From dc0afc9be99d258ad208f48df6fec196da0d2e77 Mon Sep 17 00:00:00 2001 From: ClaireHzl <126695207+ClaireHzl@users.noreply.github.com> Date: Thu, 18 Sep 2025 17:56:01 +0200 Subject: [PATCH 1/4] Add mujoco module. --- protos/mujoco.proto | 18 + python/reachy2_sdk_api/arm_pb2.py | 15 +- python/reachy2_sdk_api/arm_pb2.pyi | 129 ++++--- python/reachy2_sdk_api/arm_pb2_grpc.py | 363 ++++++++++++++---- python/reachy2_sdk_api/arm_pb2_grpc.pyi | 62 ++- python/reachy2_sdk_api/audio_pb2.py | 15 +- python/reachy2_sdk_api/audio_pb2.pyi | 36 +- python/reachy2_sdk_api/audio_pb2_grpc.py | 165 ++++++-- python/reachy2_sdk_api/audio_pb2_grpc.pyi | 29 +- python/reachy2_sdk_api/component_pb2.py | 15 +- python/reachy2_sdk_api/component_pb2.pyi | 24 +- python/reachy2_sdk_api/component_pb2_grpc.py | 20 + python/reachy2_sdk_api/component_pb2_grpc.pyi | 8 +- python/reachy2_sdk_api/dynamixel_motor_pb2.py | 15 +- .../reachy2_sdk_api/dynamixel_motor_pb2.pyi | 53 +-- .../dynamixel_motor_pb2_grpc.py | 183 +++++++-- .../dynamixel_motor_pb2_grpc.pyi | 32 +- python/reachy2_sdk_api/error_pb2.py | 15 +- python/reachy2_sdk_api/error_pb2.pyi | 12 +- python/reachy2_sdk_api/error_pb2_grpc.py | 20 + python/reachy2_sdk_api/error_pb2_grpc.pyi | 8 +- python/reachy2_sdk_api/goto_pb2.py | 15 +- python/reachy2_sdk_api/goto_pb2.pyi | 69 ++-- python/reachy2_sdk_api/goto_pb2_grpc.py | 255 +++++++++--- python/reachy2_sdk_api/goto_pb2_grpc.pyi | 44 ++- python/reachy2_sdk_api/hand_pb2.py | 15 +- python/reachy2_sdk_api/hand_pb2.pyi | 97 ++--- python/reachy2_sdk_api/hand_pb2_grpc.py | 309 ++++++++++++--- python/reachy2_sdk_api/hand_pb2_grpc.pyi | 53 ++- python/reachy2_sdk_api/head_pb2.py | 15 +- python/reachy2_sdk_api/head_pb2.pyi | 127 +++--- python/reachy2_sdk_api/head_pb2_grpc.py | 345 +++++++++++++---- python/reachy2_sdk_api/head_pb2_grpc.pyi | 59 ++- python/reachy2_sdk_api/kinematics_pb2.py | 15 +- python/reachy2_sdk_api/kinematics_pb2.pyi | 46 +-- python/reachy2_sdk_api/kinematics_pb2_grpc.py | 20 + .../reachy2_sdk_api/kinematics_pb2_grpc.pyi | 8 +- .../reachy2_sdk_api/mobile_base_lidar_pb2.py | 15 +- .../reachy2_sdk_api/mobile_base_lidar_pb2.pyi | 15 +- .../mobile_base_lidar_pb2_grpc.py | 111 +++++- .../mobile_base_lidar_pb2_grpc.pyi | 20 +- .../mobile_base_mobility_pb2.py | 15 +- .../mobile_base_mobility_pb2.pyi | 39 +- .../mobile_base_mobility_pb2_grpc.py | 93 ++++- .../mobile_base_mobility_pb2_grpc.pyi | 17 +- .../mobile_base_utility_pb2.py | 15 +- .../mobile_base_utility_pb2.pyi | 51 +-- .../mobile_base_utility_pb2_grpc.py | 273 ++++++++++--- .../mobile_base_utility_pb2_grpc.pyi | 47 ++- python/reachy2_sdk_api/mujoco_pb2.py | 42 ++ python/reachy2_sdk_api/mujoco_pb2.pyi | 50 +++ python/reachy2_sdk_api/mujoco_pb2_grpc.py | 98 +++++ python/reachy2_sdk_api/mujoco_pb2_grpc.pyi | 42 ++ python/reachy2_sdk_api/orbita2d_pb2.py | 15 +- python/reachy2_sdk_api/orbita2d_pb2.pyi | 79 ++-- python/reachy2_sdk_api/orbita2d_pb2_grpc.py | 165 ++++++-- python/reachy2_sdk_api/orbita2d_pb2_grpc.pyi | 29 +- python/reachy2_sdk_api/orbita3d_pb2.py | 15 +- python/reachy2_sdk_api/orbita3d_pb2.pyi | 77 ++-- python/reachy2_sdk_api/orbita3d_pb2_grpc.py | 183 +++++++-- python/reachy2_sdk_api/orbita3d_pb2_grpc.pyi | 32 +- .../reachy2_sdk_api/parallel_gripper_pb2.py | 15 +- .../reachy2_sdk_api/parallel_gripper_pb2.pyi | 39 +- .../parallel_gripper_pb2_grpc.py | 165 ++++++-- .../parallel_gripper_pb2_grpc.pyi | 29 +- python/reachy2_sdk_api/part_pb2.py | 15 +- python/reachy2_sdk_api/part_pb2.pyi | 16 +- python/reachy2_sdk_api/part_pb2_grpc.py | 20 + python/reachy2_sdk_api/part_pb2_grpc.pyi | 8 +- python/reachy2_sdk_api/reachy_pb2.py | 15 +- python/reachy2_sdk_api/reachy_pb2.pyi | 49 +-- python/reachy2_sdk_api/reachy_pb2_grpc.py | 129 +++++-- python/reachy2_sdk_api/reachy_pb2_grpc.pyi | 23 +- python/reachy2_sdk_api/tripod_pb2.py | 15 +- python/reachy2_sdk_api/tripod_pb2.pyi | 47 +-- python/reachy2_sdk_api/tripod_pb2_grpc.py | 111 +++++- python/reachy2_sdk_api/tripod_pb2_grpc.pyi | 20 +- python/reachy2_sdk_api/video_pb2.py | 15 +- python/reachy2_sdk_api/video_pb2.pyi | 53 +-- python/reachy2_sdk_api/video_pb2_grpc.py | 111 +++++- python/reachy2_sdk_api/video_pb2_grpc.pyi | 20 +- python/reachy2_sdk_api/webrtc_bridge_pb2.py | 15 +- python/reachy2_sdk_api/webrtc_bridge_pb2.pyi | 84 ++-- .../reachy2_sdk_api/webrtc_bridge_pb2_grpc.py | 20 + .../webrtc_bridge_pb2_grpc.pyi | 8 +- 85 files changed, 4023 insertions(+), 1286 deletions(-) create mode 100644 protos/mujoco.proto create mode 100644 python/reachy2_sdk_api/mujoco_pb2.py create mode 100644 python/reachy2_sdk_api/mujoco_pb2.pyi create mode 100644 python/reachy2_sdk_api/mujoco_pb2_grpc.py create mode 100644 python/reachy2_sdk_api/mujoco_pb2_grpc.pyi diff --git a/protos/mujoco.proto b/protos/mujoco.proto new file mode 100644 index 0000000..f136c01 --- /dev/null +++ b/protos/mujoco.proto @@ -0,0 +1,18 @@ +syntax = "proto3"; +import "google/protobuf/empty.proto"; +import "kinematics.proto"; + +package reachy.mujoco; + +message MujocoObjectPose { + string name = 1; + kinematics.Matrix4x4 pose = 2; +} + +message MujocoObjectsPoses { + repeated MujocoObjectPose poses = 1; +} + +service MujocoService { + rpc GetObjectsPoses(google.protobuf.Empty) returns (MujocoObjectsPoses); +} diff --git a/python/reachy2_sdk_api/arm_pb2.py b/python/reachy2_sdk_api/arm_pb2.py index 8eb078d..b6348b1 100644 --- a/python/reachy2_sdk_api/arm_pb2.py +++ b/python/reachy2_sdk_api/arm_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: arm.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'arm.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -26,8 +37,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'arm_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_ARMFIELD']._serialized_start=3473 _globals['_ARMFIELD']._serialized_end=3692 _globals['_ARMJOINTS']._serialized_start=3695 diff --git a/python/reachy2_sdk_api/arm_pb2.pyi b/python/reachy2_sdk_api/arm_pb2.pyi index 69a55ee..8270e8c 100644 --- a/python/reachy2_sdk_api/arm_pb2.pyi +++ b/python/reachy2_sdk_api/arm_pb2.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import builtins import collections.abc import error_pb2 @@ -154,7 +155,7 @@ MULTITURN_FREEZE: ReachabilityError.ValueType # 7 OTHER: ReachabilityError.ValueType # 20 global___ReachabilityError = ReachabilityError -@typing_extensions.final +@typing.final class CustomArmJoints(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -166,11 +167,11 @@ class CustomArmJoints(google.protobuf.message.Message): *, joints: collections.abc.Iterable[global___ArmJoints.ValueType] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["joints", b"joints"]) -> None: ... + def ClearField(self, field_name: typing.Literal["joints", b"joints"]) -> None: ... global___CustomArmJoints = CustomArmJoints -@typing_extensions.final +@typing.final class ArmState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -181,11 +182,11 @@ class ArmState(google.protobuf.message.Message): ELBOW_STATE_FIELD_NUMBER: builtins.int WRIST_STATE_FIELD_NUMBER: builtins.int REACHABILITY_FIELD_NUMBER: builtins.int + activated: builtins.bool @property def timestamp(self) -> google.protobuf.timestamp_pb2.Timestamp: ... @property def id(self) -> part_pb2.PartId: ... - activated: builtins.bool @property def shoulder_state(self) -> orbita2d_pb2.Orbita2dState: ... @property @@ -205,23 +206,23 @@ class ArmState(google.protobuf.message.Message): wrist_state: orbita3d_pb2.Orbita3dState | None = ..., reachability: collections.abc.Iterable[global___ReachabilityAnswer] | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["elbow_state", b"elbow_state", "id", b"id", "shoulder_state", b"shoulder_state", "timestamp", b"timestamp", "wrist_state", b"wrist_state"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["activated", b"activated", "elbow_state", b"elbow_state", "id", b"id", "reachability", b"reachability", "shoulder_state", b"shoulder_state", "timestamp", b"timestamp", "wrist_state", b"wrist_state"]) -> None: ... + def HasField(self, field_name: typing.Literal["elbow_state", b"elbow_state", "id", b"id", "shoulder_state", b"shoulder_state", "timestamp", b"timestamp", "wrist_state", b"wrist_state"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["activated", b"activated", "elbow_state", b"elbow_state", "id", b"id", "reachability", b"reachability", "shoulder_state", b"shoulder_state", "timestamp", b"timestamp", "wrist_state", b"wrist_state"]) -> None: ... global___ArmState = ArmState -@typing_extensions.final +@typing.final class ReachabilityAnswer(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ORDER_ID_FIELD_NUMBER: builtins.int IS_REACHABLE_FIELD_NUMBER: builtins.int DESCRIPTION_FIELD_NUMBER: builtins.int + description: global___ReachabilityError.ValueType @property def order_id(self) -> google.protobuf.wrappers_pb2.Int32Value: ... @property def is_reachable(self) -> google.protobuf.wrappers_pb2.BoolValue: ... - description: global___ReachabilityError.ValueType def __init__( self, *, @@ -229,12 +230,12 @@ class ReachabilityAnswer(google.protobuf.message.Message): is_reachable: google.protobuf.wrappers_pb2.BoolValue | None = ..., description: global___ReachabilityError.ValueType = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["is_reachable", b"is_reachable", "order_id", b"order_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["description", b"description", "is_reachable", b"is_reachable", "order_id", b"order_id"]) -> None: ... + def HasField(self, field_name: typing.Literal["is_reachable", b"is_reachable", "order_id", b"order_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["description", b"description", "is_reachable", b"is_reachable", "order_id", b"order_id"]) -> None: ... global___ReachabilityAnswer = ReachabilityAnswer -@typing_extensions.final +@typing.final class ArmDescription(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -254,12 +255,12 @@ class ArmDescription(google.protobuf.message.Message): elbow: orbita2d_pb2.Orbita2d | None = ..., wrist: orbita3d_pb2.Orbita3d | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["elbow", b"elbow", "shoulder", b"shoulder", "wrist", b"wrist"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["elbow", b"elbow", "shoulder", b"shoulder", "wrist", b"wrist"]) -> None: ... + def HasField(self, field_name: typing.Literal["elbow", b"elbow", "shoulder", b"shoulder", "wrist", b"wrist"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["elbow", b"elbow", "shoulder", b"shoulder", "wrist", b"wrist"]) -> None: ... global___ArmDescription = ArmDescription -@typing_extensions.final +@typing.final class Arm(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -279,12 +280,12 @@ class Arm(google.protobuf.message.Message): description: global___ArmDescription | None = ..., info: part_pb2.PartInfo | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> None: ... + def HasField(self, field_name: typing.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> None: ... global___Arm = Arm -@typing_extensions.final +@typing.final class ListOfArm(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -296,11 +297,11 @@ class ListOfArm(google.protobuf.message.Message): *, arm: collections.abc.Iterable[global___Arm] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["arm", b"arm"]) -> None: ... + def ClearField(self, field_name: typing.Literal["arm", b"arm"]) -> None: ... global___ListOfArm = ListOfArm -@typing_extensions.final +@typing.final class ArmPosition(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -320,12 +321,12 @@ class ArmPosition(google.protobuf.message.Message): elbow_position: orbita2d_pb2.Pose2d | None = ..., wrist_position: kinematics_pb2.Rotation3d | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["elbow_position", b"elbow_position", "shoulder_position", b"shoulder_position", "wrist_position", b"wrist_position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["elbow_position", b"elbow_position", "shoulder_position", b"shoulder_position", "wrist_position", b"wrist_position"]) -> None: ... + def HasField(self, field_name: typing.Literal["elbow_position", b"elbow_position", "shoulder_position", b"shoulder_position", "wrist_position", b"wrist_position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["elbow_position", b"elbow_position", "shoulder_position", b"shoulder_position", "wrist_position", b"wrist_position"]) -> None: ... global___ArmPosition = ArmPosition -@typing_extensions.final +@typing.final class ArmCartesianGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -340,6 +341,8 @@ class ArmCartesianGoal(google.protobuf.message.Message): CONTINUOUS_MODE_FIELD_NUMBER: builtins.int DURATION_FIELD_NUMBER: builtins.int ORDER_ID_FIELD_NUMBER: builtins.int + constrained_mode: global___IKConstrainedMode.ValueType + continuous_mode: global___IKContinuousMode.ValueType @property def id(self) -> part_pb2.PartId: ... @property @@ -350,12 +353,10 @@ class ArmCartesianGoal(google.protobuf.message.Message): def orientation_tolerance(self) -> kinematics_pb2.ExtEulerAnglesTolerances: ... @property def q0(self) -> global___ArmPosition: ... - constrained_mode: global___IKConstrainedMode.ValueType @property def preferred_theta(self) -> google.protobuf.wrappers_pb2.FloatValue: ... @property def d_theta_max(self) -> google.protobuf.wrappers_pb2.FloatValue: ... - continuous_mode: global___IKContinuousMode.ValueType @property def duration(self) -> google.protobuf.wrappers_pb2.FloatValue: ... @property @@ -375,12 +376,12 @@ class ArmCartesianGoal(google.protobuf.message.Message): duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., order_id: google.protobuf.wrappers_pb2.Int32Value | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["d_theta_max", b"d_theta_max", "duration", b"duration", "goal_pose", b"goal_pose", "id", b"id", "order_id", b"order_id", "orientation_tolerance", b"orientation_tolerance", "position_tolerance", b"position_tolerance", "preferred_theta", b"preferred_theta", "q0", b"q0"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["constrained_mode", b"constrained_mode", "continuous_mode", b"continuous_mode", "d_theta_max", b"d_theta_max", "duration", b"duration", "goal_pose", b"goal_pose", "id", b"id", "order_id", b"order_id", "orientation_tolerance", b"orientation_tolerance", "position_tolerance", b"position_tolerance", "preferred_theta", b"preferred_theta", "q0", b"q0"]) -> None: ... + def HasField(self, field_name: typing.Literal["d_theta_max", b"d_theta_max", "duration", b"duration", "goal_pose", b"goal_pose", "id", b"id", "order_id", b"order_id", "orientation_tolerance", b"orientation_tolerance", "position_tolerance", b"position_tolerance", "preferred_theta", b"preferred_theta", "q0", b"q0"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["constrained_mode", b"constrained_mode", "continuous_mode", b"continuous_mode", "d_theta_max", b"d_theta_max", "duration", b"duration", "goal_pose", b"goal_pose", "id", b"id", "order_id", b"order_id", "orientation_tolerance", b"orientation_tolerance", "position_tolerance", b"position_tolerance", "preferred_theta", b"preferred_theta", "q0", b"q0"]) -> None: ... global___ArmCartesianGoal = ArmCartesianGoal -@typing_extensions.final +@typing.final class ArmJointGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -400,12 +401,12 @@ class ArmJointGoal(google.protobuf.message.Message): joints_goal: global___ArmPosition | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "joints_goal", b"joints_goal"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "joints_goal", b"joints_goal"]) -> None: ... + def HasField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "joints_goal", b"joints_goal"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "joints_goal", b"joints_goal"]) -> None: ... global___ArmJointGoal = ArmJointGoal -@typing_extensions.final +@typing.final class ArmEndEffector(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -417,12 +418,12 @@ class ArmEndEffector(google.protobuf.message.Message): *, pose: kinematics_pb2.Matrix4x4 | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["pose", b"pose"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["pose", b"pose"]) -> None: ... + def HasField(self, field_name: typing.Literal["pose", b"pose"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["pose", b"pose"]) -> None: ... global___ArmEndEffector = ArmEndEffector -@typing_extensions.final +@typing.final class ArmFKRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -438,12 +439,12 @@ class ArmFKRequest(google.protobuf.message.Message): id: part_pb2.PartId | None = ..., position: global___ArmPosition | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id", "position", b"position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "position", b"position"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id", "position", b"position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "position", b"position"]) -> None: ... global___ArmFKRequest = ArmFKRequest -@typing_extensions.final +@typing.final class ArmFKSolution(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -458,12 +459,12 @@ class ArmFKSolution(google.protobuf.message.Message): success: builtins.bool = ..., end_effector: global___ArmEndEffector | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["end_effector", b"end_effector"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["end_effector", b"end_effector", "success", b"success"]) -> None: ... + def HasField(self, field_name: typing.Literal["end_effector", b"end_effector"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["end_effector", b"end_effector", "success", b"success"]) -> None: ... global___ArmFKSolution = ArmFKSolution -@typing_extensions.final +@typing.final class ArmIKRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -483,12 +484,12 @@ class ArmIKRequest(google.protobuf.message.Message): target: global___ArmEndEffector | None = ..., q0: global___ArmPosition | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id", "q0", b"q0", "target", b"target"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "q0", b"q0", "target", b"target"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id", "q0", b"q0", "target", b"target"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "q0", b"q0", "target", b"target"]) -> None: ... global___ArmIKRequest = ArmIKRequest -@typing_extensions.final +@typing.final class ArmIKSolution(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -507,12 +508,12 @@ class ArmIKSolution(google.protobuf.message.Message): arm_position: global___ArmPosition | None = ..., error: error_pb2.Error | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["arm_position", b"arm_position", "error", b"error"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["arm_position", b"arm_position", "error", b"error", "success", b"success"]) -> None: ... + def HasField(self, field_name: typing.Literal["arm_position", b"arm_position", "error", b"error"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["arm_position", b"arm_position", "error", b"error", "success", b"success"]) -> None: ... global___ArmIKSolution = ArmIKSolution -@typing_extensions.final +@typing.final class ArmStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -532,52 +533,52 @@ class ArmStatus(google.protobuf.message.Message): elbow_status: orbita2d_pb2.Orbita2dStatus | None = ..., wrist_status: orbita3d_pb2.Orbita3dStatus | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["elbow_status", b"elbow_status", "shoulder_status", b"shoulder_status", "wrist_status", b"wrist_status"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["elbow_status", b"elbow_status", "shoulder_status", b"shoulder_status", "wrist_status", b"wrist_status"]) -> None: ... + def HasField(self, field_name: typing.Literal["elbow_status", b"elbow_status", "shoulder_status", b"shoulder_status", "wrist_status", b"wrist_status"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["elbow_status", b"elbow_status", "shoulder_status", b"shoulder_status", "wrist_status", b"wrist_status"]) -> None: ... global___ArmStatus = ArmStatus -@typing_extensions.final +@typing.final class SpeedLimitRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int LIMIT_FIELD_NUMBER: builtins.int + limit: builtins.int @property def id(self) -> part_pb2.PartId: ... - limit: builtins.int def __init__( self, *, id: part_pb2.PartId | None = ..., limit: builtins.int = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "limit", b"limit"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "limit", b"limit"]) -> None: ... global___SpeedLimitRequest = SpeedLimitRequest -@typing_extensions.final +@typing.final class TorqueLimitRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int LIMIT_FIELD_NUMBER: builtins.int + limit: builtins.int @property def id(self) -> part_pb2.PartId: ... - limit: builtins.int def __init__( self, *, id: part_pb2.PartId | None = ..., limit: builtins.int = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "limit", b"limit"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "limit", b"limit"]) -> None: ... global___TorqueLimitRequest = TorqueLimitRequest -@typing_extensions.final +@typing.final class ArmLimits(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -597,12 +598,12 @@ class ArmLimits(google.protobuf.message.Message): elbow_limits: orbita2d_pb2.Limits2d | None = ..., wrist_limits: orbita3d_pb2.Limits3d | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["elbow_limits", b"elbow_limits", "shoulder_limits", b"shoulder_limits", "wrist_limits", b"wrist_limits"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["elbow_limits", b"elbow_limits", "shoulder_limits", b"shoulder_limits", "wrist_limits", b"wrist_limits"]) -> None: ... + def HasField(self, field_name: typing.Literal["elbow_limits", b"elbow_limits", "shoulder_limits", b"shoulder_limits", "wrist_limits", b"wrist_limits"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["elbow_limits", b"elbow_limits", "shoulder_limits", b"shoulder_limits", "wrist_limits", b"wrist_limits"]) -> None: ... global___ArmLimits = ArmLimits -@typing_extensions.final +@typing.final class ArmTemperatures(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -622,12 +623,12 @@ class ArmTemperatures(google.protobuf.message.Message): elbow_temperature: orbita2d_pb2.Float2d | None = ..., wrist_temperature: orbita3d_pb2.Float3d | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["elbow_temperature", b"elbow_temperature", "shoulder_temperature", b"shoulder_temperature", "wrist_temperature", b"wrist_temperature"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["elbow_temperature", b"elbow_temperature", "shoulder_temperature", b"shoulder_temperature", "wrist_temperature", b"wrist_temperature"]) -> None: ... + def HasField(self, field_name: typing.Literal["elbow_temperature", b"elbow_temperature", "shoulder_temperature", b"shoulder_temperature", "wrist_temperature", b"wrist_temperature"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["elbow_temperature", b"elbow_temperature", "shoulder_temperature", b"shoulder_temperature", "wrist_temperature", b"wrist_temperature"]) -> None: ... global___ArmTemperatures = ArmTemperatures -@typing_extensions.final +@typing.final class ArmComponentsCommands(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -647,7 +648,7 @@ class ArmComponentsCommands(google.protobuf.message.Message): elbow_command: orbita2d_pb2.Orbita2dsCommand | None = ..., wrist_command: orbita3d_pb2.Orbita3dsCommand | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["elbow_command", b"elbow_command", "shoulder_command", b"shoulder_command", "wrist_command", b"wrist_command"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["elbow_command", b"elbow_command", "shoulder_command", b"shoulder_command", "wrist_command", b"wrist_command"]) -> None: ... + def HasField(self, field_name: typing.Literal["elbow_command", b"elbow_command", "shoulder_command", b"shoulder_command", "wrist_command", b"wrist_command"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["elbow_command", b"elbow_command", "shoulder_command", b"shoulder_command", "wrist_command", b"wrist_command"]) -> None: ... global___ArmComponentsCommands = ArmComponentsCommands diff --git a/python/reachy2_sdk_api/arm_pb2_grpc.py b/python/reachy2_sdk_api/arm_pb2_grpc.py index e238b29..1d6da13 100644 --- a/python/reachy2_sdk_api/arm_pb2_grpc.py +++ b/python/reachy2_sdk_api/arm_pb2_grpc.py @@ -1,12 +1,32 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings import arm_pb2 as arm__pb2 from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import kinematics_pb2 as kinematics__pb2 import part_pb2 as part__pb2 +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in arm_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) + class ArmServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -21,97 +41,97 @@ def __init__(self, channel): '/reachy.part.arm.ArmService/GetAllArms', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=arm__pb2.ListOfArm.FromString, - ) + _registered_method=True) self.GetState = channel.unary_unary( '/reachy.part.arm.ArmService/GetState', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=arm__pb2.ArmState.FromString, - ) + _registered_method=True) self.ComputeArmFK = channel.unary_unary( '/reachy.part.arm.ArmService/ComputeArmFK', request_serializer=arm__pb2.ArmFKRequest.SerializeToString, response_deserializer=arm__pb2.ArmFKSolution.FromString, - ) + _registered_method=True) self.ComputeArmIK = channel.unary_unary( '/reachy.part.arm.ArmService/ComputeArmIK', request_serializer=arm__pb2.ArmIKRequest.SerializeToString, response_deserializer=arm__pb2.ArmIKSolution.FromString, - ) + _registered_method=True) self.GetCartesianPosition = channel.unary_unary( '/reachy.part.arm.ArmService/GetCartesianPosition', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=kinematics__pb2.Matrix4x4.FromString, - ) + _registered_method=True) self.GetJointPosition = channel.unary_unary( '/reachy.part.arm.ArmService/GetJointPosition', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=arm__pb2.ArmPosition.FromString, - ) + _registered_method=True) self.Audit = channel.unary_unary( '/reachy.part.arm.ArmService/Audit', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=arm__pb2.ArmStatus.FromString, - ) + _registered_method=True) self.HeartBeat = channel.unary_unary( '/reachy.part.arm.ArmService/HeartBeat', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.Restart = channel.unary_unary( '/reachy.part.arm.ArmService/Restart', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.ResetDefaultValues = channel.unary_unary( '/reachy.part.arm.ArmService/ResetDefaultValues', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.TurnOn = channel.unary_unary( '/reachy.part.arm.ArmService/TurnOn', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.TurnOff = channel.unary_unary( '/reachy.part.arm.ArmService/TurnOff', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.GetJointsLimits = channel.unary_unary( '/reachy.part.arm.ArmService/GetJointsLimits', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=arm__pb2.ArmLimits.FromString, - ) + _registered_method=True) self.GetTemperatures = channel.unary_unary( '/reachy.part.arm.ArmService/GetTemperatures', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=arm__pb2.ArmTemperatures.FromString, - ) + _registered_method=True) self.GetJointGoalPosition = channel.unary_unary( '/reachy.part.arm.ArmService/GetJointGoalPosition', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=arm__pb2.ArmPosition.FromString, - ) + _registered_method=True) self.SetSpeedLimit = channel.unary_unary( '/reachy.part.arm.ArmService/SetSpeedLimit', request_serializer=arm__pb2.SpeedLimitRequest.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.SetTorqueLimit = channel.unary_unary( '/reachy.part.arm.ArmService/SetTorqueLimit', request_serializer=arm__pb2.TorqueLimitRequest.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.SendArmCartesianGoal = channel.unary_unary( '/reachy.part.arm.ArmService/SendArmCartesianGoal', request_serializer=arm__pb2.ArmCartesianGoal.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.SendComponentsCommands = channel.unary_unary( '/reachy.part.arm.ArmService/SendComponentsCommands', request_serializer=arm__pb2.ArmComponentsCommands.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) class ArmServiceServicer(object): @@ -333,6 +353,7 @@ def add_ArmServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.part.arm.ArmService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) + server.add_registered_method_handlers('reachy.part.arm.ArmService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -350,11 +371,21 @@ def GetAllArms(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/GetAllArms', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/GetAllArms', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, arm__pb2.ListOfArm.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetState(request, @@ -367,11 +398,21 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/GetState', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/GetState', part__pb2.PartId.SerializeToString, arm__pb2.ArmState.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def ComputeArmFK(request, @@ -384,11 +425,21 @@ def ComputeArmFK(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/ComputeArmFK', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/ComputeArmFK', arm__pb2.ArmFKRequest.SerializeToString, arm__pb2.ArmFKSolution.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def ComputeArmIK(request, @@ -401,11 +452,21 @@ def ComputeArmIK(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/ComputeArmIK', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/ComputeArmIK', arm__pb2.ArmIKRequest.SerializeToString, arm__pb2.ArmIKSolution.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetCartesianPosition(request, @@ -418,11 +479,21 @@ def GetCartesianPosition(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/GetCartesianPosition', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/GetCartesianPosition', part__pb2.PartId.SerializeToString, kinematics__pb2.Matrix4x4.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetJointPosition(request, @@ -435,11 +506,21 @@ def GetJointPosition(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/GetJointPosition', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/GetJointPosition', part__pb2.PartId.SerializeToString, arm__pb2.ArmPosition.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Audit(request, @@ -452,11 +533,21 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/Audit', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/Audit', part__pb2.PartId.SerializeToString, arm__pb2.ArmStatus.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def HeartBeat(request, @@ -469,11 +560,21 @@ def HeartBeat(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/HeartBeat', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/HeartBeat', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Restart(request, @@ -486,11 +587,21 @@ def Restart(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/Restart', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/Restart', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def ResetDefaultValues(request, @@ -503,11 +614,21 @@ def ResetDefaultValues(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/ResetDefaultValues', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/ResetDefaultValues', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def TurnOn(request, @@ -520,11 +641,21 @@ def TurnOn(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/TurnOn', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/TurnOn', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def TurnOff(request, @@ -537,11 +668,21 @@ def TurnOff(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/TurnOff', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/TurnOff', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetJointsLimits(request, @@ -554,11 +695,21 @@ def GetJointsLimits(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/GetJointsLimits', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/GetJointsLimits', part__pb2.PartId.SerializeToString, arm__pb2.ArmLimits.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetTemperatures(request, @@ -571,11 +722,21 @@ def GetTemperatures(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/GetTemperatures', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/GetTemperatures', part__pb2.PartId.SerializeToString, arm__pb2.ArmTemperatures.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetJointGoalPosition(request, @@ -588,11 +749,21 @@ def GetJointGoalPosition(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/GetJointGoalPosition', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/GetJointGoalPosition', part__pb2.PartId.SerializeToString, arm__pb2.ArmPosition.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SetSpeedLimit(request, @@ -605,11 +776,21 @@ def SetSpeedLimit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/SetSpeedLimit', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/SetSpeedLimit', arm__pb2.SpeedLimitRequest.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SetTorqueLimit(request, @@ -622,11 +803,21 @@ def SetTorqueLimit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/SetTorqueLimit', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/SetTorqueLimit', arm__pb2.TorqueLimitRequest.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SendArmCartesianGoal(request, @@ -639,11 +830,21 @@ def SendArmCartesianGoal(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/SendArmCartesianGoal', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/SendArmCartesianGoal', arm__pb2.ArmCartesianGoal.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SendComponentsCommands(request, @@ -656,8 +857,18 @@ def SendComponentsCommands(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/SendComponentsCommands', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.arm.ArmService/SendComponentsCommands', arm__pb2.ArmComponentsCommands.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) diff --git a/python/reachy2_sdk_api/arm_pb2_grpc.pyi b/python/reachy2_sdk_api/arm_pb2_grpc.pyi index 1259084..13d6419 100644 --- a/python/reachy2_sdk_api/arm_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/arm_pb2_grpc.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import arm_pb2 import collections.abc @@ -12,12 +13,11 @@ import kinematics_pb2 import part_pb2 import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... class ArmServiceStub: @@ -26,74 +26,92 @@ class ArmServiceStub: google.protobuf.empty_pb2.Empty, arm_pb2.ListOfArm, ] + GetState: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmState, ] + ComputeArmFK: grpc.UnaryUnaryMultiCallable[ arm_pb2.ArmFKRequest, arm_pb2.ArmFKSolution, ] + ComputeArmIK: grpc.UnaryUnaryMultiCallable[ arm_pb2.ArmIKRequest, arm_pb2.ArmIKSolution, ] + GetCartesianPosition: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, kinematics_pb2.Matrix4x4, ] + GetJointPosition: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmPosition, ] + Audit: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmStatus, ] + HeartBeat: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + Restart: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + ResetDefaultValues: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + TurnOn: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + TurnOff: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + GetJointsLimits: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmLimits, ] + GetTemperatures: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmTemperatures, ] + GetJointGoalPosition: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmPosition, ] + SetSpeedLimit: grpc.UnaryUnaryMultiCallable[ arm_pb2.SpeedLimitRequest, google.protobuf.empty_pb2.Empty, ] + SetTorqueLimit: grpc.UnaryUnaryMultiCallable[ arm_pb2.TorqueLimitRequest, google.protobuf.empty_pb2.Empty, ] + SendArmCartesianGoal: grpc.UnaryUnaryMultiCallable[ arm_pb2.ArmCartesianGoal, google.protobuf.empty_pb2.Empty, ] + SendComponentsCommands: grpc.UnaryUnaryMultiCallable[ arm_pb2.ArmComponentsCommands, google.protobuf.empty_pb2.Empty, @@ -104,74 +122,92 @@ class ArmServiceAsyncStub: google.protobuf.empty_pb2.Empty, arm_pb2.ListOfArm, ] + GetState: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmState, ] + ComputeArmFK: grpc.aio.UnaryUnaryMultiCallable[ arm_pb2.ArmFKRequest, arm_pb2.ArmFKSolution, ] + ComputeArmIK: grpc.aio.UnaryUnaryMultiCallable[ arm_pb2.ArmIKRequest, arm_pb2.ArmIKSolution, ] + GetCartesianPosition: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, kinematics_pb2.Matrix4x4, ] + GetJointPosition: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmPosition, ] + Audit: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmStatus, ] + HeartBeat: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + Restart: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + ResetDefaultValues: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + TurnOn: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + TurnOff: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + GetJointsLimits: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmLimits, ] + GetTemperatures: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmTemperatures, ] + GetJointGoalPosition: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmPosition, ] + SetSpeedLimit: grpc.aio.UnaryUnaryMultiCallable[ arm_pb2.SpeedLimitRequest, google.protobuf.empty_pb2.Empty, ] + SetTorqueLimit: grpc.aio.UnaryUnaryMultiCallable[ arm_pb2.TorqueLimitRequest, google.protobuf.empty_pb2.Empty, ] + SendArmCartesianGoal: grpc.aio.UnaryUnaryMultiCallable[ arm_pb2.ArmCartesianGoal, google.protobuf.empty_pb2.Empty, ] + SendComponentsCommands: grpc.aio.UnaryUnaryMultiCallable[ arm_pb2.ArmComponentsCommands, google.protobuf.empty_pb2.Empty, @@ -184,108 +220,126 @@ class ArmServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[arm_pb2.ListOfArm, collections.abc.Awaitable[arm_pb2.ListOfArm]]: ... + @abc.abstractmethod def GetState( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[arm_pb2.ArmState, collections.abc.Awaitable[arm_pb2.ArmState]]: ... + @abc.abstractmethod def ComputeArmFK( self, request: arm_pb2.ArmFKRequest, context: _ServicerContext, ) -> typing.Union[arm_pb2.ArmFKSolution, collections.abc.Awaitable[arm_pb2.ArmFKSolution]]: ... + @abc.abstractmethod def ComputeArmIK( self, request: arm_pb2.ArmIKRequest, context: _ServicerContext, ) -> typing.Union[arm_pb2.ArmIKSolution, collections.abc.Awaitable[arm_pb2.ArmIKSolution]]: ... + @abc.abstractmethod def GetCartesianPosition( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[kinematics_pb2.Matrix4x4, collections.abc.Awaitable[kinematics_pb2.Matrix4x4]]: ... + @abc.abstractmethod def GetJointPosition( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[arm_pb2.ArmPosition, collections.abc.Awaitable[arm_pb2.ArmPosition]]: ... + @abc.abstractmethod def Audit( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[arm_pb2.ArmStatus, collections.abc.Awaitable[arm_pb2.ArmStatus]]: ... + @abc.abstractmethod def HeartBeat( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def Restart( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def ResetDefaultValues( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def TurnOn( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def TurnOff( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def GetJointsLimits( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[arm_pb2.ArmLimits, collections.abc.Awaitable[arm_pb2.ArmLimits]]: ... + @abc.abstractmethod def GetTemperatures( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[arm_pb2.ArmTemperatures, collections.abc.Awaitable[arm_pb2.ArmTemperatures]]: ... + @abc.abstractmethod def GetJointGoalPosition( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[arm_pb2.ArmPosition, collections.abc.Awaitable[arm_pb2.ArmPosition]]: ... + @abc.abstractmethod def SetSpeedLimit( self, request: arm_pb2.SpeedLimitRequest, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def SetTorqueLimit( self, request: arm_pb2.TorqueLimitRequest, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def SendArmCartesianGoal( self, request: arm_pb2.ArmCartesianGoal, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def SendComponentsCommands( self, diff --git a/python/reachy2_sdk_api/audio_pb2.py b/python/reachy2_sdk_api/audio_pb2.py index 5807360..c6769f9 100644 --- a/python/reachy2_sdk_api/audio_pb2.py +++ b/python/reachy2_sdk_api/audio_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: audio.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'audio.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -21,8 +32,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'audio_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_AUDIOFILE']._serialized_start=106 _globals['_AUDIOFILE']._serialized_end=167 _globals['_AUDIOFILES']._serialized_start=169 diff --git a/python/reachy2_sdk_api/audio_pb2.pyi b/python/reachy2_sdk_api/audio_pb2.pyi index d98905a..68008ed 100644 --- a/python/reachy2_sdk_api/audio_pb2.pyi +++ b/python/reachy2_sdk_api/audio_pb2.