viam-sdk 0.45.2__py3-none-win_amd64.whl

viam/gen/component/encoder/v1/encoder_pb2.pyi

@@ -0,0 +1,147 @@
+"""
+@generated by mypy-protobuf.  Do not edit manually!
+isort:skip_file
+"""
+import builtins
+import google.protobuf.descriptor
+import google.protobuf.internal.enum_type_wrapper
+import google.protobuf.message
+import google.protobuf.struct_pb2
+import sys
+import typing
+if sys.version_info >= (3, 10):
+    import typing as typing_extensions
+else:
+    import typing_extensions
+DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
+
+class _PositionType:
+    ValueType = typing.NewType('ValueType', builtins.int)
+    V: typing_extensions.TypeAlias = ValueType
+
+class _PositionTypeEnumTypeWrapper(google.protobuf.internal.enum_type_wrapper._EnumTypeWrapper[_PositionType.ValueType], builtins.type):
+    DESCRIPTOR: google.protobuf.descriptor.EnumDescriptor
+    POSITION_TYPE_UNSPECIFIED: _PositionType.ValueType
+    POSITION_TYPE_TICKS_COUNT: _PositionType.ValueType
+    "Return type for relative encoders that report\n    how far they've gone from a start position\n    "
+    POSITION_TYPE_ANGLE_DEGREES: _PositionType.ValueType
+    'Return type for absolute encoders that report\n    their position in degrees along the radial axis\n    '
+
+class PositionType(_PositionType, metaclass=_PositionTypeEnumTypeWrapper):
+    ...
+POSITION_TYPE_UNSPECIFIED: PositionType.ValueType
+POSITION_TYPE_TICKS_COUNT: PositionType.ValueType
+"Return type for relative encoders that report\nhow far they've gone from a start position\n"
+POSITION_TYPE_ANGLE_DEGREES: PositionType.ValueType
+'Return type for absolute encoders that report\ntheir position in degrees along the radial axis\n'
+global___PositionType = PositionType
+
+@typing.final
+class GetPositionRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    POSITION_TYPE_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'Name of encoder'
+    position_type: global___PositionType.ValueType
+    'If supplied, the response will return the specified\n    position type. If the driver does not implement\n    the requested type, this call will return an error.\n    If position type is not specified, the response\n    will return a default according to the driver.\n    '
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., position_type: global___PositionType.ValueType | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['_position_type', b'_position_type', 'extra', b'extra', 'position_type', b'position_type']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['_position_type', b'_position_type', 'extra', b'extra', 'name', b'name', 'position_type', b'position_type']) -> None:
+        ...
+
+    def WhichOneof(self, oneof_group: typing.Literal['_position_type', b'_position_type']) -> typing.Literal['position_type'] | None:
+        ...
+global___GetPositionRequest = GetPositionRequest
+
+@typing.final
+class GetPositionResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    VALUE_FIELD_NUMBER: builtins.int
+    POSITION_TYPE_FIELD_NUMBER: builtins.int
+    value: builtins.float
+    position_type: global___PositionType.ValueType
+
+    def __init__(self, *, value: builtins.float=..., position_type: global___PositionType.ValueType=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['position_type', b'position_type', 'value', b'value']) -> None:
+        ...
+global___GetPositionResponse = GetPositionResponse
+
+@typing.final
+class ResetPositionRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'Name of an encoder'
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['extra', b'extra']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name']) -> None:
+        ...
+global___ResetPositionRequest = ResetPositionRequest
+
+@typing.final
+class ResetPositionResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    def __init__(self) -> None:
+        ...
+global___ResetPositionResponse = ResetPositionResponse
+
+@typing.final
+class GetPropertiesRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'Name of the encoder'
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['extra', b'extra']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name']) -> None:
+        ...
+global___GetPropertiesRequest = GetPropertiesRequest
+
+@typing.final
+class GetPropertiesResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    TICKS_COUNT_SUPPORTED_FIELD_NUMBER: builtins.int
+    ANGLE_DEGREES_SUPPORTED_FIELD_NUMBER: builtins.int
+    ticks_count_supported: builtins.bool
+    angle_degrees_supported: builtins.bool
+
+    def __init__(self, *, ticks_count_supported: builtins.bool=..., angle_degrees_supported: builtins.bool=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['angle_degrees_supported', b'angle_degrees_supported', 'ticks_count_supported', b'ticks_count_supported']) -> None:
+        ...
+global___GetPropertiesResponse = GetPropertiesResponse

