb2.IrMeterOverlay.NormalizedCoordinates(x=x, y=y)
-        overlay = compositor_pb2.IrMeterOverlay(enable=enable, meter=[coords], unit=unit)
+        # setting both coords and meter fields for backwards compatibility
+        overlay = compositor_pb2.IrMeterOverlay(enable=enable, coords=coords, meter=[coords],
+                                                unit=unit)
         request = compositor_pb2.SetIrMeterOverlayRequest(overlay=overlay)
         return self.call(self._stub.SetIrMeterOverlay, request, self._return_response,
                          self._compositor_error_from_response, copy_request=False, **kwargs)
@@ -127,7 +129,9 @@ class CompositorClient(BaseClient):
     def set_ir_meter_overlay_async(self, x, y, enable, unit, **kwargs):
         """Async version of set_ir_meter_overlay()"""
         coords = compositor_pb2.IrMeterOverlay.NormalizedCoordinates(x=x, y=y)
-        overlay = compositor_pb2.IrMeterOverlay(enable=enable, meter=[coords], unit=unit)
+        # setting both coords and meter fields for backwards compatibility
+        overlay = compositor_pb2.IrMeterOverlay(enable=enable, coords=coords, meter=[coords],
+                                                unit=unit)
         request = compositor_pb2.SetIrMeterOverlayRequest(overlay=overlay)
         return self.call_async(self._stub.SetIrMeterOverlay, request, self._return_response,
                                self._compositor_error_from_response, copy_request=False, **kwargs)

bosdyn/client/spot_cam/ptz.py

@@ -160,8 +160,18 @@ class PtzClient(BaseClient):
             SetPtzFocusStateResponse indicating whether the call was successful
         """
 
-        request = self._make_set_ptz_focus_state_request(focus_mode, distance, focus_position)
-
+        if focus_position is not None:
+            focus_position_val = Int32Value(value=focus_position)
+            approx_distance = None
+        elif distance is not None:
+            approx_distance = FloatValue(value=distance)
+            focus_position_val = None
+        else:
+            raise ValueError("One of distance or focus_position must be specified.")
+
+        ptz_focus_state = ptz_pb2.PtzFocusState(mode=focus_mode, approx_distance=approx_distance,
+                                                focus_position=focus_position_val)
+        request = ptz_pb2.SetPtzFocusStateRequest(focus_state=ptz_focus_state)
         return self.call(self._stub.SetPtzFocusState, request,
                          self._set_ptz_focus_state_from_response, common_header_errors,
                          copy_request=False, **kwargs)
@@ -169,22 +179,22 @@ class PtzClient(BaseClient):
     def set_ptz_focus_state_async(self, focus_mode, distance=None, focus_position=None, **kwargs):
         """Async version of set_ptz_focus_state()"""
 
-        request = self._make_set_ptz_focus_state_request(focus_mode, distance, focus_position)
-
+        if focus_position is not None:
+            focus_position_val = Int32Value(value=focus_position)
+            approx_distance = None
+        elif distance is not None:
+            approx_distance = FloatValue(value=distance)
+            focus_position_val = None
+        else:
+            raise ValueError("One of distance or focus_position must be specified.")
+
+        ptz_focus_state = ptz_pb2.PtzFocusState(mode=focus_mode, approx_distance=approx_distance,
+                                                focus_position=focus_position_val)
+        request = ptz_pb2.SetPtzFocusStateRequest(focus_state=ptz_focus_state)
         return self.call_async(self._stub.SetPtzFocusState, request,
                                self._set_ptz_focus_state_from_response, common_header_errors,
                                copy_request=False, **kwargs)
 
-    @staticmethod
-    def _make_set_ptz_focus_state_request(focus_mode, distance, focus_position):
-        request = ptz_pb2.SetPtzFocusStateRequest()
-        request.focus_state.mode = focus_mode
-        if focus_position is not None:
-            request.focus_state.focus_position.value = focus_position
-        elif distance is not None:
-            request.focus_state.approx_distance.value = distance
-        return request
-
     @staticmethod
     def _list_ptz_from_response(response):
         return response.ptzs

bosdyn/client/spot_check.py

@@ -103,6 +103,46 @@ class CameraCalibrationTimedOutError(Exception):
     """Timed out waiting for SUCCESS response from calibration."""
 