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import builtins import collections.abc import error_pb2 @@ -9,16 +10,11 @@ import google.protobuf.descriptor import google.protobuf.internal.containers import google.protobuf.message import google.protobuf.wrappers_pb2 -import sys - -if sys.version_info >= (3, 8): - import typing as typing_extensions -else: - import typing_extensions +import typing DESCRIPTOR: google.protobuf.descriptor.FileDescriptor -@typing_extensions.final +@typing.final class AudioFile(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -32,13 +28,13 @@ class AudioFile(google.protobuf.message.Message): path: builtins.str = ..., duration: builtins.float | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["_duration", b"_duration", "duration", b"duration"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["_duration", b"_duration", "duration", b"duration", "path", b"path"]) -> None: ... - def WhichOneof(self, oneof_group: typing_extensions.Literal["_duration", b"_duration"]) -> typing_extensions.Literal["duration"] | None: ... + def HasField(self, field_name: typing.Literal["_duration", b"_duration", "duration", b"duration"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["_duration", b"_duration", "duration", b"duration", "path", b"path"]) -> None: ... + def WhichOneof(self, oneof_group: typing.Literal["_duration", b"_duration"]) -> typing.Literal["duration"] | None: ... global___AudioFile = AudioFile -@typing_extensions.final +@typing.final class AudioFiles(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -50,32 +46,32 @@ class AudioFiles(google.protobuf.message.Message): *, files: collections.abc.Iterable[global___AudioFile] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["files", b"files"]) -> None: ... + def ClearField(self, field_name: typing.Literal["files", b"files"]) -> None: ... global___AudioFiles = AudioFiles -@typing_extensions.final +@typing.final class AudioFileRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor INFO_FIELD_NUMBER: builtins.int CHUNK_DATA_FIELD_NUMBER: builtins.int + chunk_data: builtins.bytes @property def info(self) -> global___AudioFile: ... - chunk_data: builtins.bytes def __init__( self, *, info: global___AudioFile | None = ..., chunk_data: builtins.bytes = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["chunk_data", b"chunk_data", "data", b"data", "info", b"info"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["chunk_data", b"chunk_data", "data", b"data", "info", b"info"]) -> None: ... - def WhichOneof(self, oneof_group: typing_extensions.Literal["data", b"data"]) -> typing_extensions.Literal["info", "chunk_data"] | None: ... + def HasField(self, field_name: typing.Literal["chunk_data", b"chunk_data", "data", b"data", "info", b"info"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["chunk_data", b"chunk_data", "data", b"data", "info", b"info"]) -> None: ... + def WhichOneof(self, oneof_group: typing.Literal["data", b"data"]) -> typing.Literal["info", "chunk_data"] | None: ... global___AudioFileRequest = AudioFileRequest -@typing_extensions.final +@typing.final class AudioAck(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -91,7 +87,7 @@ class AudioAck(google.protobuf.message.Message): success: google.protobuf.wrappers_pb2.BoolValue | None = ..., error: error_pb2.Error | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["error", b"error", "success", b"success"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["error", b"error", "success", b"success"]) -> None: ... + def HasField(self, field_name: typing.Literal["error", b"error", "success", b"success"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["error", b"error", "success", b"success"]) -> None: ... global___AudioAck = AudioAck diff --git a/python/reachy2_sdk_api/audio_pb2_grpc.py b/python/reachy2_sdk_api/audio_pb2_grpc.py index 22787be..a1d1e60 100644 --- a/python/reachy2_sdk_api/audio_pb2_grpc.py +++ b/python/reachy2_sdk_api/audio_pb2_grpc.py @@ -1,10 +1,30 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings import audio_pb2 as audio__pb2 from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in audio_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) + class AudioServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -19,42 +39,42 @@ def __init__(self, channel): '/component.audio.AudioService/GetAudioFiles', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=audio__pb2.AudioFiles.FromString, - ) + _registered_method=True) self.PlayAudioFile = channel.unary_unary( '/component.audio.AudioService/PlayAudioFile', request_serializer=audio__pb2.AudioFile.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.StopPlaying = channel.unary_unary( '/component.audio.AudioService/StopPlaying', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.RecordAudioFile = channel.unary_unary( '/component.audio.AudioService/RecordAudioFile', request_serializer=audio__pb2.AudioFile.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.StopRecording = channel.unary_unary( '/component.audio.AudioService/StopRecording', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.UploadAudioFile = channel.stream_unary( '/component.audio.AudioService/UploadAudioFile', request_serializer=audio__pb2.AudioFileRequest.SerializeToString, response_deserializer=audio__pb2.AudioAck.FromString, - ) + _registered_method=True) self.DownloadAudioFile = channel.unary_stream( '/component.audio.AudioService/DownloadAudioFile', request_serializer=audio__pb2.AudioFile.SerializeToString, response_deserializer=audio__pb2.AudioFileRequest.FromString, - ) + _registered_method=True) self.RemoveAudioFile = channel.unary_unary( '/component.audio.AudioService/RemoveAudioFile', request_serializer=audio__pb2.AudioFile.SerializeToString, response_deserializer=audio__pb2.AudioAck.FromString, - ) + _registered_method=True) class AudioServiceServicer(object): @@ -155,6 +175,7 @@ def add_AudioServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'component.audio.AudioService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) + server.add_registered_method_handlers('component.audio.AudioService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -172,11 +193,21 @@ def GetAudioFiles(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.audio.AudioService/GetAudioFiles', + return grpc.experimental.unary_unary( + request, + target, + '/component.audio.AudioService/GetAudioFiles', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, audio__pb2.AudioFiles.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def PlayAudioFile(request, @@ -189,11 +220,21 @@ def PlayAudioFile(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.audio.AudioService/PlayAudioFile', + return grpc.experimental.unary_unary( + request, + target, + '/component.audio.AudioService/PlayAudioFile', audio__pb2.AudioFile.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def StopPlaying(request, @@ -206,11 +247,21 @@ def StopPlaying(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.audio.AudioService/StopPlaying', + return grpc.experimental.unary_unary( + request, + target, + '/component.audio.AudioService/StopPlaying', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def RecordAudioFile(request, @@ -223,11 +274,21 @@ def RecordAudioFile(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.audio.AudioService/RecordAudioFile', + return grpc.experimental.unary_unary( + request, + target, + '/component.audio.AudioService/RecordAudioFile', audio__pb2.AudioFile.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def StopRecording(request, @@ -240,11 +301,21 @@ def StopRecording(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.audio.AudioService/StopRecording', + return grpc.experimental.unary_unary( + request, + target, + '/component.audio.AudioService/StopRecording', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def UploadAudioFile(request_iterator, @@ -257,11 +328,21 @@ def UploadAudioFile(request_iterator, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.stream_unary(request_iterator, target, '/component.audio.AudioService/UploadAudioFile', + return grpc.experimental.stream_unary( + request_iterator, + target, + '/component.audio.AudioService/UploadAudioFile', audio__pb2.AudioFileRequest.SerializeToString, audio__pb2.AudioAck.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def DownloadAudioFile(request, @@ -274,11 +355,21 @@ def DownloadAudioFile(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_stream(request, target, '/component.audio.AudioService/DownloadAudioFile', + return grpc.experimental.unary_stream( + request, + target, + '/component.audio.AudioService/DownloadAudioFile', audio__pb2.AudioFile.SerializeToString, audio__pb2.AudioFileRequest.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def RemoveAudioFile(request, @@ -291,8 +382,18 @@ def RemoveAudioFile(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.audio.AudioService/RemoveAudioFile', + return grpc.experimental.unary_unary( + request, + target, + '/component.audio.AudioService/RemoveAudioFile', audio__pb2.AudioFile.SerializeToString, audio__pb2.AudioAck.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) diff --git a/python/reachy2_sdk_api/audio_pb2_grpc.pyi b/python/reachy2_sdk_api/audio_pb2_grpc.pyi index a0f7b9a..b720465 100644 --- a/python/reachy2_sdk_api/audio_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/audio_pb2_grpc.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import audio_pb2 import collections.abc @@ -10,12 +11,11 @@ import grpc import grpc.aio import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... class AudioServiceStub: @@ -24,30 +24,37 @@ class AudioServiceStub: google.protobuf.empty_pb2.Empty, audio_pb2.AudioFiles, ] + PlayAudioFile: grpc.UnaryUnaryMultiCallable[ audio_pb2.AudioFile, google.protobuf.empty_pb2.Empty, ] + StopPlaying: grpc.UnaryUnaryMultiCallable[ google.protobuf.empty_pb2.Empty, google.protobuf.empty_pb2.Empty, ] + RecordAudioFile: grpc.UnaryUnaryMultiCallable[ audio_pb2.AudioFile, google.protobuf.empty_pb2.Empty, ] + StopRecording: grpc.UnaryUnaryMultiCallable[ google.protobuf.empty_pb2.Empty, google.protobuf.empty_pb2.Empty, ] + UploadAudioFile: grpc.StreamUnaryMultiCallable[ audio_pb2.AudioFileRequest, audio_pb2.AudioAck, ] + DownloadAudioFile: grpc.UnaryStreamMultiCallable[ audio_pb2.AudioFile, audio_pb2.AudioFileRequest, ] + RemoveAudioFile: grpc.UnaryUnaryMultiCallable[ audio_pb2.AudioFile, audio_pb2.AudioAck, @@ -58,30 +65,37 @@ class AudioServiceAsyncStub: google.protobuf.empty_pb2.Empty, audio_pb2.AudioFiles, ] + PlayAudioFile: grpc.aio.UnaryUnaryMultiCallable[ audio_pb2.AudioFile, google.protobuf.empty_pb2.Empty, ] + StopPlaying: grpc.aio.UnaryUnaryMultiCallable[ google.protobuf.empty_pb2.Empty, google.protobuf.empty_pb2.Empty, ] + RecordAudioFile: grpc.aio.UnaryUnaryMultiCallable[ audio_pb2.AudioFile, google.protobuf.empty_pb2.Empty, ] + StopRecording: grpc.aio.UnaryUnaryMultiCallable[ google.protobuf.empty_pb2.Empty, google.protobuf.empty_pb2.Empty, ] + UploadAudioFile: grpc.aio.StreamUnaryMultiCallable[ audio_pb2.AudioFileRequest, audio_pb2.AudioAck, ] + DownloadAudioFile: grpc.aio.UnaryStreamMultiCallable[ audio_pb2.AudioFile, audio_pb2.AudioFileRequest, ] + RemoveAudioFile: grpc.aio.UnaryUnaryMultiCallable[ audio_pb2.AudioFile, audio_pb2.AudioAck, @@ -94,42 +108,49 @@ class AudioServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[audio_pb2.AudioFiles, collections.abc.Awaitable[audio_pb2.AudioFiles]]: ... + @abc.abstractmethod def PlayAudioFile( self, request: audio_pb2.AudioFile, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def StopPlaying( self, request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def RecordAudioFile( self, request: audio_pb2.AudioFile, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def StopRecording( self, request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def UploadAudioFile( self, request_iterator: _MaybeAsyncIterator[audio_pb2.AudioFileRequest], context: _ServicerContext, ) -> typing.Union[audio_pb2.AudioAck, collections.abc.Awaitable[audio_pb2.AudioAck]]: ... + @abc.abstractmethod def DownloadAudioFile( self, request: audio_pb2.AudioFile, context: _ServicerContext, ) -> typing.Union[collections.abc.Iterator[audio_pb2.AudioFileRequest], collections.abc.AsyncIterator[audio_pb2.AudioFileRequest]]: ... + @abc.abstractmethod def RemoveAudioFile( self, diff --git a/python/reachy2_sdk_api/component_pb2.py b/python/reachy2_sdk_api/component_pb2.py index 3842471..03acda4 100644 --- a/python/reachy2_sdk_api/component_pb2.py +++ b/python/reachy2_sdk_api/component_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: component.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'component.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -19,8 +30,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_COMPONENTID']._serialized_start=62 _globals['_COMPONENTID']._serialized_end=101 _globals['_PIDGAINS']._serialized_start=104 diff --git a/python/reachy2_sdk_api/component_pb2.pyi b/python/reachy2_sdk_api/component_pb2.pyi index 68433ff..7cb75e8 100644 --- a/python/reachy2_sdk_api/component_pb2.pyi +++ b/python/reachy2_sdk_api/component_pb2.pyi @@ -2,20 +2,16 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import builtins import google.protobuf.descriptor import google.protobuf.message import google.protobuf.wrappers_pb2 -import sys - -if sys.version_info >= (3, 8): - import typing as typing_extensions -else: - import typing_extensions +import typing DESCRIPTOR: google.protobuf.descriptor.FileDescriptor -@typing_extensions.final +@typing.final class ComponentId(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -29,11 +25,11 @@ class ComponentId(google.protobuf.message.Message): id: builtins.int = ..., name: builtins.str = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "name", b"name"]) -> None: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "name", b"name"]) -> None: ... global___ComponentId = ComponentId -@typing_extensions.final +@typing.final class PIDGains(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -53,12 +49,12 @@ class PIDGains(google.protobuf.message.Message): i: google.protobuf.wrappers_pb2.FloatValue | None = ..., d: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["d", b"d", "i", b"i", "p", b"p"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["d", b"d", "i", b"i", "p", b"p"]) -> None: ... + def HasField(self, field_name: typing.Literal["d", b"d", "i", b"i", "p", b"p"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["d", b"d", "i", b"i", "p", b"p"]) -> None: ... global___PIDGains = PIDGains -@typing_extensions.final +@typing.final class JointLimits(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -74,7 +70,7 @@ class JointLimits(google.protobuf.message.Message): min: google.protobuf.wrappers_pb2.FloatValue | None = ..., max: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["max", b"max", "min", b"min"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["max", b"max", "min", b"min"]) -> None: ... + def HasField(self, field_name: typing.Literal["max", b"max", "min", b"min"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["max", b"max", "min", b"min"]) -> None: ... global___JointLimits = JointLimits diff --git a/python/reachy2_sdk_api/component_pb2_grpc.py b/python/reachy2_sdk_api/component_pb2_grpc.py index 2daafff..16a4d75 100644 --- a/python/reachy2_sdk_api/component_pb2_grpc.py +++ b/python/reachy2_sdk_api/component_pb2_grpc.py @@ -1,4 +1,24 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings + +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in component_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/python/reachy2_sdk_api/component_pb2_grpc.pyi b/python/reachy2_sdk_api/component_pb2_grpc.pyi index b13382f..a6a9cff 100644 --- a/python/reachy2_sdk_api/component_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/component_pb2_grpc.pyi @@ -2,16 +2,16 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import grpc import grpc.aio import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... diff --git a/python/reachy2_sdk_api/dynamixel_motor_pb2.py b/python/reachy2_sdk_api/dynamixel_motor_pb2.py index 388b0b9..7726451 100644 --- a/python/reachy2_sdk_api/dynamixel_motor_pb2.py +++ b/python/reachy2_sdk_api/dynamixel_motor_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: dynamixel_motor.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'dynamixel_motor.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -23,8 +34,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'dynamixel_motor_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_DYNAMIXELMOTORFIELD']._serialized_start=1742 _globals['_DYNAMIXELMOTORFIELD']._serialized_end=1972 _globals['_DYNAMIXELMOTORSTATE']._serialized_start=177 diff --git a/python/reachy2_sdk_api/dynamixel_motor_pb2.pyi b/python/reachy2_sdk_api/dynamixel_motor_pb2.pyi index 7f3c185..c54534f 100644 --- a/python/reachy2_sdk_api/dynamixel_motor_pb2.pyi +++ b/python/reachy2_sdk_api/dynamixel_motor_pb2.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import builtins import collections.abc import component_pb2 @@ -61,7 +62,7 @@ PID: DynamixelMotorField.ValueType # 12 ALL: DynamixelMotorField.ValueType # 15 global___DynamixelMotorField = DynamixelMotorField -@typing_extensions.final +@typing.final class DynamixelMotorState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -117,12 +118,12 @@ class DynamixelMotorState(google.protobuf.message.Message): torque_limit: google.protobuf.wrappers_pb2.FloatValue | None = ..., pid: component_pb2.PIDGains | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> None: ... + def HasField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> None: ... global___DynamixelMotorState = DynamixelMotorState -@typing_extensions.final +@typing.final class DynamixelMotorStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -138,32 +139,32 @@ class DynamixelMotorStateRequest(google.protobuf.message.Message): fields: collections.abc.Iterable[global___DynamixelMotorField.ValueType] | None = ..., id: component_pb2.ComponentId | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["fields", b"fields", "id", b"id"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["fields", b"fields", "id", b"id"]) -> None: ... global___DynamixelMotorStateRequest = DynamixelMotorStateRequest -@typing_extensions.final +@typing.final class DynamixelMotorStreamStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor REQ_FIELD_NUMBER: builtins.int FREQ_FIELD_NUMBER: builtins.int + freq: builtins.float @property def req(self) -> global___DynamixelMotorStateRequest: ... - freq: builtins.float def __init__( self, *, req: global___DynamixelMotorStateRequest | None = ..., freq: builtins.float = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["req", b"req"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["freq", b"freq", "req", b"req"]) -> None: ... + def HasField(self, field_name: typing.Literal["req", b"req"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["freq", b"freq", "req", b"req"]) -> None: ... global___DynamixelMotorStreamStateRequest = DynamixelMotorStreamStateRequest -@typing_extensions.final +@typing.final class DynamixelMotorGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -183,12 +184,12 @@ class DynamixelMotorGoal(google.protobuf.message.Message): goal_position: google.protobuf.wrappers_pb2.FloatValue | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["duration", b"duration", "goal_position", b"goal_position", "id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["duration", b"duration", "goal_position", b"goal_position", "id", b"id"]) -> None: ... + def HasField(self, field_name: typing.Literal["duration", b"duration", "goal_position", b"goal_position", "id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["duration", b"duration", "goal_position", b"goal_position", "id", b"id"]) -> None: ... global___DynamixelMotorGoal = DynamixelMotorGoal -@typing_extensions.final +@typing.final class DynamixelMotorCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -216,12 +217,12 @@ class DynamixelMotorCommand(google.protobuf.message.Message): speed_limit: google.protobuf.wrappers_pb2.FloatValue | None = ..., torque_limit: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> None: ... + def HasField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> None: ... global___DynamixelMotorCommand = DynamixelMotorCommand -@typing_extensions.final +@typing.final class DynamixelMotorsCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -233,31 +234,31 @@ class DynamixelMotorsCommand(google.protobuf.message.Message): *, cmd: collections.abc.Iterable[global___DynamixelMotorCommand] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["cmd", b"cmd"]) -> None: ... + def ClearField(self, field_name: typing.Literal["cmd", b"cmd"]) -> None: ... global___DynamixelMotorsCommand = DynamixelMotorsCommand -@typing_extensions.final +@typing.final class DynamixelMotor(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int SERIAL_NUMBER_FIELD_NUMBER: builtins.int + serial_number: builtins.str @property def id(self) -> component_pb2.ComponentId: ... - serial_number: builtins.str def __init__( self, *, id: component_pb2.ComponentId | None = ..., serial_number: builtins.str = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "serial_number", b"serial_number"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "serial_number", b"serial_number"]) -> None: ... global___DynamixelMotor = DynamixelMotor -@typing_extensions.final +@typing.final class ListOfDynamixelMotor(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -269,11 +270,11 @@ class ListOfDynamixelMotor(google.protobuf.message.Message): *, info: collections.abc.Iterable[global___DynamixelMotor] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["info", b"info"]) -> None: ... + def ClearField(self, field_name: typing.Literal["info", b"info"]) -> None: ... global___ListOfDynamixelMotor = ListOfDynamixelMotor -@typing_extensions.final +@typing.final class DynamixelMotorStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -285,6 +286,6 @@ class DynamixelMotorStatus(google.protobuf.message.Message): *, errors: collections.abc.Iterable[error_pb2.Error] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["errors", b"errors"]) -> None: ... + def ClearField(self, field_name: typing.Literal["errors", b"errors"]) -> None: ... global___DynamixelMotorStatus = DynamixelMotorStatus diff --git a/python/reachy2_sdk_api/dynamixel_motor_pb2_grpc.py b/python/reachy2_sdk_api/dynamixel_motor_pb2_grpc.py index 3d7f640..1db5fc1 100644 --- a/python/reachy2_sdk_api/dynamixel_motor_pb2_grpc.py +++ b/python/reachy2_sdk_api/dynamixel_motor_pb2_grpc.py @@ -1,11 +1,31 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings import component_pb2 as component__pb2 import dynamixel_motor_pb2 as dynamixel__motor__pb2 from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in dynamixel_motor_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) + class DynamixelMotorServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -20,47 +40,47 @@ def __init__(self, channel): '/component.dynamixel_motor.DynamixelMotorService/GetAllDynamixelMotor', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=dynamixel__motor__pb2.ListOfDynamixelMotor.FromString, - ) + _registered_method=True) self.GetState = channel.unary_unary( '/component.dynamixel_motor.DynamixelMotorService/GetState', request_serializer=dynamixel__motor__pb2.DynamixelMotorStateRequest.SerializeToString, response_deserializer=dynamixel__motor__pb2.DynamixelMotorState.FromString, - ) + _registered_method=True) self.StreamState = channel.unary_stream( '/component.dynamixel_motor.DynamixelMotorService/StreamState', request_serializer=dynamixel__motor__pb2.DynamixelMotorStreamStateRequest.SerializeToString, response_deserializer=dynamixel__motor__pb2.DynamixelMotorState.FromString, - ) + _registered_method=True) self.SendCommand = channel.unary_unary( '/component.dynamixel_motor.DynamixelMotorService/SendCommand', request_serializer=dynamixel__motor__pb2.DynamixelMotorsCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.StreamCommand = channel.stream_unary( '/component.dynamixel_motor.DynamixelMotorService/StreamCommand', request_serializer=dynamixel__motor__pb2.DynamixelMotorsCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.SetPosition = channel.unary_unary( '/component.dynamixel_motor.DynamixelMotorService/SetPosition', request_serializer=dynamixel__motor__pb2.DynamixelMotorGoal.