viam/gen/component/gantry/v1/gantry_grpc.py

@@ -0,0 +1,86 @@
+import abc
+import typing
+import grpclib.const
+import grpclib.client
+import grpclib.exceptions
+if typing.TYPE_CHECKING:
+    import grpclib.server
+from .... import common
+import google.api.annotations_pb2
+import google.protobuf.struct_pb2
+from .... import component
+
+class GantryServiceBase(abc.ABC):
+
+    @abc.abstractmethod
+    async def GetPosition(self, stream: 'grpclib.server.Stream[component.gantry.v1.gantry_pb2.GetPositionRequest, component.gantry.v1.gantry_pb2.GetPositionResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def MoveToPosition(self, stream: 'grpclib.server.Stream[component.gantry.v1.gantry_pb2.MoveToPositionRequest, component.gantry.v1.gantry_pb2.MoveToPositionResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def Home(self, stream: 'grpclib.server.Stream[component.gantry.v1.gantry_pb2.HomeRequest, component.gantry.v1.gantry_pb2.HomeResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def GetLengths(self, stream: 'grpclib.server.Stream[component.gantry.v1.gantry_pb2.GetLengthsRequest, component.gantry.v1.gantry_pb2.GetLengthsResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def Stop(self, stream: 'grpclib.server.Stream[component.gantry.v1.gantry_pb2.StopRequest, component.gantry.v1.gantry_pb2.StopResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def IsMoving(self, stream: 'grpclib.server.Stream[component.gantry.v1.gantry_pb2.IsMovingRequest, component.gantry.v1.gantry_pb2.IsMovingResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def DoCommand(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def GetGeometries(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse]') -> None:
+        pass
+
+    def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
+        return {'/viam.component.gantry.v1.GantryService/GetPosition': grpclib.const.Handler(self.GetPosition, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.GetPositionRequest, component.gantry.v1.gantry_pb2.GetPositionResponse), '/viam.component.gantry.v1.GantryService/MoveToPosition': grpclib.const.Handler(self.MoveToPosition, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.MoveToPositionRequest, component.gantry.v1.gantry_pb2.MoveToPositionResponse), '/viam.component.gantry.v1.GantryService/Home': grpclib.const.Handler(self.Home, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.HomeRequest, component.gantry.v1.gantry_pb2.HomeResponse), '/viam.component.gantry.v1.GantryService/GetLengths': grpclib.const.Handler(self.GetLengths, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.GetLengthsRequest, component.gantry.v1.gantry_pb2.GetLengthsResponse), '/viam.component.gantry.v1.GantryService/Stop': grpclib.const.Handler(self.Stop, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.StopRequest, component.gantry.v1.gantry_pb2.StopResponse), '/viam.component.gantry.v1.GantryService/IsMoving': grpclib.const.Handler(self.IsMoving, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.IsMovingRequest, component.gantry.v1.gantry_pb2.IsMovingResponse), '/viam.component.gantry.v1.GantryService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.gantry.v1.GantryService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)}
+
+class UnimplementedGantryServiceBase(GantryServiceBase):
+
+    async def GetPosition(self, stream: 'grpclib.server.Stream[component.gantry.v1.gantry_pb2.GetPositionRequest, component.gantry.v1.gantry_pb2.GetPositionResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def MoveToPosition(self, stream: 'grpclib.server.Stream[component.gantry.v1.gantry_pb2.MoveToPositionRequest, component.gantry.v1.gantry_pb2.MoveToPositionResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def Home(self, stream: 'grpclib.server.Stream[component.gantry.v1.gantry_pb2.HomeRequest, component.gantry.v1.gantry_pb2.HomeResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def GetLengths(self, stream: 'grpclib.server.Stream[component.gantry.v1.gantry_pb2.GetLengthsRequest, component.gantry.v1.gantry_pb2.GetLengthsResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def Stop(self, stream: 'grpclib.server.Stream[component.gantry.v1.gantry_pb2.StopRequest, component.gantry.v1.gantry_pb2.StopResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def IsMoving(self, stream: 'grpclib.server.Stream[component.gantry.v1.gantry_pb2.IsMovingRequest, component.gantry.v1.gantry_pb2.IsMovingResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def DoCommand(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def GetGeometries(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+class GantryServiceStub:
+
+    def __init__(self, channel: grpclib.client.Channel) -> None:
+        self.GetPosition = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/GetPosition', component.gantry.v1.gantry_pb2.GetPositionRequest, component.gantry.v1.gantry_pb2.GetPositionResponse)
+        self.MoveToPosition = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/MoveToPosition', component.gantry.v1.gantry_pb2.MoveToPositionRequest, component.gantry.v1.gantry_pb2.MoveToPositionResponse)
+        self.Home = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/Home', component.gantry.v1.gantry_pb2.HomeRequest, component.gantry.v1.gantry_pb2.HomeResponse)
+        self.GetLengths = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/GetLengths', component.gantry.v1.gantry_pb2.GetLengthsRequest, component.gantry.v1.gantry_pb2.GetLengthsResponse)
+        self.Stop = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/Stop', component.gantry.v1.gantry_pb2.StopRequest, component.gantry.v1.gantry_pb2.StopResponse)
+        self.IsMoving = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/IsMoving', component.gantry.v1.gantry_pb2.IsMovingRequest, component.gantry.v1.gantry_pb2.IsMovingResponse)
+        self.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)
+        self.GetGeometries = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/GetGeometries', common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)