 
+class GripperCameraCalibrationResponseError(SpotCheckError):
+    """General class of errors for gripper camera calibration routines."""
+
+
+class GripperCameraCalibrationUserCanceledError(GripperCameraCalibrationResponseError):
+    """API client canceled calibration."""
+
+
+class GripperCameraCalibrationPowerError(GripperCameraCalibrationResponseError):
+    """The robot is not powered on."""
+
+
+class GripperCameraCalibrationLeaseError(GripperCameraCalibrationResponseError):
+    """The Lease is invalid."""
+
+
+class GripperCameraCalibrationTargetNotCenteredError(GripperCameraCalibrationResponseError):
+    """Invalid starting configuration of robot."""
+
+
+class GripperCameraCalibrationTargetUpsideDownError(GripperCameraCalibrationResponseError):
+    """The target is incorrectly oriented."""
+
+
+class GripperCameraCalibrationCalibrationError(GripperCameraCalibrationResponseError):
+    """Calibration algorithm failure occurred."""
+
+
+class GripperCameraCalibrationInitializationError(GripperCameraCalibrationResponseError):
+    """Initialization error occurred ."""
+
+
+class GripperCameraCalibrationInternalError(GripperCameraCalibrationResponseError):
+    """Internal error occurred ."""
+
+
+class GripperCameraCalibrationStuckError(GripperCameraCalibrationResponseError):
+    """Timed out waiting for robot to reach goal pose."""
+
+
 class SpotCheckClient(BaseClient):
     """A client for verifying robot health and running calibration routines."""
     default_service_name = 'spot-check'
@@ -170,6 +210,42 @@ class SpotCheckClient(BaseClient):
         return self.call_async(self._stub.CameraCalibrationFeedback, request, None,
                                _calibration_feedback_error_from_response, **kwargs)
 
+    def gripper_camera_calibration_command(self, request, **kwargs):
+        """Issue a gripper camera calibration command to the robot.
+
+        Raises:
+            Error on header error or lease use result error.
+        """
+        return self.call(self._stub.GripperCameraCalibrationCommand, request, None,
+                         _gripper_calibration_command_error_from_response, **kwargs)
+
+    def gripper_camera_calibration_command_async(self, request, **kwargs):
+        """Async version of gripper_camera_calibration_command()
+
+        Raises:
+            Error on header error or lease use result error.
+        """
+        return self.call_async(self._stub.GripperCameraCalibrationCommand, request, None,
+                               _gripper_calibration_command_error_from_response, **kwargs)
+
+    def gripper_camera_calibration_feedback(self, request, **kwargs):
+        """Check the current status of gripper camera calibration.
+
+        Raises:
+            GripperCameraCalibrationResponseError on any feedback error.
+        """
+        return self.call(self._stub.GripperCameraCalibrationFeedback, request, None,
+                         _gripper_calibration_feedback_error_from_response, **kwargs)
+
+    def gripper_camera_calibration_feedback_async(self, request, **kwargs):
+        """Async version of gripper_camera_calibration_feedback()
+
+        Raises:
+            GripperCameraCalibrationResponseError on any feedback error.
+        """
+        return self.call_async(self._stub.GripperCameraCalibrationFeedback, request, None,
+                               _gripper_calibration_feedback_error_from_response, **kwargs)
+
 
 def run_spot_check(spot_check_client, lease, timeout_sec=212, update_frequency=0.25, verbose=False):
     """Run full spot check routine. The robot should be sitting on flat ground when this routine is
@@ -364,3 +440,87 @@ def _cal_status_error_from_response(response):
         status_to_error=_CAL_STATUS_TO_ERROR)
 