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.Audit = channel.unary_unary( '/component.dynamixel_motor.DynamixelMotorService/Audit', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=dynamixel__motor__pb2.DynamixelMotorStatus.FromString, - ) + _registered_method=True) self.HeartBeat = channel.unary_unary( '/component.dynamixel_motor.DynamixelMotorService/HeartBeat', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.Restart = channel.unary_unary( '/component.dynamixel_motor.DynamixelMotorService/Restart', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) class DynamixelMotorServiceServicer(object): @@ -172,6 +192,7 @@ def add_DynamixelMotorServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'component.dynamixel_motor.DynamixelMotorService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) + server.add_registered_method_handlers('component.dynamixel_motor.DynamixelMotorService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -189,11 +210,21 @@ def GetAllDynamixelMotor(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.dynamixel_motor.DynamixelMotorService/GetAllDynamixelMotor', + return grpc.experimental.unary_unary( + request, + target, + '/component.dynamixel_motor.DynamixelMotorService/GetAllDynamixelMotor', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, dynamixel__motor__pb2.ListOfDynamixelMotor.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetState(request, @@ -206,11 +237,21 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.dynamixel_motor.DynamixelMotorService/GetState', + return grpc.experimental.unary_unary( + request, + target, + '/component.dynamixel_motor.DynamixelMotorService/GetState', dynamixel__motor__pb2.DynamixelMotorStateRequest.SerializeToString, dynamixel__motor__pb2.DynamixelMotorState.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def StreamState(request, @@ -223,11 +264,21 @@ def StreamState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_stream(request, target, '/component.dynamixel_motor.DynamixelMotorService/StreamState', + return grpc.experimental.unary_stream( + request, + target, + '/component.dynamixel_motor.DynamixelMotorService/StreamState', dynamixel__motor__pb2.DynamixelMotorStreamStateRequest.SerializeToString, dynamixel__motor__pb2.DynamixelMotorState.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SendCommand(request, @@ -240,11 +291,21 @@ def SendCommand(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.dynamixel_motor.DynamixelMotorService/SendCommand', + return grpc.experimental.unary_unary( + request, + target, + '/component.dynamixel_motor.DynamixelMotorService/SendCommand', dynamixel__motor__pb2.DynamixelMotorsCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def StreamCommand(request_iterator, @@ -257,11 +318,21 @@ def StreamCommand(request_iterator, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.stream_unary(request_iterator, target, '/component.dynamixel_motor.DynamixelMotorService/StreamCommand', + return grpc.experimental.stream_unary( + request_iterator, + target, + '/component.dynamixel_motor.DynamixelMotorService/StreamCommand', dynamixel__motor__pb2.DynamixelMotorsCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SetPosition(request, @@ -274,11 +345,21 @@ def SetPosition(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.dynamixel_motor.DynamixelMotorService/SetPosition', + return grpc.experimental.unary_unary( + request, + target, + '/component.dynamixel_motor.DynamixelMotorService/SetPosition', dynamixel__motor__pb2.DynamixelMotorGoal.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Audit(request, @@ -291,11 +372,21 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.dynamixel_motor.DynamixelMotorService/Audit', + return grpc.experimental.unary_unary( + request, + target, + '/component.dynamixel_motor.DynamixelMotorService/Audit', component__pb2.ComponentId.SerializeToString, dynamixel__motor__pb2.DynamixelMotorStatus.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def HeartBeat(request, @@ -308,11 +399,21 @@ def HeartBeat(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.dynamixel_motor.DynamixelMotorService/HeartBeat', + return grpc.experimental.unary_unary( + request, + target, + '/component.dynamixel_motor.DynamixelMotorService/HeartBeat', component__pb2.ComponentId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Restart(request, @@ -325,8 +426,18 @@ def Restart(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.dynamixel_motor.DynamixelMotorService/Restart', + return grpc.experimental.unary_unary( + request, + target, + '/component.dynamixel_motor.DynamixelMotorService/Restart', component__pb2.ComponentId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) diff --git a/python/reachy2_sdk_api/dynamixel_motor_pb2_grpc.pyi b/python/reachy2_sdk_api/dynamixel_motor_pb2_grpc.pyi index c1f2953..38405c7 100644 --- a/python/reachy2_sdk_api/dynamixel_motor_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/dynamixel_motor_pb2_grpc.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import component_pb2 @@ -11,12 +12,11 @@ import grpc import grpc.aio import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... class DynamixelMotorServiceStub: @@ -25,34 +25,42 @@ class DynamixelMotorServiceStub: google.protobuf.empty_pb2.Empty, dynamixel_motor_pb2.ListOfDynamixelMotor, ] + GetState: grpc.UnaryUnaryMultiCallable[ dynamixel_motor_pb2.DynamixelMotorStateRequest, dynamixel_motor_pb2.DynamixelMotorState, ] + StreamState: grpc.UnaryStreamMultiCallable[ dynamixel_motor_pb2.DynamixelMotorStreamStateRequest, dynamixel_motor_pb2.DynamixelMotorState, ] + SendCommand: grpc.UnaryUnaryMultiCallable[ dynamixel_motor_pb2.DynamixelMotorsCommand, google.protobuf.empty_pb2.Empty, ] + StreamCommand: grpc.StreamUnaryMultiCallable[ dynamixel_motor_pb2.DynamixelMotorsCommand, google.protobuf.empty_pb2.Empty, ] + SetPosition: grpc.UnaryUnaryMultiCallable[ dynamixel_motor_pb2.DynamixelMotorGoal, google.protobuf.empty_pb2.Empty, ] + Audit: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, dynamixel_motor_pb2.DynamixelMotorStatus, ] + HeartBeat: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, ] + Restart: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, @@ -63,34 +71,42 @@ class DynamixelMotorServiceAsyncStub: google.protobuf.empty_pb2.Empty, dynamixel_motor_pb2.ListOfDynamixelMotor, ] + GetState: grpc.aio.UnaryUnaryMultiCallable[ dynamixel_motor_pb2.DynamixelMotorStateRequest, dynamixel_motor_pb2.DynamixelMotorState, ] + StreamState: grpc.aio.UnaryStreamMultiCallable[ dynamixel_motor_pb2.DynamixelMotorStreamStateRequest, dynamixel_motor_pb2.DynamixelMotorState, ] + SendCommand: grpc.aio.UnaryUnaryMultiCallable[ dynamixel_motor_pb2.DynamixelMotorsCommand, google.protobuf.empty_pb2.Empty, ] + StreamCommand: grpc.aio.StreamUnaryMultiCallable[ dynamixel_motor_pb2.DynamixelMotorsCommand, google.protobuf.empty_pb2.Empty, ] + SetPosition: grpc.aio.UnaryUnaryMultiCallable[ dynamixel_motor_pb2.DynamixelMotorGoal, google.protobuf.empty_pb2.Empty, ] + Audit: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, dynamixel_motor_pb2.DynamixelMotorStatus, ] + HeartBeat: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, ] + Restart: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, @@ -103,48 +119,56 @@ class DynamixelMotorServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[dynamixel_motor_pb2.ListOfDynamixelMotor, collections.abc.Awaitable[dynamixel_motor_pb2.ListOfDynamixelMotor]]: ... + @abc.abstractmethod def GetState( self, request: dynamixel_motor_pb2.DynamixelMotorStateRequest, context: _ServicerContext, ) -> typing.Union[dynamixel_motor_pb2.DynamixelMotorState, collections.abc.Awaitable[dynamixel_motor_pb2.DynamixelMotorState]]: ... + @abc.abstractmethod def StreamState( self, request: dynamixel_motor_pb2.DynamixelMotorStreamStateRequest, context: _ServicerContext, ) -> typing.Union[collections.abc.Iterator[dynamixel_motor_pb2.DynamixelMotorState], collections.abc.AsyncIterator[dynamixel_motor_pb2.DynamixelMotorState]]: ... + @abc.abstractmethod def SendCommand( self, request: dynamixel_motor_pb2.DynamixelMotorsCommand, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def StreamCommand( self, request_iterator: _MaybeAsyncIterator[dynamixel_motor_pb2.DynamixelMotorsCommand], context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def SetPosition( self, request: dynamixel_motor_pb2.DynamixelMotorGoal, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def Audit( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[dynamixel_motor_pb2.DynamixelMotorStatus, collections.abc.Awaitable[dynamixel_motor_pb2.DynamixelMotorStatus]]: ... + @abc.abstractmethod def HeartBeat( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def Restart( self, diff --git a/python/reachy2_sdk_api/error_pb2.py b/python/reachy2_sdk_api/error_pb2.py index b1356a6..0911bb4 100644 --- a/python/reachy2_sdk_api/error_pb2.py +++ b/python/reachy2_sdk_api/error_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: error.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'error.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -18,8 +29,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'error_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_ERROR']._serialized_start=22 _globals['_ERROR']._serialized_end=46 # @@protoc_insertion_point(module_scope) diff --git a/python/reachy2_sdk_api/error_pb2.pyi b/python/reachy2_sdk_api/error_pb2.pyi index de14f82..e45d8c1 100644 --- a/python/reachy2_sdk_api/error_pb2.pyi +++ b/python/reachy2_sdk_api/error_pb2.pyi @@ -2,19 +2,15 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import builtins import google.protobuf.descriptor import google.protobuf.message -import sys - -if sys.version_info >= (3, 8): - import typing as typing_extensions -else: - import typing_extensions +import typing DESCRIPTOR: google.protobuf.descriptor.FileDescriptor -@typing_extensions.final +@typing.final class Error(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -25,6 +21,6 @@ class Error(google.protobuf.message.Message): *, details: builtins.str = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["details", b"details"]) -> None: ... + def ClearField(self, field_name: typing.Literal["details", b"details"]) -> None: ... global___Error = Error diff --git a/python/reachy2_sdk_api/error_pb2_grpc.py b/python/reachy2_sdk_api/error_pb2_grpc.py index 2daafff..2a50058 100644 --- a/python/reachy2_sdk_api/error_pb2_grpc.py +++ b/python/reachy2_sdk_api/error_pb2_grpc.py @@ -1,4 +1,24 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings + +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in error_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/python/reachy2_sdk_api/error_pb2_grpc.pyi b/python/reachy2_sdk_api/error_pb2_grpc.pyi index b13382f..a6a9cff 100644 --- a/python/reachy2_sdk_api/error_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/error_pb2_grpc.pyi @@ -2,16 +2,16 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import grpc import grpc.aio import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... diff --git a/python/reachy2_sdk_api/goto_pb2.py b/python/reachy2_sdk_api/goto_pb2.py index 6ec9ca9..82911f8 100644 --- a/python/reachy2_sdk_api/goto_pb2.py +++ b/python/reachy2_sdk_api/goto_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: goto.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'goto.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -26,8 +37,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'goto_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_GOALSTATUS']._serialized_start=1894 _globals['_GOALSTATUS']._serialized_end=2064 _globals['_INTERPOLATIONMODE']._serialized_start=2066 diff --git a/python/reachy2_sdk_api/goto_pb2.pyi b/python/reachy2_sdk_api/goto_pb2.pyi index 8900178..40acfa3 100644 --- a/python/reachy2_sdk_api/goto_pb2.pyi +++ b/python/reachy2_sdk_api/goto_pb2.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import arm_pb2 import builtins import collections.abc @@ -112,7 +113,7 @@ LEFT: ArcDirection.ValueType # 5 RIGHT: ArcDirection.ValueType # 6 global___ArcDirection = ArcDirection -@typing_extensions.final +@typing.final class GoToId(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -123,11 +124,11 @@ class GoToId(google.protobuf.message.Message): *, id: builtins.int = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id"]) -> None: ... + def ClearField(self, field_name: typing.Literal["id", b"id"]) -> None: ... global___GoToId = GoToId -@typing_extensions.final +@typing.final class GoToAck(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -138,11 +139,11 @@ class GoToAck(google.protobuf.message.Message): *, ack: builtins.bool = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["ack", b"ack"]) -> None: ... + def ClearField(self, field_name: typing.Literal["ack", b"ack"]) -> None: ... global___GoToAck = GoToAck -@typing_extensions.final +@typing.final class GoToGoalStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -153,11 +154,11 @@ class GoToGoalStatus(google.protobuf.message.Message): *, goal_status: global___GoalStatus.ValueType = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["goal_status", b"goal_status"]) -> None: ... + def ClearField(self, field_name: typing.Literal["goal_status", b"goal_status"]) -> None: ... global___GoToGoalStatus = GoToGoalStatus -@typing_extensions.final +@typing.final class CartesianGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -173,13 +174,13 @@ class CartesianGoal(google.protobuf.message.Message): arm_cartesian_goal: arm_pb2.ArmCartesianGoal | None = ..., neck_cartesian_goal: head_pb2.NeckCartesianGoal | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["arm_cartesian_goal", b"arm_cartesian_goal", "cartesian_goal", b"cartesian_goal", "neck_cartesian_goal", b"neck_cartesian_goal"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["arm_cartesian_goal", b"arm_cartesian_goal", "cartesian_goal", b"cartesian_goal", "neck_cartesian_goal", b"neck_cartesian_goal"]) -> None: ... - def WhichOneof(self, oneof_group: typing_extensions.Literal["cartesian_goal", b"cartesian_goal"]) -> typing_extensions.Literal["arm_cartesian_goal", "neck_cartesian_goal"] | None: ... + def HasField(self, field_name: typing.Literal["arm_cartesian_goal", b"arm_cartesian_goal", "cartesian_goal", b"cartesian_goal", "neck_cartesian_goal", b"neck_cartesian_goal"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["arm_cartesian_goal", b"arm_cartesian_goal", "cartesian_goal", b"cartesian_goal", "neck_cartesian_goal", b"neck_cartesian_goal"]) -> None: ... + def WhichOneof(self, oneof_group: typing.Literal["cartesian_goal", b"cartesian_goal"]) -> typing.Literal["arm_cartesian_goal", "neck_cartesian_goal"] | None: ... global___CartesianGoal = CartesianGoal -@typing_extensions.final +@typing.final class JointsGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -207,13 +208,13 @@ class JointsGoal(google.protobuf.message.Message): antenna_joint_goal: head_pb2.AntennaJointGoal | None = ..., hand_joint_goal: hand_pb2.HandJointGoal | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["antenna_joint_goal", b"antenna_joint_goal", "arm_joint_goal", b"arm_joint_goal", "custom_joint_goal", b"custom_joint_goal", "hand_joint_goal", b"hand_joint_goal", "joints_goal", b"joints_goal", "neck_joint_goal", b"neck_joint_goal"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["antenna_joint_goal", b"antenna_joint_goal", "arm_joint_goal", b"arm_joint_goal", "custom_joint_goal", b"custom_joint_goal", "hand_joint_goal", b"hand_joint_goal", "joints_goal", b"joints_goal", "neck_joint_goal", b"neck_joint_goal"]) -> None: ... - def WhichOneof(self, oneof_group: typing_extensions.Literal["joints_goal", b"joints_goal"]) -> typing_extensions.Literal["arm_joint_goal", "neck_joint_goal", "custom_joint_goal", "antenna_joint_goal", "hand_joint_goal"] | None: ... + def HasField(self, field_name: typing.Literal["antenna_joint_goal", b"antenna_joint_goal", "arm_joint_goal", b"arm_joint_goal", "custom_joint_goal", b"custom_joint_goal", "hand_joint_goal", b"hand_joint_goal", "joints_goal", b"joints_goal", "neck_joint_goal", b"neck_joint_goal"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["antenna_joint_goal", b"antenna_joint_goal", "arm_joint_goal", b"arm_joint_goal", "custom_joint_goal", b"custom_joint_goal", "hand_joint_goal", b"hand_joint_goal", "joints_goal", b"joints_goal", "neck_joint_goal", b"neck_joint_goal"]) -> None: ... + def WhichOneof(self, oneof_group: typing.Literal["joints_goal", b"joints_goal"]) -> typing.Literal["arm_joint_goal", "neck_joint_goal", "custom_joint_goal", "antenna_joint_goal", "hand_joint_goal"] | None: ... global___JointsGoal = JointsGoal -@typing_extensions.final +@typing.final class OdometryGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -237,12 +238,12 @@ class OdometryGoal(google.protobuf.message.Message): angle_tolerance: google.protobuf.wrappers_pb2.FloatValue | None = ..., timeout: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["angle_tolerance", b"angle_tolerance", "distance_tolerance", b"distance_tolerance", "odometry_goal", b"odometry_goal", "timeout", b"timeout"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["angle_tolerance", b"angle_tolerance", "distance_tolerance", b"distance_tolerance", "odometry_goal", b"odometry_goal", "timeout", b"timeout"]) -> None: ... + def HasField(self, field_name: typing.Literal["angle_tolerance", b"angle_tolerance", "distance_tolerance", b"distance_tolerance", "odometry_goal", b"odometry_goal", "timeout", b"timeout"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["angle_tolerance", b"angle_tolerance", "distance_tolerance", b"distance_tolerance", "odometry_goal", b"odometry_goal", "timeout", b"timeout"]) -> None: ... global___OdometryGoal = OdometryGoal -@typing_extensions.final +@typing.final class CustomJointGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -270,13 +271,13 @@ class CustomJointGoal(google.protobuf.message.Message): joints_goals: collections.abc.Iterable[google.protobuf.wrappers_pb2.FloatValue] | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["arm_joints", b"arm_joints", "duration", b"duration", "id", b"id", "joints", b"joints", "neck_joints", b"neck_joints"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["arm_joints", b"arm_joints", "duration", b"duration", "id", b"id", "joints", b"joints", "joints_goals", b"joints_goals", "neck_joints", b"neck_joints"]) -> None: ... - def WhichOneof(self, oneof_group: typing_extensions.Literal["joints", b"joints"]) -> typing_extensions.Literal["arm_joints", "neck_joints"] | None: ... + def HasField(self, field_name: typing.Literal["arm_joints", b"arm_joints", "duration", b"duration", "id", b"id", "joints", b"joints", "neck_joints", b"neck_joints"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["arm_joints", b"arm_joints", "duration", b"duration", "id", b"id", "joints", b"joints", "joints_goals", b"joints_goals", "neck_joints", b"neck_joints"]) -> None: ... + def WhichOneof(self, oneof_group: typing.Literal["joints", b"joints"]) -> typing.Literal["arm_joints", "neck_joints"] | None: ... global___CustomJointGoal = CustomJointGoal -@typing_extensions.final +@typing.final class GoToInterpolation(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -287,11 +288,11 @@ class GoToInterpolation(google.protobuf.message.Message): *, interpolation_type: global___InterpolationMode.ValueType = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["interpolation_type", b"interpolation_type"]) -> None: ... + def ClearField(self, field_name: typing.Literal["interpolation_type", b"interpolation_type"]) -> None: ... global___GoToInterpolation = GoToInterpolation -@typing_extensions.final +@typing.final class GoToInterpolationSpace(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -302,11 +303,11 @@ class GoToInterpolationSpace(google.protobuf.message.Message): *, interpolation_space: global___InterpolationSpace.ValueType = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["interpolation_space", b"interpolation_space"]) -> None: ... + def ClearField(self, field_name: typing.Literal["interpolation_space", b"interpolation_space"]) -> None: ... global___GoToInterpolationSpace = GoToInterpolationSpace -@typing_extensions.final +@typing.final class EllipticalGoToParameters(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -321,12 +322,12 @@ class EllipticalGoToParameters(google.protobuf.message.Message): arc_direction: global___ArcDirection.ValueType = ..., secondary_radius: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["secondary_radius", b"secondary_radius"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["arc_direction", b"arc_direction", "secondary_radius", b"secondary_radius"]) -> None: ... + def HasField(self, field_name: typing.Literal["secondary_radius", b"secondary_radius"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["arc_direction", b"arc_direction", "secondary_radius", b"secondary_radius"]) -> None: ... global___EllipticalGoToParameters = EllipticalGoToParameters -@typing_extensions.final +@typing.final class GoToRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -358,13 +359,13 @@ class GoToRequest(google.protobuf.message.Message): interpolation_mode: global___GoToInterpolation | None = ..., elliptical_parameters: global___EllipticalGoToParameters | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["cartesian_goal", b"cartesian_goal", "elliptical_parameters", b"elliptical_parameters", "goal", b"goal", "interpolation_mode", b"interpolation_mode", "interpolation_space", b"interpolation_space", "joints_goal", b"joints_goal", "odometry_goal", b"odometry_goal"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["cartesian_goal", b"cartesian_goal", "elliptical_parameters", b"elliptical_parameters", "goal", b"goal", "interpolation_mode", b"interpolation_mode", "interpolation_space", b"interpolation_space", "joints_goal", b"joints_goal", "odometry_goal", b"odometry_goal"]) -> None: ... - def WhichOneof(self, oneof_group: typing_extensions.Literal["goal", b"goal"]) -> typing_extensions.Literal["cartesian_goal", "joints_goal", "odometry_goal"] | None: ... + def HasField(self, field_name: typing.Literal["cartesian_goal", b"cartesian_goal", "elliptical_parameters", b"elliptical_parameters", "goal", b"goal", "interpolation_mode", b"interpolation_mode", "interpolation_space", b"interpolation_space", "joints_goal", b"joints_goal", "odometry_goal", b"odometry_goal"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["cartesian_goal", b"cartesian_goal", "elliptical_parameters", b"elliptical_parameters", "goal", b"goal", "interpolation_mode", b"interpolation_mode", "interpolation_space", b"interpolation_space", "joints_goal", b"joints_goal", "odometry_goal", b"odometry_goal"]) -> None: ... + def WhichOneof(self, oneof_group: typing.Literal["goal", b"goal"]) -> typing.Literal["cartesian_goal", "joints_goal", "odometry_goal"] | None: ... global___GoToRequest = GoToRequest -@typing_extensions.final +@typing.final class GoToQueue(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -376,6 +377,6 @@ class GoToQueue(google.protobuf.message.Message): *, goto_ids: collections.abc.Iterable[global___GoToId] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["goto_ids", b"goto_ids"]) -> None: ... + def ClearField(self, field_name: typing.Literal["goto_ids", b"goto_ids"]) -> None: ... global___GoToQueue = GoToQueue diff --git a/python/reachy2_sdk_api/goto_pb2_grpc.py b/python/reachy2_sdk_api/goto_pb2_grpc.py index df0ef2d..6454ab8 100644 --- a/python/reachy2_sdk_api/goto_pb2_grpc.py +++ b/python/reachy2_sdk_api/goto_pb2_grpc.py @@ -1,12 +1,32 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings import component_pb2 as component__pb2 from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import goto_pb2 as goto__pb2 import part_pb2 as part__pb2 +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in goto_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) + class GoToServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -21,67 +41,67 @@ def __init__(self, channel): '/GoToService/GoToCartesian', request_serializer=goto__pb2.GoToRequest.SerializeToString, response_deserializer=goto__pb2.GoToId.FromString, - ) + _registered_method=True) self.GoToJoints = channel.unary_unary( '/GoToService/GoToJoints', request_serializer=goto__pb2.GoToRequest.SerializeToString, response_deserializer=goto__pb2.GoToId.FromString, - ) + _registered_method=True) self.GoToOdometry = channel.unary_unary( '/GoToService/GoToOdometry', request_serializer=goto__pb2.GoToRequest.SerializeToString, response_deserializer=goto__pb2.GoToId.FromString, - ) + _registered_method=True) self.GetGoToState = channel.unary_unary( '/GoToService/GetGoToState', request_serializer=goto__pb2.GoToId.SerializeToString, response_deserializer=goto__pb2.GoToGoalStatus.FromString, - ) + _registered_method=True) self.GetGoToRequest = channel.unary_unary( '/GoToService/GetGoToRequest', request_serializer=goto__pb2.GoToId.SerializeToString, response_deserializer=goto__pb2.GoToRequest.FromString, - ) + _registered_method=True) self.GetPartGoToPlaying = channel.unary_unary( '/GoToService/GetPartGoToPlaying', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=goto__pb2.GoToId.FromString, - ) + _registered_method=True) self.GetComponentGoToPlaying = channel.unary_unary( '/GoToService/GetComponentGoToPlaying', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=goto__pb2.GoToId.FromString, - ) + _registered_method=True) self.GetPartGoToQueue = channel.unary_unary( '/GoToService/GetPartGoToQueue', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=goto__pb2.GoToQueue.FromString, - ) + _registered_method=True) self.GetComponentGoToQueue = channel.unary_unary( '/GoToService/GetComponentGoToQueue', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=goto__pb2.GoToQueue.FromString, - ) + _registered_method=True) self.CancelGoTo = channel.unary_unary( '/GoToService/CancelGoTo', request_serializer=goto__pb2.GoToId.SerializeToString, response_deserializer=goto__pb2.GoToAck.FromString, - ) + _registered_method=True) self.CancelAllGoTo = channel.unary_unary( '/GoToService/CancelAllGoTo', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=goto__pb2.GoToAck.FromString, - ) + _registered_method=True) self.CancelPartAllGoTo = channel.unary_unary( '/GoToService/CancelPartAllGoTo', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=goto__pb2.GoToAck.FromString, - ) + _registered_method=True) self.CancelComponentAllGoTo = channel.unary_unary( '/GoToService/CancelComponentAllGoTo', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=goto__pb2.GoToAck.FromString, - ) + _registered_method=True) class GoToServiceServicer(object): @@ -237,6 +257,7 @@ def add_GoToServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'GoToService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) + server.add_registered_method_handlers('GoToService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -254,11 +275,21 @@ def GoToCartesian(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/GoToService/GoToCartesian', + return grpc.experimental.unary_unary( + request, + target, + '/GoToService/GoToCartesian', goto__pb2.GoToRequest.SerializeToString, goto__pb2.GoToId.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GoToJoints(request, @@ -271,11 +302,21 @@ def GoToJoints(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/GoToService/GoToJoints', + return grpc.experimental.unary_unary( + request, + target, + '/GoToService/GoToJoints', goto__pb2.GoToRequest.SerializeToString, goto__pb2.GoToId.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GoToOdometry(request, @@ -288,11 +329,21 @@ def GoToOdometry(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/GoToService/GoToOdometry', + return grpc.experimental.unary_unary( + request, + target, + '/GoToService/GoToOdometry', goto__pb2.GoToRequest.SerializeToString, goto__pb2.GoToId.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetGoToState(request, @@ -305,11 +356,21 @@ def GetGoToState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/GoToService/GetGoToState', + return grpc.experimental.unary_unary( + request, + target, + '/GoToService/GetGoToState', goto__pb2.GoToId.SerializeToString, goto__pb2.GoToGoalStatus.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetGoToRequest(request, @@ -322,11 +383,21 @@ def GetGoToRequest(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/GoToService/GetGoToRequest', + return grpc.experimental.unary_unary( + request, + target, + '/GoToService/GetGoToRequest', goto__pb2.GoToId.SerializeToString, goto__pb2.GoToRequest.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetPartGoToPlaying(request, @@ -339,11 +410,21 @@ def GetPartGoToPlaying(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/GoToService/GetPartGoToPlaying', + return grpc.experimental.unary_unary( + request, + target, + '/GoToService/GetPartGoToPlaying', part__pb2.PartId.SerializeToString, goto__pb2.GoToId.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetComponentGoToPlaying(request, @@ -356,11 +437,21 @@ def GetComponentGoToPlaying(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/GoToService/GetComponentGoToPlaying', + return grpc.experimental.unary_unary( + request, + target, + '/GoToService/GetComponentGoToPlaying', component__pb2.ComponentId.SerializeToString, goto__pb2.GoToId.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetPartGoToQueue(request, @@ -373,11 +464,21 @@ def GetPartGoToQueue(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/GoToService/GetPartGoToQueue', + return grpc.experimental.unary_unary( + request, + target, + '/GoToService/GetPartGoToQueue', part__pb2.PartId.SerializeToString, goto__pb2.GoToQueue.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetComponentGoToQueue(request, @@ -390,11 +491,21 @@ def GetComponentGoToQueue(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/GoToService/GetComponentGoToQueue', + return grpc.experimental.unary_unary( + request, + target, + '/GoToService/GetComponentGoToQueue', component__pb2.ComponentId.SerializeToString, goto__pb2.GoToQueue.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def CancelGoTo(request, @@ -407,11 +518,21 @@ def CancelGoTo(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/GoToService/CancelGoTo', + return grpc.experimental.unary_unary( + request, + target, + '/GoToService/CancelGoTo', goto__pb2.GoToId.SerializeToString, goto__pb2.GoToAck.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def CancelAllGoTo(request, @@ -424,11 +545,21 @@ def CancelAllGoTo(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/GoToService/CancelAllGoTo', + return grpc.experimental.unary_unary( + request, + target, + '/GoToService/CancelAllGoTo', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, goto__pb2.GoToAck.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def CancelPartAllGoTo(request, @@ -441,11 +572,21 @@ def CancelPartAllGoTo(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/GoToService/CancelPartAllGoTo', + return grpc.experimental.unary_unary( + request, + target, + '/GoToService/CancelPartAllGoTo', part__pb2.PartId.SerializeToString, goto__pb2.GoToAck.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def CancelComponentAllGoTo(request, @@ -458,8 +599,18 @@ def CancelComponentAllGoTo(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/GoToService/CancelComponentAllGoTo', + return grpc.experimental.unary_unary( + request, + target, + '/GoToService/CancelComponentAllGoTo', component__pb2.ComponentId.SerializeToString, goto__pb2.GoToAck.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) diff --git a/python/reachy2_sdk_api/goto_pb2_grpc.pyi b/python/reachy2_sdk_api/goto_pb2_grpc.pyi index 3eaba67..b0f5341 100644 --- a/python/reachy2_sdk_api/goto_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/goto_pb2_grpc.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import component_pb2 @@ -12,12 +13,11 @@ import grpc.aio import part_pb2 import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... class GoToServiceStub: @@ -26,50 +26,62 @@ class GoToServiceStub: goto_pb2.GoToRequest, goto_pb2.GoToId, ] + GoToJoints: grpc.UnaryUnaryMultiCallable[ goto_pb2.GoToRequest, goto_pb2.GoToId, ] + GoToOdometry: grpc.UnaryUnaryMultiCallable[ goto_pb2.GoToRequest, goto_pb2.GoToId, ] + GetGoToState: grpc.UnaryUnaryMultiCallable[ goto_pb2.GoToId, goto_pb2.GoToGoalStatus, ] + GetGoToRequest: grpc.UnaryUnaryMultiCallable[ goto_pb2.GoToId, goto_pb2.GoToRequest, ] + GetPartGoToPlaying: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, goto_pb2.GoToId, ] + GetComponentGoToPlaying: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, goto_pb2.GoToId, ] + GetPartGoToQueue: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, goto_pb2.GoToQueue, ] + GetComponentGoToQueue: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, goto_pb2.GoToQueue, ] + CancelGoTo: grpc.UnaryUnaryMultiCallable[ goto_pb2.GoToId, goto_pb2.GoToAck, ] + CancelAllGoTo: grpc.UnaryUnaryMultiCallable[ google.protobuf.empty_pb2.Empty, goto_pb2.GoToAck, ] + CancelPartAllGoTo: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, goto_pb2.GoToAck, ] + CancelComponentAllGoTo: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, goto_pb2.GoToAck, @@ -80,50 +92,62 @@ class GoToServiceAsyncStub: goto_pb2.GoToRequest, goto_pb2.GoToId, ] + GoToJoints: grpc.aio.UnaryUnaryMultiCallable[ goto_pb2.GoToRequest, goto_pb2.GoToId, ] + GoToOdometry: grpc.aio.UnaryUnaryMultiCallable[ goto_pb2.GoToRequest, goto_pb2.GoToId, ] + GetGoToState: grpc.aio.UnaryUnaryMultiCallable[ goto_pb2.GoToId, goto_pb2.GoToGoalStatus, ] + GetGoToRequest: grpc.aio.UnaryUnaryMultiCallable[ goto_pb2.GoToId, goto_pb2.GoToRequest, ] + GetPartGoToPlaying: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, goto_pb2.GoToId, ] + GetComponentGoToPlaying: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, goto_pb2.GoToId, ] + GetPartGoToQueue: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, goto_pb2.GoToQueue, ] + GetComponentGoToQueue: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, goto_pb2.GoToQueue, ] + CancelGoTo: grpc.aio.UnaryUnaryMultiCallable[ goto_pb2.GoToId, goto_pb2.GoToAck, ] + CancelAllGoTo: grpc.aio.UnaryUnaryMultiCallable[ google.protobuf.empty_pb2.Empty, goto_pb2.GoToAck, ] + CancelPartAllGoTo: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, goto_pb2.GoToAck, ] + CancelComponentAllGoTo: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, goto_pb2.GoToAck, @@ -136,72 +160,84 @@ class GoToServiceServicer(metaclass=abc.ABCMeta): request: goto_pb2.GoToRequest, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToId, collections.abc.Awaitable[goto_pb2.GoToId]]: ... + @abc.abstractmethod def GoToJoints( self, request: goto_pb2.GoToRequest, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToId, collections.abc.Awaitable[goto_pb2.GoToId]]: ... + @abc.abstractmethod def GoToOdometry( self, request: goto_pb2.GoToRequest, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToId, collections.abc.Awaitable[goto_pb2.GoToId]]: ... + @abc.abstractmethod def GetGoToState( self, request: goto_pb2.GoToId, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToGoalStatus, collections.abc.Awaitable[goto_pb2.GoToGoalStatus]]: ... + @abc.abstractmethod def GetGoToRequest( self, request: goto_pb2.GoToId, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToRequest, collections.abc.Awaitable[goto_pb2.GoToRequest]]: ... + @abc.abstractmethod def GetPartGoToPlaying( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToId, collections.abc.Awaitable[goto_pb2.GoToId]]: ... + @abc.abstractmethod def GetComponentGoToPlaying( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToId, collections.abc.Awaitable[goto_pb2.GoToId]]: ... + @abc.abstractmethod def GetPartGoToQueue( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToQueue, collections.abc.Awaitable[goto_pb2.GoToQueue]]: ... + @abc.abstractmethod def GetComponentGoToQueue( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToQueue, collections.abc.Awaitable[goto_pb2.GoToQueue]]: ... + @abc.abstractmethod def CancelGoTo( self, request: goto_pb2.GoToId, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToAck, collections.abc.Awaitable[goto_pb2.GoToAck]]: ... + @abc.abstractmethod def CancelAllGoTo( self, request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToAck, collections.abc.Awaitable[goto_pb2.GoToAck]]: ... + @abc.abstractmethod def CancelPartAllGoTo( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToAck, collections.abc.Awaitable[goto_pb2.GoToAck]]: ... + @abc.abstractmethod def CancelComponentAllGoTo( self, diff --git a/python/reachy2_sdk_api/hand_pb2.py b/python/reachy2_sdk_api/hand_pb2.py index d663244..6cb2962 100644 --- a/python/reachy2_sdk_api/hand_pb2.py +++ b/python/reachy2_sdk_api/hand_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: hand.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'hand.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -22,8 +33,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'hand_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_HANDTYPE']._serialized_start=1796 _globals['_HANDTYPE']._serialized_end=1841 _globals['_SPEEDLIMIT']._serialized_start=1843 diff --git a/python/reachy2_sdk_api/hand_pb2.pyi b/python/reachy2_sdk_api/hand_pb2.pyi index 1cce263..ee97026 100644 --- a/python/reachy2_sdk_api/hand_pb2.pyi +++ b/python/reachy2_sdk_api/hand_pb2.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import builtins import collections.abc import error_pb2 @@ -55,16 +56,16 @@ NORMAL: SpeedLimit.ValueType # 2 SLOW: SpeedLimit.ValueType # 3 global___SpeedLimit = SpeedLimit -@typing_extensions.final +@typing.final class Hand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor PART_ID_FIELD_NUMBER: builtins.int TYPE_FIELD_NUMBER: builtins.int INFO_FIELD_NUMBER: builtins.int + type: global___HandType.ValueType @property def part_id(self) -> part_pb2.PartId: ... - type: global___HandType.ValueType @property def info(self) -> part_pb2.PartInfo: ... def __init__( @@ -74,12 +75,12 @@ class Hand(google.protobuf.message.Message): type: global___HandType.ValueType = ..., info: part_pb2.PartInfo | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["info", b"info", "part_id", b"part_id", "type", b"type"]) -> None: ... + def HasField(self, field_name: typing.Literal["info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["info", b"info", "part_id", b"part_id", "type", b"type"]) -> None: ... global___Hand = Hand -@typing_extensions.final +@typing.final class ListOfHand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -91,11 +92,11 @@ class ListOfHand(google.protobuf.message.Message): *, hand: collections.abc.Iterable[global___Hand] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["hand", b"hand"]) -> None: ... + def ClearField(self, field_name: typing.Literal["hand", b"hand"]) -> None: ... global___ListOfHand = ListOfHand -@typing_extensions.final +@typing.final class HandState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -135,12 +136,12 @@ class HandState(google.protobuf.message.Message): goal_position: global___HandPosition | None = ..., compliant: google.protobuf.wrappers_pb2.BoolValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "force", b"force", "goal_position", b"goal_position", "holding_object", b"holding_object", "joints_limits", b"joints_limits", "opening", b"opening", "present_position", b"present_position", "temperatures", b"temperatures"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "force", b"force", "goal_position", b"goal_position", "holding_object", b"holding_object", "joints_limits", b"joints_limits", "opening", b"opening", "present_position", b"present_position", "temperatures", b"temperatures"]) -> None: ... + def HasField(self, field_name: typing.Literal["compliant", b"compliant", "force", b"force", "goal_position", b"goal_position", "holding_object", b"holding_object", "joints_limits", b"joints_limits", "opening", b"opening", "present_position", b"present_position", "temperatures", b"temperatures"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["compliant", b"compliant", "force", b"force", "goal_position", b"goal_position", "holding_object", b"holding_object", "joints_limits", b"joints_limits", "opening", b"opening", "present_position", b"present_position", "temperatures", b"temperatures"]) -> None: ... global___HandState = HandState -@typing_extensions.final +@typing.final class HandStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -152,11 +153,11 @@ class HandStatus(google.protobuf.message.Message): *, errors: collections.abc.Iterable[error_pb2.Error] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["errors", b"errors"]) -> None: ... + def ClearField(self, field_name: typing.Literal["errors", b"errors"]) -> None: ... global___HandStatus = HandStatus -@typing_extensions.final +@typing.final class Force(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -166,7 +167,7 @@ class Force(google.protobuf.message.Message): global___Force = Force -@typing_extensions.final +@typing.final class JointLimits(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -180,11 +181,11 @@ class JointLimits(google.protobuf.message.Message): min: builtins.float = ..., max: builtins.float = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["max", b"max", "min", b"min"]) -> None: ... + def ClearField(self, field_name: typing.Literal["max", b"max", "min", b"min"]) -> None: ... global___JointLimits = JointLimits -@typing_extensions.final +@typing.final class ParallelGripperLimits(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -196,12 +197,12 @@ class ParallelGripperLimits(google.protobuf.message.Message): *, limits: global___JointLimits | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["limits", b"limits"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["limits", b"limits"]) -> None: ... + def HasField(self, field_name: typing.Literal["limits", b"limits"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["limits", b"limits"]) -> None: ... global___ParallelGripperLimits = ParallelGripperLimits -@typing_extensions.final +@typing.final class JointsLimits(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -213,13 +214,13 @@ class JointsLimits(google.protobuf.message.Message): *, parallel_gripper: global___ParallelGripperLimits | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["limits", b"limits", "parallel_gripper", b"parallel_gripper"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["limits", b"limits", "parallel_gripper", b"parallel_gripper"]) -> None: ... - def WhichOneof(self, oneof_group: typing_extensions.Literal["limits", b"limits"]) -> typing_extensions.Literal["parallel_gripper"] | None: ... + def HasField(self, field_name: typing.Literal["limits", b"limits", "parallel_gripper", b"parallel_gripper"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["limits", b"limits", "parallel_gripper", b"parallel_gripper"]) -> None: ... + def WhichOneof(self, oneof_group: typing.Literal["limits", b"limits"]) -> typing.Literal["parallel_gripper"] | None: ... global___JointsLimits = JointsLimits -@typing_extensions.final +@typing.final class ParallelGripperPosition(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -235,13 +236,13 @@ class ParallelGripperPosition(google.protobuf.message.Message): opening_percentage: google.protobuf.wrappers_pb2.FloatValue | None = ..., position: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["gripper_position", b"gripper_position", "opening_percentage", b"opening_percentage", "position", b"position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["gripper_position", b"gripper_position", "opening_percentage", b"opening_percentage", "position", b"position"]) -> None: ... - def WhichOneof(self, oneof_group: typing_extensions.Literal["gripper_position", b"gripper_position"]) -> typing_extensions.Literal["opening_percentage", "position"] | None: ... + def HasField(self, field_name: typing.Literal["gripper_position", b"gripper_position", "opening_percentage", b"opening_percentage", "position", b"position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["gripper_position", b"gripper_position", "opening_percentage", b"opening_percentage", "position", b"position"]) -> None: ... + def WhichOneof(self, oneof_group: typing.Literal["gripper_position", b"gripper_position"]) -> typing.Literal["opening_percentage", "position"] | None: ... global___ParallelGripperPosition = ParallelGripperPosition -@typing_extensions.final +@typing.final class HandPosition(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -253,13 +254,13 @@ class HandPosition(google.protobuf.message.Message): *, parallel_gripper: global___ParallelGripperPosition | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["parallel_gripper", b"parallel_gripper", "position", b"position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["parallel_gripper", b"parallel_gripper", "position", b"position"]) -> None: ... - def WhichOneof(self, oneof_group: typing_extensions.Literal["position", b"position"]) -> typing_extensions.Literal["parallel_gripper"] | None: ... + def HasField(self, field_name: typing.Literal["parallel_gripper", b"parallel_gripper", "position", b"position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["parallel_gripper", b"parallel_gripper", "position", b"position"]) -> None: ... + def WhichOneof(self, oneof_group: typing.Literal["position", b"position"]) -> typing.Literal["parallel_gripper"] | None: ... global___HandPosition = HandPosition -@typing_extensions.final +@typing.final class HandPositionRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -275,12 +276,12 @@ class HandPositionRequest(google.protobuf.message.Message): id: part_pb2.PartId | None = ..., position: global___HandPosition | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id", "position", b"position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "position", b"position"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id", "position", b"position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "position", b"position"]) -> None: ... global___HandPositionRequest = HandPositionRequest -@typing_extensions.final +@typing.final class HandJointGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -296,12 +297,12 @@ class HandJointGoal(google.protobuf.message.Message): goal_request: global___HandPositionRequest | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["duration", b"duration", "goal_request", b"goal_request"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["duration", b"duration", "goal_request", b"goal_request"]) -> None: ... + def HasField(self, field_name: typing.Literal["duration", b"duration", "goal_request", b"goal_request"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["duration", b"duration", "goal_request", b"goal_request"]) -> None: ... global___HandJointGoal = HandJointGoal -@typing_extensions.final +@typing.final class Temperatures(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -315,11 +316,11 @@ class Temperatures(google.protobuf.message.Message): motor: builtins.float = ..., driver: builtins.float = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["driver", b"driver", "motor", b"motor"]) -> None: ... + def ClearField(self, field_name: typing.Literal["driver", b"driver", "motor", b"motor"]) -> None: ... global___Temperatures = Temperatures -@typing_extensions.final +@typing.final class ParallelGripperTemperature(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -331,12 +332,12 @@ class ParallelGripperTemperature(google.protobuf.message.Message): *, temperature: global___Temperatures | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["temperature", b"temperature"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["temperature", b"temperature"]) -> None: ... + def HasField(self, field_name: typing.Literal["temperature", b"temperature"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["temperature", b"temperature"]) -> None: ... global___ParallelGripperTemperature = ParallelGripperTemperature -@typing_extensions.final +@typing.final class HandTemperatures(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -348,28 +349,28 @@ class HandTemperatures(google.protobuf.message.Message): *, parallel_gripper: global___Temperatures | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["parallel_gripper", b"parallel_gripper", "temperatures", b"temperatures"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["parallel_gripper", b"parallel_gripper", "temperatures", b"temperatures"]) -> None: ... - def WhichOneof(self, oneof_group: typing_extensions.Literal["temperatures", b"temperatures"]) -> typing_extensions.Literal["parallel_gripper"] | None: ... + def HasField(self, field_name: typing.Literal["parallel_gripper", b"parallel_gripper", "temperatures", b"temperatures"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["parallel_gripper", b"parallel_gripper", "temperatures", b"temperatures"]) -> None: ... + def WhichOneof(self, oneof_group: typing.Literal["temperatures", b"temperatures"]) -> typing.Literal["parallel_gripper"] | None: ... global___HandTemperatures = HandTemperatures -@typing_extensions.final +@typing.final class SpeedLimitRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int LIMIT_FIELD_NUMBER: builtins.int + limit: global___SpeedLimit.ValueType @property def id(self) -> part_pb2.PartId: ... - limit: global___SpeedLimit.ValueType def __init__( self, *, id: part_pb2.PartId | None = ..., limit: global___SpeedLimit.ValueType = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "limit", b"limit"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "limit", b"limit"]) -> None: ... global___SpeedLimitRequest = SpeedLimitRequest diff --git a/python/reachy2_sdk_api/hand_pb2_grpc.py b/python/reachy2_sdk_api/hand_pb2_grpc.py index 011dc95..9d21eec 100644 --- a/python/reachy2_sdk_api/hand_pb2_grpc.py +++ b/python/reachy2_sdk_api/hand_pb2_grpc.py @@ -1,11 +1,31 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import hand_pb2 as hand__pb2 import part_pb2 as part__pb2 +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in hand_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) + class HandServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -20,82 +40,82 @@ def __init__(self, channel): '/reachy.part.hand.HandService/GetAllHands', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=hand__pb2.ListOfHand.FromString, - ) + _registered_method=True) self.GetState = channel.unary_unary( '/reachy.part.hand.HandService/GetState', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=hand__pb2.HandState.FromString, - ) + _registered_method=True) self.OpenHand = channel.unary_unary( '/reachy.part.hand.HandService/OpenHand', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.CloseHand = channel.unary_unary( '/reachy.part.hand.HandService/CloseHand', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.Audit = channel.unary_unary( '/reachy.part.hand.HandService/Audit', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=hand__pb2.HandStatus.FromString, - ) + _registered_method=True) self.HeartBeat = channel.unary_unary( '/reachy.part.hand.HandService/HeartBeat', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.Restart = channel.unary_unary( '/reachy.part.hand.HandService/Restart', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.ResetDefaultValues = channel.unary_unary( '/reachy.part.hand.HandService/ResetDefaultValues', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.TurnOn = channel.unary_unary( '/reachy.part.hand.HandService/TurnOn', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.TurnOff = channel.unary_unary( '/reachy.part.hand.HandService/TurnOff', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.GetJointLimit = channel.unary_unary( '/reachy.part.hand.HandService/GetJointLimit', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=hand__pb2.JointsLimits.FromString, - ) + _registered_method=True) self.GetTemperature = channel.unary_unary( '/reachy.part.hand.HandService/GetTemperature', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=hand__pb2.HandTemperatures.FromString, - ) + _registered_method=True) self.GetHandGoalPosition = channel.unary_unary( '/reachy.part.hand.HandService/GetHandGoalPosition', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=hand__pb2.HandPosition.FromString, - ) + _registered_method=True) self.SetSpeedLimit = channel.unary_unary( '/reachy.part.hand.HandService/SetSpeedLimit', request_serializer=hand__pb2.SpeedLimitRequest.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.SetHandPosition = channel.unary_unary( '/reachy.part.hand.HandService/SetHandPosition', request_serializer=hand__pb2.HandPositionRequest.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.GetForce = channel.unary_unary( '/reachy.part.hand.HandService/GetForce', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=hand__pb2.Force.FromString, - ) + _registered_method=True) class HandServiceServicer(object): @@ -284,6 +304,7 @@ def add_HandServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.part.hand.HandService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) + server.add_registered_method_handlers('reachy.part.hand.HandService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -301,11 +322,21 @@ def GetAllHands(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/GetAllHands', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.hand.HandService/GetAllHands', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, hand__pb2.ListOfHand.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetState(request, @@ -318,11 +349,21 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/GetState', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.hand.HandService/GetState', part__pb2.PartId.SerializeToString, hand__pb2.HandState.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def OpenHand(request, @@ -335,11 +376,21 @@ def OpenHand(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/OpenHand', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.hand.HandService/OpenHand', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def CloseHand(request, @@ -352,11 +403,21 @@ def CloseHand(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/CloseHand', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.hand.HandService/CloseHand', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Audit(request, @@ -369,11 +430,21 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/Audit', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.hand.HandService/Audit', part__pb2.PartId.SerializeToString, hand__pb2.HandStatus.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def HeartBeat(request, @@ -386,11 +457,21 @@ def HeartBeat(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/HeartBeat', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.hand.HandService/HeartBeat', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Restart(request, @@ -403,11 +484,21 @@ def Restart(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/Restart', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.hand.HandService/Restart', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def ResetDefaultValues(request, @@ -420,11 +511,21 @@ def ResetDefaultValues(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/ResetDefaultValues', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.hand.HandService/ResetDefaultValues', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def TurnOn(request, @@ -437,11 +538,21 @@ def TurnOn(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/TurnOn', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.hand.HandService/TurnOn', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def TurnOff(request, @@ -454,11 +565,21 @@ def TurnOff(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/TurnOff', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.hand.HandService/TurnOff', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetJointLimit(request, @@ -471,11 +592,21 @@ def GetJointLimit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/GetJointLimit', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.hand.HandService/GetJointLimit', part__pb2.PartId.SerializeToString, hand__pb2.JointsLimits.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetTemperature(request, @@ -488,11 +619,21 @@ def GetTemperature(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/GetTemperature', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.hand.HandService/GetTemperature', part__pb2.PartId.SerializeToString, hand__pb2.HandTemperatures.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetHandGoalPosition(request, @@ -505,11 +646,21 @@ def GetHandGoalPosition(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/GetHandGoalPosition', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.hand.HandService/GetHandGoalPosition', part__pb2.PartId.SerializeToString, hand__pb2.HandPosition.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SetSpeedLimit(request, @@ -522,11 +673,21 @@ def SetSpeedLimit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/SetSpeedLimit', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.hand.HandService/SetSpeedLimit', hand__pb2.SpeedLimitRequest.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SetHandPosition(request, @@ -539,11 +700,21 @@ def SetHandPosition(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/SetHandPosition', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.hand.HandService/SetHandPosition', hand__pb2.HandPositionRequest.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetForce(request, @@ -556,8 +727,18 @@ def GetForce(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/GetForce', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.hand.HandService/GetForce', part__pb2.PartId.SerializeToString, hand__pb2.Force.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) diff --git a/python/reachy2_sdk_api/hand_pb2_grpc.pyi b/python/reachy2_sdk_api/hand_pb2_grpc.pyi index 01b07af..c2ff67a 100644 --- a/python/reachy2_sdk_api/hand_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/hand_pb2_grpc.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import google.protobuf.empty_pb2 @@ -11,12 +12,11 @@ import hand_pb2 import part_pb2 import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... class HandServiceStub: @@ -25,62 +25,77 @@ class HandServiceStub: google.protobuf.empty_pb2.Empty, hand_pb2.ListOfHand, ] + GetState: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.HandState, ] + OpenHand: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + CloseHand: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + Audit: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.HandStatus, ] + HeartBeat: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + Restart: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + ResetDefaultValues: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + TurnOn: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + TurnOff: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + GetJointLimit: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.JointsLimits, ] + GetTemperature: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.HandTemperatures, ] + GetHandGoalPosition: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.HandPosition, ] + SetSpeedLimit: grpc.UnaryUnaryMultiCallable[ hand_pb2.SpeedLimitRequest, google.protobuf.empty_pb2.Empty, ] + SetHandPosition: grpc.UnaryUnaryMultiCallable[ hand_pb2.HandPositionRequest, google.protobuf.empty_pb2.Empty, ] + GetForce: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.Force, @@ -91,62 +106,77 @@ class HandServiceAsyncStub: google.protobuf.empty_pb2.Empty, hand_pb2.ListOfHand, ] + GetState: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.HandState, ] + OpenHand: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + CloseHand: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + Audit: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.HandStatus, ] + HeartBeat: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + Restart: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + ResetDefaultValues: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + TurnOn: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + TurnOff: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + GetJointLimit: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.JointsLimits, ] + GetTemperature: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.HandTemperatures, ] + GetHandGoalPosition: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.HandPosition, ] + SetSpeedLimit: grpc.aio.UnaryUnaryMultiCallable[ hand_pb2.SpeedLimitRequest, google.protobuf.empty_pb2.Empty, ] + SetHandPosition: grpc.aio.UnaryUnaryMultiCallable[ hand_pb2.HandPositionRequest, google.protobuf.empty_pb2.Empty, ] + GetForce: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.Force, @@ -159,90 +189,105 @@ class HandServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[hand_pb2.ListOfHand, collections.abc.Awaitable[hand_pb2.ListOfHand]]: ... + @abc.abstractmethod def GetState( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[hand_pb2.HandState, collections.abc.Awaitable[hand_pb2.HandState]]: ... + @abc.abstractmethod def OpenHand( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def CloseHand( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def Audit( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[hand_pb2.HandStatus, collections.abc.Awaitable[hand_pb2.HandStatus]]: ... + @abc.abstractmethod def HeartBeat( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def Restart( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def ResetDefaultValues( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def TurnOn( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def TurnOff( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def GetJointLimit( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[hand_pb2.JointsLimits, collections.abc.Awaitable[hand_pb2.JointsLimits]]: ... + @abc.abstractmethod def GetTemperature( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[hand_pb2.HandTemperatures, collections.abc.Awaitable[hand_pb2.HandTemperatures]]: ... + @abc.abstractmethod def GetHandGoalPosition( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[hand_pb2.HandPosition, collections.abc.Awaitable[hand_pb2.HandPosition]]: ... + @abc.abstractmethod def SetSpeedLimit( self, request: hand_pb2.SpeedLimitRequest, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def SetHandPosition( self, request: hand_pb2.HandPositionRequest, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def GetForce( self, diff --git a/python/reachy2_sdk_api/head_pb2.py b/python/reachy2_sdk_api/head_pb2.py index 8600776..8a77a7a 100644 --- a/python/reachy2_sdk_api/head_pb2.py +++ b/python/reachy2_sdk_api/head_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: head.