bosdyn-client 4.0.1__py3-none-any.whl → 4.0.2__py3-none-any.whl

bosdyn/client/gps/NMEAParser.py

@@ -149,6 +149,11 @@ class NMEAParser(object):
                     self.last_failed_read_log_time = now
                 continue
 
+            # if the message does not contain a timestamp attribute, abandon the rest of the logic
+            # and go to the beginning of the loop
+            if not hasattr(nmea_msg, 'timestamp'):
+                continue
+
             # Only use NMEA messages that have a timestamp.
             # For example, GSA and GST messages are not supported.
             if isinstance(nmea_msg.timestamp, datetime.time):

bosdyn/client/gps/gps_listener.py

@@ -27,17 +27,21 @@ class NMEAStreamReader(object):
     # The amount of time to wait before logging another decode error.
     LOG_THROTTLE_TIME = 2.0  # seconds.
 
-    def __init__(self, logger, stream, body_tform_gps):
+    def __init__(self, logger, stream, body_tform_gps, verbose):
         self.logger = logger
         self.stream = stream
         self.parser = NMEAParser(logger)
         self.body_tform_gps = body_tform_gps.to_proto()
         self.last_failed_read_log_time = None
+        self.verbose = verbose
 
     def read_data(self, time_converter: RobotTimeConverter) -> List[GpsDataPoint]:
         """This function returns an array of new GpsDataPoints."""
         try:
             raw_data = self.stream.readline()
+            # If the rawdata is a bytes or bytearray object, decode it into a string.
+            if type(raw_data) is not str:
+                raw_data = str(raw_data, "utf-8")
         except UnicodeDecodeError:
             # Throttle the logs.
             now = time.time()
@@ -53,7 +57,12 @@ class NMEAStreamReader(object):
 
         # Trim any leading characters before the NMEA sentence.
         raw_data = raw_data[raw_data.index('$'):]
-        self.logger.info(f"Read: {raw_data}")
+
+        # If we are being verbose, print the message we received.
+        if self.verbose:
+            self.logger.info(f"Read: {raw_data}")
+
+        # Parse the received message.
         new_points = self.parser.parse(raw_data, time_converter, check=False)
 
         # Offset for the GPS
@@ -65,11 +74,11 @@ class NMEAStreamReader(object):
 
 class GpsListener:
 
-    def __init__(self, robot, time_converter, stream, name, body_tform_gps, logger):
+    def __init__(self, robot, time_converter, stream, name, body_tform_gps, logger, verbose):
         self.logger = logger
         self.robot = robot
         self.time_converter = time_converter
-        self.reader = NMEAStreamReader(logger, stream, body_tform_gps)
+        self.reader = NMEAStreamReader(logger, stream, body_tform_gps, verbose)
         self.gps_device = GpsDevice()
         self.gps_device.name = name
         self.aggregator_client = None

bosdyn/client/robot_command.py

@@ -522,6 +522,21 @@ class RobotCommandClient(BaseClient):
                                                            behavior_fault_id=behavior_fault_id)
 
 
+class RobotCommandStreamingClient(BaseClient):
+    """Client for calling RobotCommand services.
+
+    This client is in BETA and may undergo changes in future releases.
+    """
+    default_service_name = 'robot-command-streaming'
+    service_type = 'bosdyn.api.RobotCommandStreamingService'
+
+    def __init__(self):
+        super(RobotCommandStreamingClient,
+              self).__init__(robot_command_service_pb2_grpc.RobotCommandStreamingServiceStub)
+        self._timesync_endpoint = None
+
+    def send_joint_control_commands(self, command_iterator):
+        return self._stub.JointControlStream(command_iterator)
 
 
 def _robot_command_value(response):

bosdyn/client/robot_state.py

@@ -129,6 +129,26 @@ class RobotStateClient(BaseClient):
         return robot_state_pb2.RobotLinkModelRequest(link_name=link_name)
 