 
+
+
+# Gripper Camera calibration error handlers.
+@handle_common_header_errors
+@handle_lease_use_result_errors
+def _gripper_calibration_command_error_from_response(response):
+    return None
+
+
+@handle_common_header_errors
+def _gripper_calibration_feedback_error_from_response(response):
+    # Special handling of lease case.
+    if response.status == spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_LEASE_ERROR:
+        return LeaseUseError(response, None)
+    return _gcal_status_error_from_response(response)
+
+
+_GCAL_STATUS_TO_ERROR = collections.defaultdict(lambda:
+                                                (GripperCameraCalibrationResponseError, None))
+_GCAL_STATUS_TO_ERROR.update({  # noqa
+        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_SUCCESS: (
+            None,
+            None,
+        ),
+        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_PROCESSING: (
+            None,
+            None,
+        ),
+        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_USER_CANCELED: (
+            GripperCameraCalibrationUserCanceledError,
+            GripperCameraCalibrationUserCanceledError.__doc__,
+        ),
+        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_NEVER_RUN: (
+            None,
+            None,
+        ),
+        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_POWER_ERROR: (
+            GripperCameraCalibrationPowerError,
+            GripperCameraCalibrationPowerError.__doc__,
+        ),
+        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_LEASE_ERROR: (
+            GripperCameraCalibrationLeaseError,
+            GripperCameraCalibrationLeaseError.__doc__,
+        ),
+
+        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_TARGET_NOT_CENTERED: (
+            GripperCameraCalibrationTargetNotCenteredError,
+            GripperCameraCalibrationTargetNotCenteredError.__doc__,
+        ),
+        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_TARGET_NOT_IN_VIEW: (
+            GripperCameraCalibrationTargetNotCenteredError,
+            GripperCameraCalibrationTargetNotCenteredError.__doc__,
+        ),
+        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_TARGET_UPSIDE_DOWN: (
+            GripperCameraCalibrationTargetUpsideDownError,
+            GripperCameraCalibrationTargetUpsideDownError.__doc__,
+        ),
+        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_INITIALIZATION_ERROR: (
+            GripperCameraCalibrationInitializationError,
+            GripperCameraCalibrationInitializationError.__doc__,
+        ),
+        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_INTERNAL_ERROR: (
+            GripperCameraCalibrationInternalError,
+            GripperCameraCalibrationInternalError.__doc__,
+        ),
+        spot_check_pb2.GripperCameraCalibrationFeedbackResponse.STATUS_STUCK: (
+            GripperCameraCalibrationStuckError,
+            GripperCameraCalibrationStuckError.__doc__,
+        ),
+})
+
+
+@handle_unset_status_error(
+    unset="STATUS_UNKNOWN",
+    statustype=spot_check_pb2.GripperCameraCalibrationFeedbackResponse,
+)
+def _gcal_status_error_from_response(response):
+    """Return a custom exception based on response, None if no error."""
+    return error_factory(
+        response,
+        response.status,
+        status_to_string=spot_check_pb2.GripperCameraCalibrationFeedbackResponse.Status.Name,
+        status_to_error=_GCAL_STATUS_TO_ERROR,
+    )

bosdyn/client/time_sync.py

@@ -18,7 +18,7 @@ from google.protobuf import duration_pb2
 
 from bosdyn.api import time_sync_pb2, time_sync_service_pb2_grpc
 from bosdyn.api.time_range_pb2 import TimeRange
-from bosdyn.util import (RobotTimeConverter, now_nsec, nsec_to_timestamp, parse_timespan,
+from bosdyn.util import (RobotTimeConverter, now_nsec, now_sec, nsec_to_timestamp, parse_timespan,
                          set_timestamp_from_nsec, timestamp_to_nsec)
 
 from .common import BaseClient, common_header_errors
@@ -342,8 +342,8 @@ class TimeSyncThread:
     # When time-sync service is not yet ready, poll it at this interval
     TIME_SYNC_SERVICE_NOT_READY_INTERVAL_SEC = 5
 