viam/gen/component/gantry/v1/gantry_pb2.py

@@ -0,0 +1,62 @@
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 2, '', 'component/gantry/v1/gantry.proto')
+_sym_db = _symbol_database.Default()
+from ....common.v1 import common_pb2 as common_dot_v1_dot_common__pb2
+from google.api import annotations_pb2 as google_dot_api_dot_annotations__pb2
+from google.protobuf import struct_pb2 as google_dot_protobuf_dot_struct__pb2
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n component/gantry/v1/gantry.proto\x12\x18viam.component.gantry.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"W\n\x12GetPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"8\n\x13GetPositionResponse\x12!\n\x0cpositions_mm\x18\x01 \x03(\x01R\x0bpositionsMm"\xa8\x01\n\x15MoveToPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12!\n\x0cpositions_mm\x18\x02 \x03(\x01R\x0bpositionsMm\x12)\n\x11speeds_mm_per_sec\x18\x03 \x03(\x01R\x0espeedsMmPerSec\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x18\n\x16MoveToPositionResponse"P\n\x0bHomeRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"$\n\x0cHomeResponse\x12\x14\n\x05homed\x18\x01 \x01(\x08R\x05homed"V\n\x11GetLengthsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"3\n\x12GetLengthsResponse\x12\x1d\n\nlengths_mm\x18\x01 \x03(\x01R\tlengthsMm"P\n\x0bStopRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x0e\n\x0cStopResponse"g\n\x06Status\x12!\n\x0cpositions_mm\x18\x01 \x03(\x01R\x0bpositionsMm\x12\x1d\n\nlengths_mm\x18\x02 \x03(\x01R\tlengthsMm\x12\x1b\n\tis_moving\x18\x03 \x01(\x08R\x08isMoving"%\n\x0fIsMovingRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"/\n\x10IsMovingResponse\x12\x1b\n\tis_moving\x18\x01 \x01(\x08R\x08isMoving2\xda\t\n\rGantryService\x12\xa1\x01\n\x0bGetPosition\x12,.viam.component.gantry.v1.GetPositionRequest\x1a-.viam.component.gantry.v1.GetPositionResponse"5\x82\xd3\xe4\x93\x02/\x12-/viam/api/v1/component/gantry/{name}/position\x12\xae\x01\n\x0eMoveToPosition\x12/.viam.component.gantry.v1.MoveToPositionRequest\x1a0.viam.component.gantry.v1.MoveToPositionResponse"9\xa0\x92)\x01\x82\xd3\xe4\x93\x02/\x1a-/viam/api/v1/component/gantry/{name}/position\x12\x88\x01\n\x04Home\x12%.viam.component.gantry.v1.HomeRequest\x1a&.viam.component.gantry.v1.HomeResponse"1\x82\xd3\xe4\x93\x02+\x1a)/viam/api/v1/component/gantry/{name}/home\x12\x9d\x01\n\nGetLengths\x12+.viam.component.gantry.v1.GetLengthsRequest\x1a,.viam.component.gantry.v1.GetLengthsResponse"4\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/gantry/{name}/lengths\x12\x88\x01\n\x04Stop\x12%.viam.component.gantry.v1.StopRequest\x1a&.viam.component.gantry.v1.StopResponse"1\x82\xd3\xe4\x93\x02+")/viam/api/v1/component/gantry/{name}/stop\x12\x99\x01\n\x08IsMoving\x12).viam.component.gantry.v1.IsMovingRequest\x1a*.viam.component.gantry.v1.IsMovingResponse"6\x82\xd3\xe4\x93\x020\x12./viam/api/v1/component/gantry/{name}/is_moving\x12\x89\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"7\x82\xd3\xe4\x93\x021"//viam/api/v1/component/gantry/{name}/do_command\x12\x95\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"7\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gantry/{name}/geometriesBC\n\x1ccom.viam.component.gantry.v1Z#go.viam.com/api/component/gantry/v1b\x06proto3')
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.gantry.v1.gantry_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+    _globals['DESCRIPTOR']._loaded_options = None