 
+class RobotStateStreamingClient(BaseClient):
+    """Client for the RobotState service.
+    
+    This client is in BETA and may undergo changes in future releases.
+    """
+    default_service_name = 'robot-state-streaming'
+    service_type = 'bosdyn.api.RobotStateStreamingService'
+
+    def __init__(self):
+        super(RobotStateStreamingClient,
+              self).__init__(robot_state_service_pb2_grpc.RobotStateStreamingServiceStub)
+
+    def get_robot_state_stream(self, **kwargs):
+        """Returns an iterator providing current state updates of the robot."""
+        req = self._get_robot_state_stream_request()
+        return self._stub.GetRobotStateStream(req)
+
+    @staticmethod
+    def _get_robot_state_stream_request():
+        return robot_state_pb2.RobotStateStreamRequest()
 
 
 def _get_robot_state_value(response):

{bosdyn_client-4.0.1.dist-info → bosdyn_client-4.0.2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: bosdyn-client
-Version: 4.0.1
+Version: 4.0.2
 Summary: Boston Dynamics API client code and interfaces
 Home-page: https://dev.bostondynamics.com/
 Author: Boston Dynamics
@@ -15,8 +15,8 @@ Classifier: Programming Language :: Python :: 3.10
 Classifier: License :: Other/Proprietary License
 Classifier: Operating System :: OS Independent
 Description-Content-Type: text/markdown
-Requires-Dist: bosdyn-api (==4.0.1)
-Requires-Dist: bosdyn-core (==4.0.1)
+Requires-Dist: bosdyn-api (==4.0.2)
+Requires-Dist: bosdyn-core (==4.0.2)
 Requires-Dist: grpcio
 Requires-Dist: pyjwt
 Requires-Dist: numpy