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'head.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -27,8 +38,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'head_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_HEADFIELD']._serialized_start=3105 _globals['_HEADFIELD']._serialized_end=3325 _globals['_NECKJOINTS']._serialized_start=3327 diff --git a/python/reachy2_sdk_api/head_pb2.pyi b/python/reachy2_sdk_api/head_pb2.pyi index 77db2fe..552a072 100644 --- a/python/reachy2_sdk_api/head_pb2.pyi +++ b/python/reachy2_sdk_api/head_pb2.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import builtins import collections.abc import component_pb2 @@ -82,7 +83,7 @@ PITCH: NeckJoints.ValueType # 1 YAW: NeckJoints.ValueType # 2 global___NeckJoints = NeckJoints -@typing_extensions.final +@typing.final class CustomNeckJoints(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -94,11 +95,11 @@ class CustomNeckJoints(google.protobuf.message.Message): *, joints: collections.abc.Iterable[global___NeckJoints.ValueType] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["joints", b"joints"]) -> None: ... + def ClearField(self, field_name: typing.Literal["joints", b"joints"]) -> None: ... global___CustomNeckJoints = CustomNeckJoints -@typing_extensions.final +@typing.final class Head(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -118,12 +119,12 @@ class Head(google.protobuf.message.Message): description: global___HeadDescription | None = ..., info: part_pb2.PartInfo | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> None: ... + def HasField(self, field_name: typing.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> None: ... global___Head = Head -@typing_extensions.final +@typing.final class HeadDescription(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -143,12 +144,12 @@ class HeadDescription(google.protobuf.message.Message): l_antenna: dynamixel_motor_pb2.DynamixelMotor | None = ..., r_antenna: dynamixel_motor_pb2.DynamixelMotor | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["l_antenna", b"l_antenna", "neck", b"neck", "r_antenna", b"r_antenna"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["l_antenna", b"l_antenna", "neck", b"neck", "r_antenna", b"r_antenna"]) -> None: ... + def HasField(self, field_name: typing.Literal["l_antenna", b"l_antenna", "neck", b"neck", "r_antenna", b"r_antenna"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["l_antenna", b"l_antenna", "neck", b"neck", "r_antenna", b"r_antenna"]) -> None: ... global___HeadDescription = HeadDescription -@typing_extensions.final +@typing.final class ListOfHead(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -160,11 +161,11 @@ class ListOfHead(google.protobuf.message.Message): *, head: collections.abc.Iterable[global___Head] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["head", b"head"]) -> None: ... + def ClearField(self, field_name: typing.Literal["head", b"head"]) -> None: ... global___ListOfHead = ListOfHead -@typing_extensions.final +@typing.final class HeadState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -174,11 +175,11 @@ class HeadState(google.protobuf.message.Message): NECK_STATE_FIELD_NUMBER: builtins.int L_ANTENNA_STATE_FIELD_NUMBER: builtins.int R_ANTENNA_STATE_FIELD_NUMBER: builtins.int + activated: builtins.bool @property def timestamp(self) -> google.protobuf.timestamp_pb2.Timestamp: ... @property def id(self) -> part_pb2.PartId: ... - activated: builtins.bool @property def neck_state(self) -> orbita3d_pb2.Orbita3dState: ... @property @@ -195,12 +196,12 @@ class HeadState(google.protobuf.message.Message): l_antenna_state: dynamixel_motor_pb2.DynamixelMotorState | None = ..., r_antenna_state: dynamixel_motor_pb2.DynamixelMotorState | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id", "l_antenna_state", b"l_antenna_state", "neck_state", b"neck_state", "r_antenna_state", b"r_antenna_state", "timestamp", b"timestamp"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["activated", b"activated", "id", b"id", "l_antenna_state", b"l_antenna_state", "neck_state", b"neck_state", "r_antenna_state", b"r_antenna_state", "timestamp", b"timestamp"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id", "l_antenna_state", b"l_antenna_state", "neck_state", b"neck_state", "r_antenna_state", b"r_antenna_state", "timestamp", b"timestamp"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["activated", b"activated", "id", b"id", "l_antenna_state", b"l_antenna_state", "neck_state", b"neck_state", "r_antenna_state", b"r_antenna_state", "timestamp", b"timestamp"]) -> None: ... global___HeadState = HeadState -@typing_extensions.final +@typing.final class HeadPosition(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -220,12 +221,12 @@ class HeadPosition(google.protobuf.message.Message): l_antenna_position: google.protobuf.wrappers_pb2.FloatValue | None = ..., r_antenna_position: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["l_antenna_position", b"l_antenna_position", "neck_position", b"neck_position", "r_antenna_position", b"r_antenna_position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["l_antenna_position", b"l_antenna_position", "neck_position", b"neck_position", "r_antenna_position", b"r_antenna_position"]) -> None: ... + def HasField(self, field_name: typing.Literal["l_antenna_position", b"l_antenna_position", "neck_position", b"neck_position", "r_antenna_position", b"r_antenna_position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["l_antenna_position", b"l_antenna_position", "neck_position", b"neck_position", "r_antenna_position", b"r_antenna_position"]) -> None: ... global___HeadPosition = HeadPosition -@typing_extensions.final +@typing.final class NeckCartesianGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -245,12 +246,12 @@ class NeckCartesianGoal(google.protobuf.message.Message): point: kinematics_pb2.Point | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "point", b"point"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "point", b"point"]) -> None: ... + def HasField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "point", b"point"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "point", b"point"]) -> None: ... global___NeckCartesianGoal = NeckCartesianGoal -@typing_extensions.final +@typing.final class NeckJointGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -270,12 +271,12 @@ class NeckJointGoal(google.protobuf.message.Message): joints_goal: global___NeckOrientation | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "joints_goal", b"joints_goal"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "joints_goal", b"joints_goal"]) -> None: ... + def HasField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "joints_goal", b"joints_goal"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "joints_goal", b"joints_goal"]) -> None: ... global___NeckJointGoal = NeckJointGoal -@typing_extensions.final +@typing.final class AntennaJointGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -299,12 +300,12 @@ class AntennaJointGoal(google.protobuf.message.Message): joint_goal: google.protobuf.wrappers_pb2.FloatValue | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["antenna", b"antenna", "duration", b"duration", "id", b"id", "joint_goal", b"joint_goal"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["antenna", b"antenna", "duration", b"duration", "id", b"id", "joint_goal", b"joint_goal"]) -> None: ... + def HasField(self, field_name: typing.Literal["antenna", b"antenna", "duration", b"duration", "id", b"id", "joint_goal", b"joint_goal"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["antenna", b"antenna", "duration", b"duration", "id", b"id", "joint_goal", b"joint_goal"]) -> None: ... global___AntennaJointGoal = AntennaJointGoal -@typing_extensions.final +@typing.final class NeckOrientation(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -316,12 +317,12 @@ class NeckOrientation(google.protobuf.message.Message): *, rotation: kinematics_pb2.Rotation3d | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["rotation", b"rotation"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["rotation", b"rotation"]) -> None: ... + def HasField(self, field_name: typing.Literal["rotation", b"rotation"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["rotation", b"rotation"]) -> None: ... global___NeckOrientation = NeckOrientation -@typing_extensions.final +@typing.final class NeckFKRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -337,12 +338,12 @@ class NeckFKRequest(google.protobuf.message.Message): id: part_pb2.PartId | None = ..., position: global___HeadPosition | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id", "position", b"position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "position", b"position"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id", "position", b"position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "position", b"position"]) -> None: ... global___NeckFKRequest = NeckFKRequest -@typing_extensions.final +@typing.final class NeckFKSolution(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -357,12 +358,12 @@ class NeckFKSolution(google.protobuf.message.Message): success: builtins.bool = ..., orientation: global___NeckOrientation | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["orientation", b"orientation"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["orientation", b"orientation", "success", b"success"]) -> None: ... + def HasField(self, field_name: typing.Literal["orientation", b"orientation"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["orientation", b"orientation", "success", b"success"]) -> None: ... global___NeckFKSolution = NeckFKSolution -@typing_extensions.final +@typing.final class NeckIKRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -382,12 +383,12 @@ class NeckIKRequest(google.protobuf.message.Message): target: global___NeckOrientation | None = ..., q0: kinematics_pb2.Rotation3d | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id", "q0", b"q0", "target", b"target"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "q0", b"q0", "target", b"target"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id", "q0", b"q0", "target", b"target"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "q0", b"q0", "target", b"target"]) -> None: ... global___NeckIKRequest = NeckIKRequest -@typing_extensions.final +@typing.final class NeckIKSolution(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -406,12 +407,12 @@ class NeckIKSolution(google.protobuf.message.Message): position: kinematics_pb2.Rotation3d | None = ..., error: error_pb2.Error | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["error", b"error", "position", b"position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["error", b"error", "position", b"position", "success", b"success"]) -> None: ... + def HasField(self, field_name: typing.Literal["error", b"error", "position", b"position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["error", b"error", "position", b"position", "success", b"success"]) -> None: ... global___NeckIKSolution = NeckIKSolution -@typing_extensions.final +@typing.final class HeadStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -431,52 +432,52 @@ class HeadStatus(google.protobuf.message.Message): l_antenna_status: dynamixel_motor_pb2.DynamixelMotorStatus | None = ..., r_antenna_status: dynamixel_motor_pb2.DynamixelMotorStatus | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["l_antenna_status", b"l_antenna_status", "neck_status", b"neck_status", "r_antenna_status", b"r_antenna_status"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["l_antenna_status", b"l_antenna_status", "neck_status", b"neck_status", "r_antenna_status", b"r_antenna_status"]) -> None: ... + def HasField(self, field_name: typing.Literal["l_antenna_status", b"l_antenna_status", "neck_status", b"neck_status", "r_antenna_status", b"r_antenna_status"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["l_antenna_status", b"l_antenna_status", "neck_status", b"neck_status", "r_antenna_status", b"r_antenna_status"]) -> None: ... global___HeadStatus = HeadStatus -@typing_extensions.final +@typing.final class SpeedLimitRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int LIMIT_FIELD_NUMBER: builtins.int + limit: builtins.int @property def id(self) -> part_pb2.PartId: ... - limit: builtins.int def __init__( self, *, id: part_pb2.PartId | None = ..., limit: builtins.int = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "limit", b"limit"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "limit", b"limit"]) -> None: ... global___SpeedLimitRequest = SpeedLimitRequest -@typing_extensions.final +@typing.final class TorqueLimitRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int LIMIT_FIELD_NUMBER: builtins.int + limit: builtins.int @property def id(self) -> part_pb2.PartId: ... - limit: builtins.int def __init__( self, *, id: part_pb2.PartId | None = ..., limit: builtins.int = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "limit", b"limit"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "limit", b"limit"]) -> None: ... global___TorqueLimitRequest = TorqueLimitRequest -@typing_extensions.final +@typing.final class JointsLimits(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -496,22 +497,22 @@ class JointsLimits(google.protobuf.message.Message): l_antenna_limits: component_pb2.JointLimits | None = ..., r_antenna_limits: component_pb2.JointLimits | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["l_antenna_limits", b"l_antenna_limits", "neck_limits", b"neck_limits", "r_antenna_limits", b"r_antenna_limits"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["l_antenna_limits", b"l_antenna_limits", "neck_limits", b"neck_limits", "r_antenna_limits", b"r_antenna_limits"]) -> None: ... + def HasField(self, field_name: typing.Literal["l_antenna_limits", b"l_antenna_limits", "neck_limits", b"neck_limits", "r_antenna_limits", b"r_antenna_limits"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["l_antenna_limits", b"l_antenna_limits", "neck_limits", b"neck_limits", "r_antenna_limits", b"r_antenna_limits"]) -> None: ... global___JointsLimits = JointsLimits -@typing_extensions.final +@typing.final class HeadTemperatures(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor NECK_TEMPERATURE_FIELD_NUMBER: builtins.int L_ANTENNA_TEMPERATURE_FIELD_NUMBER: builtins.int R_ANTENNA_TEMPERATURE_FIELD_NUMBER: builtins.int - @property - def neck_temperature(self) -> orbita3d_pb2.Float3d: ... l_antenna_temperature: builtins.float r_antenna_temperature: builtins.float + @property + def neck_temperature(self) -> orbita3d_pb2.Float3d: ... def __init__( self, *, @@ -519,12 +520,12 @@ class HeadTemperatures(google.protobuf.message.Message): l_antenna_temperature: builtins.float = ..., r_antenna_temperature: builtins.float = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["neck_temperature", b"neck_temperature"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["l_antenna_temperature", b"l_antenna_temperature", "neck_temperature", b"neck_temperature", "r_antenna_temperature", b"r_antenna_temperature"]) -> None: ... + def HasField(self, field_name: typing.Literal["neck_temperature", b"neck_temperature"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["l_antenna_temperature", b"l_antenna_temperature", "neck_temperature", b"neck_temperature", "r_antenna_temperature", b"r_antenna_temperature"]) -> None: ... global___HeadTemperatures = HeadTemperatures -@typing_extensions.final +@typing.final class HeadComponentsCommands(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -544,7 +545,7 @@ class HeadComponentsCommands(google.protobuf.message.Message): l_antenna_command: dynamixel_motor_pb2.DynamixelMotorsCommand | None = ..., r_antenna_command: dynamixel_motor_pb2.DynamixelMotorsCommand | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["l_antenna_command", b"l_antenna_command", "neck_command", b"neck_command", "r_antenna_command", b"r_antenna_command"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["l_antenna_command", b"l_antenna_command", "neck_command", b"neck_command", "r_antenna_command", b"r_antenna_command"]) -> None: ... + def HasField(self, field_name: typing.Literal["l_antenna_command", b"l_antenna_command", "neck_command", b"neck_command", "r_antenna_command", b"r_antenna_command"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["l_antenna_command", b"l_antenna_command", "neck_command", b"neck_command", "r_antenna_command", b"r_antenna_command"]) -> None: ... global___HeadComponentsCommands = HeadComponentsCommands diff --git a/python/reachy2_sdk_api/head_pb2_grpc.py b/python/reachy2_sdk_api/head_pb2_grpc.py index 2d42c31..fdcd20e 100644 --- a/python/reachy2_sdk_api/head_pb2_grpc.py +++ b/python/reachy2_sdk_api/head_pb2_grpc.py @@ -1,12 +1,32 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import head_pb2 as head__pb2 import kinematics_pb2 as kinematics__pb2 import part_pb2 as part__pb2 +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in head_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) + class HeadServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -21,92 +41,92 @@ def __init__(self, channel): '/reachy.part.head.HeadService/GetAllHeads', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=head__pb2.ListOfHead.FromString, - ) + _registered_method=True) self.GetState = channel.unary_unary( '/reachy.part.head.HeadService/GetState', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=head__pb2.HeadState.FromString, - ) + _registered_method=True) self.ComputeNeckFK = channel.unary_unary( '/reachy.part.head.HeadService/ComputeNeckFK', request_serializer=head__pb2.NeckFKRequest.SerializeToString, response_deserializer=head__pb2.NeckFKSolution.FromString, - ) + _registered_method=True) self.ComputeNeckIK = channel.unary_unary( '/reachy.part.head.HeadService/ComputeNeckIK', request_serializer=head__pb2.NeckIKRequest.SerializeToString, response_deserializer=head__pb2.NeckIKSolution.FromString, - ) + _registered_method=True) self.GetOrientation = channel.unary_unary( '/reachy.part.head.HeadService/GetOrientation', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=kinematics__pb2.Rotation3d.FromString, - ) + _registered_method=True) self.Audit = channel.unary_unary( '/reachy.part.head.HeadService/Audit', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=head__pb2.HeadStatus.FromString, - ) + _registered_method=True) self.HeartBeat = channel.unary_unary( '/reachy.part.head.HeadService/HeartBeat', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.Restart = channel.unary_unary( '/reachy.part.head.HeadService/Restart', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.ResetDefaultValues = channel.unary_unary( '/reachy.part.head.HeadService/ResetDefaultValues', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.TurnOn = channel.unary_unary( '/reachy.part.head.HeadService/TurnOn', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.TurnOff = channel.unary_unary( '/reachy.part.head.HeadService/TurnOff', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.GetJointsLimits = channel.unary_unary( '/reachy.part.head.HeadService/GetJointsLimits', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=head__pb2.JointsLimits.FromString, - ) + _registered_method=True) self.GetTemperatures = channel.unary_unary( '/reachy.part.head.HeadService/GetTemperatures', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=head__pb2.HeadTemperatures.FromString, - ) + _registered_method=True) self.GetJointGoalPosition = channel.unary_unary( '/reachy.part.head.HeadService/GetJointGoalPosition', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=kinematics__pb2.Rotation3d.FromString, - ) + _registered_method=True) self.SetSpeedLimit = channel.unary_unary( '/reachy.part.head.HeadService/SetSpeedLimit', request_serializer=head__pb2.SpeedLimitRequest.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.SetTorqueLimit = channel.unary_unary( '/reachy.part.head.HeadService/SetTorqueLimit', request_serializer=head__pb2.TorqueLimitRequest.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.SendNeckJointGoal = channel.unary_unary( '/reachy.part.head.HeadService/SendNeckJointGoal', request_serializer=head__pb2.NeckJointGoal.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.SendComponentsCommands = channel.unary_unary( '/reachy.part.head.HeadService/SendComponentsCommands', request_serializer=head__pb2.HeadComponentsCommands.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) class HeadServiceServicer(object): @@ -317,6 +337,7 @@ def add_HeadServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.part.head.HeadService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) + server.add_registered_method_handlers('reachy.part.head.HeadService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -334,11 +355,21 @@ def GetAllHeads(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/GetAllHeads', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/GetAllHeads', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, head__pb2.ListOfHead.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetState(request, @@ -351,11 +382,21 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/GetState', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/GetState', part__pb2.PartId.SerializeToString, head__pb2.HeadState.