+    _globals['DESCRIPTOR']._serialized_options = b'\n\x1ccom.viam.component.gantry.v1Z#go.viam.com/api/component/gantry/v1'
+    _globals['_GANTRYSERVICE'].methods_by_name['GetPosition']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['GetPosition']._serialized_options = b'\x82\xd3\xe4\x93\x02/\x12-/viam/api/v1/component/gantry/{name}/position'
+    _globals['_GANTRYSERVICE'].methods_by_name['MoveToPosition']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['MoveToPosition']._serialized_options = b'\xa0\x92)\x01\x82\xd3\xe4\x93\x02/\x1a-/viam/api/v1/component/gantry/{name}/position'
+    _globals['_GANTRYSERVICE'].methods_by_name['Home']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['Home']._serialized_options = b'\x82\xd3\xe4\x93\x02+\x1a)/viam/api/v1/component/gantry/{name}/home'
+    _globals['_GANTRYSERVICE'].methods_by_name['GetLengths']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['GetLengths']._serialized_options = b'\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/gantry/{name}/lengths'
+    _globals['_GANTRYSERVICE'].methods_by_name['Stop']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['Stop']._serialized_options = b'\x82\xd3\xe4\x93\x02+")/viam/api/v1/component/gantry/{name}/stop'
+    _globals['_GANTRYSERVICE'].methods_by_name['IsMoving']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['IsMoving']._serialized_options = b'\x82\xd3\xe4\x93\x020\x12./viam/api/v1/component/gantry/{name}/is_moving'
+    _globals['_GANTRYSERVICE'].methods_by_name['DoCommand']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['DoCommand']._serialized_options = b'\x82\xd3\xe4\x93\x021"//viam/api/v1/component/gantry/{name}/do_command'
+    _globals['_GANTRYSERVICE'].methods_by_name['GetGeometries']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['GetGeometries']._serialized_options = b'\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gantry/{name}/geometries'
+    _globals['_GETPOSITIONREQUEST']._serialized_start = 146
+    _globals['_GETPOSITIONREQUEST']._serialized_end = 233
+    _globals['_GETPOSITIONRESPONSE']._serialized_start = 235
+    _globals['_GETPOSITIONRESPONSE']._serialized_end = 291
+    _globals['_MOVETOPOSITIONREQUEST']._serialized_start = 294
+    _globals['_MOVETOPOSITIONREQUEST']._serialized_end = 462
+    _globals['_MOVETOPOSITIONRESPONSE']._serialized_start = 464
+    _globals['_MOVETOPOSITIONRESPONSE']._serialized_end = 488
+    _globals['_HOMEREQUEST']._serialized_start = 490
+    _globals['_HOMEREQUEST']._serialized_end = 570
+    _globals['_HOMERESPONSE']._serialized_start = 572
+    _globals['_HOMERESPONSE']._serialized_end = 608
+    _globals['_GETLENGTHSREQUEST']._serialized_start = 610
+    _globals['_GETLENGTHSREQUEST']._serialized_end = 696
+    _globals['_GETLENGTHSRESPONSE']._serialized_start = 698
+    _globals['_GETLENGTHSRESPONSE']._serialized_end = 749
+    _globals['_STOPREQUEST']._serialized_start = 751
+    _globals['_STOPREQUEST']._serialized_end = 831
+    _globals['_STOPRESPONSE']._serialized_start = 833
+    _globals['_STOPRESPONSE']._serialized_end = 847
+    _globals['_STATUS']._serialized_start = 849
+    _globals['_STATUS']._serialized_end = 952
+    _globals['_ISMOVINGREQUEST']._serialized_start = 954
+    _globals['_ISMOVINGREQUEST']._serialized_end = 991
+    _globals['_ISMOVINGRESPONSE']._serialized_start = 993
+    _globals['_ISMOVINGRESPONSE']._serialized_end = 1040
+    _globals['_GANTRYSERVICE']._serialized_start = 1043
+    _globals['_GANTRYSERVICE']._serialized_end = 2285