{bosdyn_client-4.0.1.dist-info → bosdyn_client-4.0.2.dist-info}/RECORD

@@ -58,9 +58,9 @@ bosdyn/client/processors.py,sha256=Z-Djf_I_lhfokB-f_L0PewAY8J95LThdWVju1zJ2BaE,1
 bosdyn/client/ray_cast.py,sha256=Ca1yJo0aY6OmVAazb19fy44L-9LzcKVxr_fHt_EoQtg,4465
 bosdyn/client/recording.py,sha256=4LQidgu2uwZS-SovodA5qt12OlftbIXk2CgBIzPFG1I,26017
 bosdyn/client/robot.py,sha256=E9Gw2ntMHAI6yueev50NS7FANBymEvsh7xniF8S2jV4,30670
-bosdyn/client/robot_command.py,sha256=SYEKys3GyF6H-Wyxp4Ix5mStlOGG4pHlLSuBT_6GxMc,107624
+bosdyn/client/robot_command.py,sha256=D6MQ8Shx8gV4IZMfzaaTgmT04FiamUkC9eN41VORrLE,108240
 bosdyn/client/robot_id.py,sha256=0VZHG9hltwTLAm1_Bt26Xq1O6EROswqNwHvjY7kaplk,2482
-bosdyn/client/robot_state.py,sha256=MSIIGivRY3j0mmCg_vOCCmANoQRNS-VIMTx6KXfn3fE,6284
+bosdyn/client/robot_state.py,sha256=h551ke5eHdAC7NgVuLphY8FZR899Ii8_lYwuoX1w1nk,7073
 bosdyn/client/sdk.py,sha256=u-DOSF-QEERYu0hxRXmfOpRhLCD6R-b5IqgfsqUaOcY,12759
 bosdyn/client/server_util.py,sha256=nzpZijK_GclVK2Zf2g2KCe-2e49NEQbPgdz75fwafXc,10402
 bosdyn/client/service_customization_helpers.py,sha256=mi_xkCNvJE7wX64WFoMAKiJQsUvS33LY8PrhiV8-95w,48357
@@ -72,10 +72,10 @@ bosdyn/client/token_manager.py,sha256=FvDFCXKIiGXZNkagKZM41Ut8Q0ChlYHN3O61CzrqMF
 bosdyn/client/units_helpers.py,sha256=5SAmL8vsnl06oGNjzb57fUkuUbGvtbeNdg4NgW0wYAY,1084
 bosdyn/client/util.py,sha256=1Kj10p0jqS7opwDrAAx3adfIw1lJCB1OzSZYyfUlJH8,20029
 bosdyn/client/world_object.py,sha256=KbFRkG3jqQEfRN6SmSv1_D6n_9yFVYwbfCUWQ7kYpio,18695
-bosdyn/client/gps/NMEAParser.py,sha256=EMyEt7KJ3QvQpTqq8gwZ9ZIKV7RRGvjJnQyY067i9Q4,8048
+bosdyn/client/gps/NMEAParser.py,sha256=1SSaxN1D7V5eUnqnuCpO6gFwWofurtvXg7UbxF4d3ec,8274
 bosdyn/client/gps/__init__.py,sha256=1qUAbnMKYlERYZvxtGz4ThjYef7Tx-ZBclLoVE_ecjU,265
 bosdyn/client/gps/aggregator_client.py,sha256=z5iRAYyCIez7p0EzIqZg3NTJGzxXAy297iENrhaL7CQ,2380
-bosdyn/client/gps/gps_listener.py,sha256=r08r1qCaLVoE1mcMOMyXWHywfKdTTNeFf7SOGpJBkl0,6181
+bosdyn/client/gps/gps_listener.py,sha256=KkQsThiBgUwmsys34jGn0BrHuE6RkfcwSN7nDwfNpTA,6552
 bosdyn/client/gps/registration_client.py,sha256=LqDLl_Ezv3HNUr9R1B4n2hcMArmGwLgg1asCkGhe2WA,1901
 bosdyn/client/resources/__init__.py,sha256=1qUAbnMKYlERYZvxtGz4ThjYef7Tx-ZBclLoVE_ecjU,265
 bosdyn/client/resources/robot.pem,sha256=kWAr4xK29RtTVC_EhbwW2_NblIuecYqVudR2YIdTh84,1874
@@ -91,7 +91,7 @@ bosdyn/client/spot_cam/power.py,sha256=HS3nJF8hXq9m1JziOIwLHGLtlNMyLgewWBgs-mRZm
 bosdyn/client/spot_cam/ptz.py,sha256=8e6fA07aGnymSXV2MB_QBx0Pv4PSAMOihxq1jyoinDU,10815
 bosdyn/client/spot_cam/streamquality.py,sha256=hQzVPdKnzVT91fc8E8AmNqhAPgddt0XE2tzNQD6QefQ,6411
 bosdyn/client/spot_cam/version.py,sha256=R82eyCAY9PfZqbN8D6hNzSeZatpgpsFr995dRt1Mbe0,2856
-bosdyn_client-4.0.1.dist-info/METADATA,sha256=-nVCOAMJSl7H9rk0k8SI83Gf52rvbVN630HU1DnAvQ0,3938
-bosdyn_client-4.0.1.dist-info/WHEEL,sha256=AtBG6SXL3KF_v0NxLf0ehyVOh0cold-JbJYXNGorC6Q,92
-bosdyn_client-4.0.1.dist-info/top_level.txt,sha256=an2OWgx1ej2jFjmBjPWNQ68ZglvUfKhmXWW-WhTtDmA,7
-bosdyn_client-4.0.1.dist-info/RECORD,,
+bosdyn_client-4.0.2.dist-info/METADATA,sha256=4_AUjtA0swqP4G9fZ_8UHTgq9iZFCPy_wkPdskwDn2w,3938
+bosdyn_client-4.0.2.dist-info/WHEEL,sha256=AtBG6SXL3KF_v0NxLf0ehyVOh0cold-JbJYXNGorC6Q,92
+bosdyn_client-4.0.2.dist-info/top_level.txt,sha256=an2OWgx1ej2jFjmBjPWNQ68ZglvUfKhmXWW-WhTtDmA,7
+bosdyn_client-4.0.2.dist-info/RECORD,,