-    def __init__(self, time_sync_client):
-        self._time_sync_endpoint = TimeSyncEndpoint(time_sync_client)
+    def __init__(self, time_sync_client, time_sync_endpoint=None):
+        self._time_sync_endpoint = time_sync_endpoint or TimeSyncEndpoint(time_sync_client)
         self._lock = Lock()
         self._locked_time_sync_interval_sec = self.DEFAULT_TIME_SYNC_INTERVAL_SEC
         self._locked_should_exit = False  # Used to tell the thread to stop running.
@@ -412,11 +412,11 @@ class TimeSyncThread:
         """
         if self.has_established_time_sync:
             return
-        end_time_sec = time.time() + timeout_sec
+        end_time_sec = now_sec() + timeout_sec
         while not self.stopped:
             if self.endpoint.has_established_time_sync:
                 return
-            if time.time() > end_time_sec:
+            if now_sec() > end_time_sec:
                 raise TimedOutError
             time.sleep(0.1)
         thread_exc = self.thread_exception

bosdyn/client/units_helpers.py

@@ -0,0 +1,39 @@
+# Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.
+#
+# Downloading, reproducing, distributing or otherwise using the SDK Software
+# is subject to the terms and conditions of the Boston Dynamics Software
+# Development Kit License (20191101-BDSDK-SL).
+
+"""Helpers for working with units.proto."""
+
+from bosdyn.api import units_pb2
+
+TEMPERATURE_NAMES = {
+    units_pb2.TEMPERATURE_KELVIN: "K",
+    units_pb2.TEMPERATURE_CELSIUS: "°C",
+    units_pb2.TEMPERATURE_FAHRENHEIT: "°F"
+}
+
+PRESSURE_NAMES = {
+    units_pb2.PRESSURE_PSI: "psi",
+    units_pb2.PRESSURE_KPA: "kPa",
+    units_pb2.PRESSURE_BAR: "bar"
+}
+
+
+def units_to_string(units: units_pb2.Units):
+    """Gets the units in string form to use for display. Ex: TEMPERATURE_KELVIN = "K"
+
+    Args:
+        units(Units): Populate units message.
+
+    Returns:
+        String
+    """
+    if units.HasField("temp"):
+        return TEMPERATURE_NAMES.get(units.temp, "")
+    if units.HasField("press"):
+        return PRESSURE_NAMES.get(units.press, "")
+    if units.HasField("name"):
+        return units.name
+    return ""

bosdyn/client/util.py

@@ -11,11 +11,14 @@ import getpass
 import glob
 import logging
 import os
+import pathlib
 import signal
 import sys
 import threading
 import time
 from concurrent import futures
+from secrets import token_urlsafe
+from uuid import uuid4
 
 import google.protobuf.descriptor
 import grpc
@@ -25,6 +28,7 @@ import bosdyn.client.server_util
 from bosdyn.client.auth import InvalidLoginError, InvalidTokenError
 from bosdyn.client.channel import generate_channel_options
 from bosdyn.client.exceptions import Error
+from bosdyn.deprecated import moved_to
 
 _LOGGER = logging.getLogger(__name__)
 
@@ -254,7 +258,7 @@ def add_common_arguments(parser, credentials_no_warn=False):
 
 
 def read_payload_credentials(filename):
-    """Read the guid and secret from a file.  The file should have the guid and secret
+    """Read the guid and secret from a file that already exists.  The file should have the guid and secret
     as the first and second lines in the file.
 
     Args:
@@ -275,6 +279,40 @@ def read_payload_credentials(filename):
     return guid, secret
 