viam/gen/component/gantry/v1/gantry_pb2.pyi

@@ -0,0 +1,239 @@
+"""
+@generated by mypy-protobuf.  Do not edit manually!
+isort:skip_file
+"""
+import builtins
+import collections.abc
+import google.protobuf.descriptor
+import google.protobuf.internal.containers
+import google.protobuf.message
+import google.protobuf.struct_pb2
+import typing
+DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
+
+@typing.final
+class GetPositionRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['extra', b'extra']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name']) -> None:
+        ...
+global___GetPositionRequest = GetPositionRequest
+
+@typing.final
+class GetPositionResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    POSITIONS_MM_FIELD_NUMBER: builtins.int
+
+    @property
+    def positions_mm(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.float]:
+        ...
+
+    def __init__(self, *, positions_mm: collections.abc.Iterable[builtins.float] | None=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['positions_mm', b'positions_mm']) -> None:
+        ...
+global___GetPositionResponse = GetPositionResponse
+
+@typing.final
+class MoveToPositionRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    POSITIONS_MM_FIELD_NUMBER: builtins.int
+    SPEEDS_MM_PER_SEC_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+
+    @property
+    def positions_mm(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.float]:
+        """Number of millimeters to move the gantry by respective to each axis."""
+
+    @property
+    def speeds_mm_per_sec(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.float]:
+        """Speeds to move each gantry axis must match length and order of positions_mm."""
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., positions_mm: collections.abc.Iterable[builtins.float] | None=..., speeds_mm_per_sec: collections.abc.Iterable[builtins.float] | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['extra', b'extra']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name', 'positions_mm', b'positions_mm', 'speeds_mm_per_sec', b'speeds_mm_per_sec']) -> None:
+        ...
+global___MoveToPositionRequest = MoveToPositionRequest
+
+@typing.final
+class MoveToPositionResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    def __init__(self) -> None:
+        ...
+global___MoveToPositionResponse = MoveToPositionResponse
+
+@typing.final
+class HomeRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['extra', b'extra']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name']) -> None:
+        ...
+global___HomeRequest = HomeRequest
+
+@typing.final
+class HomeResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    HOMED_FIELD_NUMBER: builtins.int
+    homed: builtins.bool
+    'A bool describing whether the gantry has completed homing'
+
+    def __init__(self, *, homed: builtins.bool=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['homed', b'homed']) -> None:
+        ...
+global___HomeResponse = HomeResponse
+
+@typing.final
+class GetLengthsRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['extra', b'extra']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name']) -> None:
+        ...
+global___GetLengthsRequest = GetLengthsRequest
+
+@typing.final
+class GetLengthsResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    LENGTHS_MM_FIELD_NUMBER: builtins.int
+
+    @property
+    def lengths_mm(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.float]:
+        ...
+
+    def __init__(self, *, lengths_mm: collections.abc.Iterable[builtins.float] | None=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['lengths_mm', b'lengths_mm']) -> None:
+        ...
+global___GetLengthsResponse = GetLengthsResponse
+
+@typing.final
+class StopRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'Name of a gantry'
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['extra', b'extra']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name']) -> None:
+        ...
+global___StopRequest = StopRequest
+
+@typing.final
+class StopResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    def __init__(self) -> None:
+        ...
+global___StopResponse = StopResponse
+
+@typing.final
+class Status(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    POSITIONS_MM_FIELD_NUMBER: builtins.int
+    LENGTHS_MM_FIELD_NUMBER: builtins.int
+    IS_MOVING_FIELD_NUMBER: builtins.int
+    is_moving: builtins.bool
+
+    @property
+    def positions_mm(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.float]:
+        ...
+
+    @property
+    def lengths_mm(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.float]:
+        ...
+
+    def __init__(self, *, positions_mm: collections.abc.Iterable[builtins.float] | None=..., lengths_mm: collections.abc.Iterable[builtins.float] | None=..., is_moving: builtins.bool=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['is_moving', b'is_moving', 'lengths_mm', b'lengths_mm', 'positions_mm', b'positions_mm']) -> None:
+        ...
+global___Status = Status
+
+@typing.final
+class IsMovingRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    name: builtins.str
+
+    def __init__(self, *, name: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['name', b'name']) -> None:
+        ...
+global___IsMovingRequest = IsMovingRequest
+
+@typing.final
+class IsMovingResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    IS_MOVING_FIELD_NUMBER: builtins.int
+    is_moving: builtins.bool
+
+    def __init__(self, *, is_moving: builtins.bool=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['is_moving', b'is_moving']) -> None:
+        ...
+global___IsMovingResponse = IsMovingResponse