 
+def read_or_create_payload_credentials(filename):
+    """
+    Only for use when attempting to register a payload. If simply trying to authenticate,
+    use get_guid_or_secret or read_payload_credentials instead.
+
+    When registering, attempt to read the payload's guid and secret from the specified file.
+    If this file exists, it should have the guid and secret as the first and second lines in the
+    file. If the file does not exist, this function creates a valid credentials file at filename.
+
+    Args:
+        filename: Name of the file to read. Its parent directories should already exist and
+                  it should have the right permissions to be read by the payload registration
+                  service. If running on a CORE I/O, also ensure that this location is mounted
+                  as a volume to the CORE I/O's /data or /persist locations.
+
+    Returns:
+        Tuple of (guid, secret)
+
+    Raises:
+         OSError if the credential file cannot be read.
+         ValueError if the guid or secret are missing from the file.
+    """
+    try:
+        return read_payload_credentials(filename)
+    except (OSError, ValueError):
+        # If we can't read the credentials, write them assuming that parent directories exist.
+        guid = str(uuid4())
+        secret = token_urlsafe(16)
+        with open(filename, 'w') as credentials_file:
+            credentials_file.write(guid + "\n")
+            credentials_file.write(secret)
+        return guid, secret
+
+
 def get_guid_and_secret(parsed_options):
     """Get the guid and secret for a payload, based on the options that were added
     via add_payload_credentials_arguments().
@@ -289,12 +327,30 @@ def get_guid_and_secret(parsed_options):
          OSError if the credential file cannot be read.
          Exception if no applicable arguments are given.
     """
-    if parsed_options.guid or parsed_options.secret:
+    if (hasattr(parsed_options, "guid") and
+            parsed_options.guid) or (hasattr(parsed_options, "secret") and parsed_options.secret):
         return parsed_options.guid, parsed_options.secret
     if parsed_options.payload_credentials_file:
         return read_payload_credentials(parsed_options.payload_credentials_file)
     raise Exception('No payload credentials provided. Use --guid and --secret'
-                    ' or --payload-credentials-file.')
+                    ' or --payload-credentials-file. The latter in conjunction with'
+                    ' read_or_create_payload_credentials is recommended for easy'
+                    ' management of unique per-robot credentials')
+
+
+def add_payload_credentials_file_argument(parser):
+    """Add argument for payload_credentials_file to an ArgumentParser or argument group.
+       This file is where the payload's GUID and secret are stored. The GUID and secret can
+       be securely generated on a per-robot basis and written to this file with
+       read_or_create_payload_credentials(filename).
+
+    Args:
+        parser: Argument parser object
+    """
+    parser.add_argument(
+        '--payload-credentials-file', help=
+        'File from which to read payload guid and secret. Preferred in conjunction with read_or_create_payload_credentials for easy management of unique per-robot credentials'
+    )
 
 
 def add_payload_credentials_arguments(parser, required=True):
@@ -308,8 +364,7 @@ def add_payload_credentials_arguments(parser, required=True):
     group = parser.add_mutually_exclusive_group(required=required)
     group.add_argument('--guid', help='Unique GUID of the payload.')
     parser.add_argument('--secret', help='Secret of the payload.')
-    group.add_argument('--payload-credentials-file',
-                       help='File from which to read payload guid and secret')
+    add_payload_credentials_file_argument(group)
 
 
 def add_service_hosting_arguments(parser):
@@ -336,11 +391,19 @@ def add_service_endpoint_arguments(parser):
         ' e.g. "192.168.50.5"')
 
 
-@deprecated(reason='App tokens are no longer in use. Authorization is now handled via licenses.',
-            version='2.0.1', action="always")
-def default_app_token_path():
-    """Do nothing, this method is kept only to maintain backwards compatibility."""
-    return
+def safe_pb_enum_to_string(value, pb_enum_obj):
+    """Safe wrapper to convert a protobuf enum object to its string representation.
+    Avoids throughing an exception if the status is unknown by the enum object.
+
+    Args:
+        value: The enum value to convert
+        pb_enum_obj: The protobuf enum object to decode the value
+    """
+    try:
+        return pb_enum_obj.Name(value)
+    except ValueError:
+        pass
+    return '<unknown> (value: {})'.format(value)
 
 
 @deprecated(reason='The GrpcServiceRunner class helper has moved to server_util.py. Please use '
@@ -408,57 +471,30 @@ class GrpcServiceRunner(object):
 
 
 
-populate_response_header = deprecated(
-    reason='The populate_response_header helper has moved to '
-    'server_util.py. Please use bosdyn.client.server_util.populate_response_header.',
-    version='3.0.0', action="always")(bosdyn.client.server_util.populate_response_header)
-
-strip_large_bytes_fields = deprecated(
-    reason='The strip_large_bytes_fields helper has moved to '
-    'server_util.py. Please use bosdyn.client.server_util.strip_large_bytes_fields.',
-    version='3.0.0', action="always")(bosdyn.client.server_util.strip_large_bytes_fields)
-
-get_bytes_field_whitelist = deprecated(
-    reason='The get_bytes_field_whitelist helper has moved to '
-    'server_util.py. Please use bosdyn.client.server_util.get_bytes_field_allowlist.',
-    version='3.0.0', action="always")(bosdyn.client.server_util.get_bytes_field_allowlist)
-
-strip_image_response = deprecated(
-    reason='The strip_image_response helper has moved to '
-    'server_util.py. Please use bosdyn.client.server_util.strip_image_response.', version='3.0.0',
-    action="always")(bosdyn.client.server_util.strip_image_response)
-
-strip_get_image_response = deprecated(
-    reason='The strip_get_image_response helper has moved to '
-    'server_util.py. Please use bosdyn.client.server_util.strip_get_image_response.',
-    version='3.0.0', action="always")(bosdyn.client.server_util.strip_get_image_response)
-
-strip_local_grid_responses = deprecated(
-    reason='The strip_local_grid_responses helper has moved to '
-    'server_util.py. Please use bosdyn.client.server_util.strip_local_grid_responses.',
-    version='3.0.0', action="always")(bosdyn.client.server_util.strip_local_grid_responses)
-
-strip_store_image_request = deprecated(
-    reason='The strip_store_image_request helper has moved to '
-    'server_util.py. Please use bosdyn.client.server_util.strip_store_image_request.',
-    version='3.0.0', action="always")(bosdyn.client.server_util.strip_store_image_request)
-
-strip_store_data_request = deprecated(
-    reason='The strip_store_data_request helper has moved to '
-    'server_util.py. Please use bosdyn.client.server_util.strip_store_data_request.',
-    version='3.0.0', action="always")(bosdyn.client.server_util.strip_store_data_request)
-
-strip_record_signal_tick = deprecated(
-    reason='The strip_record_signal_tick helper has moved to '
-    'server_util.py. Please use bosdyn.client.server_util.strip_record_signal_tick.',
-    version='3.0.0', action="always")(bosdyn.client.server_util.strip_record_signal_tick)
-
-strip_record_data_blob = deprecated(
-    reason='The strip_record_data_blob helper has moved to '
-    'server_util.py. Please use bosdyn.client.server_util.strip_record_data_blob.', version='3.0.0',
-    action="always")(bosdyn.client.server_util.strip_record_data_blob)
-
-strip_log_annotation = deprecated(
-    reason='The strip_log_annotation helper has moved to '
-    'server_util.py. Please use bosdyn.client.server_util.strip_log_annotation.', version='3.0.0',
-    action="always")(bosdyn.client.server_util.strip_log_annotation)
+populate_response_header = moved_to(bosdyn.client.server_util.populate_response_header,
+                                    version='3.0.0')
+
+strip_large_bytes_fields = moved_to(bosdyn.client.server_util.strip_large_bytes_fields,
+                                    version='3.0.0')
+
+get_bytes_field_whitelist = moved_to(bosdyn.client.server_util.get_bytes_field_allowlist,
+                                     version='3.0.0')
+
+strip_image_response = moved_to(bosdyn.client.server_util.strip_image_response, version='3.0.0')
+
+strip_get_image_response = moved_to(bosdyn.client.server_util.strip_get_image_response,
+                                    version='3.0.0')
+
+strip_local_grid_responses = moved_to(bosdyn.client.server_util.strip_local_grid_responses,
+                                      version='3.0.0')
+
+strip_store_image_request = moved_to(bosdyn.client.server_util.strip_store_image_request,
+                                     version='3.0.0')
+
+strip_store_data_request = moved_to(bosdyn.client.server_util.strip_store_data_request,
+                                    version='3.0.0')
+
+strip_record_signal_tick = moved_to(bosdyn.client.server_util.strip_record_signal_tick,
+                                    version='3.0.0')
+
+strip_record_data_blob = moved_to(bosdyn.client.server_util.strip_record_data_blob, version='3.0.0')