viam/gen/component/generic/v1/generic_grpc.py

@@ -0,0 +1,37 @@
+import abc
+import typing
+import grpclib.const
+import grpclib.client
+import grpclib.exceptions
+if typing.TYPE_CHECKING:
+    import grpclib.server
+from .... import common
+import google.api.annotations_pb2
+from .... import component
+
+class GenericServiceBase(abc.ABC):
+
+    @abc.abstractmethod
+    async def DoCommand(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def GetGeometries(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse]') -> None:
+        pass
+
+    def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
+        return {'/viam.component.generic.v1.GenericService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.generic.v1.GenericService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)}
+
+class UnimplementedGenericServiceBase(GenericServiceBase):
+
+    async def DoCommand(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def GetGeometries(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+class GenericServiceStub:
+
+    def __init__(self, channel: grpclib.client.Channel) -> None:
+        self.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.generic.v1.GenericService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)
+        self.GetGeometries = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.generic.v1.GenericService/GetGeometries', common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)

viam/gen/component/generic/v1/generic_pb2.py

@@ -0,0 +1,23 @@
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 2, '', 'component/generic/v1/generic.proto')
+_sym_db = _symbol_database.Default()
+from ....common.v1 import common_pb2 as common_dot_v1_dot_common__pb2
+from google.api import annotations_pb2 as google_dot_api_dot_annotations__pb2
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n"component/generic/v1/generic.proto\x12\x19viam.component.generic.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto2\xb6\x02\n\x0eGenericService\x12\x8a\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"8\x82\xd3\xe4\x93\x022"0/viam/api/v1/component/generic/{name}/do_command\x12\x96\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"8\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/generic/{name}/geometriesBE\n\x1dcom.viam.component.generic.v1Z$go.viam.com/api/component/generic/v1b\x06proto3')
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.generic.v1.generic_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+    _globals['DESCRIPTOR']._loaded_options = None
+    _globals['DESCRIPTOR']._serialized_options = b'\n\x1dcom.viam.component.generic.v1Z$go.viam.com/api/component/generic/v1'
+    _globals['_GENERICSERVICE'].methods_by_name['DoCommand']._loaded_options = None
+    _globals['_GENERICSERVICE'].methods_by_name['DoCommand']._serialized_options = b'\x82\xd3\xe4\x93\x022"0/viam/api/v1/component/generic/{name}/do_command'
+    _globals['_GENERICSERVICE'].methods_by_name['GetGeometries']._loaded_options = None
+    _globals['_GENERICSERVICE'].methods_by_name['GetGeometries']._serialized_options = b'\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/generic/{name}/geometries'
+    _globals['_GENERICSERVICE']._serialized_start = 120
+    _globals['_GENERICSERVICE']._serialized_end = 430

viam/gen/component/generic/v1/generic_pb2.pyi

@@ -0,0 +1,6 @@
+"""
+@generated by mypy-protobuf.  Do not edit manually!
+isort:skip_file
+"""
+import google.protobuf.descriptor
+DESCRIPTOR: google.protobuf.descriptor.FileDescriptor