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def ComputeNeckFK(request, @@ -368,11 +409,21 @@ def ComputeNeckFK(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/ComputeNeckFK', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/ComputeNeckFK', head__pb2.NeckFKRequest.SerializeToString, head__pb2.NeckFKSolution.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def ComputeNeckIK(request, @@ -385,11 +436,21 @@ def ComputeNeckIK(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/ComputeNeckIK', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/ComputeNeckIK', head__pb2.NeckIKRequest.SerializeToString, head__pb2.NeckIKSolution.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetOrientation(request, @@ -402,11 +463,21 @@ def GetOrientation(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/GetOrientation', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/GetOrientation', part__pb2.PartId.SerializeToString, kinematics__pb2.Rotation3d.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Audit(request, @@ -419,11 +490,21 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/Audit', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/Audit', part__pb2.PartId.SerializeToString, head__pb2.HeadStatus.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def HeartBeat(request, @@ -436,11 +517,21 @@ def HeartBeat(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/HeartBeat', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/HeartBeat', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Restart(request, @@ -453,11 +544,21 @@ def Restart(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/Restart', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/Restart', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def ResetDefaultValues(request, @@ -470,11 +571,21 @@ def ResetDefaultValues(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/ResetDefaultValues', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/ResetDefaultValues', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def TurnOn(request, @@ -487,11 +598,21 @@ def TurnOn(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/TurnOn', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/TurnOn', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def TurnOff(request, @@ -504,11 +625,21 @@ def TurnOff(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/TurnOff', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/TurnOff', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetJointsLimits(request, @@ -521,11 +652,21 @@ def GetJointsLimits(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/GetJointsLimits', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/GetJointsLimits', part__pb2.PartId.SerializeToString, head__pb2.JointsLimits.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetTemperatures(request, @@ -538,11 +679,21 @@ def GetTemperatures(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/GetTemperatures', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/GetTemperatures', part__pb2.PartId.SerializeToString, head__pb2.HeadTemperatures.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetJointGoalPosition(request, @@ -555,11 +706,21 @@ def GetJointGoalPosition(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/GetJointGoalPosition', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/GetJointGoalPosition', part__pb2.PartId.SerializeToString, kinematics__pb2.Rotation3d.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SetSpeedLimit(request, @@ -572,11 +733,21 @@ def SetSpeedLimit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/SetSpeedLimit', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/SetSpeedLimit', head__pb2.SpeedLimitRequest.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SetTorqueLimit(request, @@ -589,11 +760,21 @@ def SetTorqueLimit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/SetTorqueLimit', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/SetTorqueLimit', head__pb2.TorqueLimitRequest.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SendNeckJointGoal(request, @@ -606,11 +787,21 @@ def SendNeckJointGoal(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/SendNeckJointGoal', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/SendNeckJointGoal', head__pb2.NeckJointGoal.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SendComponentsCommands(request, @@ -623,8 +814,18 @@ def SendComponentsCommands(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/SendComponentsCommands', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.head.HeadService/SendComponentsCommands', head__pb2.HeadComponentsCommands.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) diff --git a/python/reachy2_sdk_api/head_pb2_grpc.pyi b/python/reachy2_sdk_api/head_pb2_grpc.pyi index ef23421..efe14c5 100644 --- a/python/reachy2_sdk_api/head_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/head_pb2_grpc.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import google.protobuf.empty_pb2 @@ -12,12 +13,11 @@ import kinematics_pb2 import part_pb2 import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... class HeadServiceStub: @@ -26,70 +26,87 @@ class HeadServiceStub: google.protobuf.empty_pb2.Empty, head_pb2.ListOfHead, ] + GetState: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, head_pb2.HeadState, ] + ComputeNeckFK: grpc.UnaryUnaryMultiCallable[ head_pb2.NeckFKRequest, head_pb2.NeckFKSolution, ] + ComputeNeckIK: grpc.UnaryUnaryMultiCallable[ head_pb2.NeckIKRequest, head_pb2.NeckIKSolution, ] + GetOrientation: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, kinematics_pb2.Rotation3d, ] + Audit: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, head_pb2.HeadStatus, ] + HeartBeat: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + Restart: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + ResetDefaultValues: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + TurnOn: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + TurnOff: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + GetJointsLimits: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, head_pb2.JointsLimits, ] + GetTemperatures: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, head_pb2.HeadTemperatures, ] + GetJointGoalPosition: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, kinematics_pb2.Rotation3d, ] + SetSpeedLimit: grpc.UnaryUnaryMultiCallable[ head_pb2.SpeedLimitRequest, google.protobuf.empty_pb2.Empty, ] + SetTorqueLimit: grpc.UnaryUnaryMultiCallable[ head_pb2.TorqueLimitRequest, google.protobuf.empty_pb2.Empty, ] + SendNeckJointGoal: grpc.UnaryUnaryMultiCallable[ head_pb2.NeckJointGoal, google.protobuf.empty_pb2.Empty, ] + SendComponentsCommands: grpc.UnaryUnaryMultiCallable[ head_pb2.HeadComponentsCommands, google.protobuf.empty_pb2.Empty, @@ -100,70 +117,87 @@ class HeadServiceAsyncStub: google.protobuf.empty_pb2.Empty, head_pb2.ListOfHead, ] + GetState: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, head_pb2.HeadState, ] + ComputeNeckFK: grpc.aio.UnaryUnaryMultiCallable[ head_pb2.NeckFKRequest, head_pb2.NeckFKSolution, ] + ComputeNeckIK: grpc.aio.UnaryUnaryMultiCallable[ head_pb2.NeckIKRequest, head_pb2.NeckIKSolution, ] + GetOrientation: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, kinematics_pb2.Rotation3d, ] + Audit: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, head_pb2.HeadStatus, ] + HeartBeat: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + Restart: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + ResetDefaultValues: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + TurnOn: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + TurnOff: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + GetJointsLimits: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, head_pb2.JointsLimits, ] + GetTemperatures: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, head_pb2.HeadTemperatures, ] + GetJointGoalPosition: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, kinematics_pb2.Rotation3d, ] + SetSpeedLimit: grpc.aio.UnaryUnaryMultiCallable[ head_pb2.SpeedLimitRequest, google.protobuf.empty_pb2.Empty, ] + SetTorqueLimit: grpc.aio.UnaryUnaryMultiCallable[ head_pb2.TorqueLimitRequest, google.protobuf.empty_pb2.Empty, ] + SendNeckJointGoal: grpc.aio.UnaryUnaryMultiCallable[ head_pb2.NeckJointGoal, google.protobuf.empty_pb2.Empty, ] + SendComponentsCommands: grpc.aio.UnaryUnaryMultiCallable[ head_pb2.HeadComponentsCommands, google.protobuf.empty_pb2.Empty, @@ -176,102 +210,119 @@ class HeadServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[head_pb2.ListOfHead, collections.abc.Awaitable[head_pb2.ListOfHead]]: ... + @abc.abstractmethod def GetState( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[head_pb2.HeadState, collections.abc.Awaitable[head_pb2.HeadState]]: ... + @abc.abstractmethod def ComputeNeckFK( self, request: head_pb2.NeckFKRequest, context: _ServicerContext, ) -> typing.Union[head_pb2.NeckFKSolution, collections.abc.Awaitable[head_pb2.NeckFKSolution]]: ... + @abc.abstractmethod def ComputeNeckIK( self, request: head_pb2.NeckIKRequest, context: _ServicerContext, ) -> typing.Union[head_pb2.NeckIKSolution, collections.abc.Awaitable[head_pb2.NeckIKSolution]]: ... + @abc.abstractmethod def GetOrientation( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[kinematics_pb2.Rotation3d, collections.abc.Awaitable[kinematics_pb2.Rotation3d]]: ... + @abc.abstractmethod def Audit( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[head_pb2.HeadStatus, collections.abc.Awaitable[head_pb2.HeadStatus]]: ... + @abc.abstractmethod def HeartBeat( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def Restart( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def ResetDefaultValues( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def TurnOn( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def TurnOff( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def GetJointsLimits( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[head_pb2.JointsLimits, collections.abc.Awaitable[head_pb2.JointsLimits]]: ... + @abc.abstractmethod def GetTemperatures( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[head_pb2.HeadTemperatures, collections.abc.Awaitable[head_pb2.HeadTemperatures]]: ... + @abc.abstractmethod def GetJointGoalPosition( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[kinematics_pb2.Rotation3d, collections.abc.Awaitable[kinematics_pb2.Rotation3d]]: ... + @abc.abstractmethod def SetSpeedLimit( self, request: head_pb2.SpeedLimitRequest, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def SetTorqueLimit( self, request: head_pb2.TorqueLimitRequest, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def SendNeckJointGoal( self, request: head_pb2.NeckJointGoal, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def SendComponentsCommands( self, diff --git a/python/reachy2_sdk_api/kinematics_pb2.py b/python/reachy2_sdk_api/kinematics_pb2.py index 2dae96e..1248ce4 100644 --- a/python/reachy2_sdk_api/kinematics_pb2.py +++ b/python/reachy2_sdk_api/kinematics_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: kinematics.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'kinematics.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -19,8 +30,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'kinematics_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_MATRIX4X4']._serialized_start=71 _globals['_MATRIX4X4']._serialized_end=96 _globals['_MATRIX3X3']._serialized_start=98 diff --git a/python/reachy2_sdk_api/kinematics_pb2.pyi b/python/reachy2_sdk_api/kinematics_pb2.pyi index 21bea37..9fd19c3 100644 --- a/python/reachy2_sdk_api/kinematics_pb2.pyi +++ b/python/reachy2_sdk_api/kinematics_pb2.pyi @@ -2,22 +2,18 @@ @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.wrappers_pb2 -import sys - -if sys.version_info >= (3, 8): - import typing as typing_extensions -else: - import typing_extensions +import typing DESCRIPTOR: google.protobuf.descriptor.FileDescriptor -@typing_extensions.final +@typing.final class Matrix4x4(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -29,11 +25,11 @@ class Matrix4x4(google.protobuf.message.Message): *, data: collections.abc.Iterable[builtins.float] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["data", b"data"]) -> None: ... + def ClearField(self, field_name: typing.Literal["data", b"data"]) -> None: ... global___Matrix4x4 = Matrix4x4 -@typing_extensions.final +@typing.final class Matrix3x3(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -45,11 +41,11 @@ class Matrix3x3(google.protobuf.message.Message): *, data: collections.abc.Iterable[builtins.float] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["data", b"data"]) -> None: ... + def ClearField(self, field_name: typing.Literal["data", b"data"]) -> None: ... global___Matrix3x3 = Matrix3x3 -@typing_extensions.final +@typing.final class Quaternion(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -69,11 +65,11 @@ class Quaternion(google.protobuf.message.Message): y: builtins.float = ..., z: builtins.float = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["w", b"w", "x", b"x", "y", b"y", "z", b"z"]) -> None: ... + def ClearField(self, field_name: typing.Literal["w", b"w", "x", b"x", "y", b"y", "z", b"z"]) -> None: ... global___Quaternion = Quaternion -@typing_extensions.final +@typing.final class Rotation3d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -93,13 +89,13 @@ class Rotation3d(google.protobuf.message.Message): rpy: global___ExtEulerAngles | None = ..., matrix: global___Matrix3x3 | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["matrix", b"matrix", "q", b"q", "rotation", b"rotation", "rpy", b"rpy"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["matrix", b"matrix", "q", b"q", "rotation", b"rotation", "rpy", b"rpy"]) -> None: ... - def WhichOneof(self, oneof_group: typing_extensions.Literal["rotation", b"rotation"]) -> typing_extensions.Literal["q", "rpy", "matrix"] | None: ... + def HasField(self, field_name: typing.Literal["matrix", b"matrix", "q", b"q", "rotation", b"rotation", "rpy", b"rpy"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["matrix", b"matrix", "q", b"q", "rotation", b"rotation", "rpy", b"rpy"]) -> None: ... + def WhichOneof(self, oneof_group: typing.Literal["rotation", b"rotation"]) -> typing.Literal["q", "rpy", "matrix"] | None: ... global___Rotation3d = Rotation3d -@typing_extensions.final +@typing.final class Point(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -116,11 +112,11 @@ class Point(google.protobuf.message.Message): y: builtins.float = ..., z: builtins.float = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["x", b"x", "y", b"y", "z", b"z"]) -> None: ... + def ClearField(self, field_name: typing.Literal["x", b"x", "y", b"y", "z", b"z"]) -> None: ... global___Point = Point -@typing_extensions.final +@typing.final class ExtEulerAngles(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -140,12 +136,12 @@ class ExtEulerAngles(google.protobuf.message.Message): pitch: google.protobuf.wrappers_pb2.FloatValue | None = ..., yaw: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["pitch", b"pitch", "roll", b"roll", "yaw", b"yaw"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["pitch", b"pitch", "roll", b"roll", "yaw", b"yaw"]) -> None: ... + def HasField(self, field_name: typing.Literal["pitch", b"pitch", "roll", b"roll", "yaw", b"yaw"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["pitch", b"pitch", "roll", b"roll", "yaw", b"yaw"]) -> None: ... global___ExtEulerAngles = ExtEulerAngles -@typing_extensions.final +@typing.final class PointDistanceTolerances(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -162,11 +158,11 @@ class PointDistanceTolerances(google.protobuf.message.Message): y_tol: builtins.float = ..., z_tol: builtins.float = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["x_tol", b"x_tol", "y_tol", b"y_tol", "z_tol", b"z_tol"]) -> None: ... + def ClearField(self, field_name: typing.Literal["x_tol", b"x_tol", "y_tol", b"y_tol", "z_tol", b"z_tol"]) -> None: ... global___PointDistanceTolerances = PointDistanceTolerances -@typing_extensions.final +@typing.final class ExtEulerAnglesTolerances(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -183,6 +179,6 @@ class ExtEulerAnglesTolerances(google.protobuf.message.Message): pitch_tol: builtins.float = ..., yaw_tol: builtins.float = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["pitch_tol", b"pitch_tol", "roll_tol", b"roll_tol", "yaw_tol", b"yaw_tol"]) -> None: ... + def ClearField(self, field_name: typing.Literal["pitch_tol", b"pitch_tol", "roll_tol", b"roll_tol", "yaw_tol", b"yaw_tol"]) -> None: ... global___ExtEulerAnglesTolerances = ExtEulerAnglesTolerances diff --git a/python/reachy2_sdk_api/kinematics_pb2_grpc.py b/python/reachy2_sdk_api/kinematics_pb2_grpc.py index 2daafff..c6e63f0 100644 --- a/python/reachy2_sdk_api/kinematics_pb2_grpc.py +++ b/python/reachy2_sdk_api/kinematics_pb2_grpc.py @@ -1,4 +1,24 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings + +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in kinematics_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/python/reachy2_sdk_api/kinematics_pb2_grpc.pyi b/python/reachy2_sdk_api/kinematics_pb2_grpc.pyi index b13382f..a6a9cff 100644 --- a/python/reachy2_sdk_api/kinematics_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/kinematics_pb2_grpc.pyi @@ -2,16 +2,16 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import grpc import grpc.aio import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... diff --git a/python/reachy2_sdk_api/mobile_base_lidar_pb2.py b/python/reachy2_sdk_api/mobile_base_lidar_pb2.py index 42bae97..5be6b9a 100644 --- a/python/reachy2_sdk_api/mobile_base_lidar_pb2.py +++ b/python/reachy2_sdk_api/mobile_base_lidar_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: mobile_base_lidar.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'mobile_base_lidar.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -21,8 +32,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'mobile_base_lidar_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_LIDAROBSTACLEDETECTIONENUM']._serialized_start=566 _globals['_LIDAROBSTACLEDETECTIONENUM']._serialized_end=695 _globals['_LIDAROBSTACLEDETECTIONSTATUS']._serialized_start=130 diff --git a/python/reachy2_sdk_api/mobile_base_lidar_pb2.pyi b/python/reachy2_sdk_api/mobile_base_lidar_pb2.pyi index 44d57cb..1aa9672 100644 --- a/python/reachy2_sdk_api/mobile_base_lidar_pb2.pyi +++ b/python/reachy2_sdk_api/mobile_base_lidar_pb2.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import builtins import google.protobuf.descriptor import google.protobuf.internal.enum_type_wrapper @@ -37,7 +38,7 @@ OBJECT_DETECTED_SLOWDOWN: LidarObstacleDetectionEnum.ValueType # 2 OBJECT_DETECTED_STOP: LidarObstacleDetectionEnum.ValueType # 3 global___LidarObstacleDetectionEnum = LidarObstacleDetectionEnum -@typing_extensions.final +@typing.final class LidarObstacleDetectionStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -48,11 +49,11 @@ class LidarObstacleDetectionStatus(google.protobuf.message.Message): *, status: global___LidarObstacleDetectionEnum.ValueType = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["status", b"status"]) -> None: ... + def ClearField(self, field_name: typing.Literal["status", b"status"]) -> None: ... global___LidarObstacleDetectionStatus = LidarObstacleDetectionStatus -@typing_extensions.final +@typing.final class LidarSafety(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -80,12 +81,12 @@ class LidarSafety(google.protobuf.message.Message): critical_distance: google.protobuf.wrappers_pb2.FloatValue | None = ..., obstacle_detection_status: global___LidarObstacleDetectionStatus | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["critical_distance", b"critical_distance", "id", b"id", "obstacle_detection_status", b"obstacle_detection_status", "safety_distance", b"safety_distance", "safety_on", b"safety_on"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["critical_distance", b"critical_distance", "id", b"id", "obstacle_detection_status", b"obstacle_detection_status", "safety_distance", b"safety_distance", "safety_on", b"safety_on"]) -> None: ... + def HasField(self, field_name: typing.Literal["critical_distance", b"critical_distance", "id", b"id", "obstacle_detection_status", b"obstacle_detection_status", "safety_distance", b"safety_distance", "safety_on", b"safety_on"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["critical_distance", b"critical_distance", "id", b"id", "obstacle_detection_status", b"obstacle_detection_status", "safety_distance", b"safety_distance", "safety_on", b"safety_on"]) -> None: ... global___LidarSafety = LidarSafety -@typing_extensions.final +@typing.final class LidarMap(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -96,6 +97,6 @@ class LidarMap(google.protobuf.message.Message): *, data: builtins.bytes = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["data", b"data"]) -> None: ... + def ClearField(self, field_name: typing.Literal["data", b"data"]) -> None: ... global___LidarMap = LidarMap diff --git a/python/reachy2_sdk_api/mobile_base_lidar_pb2_grpc.py b/python/reachy2_sdk_api/mobile_base_lidar_pb2_grpc.py index 05cbfaf..a61b4db 100644 --- a/python/reachy2_sdk_api/mobile_base_lidar_pb2_grpc.py +++ b/python/reachy2_sdk_api/mobile_base_lidar_pb2_grpc.py @@ -1,11 +1,31 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings import mobile_base_lidar_pb2 as mobile__base__lidar__pb2 import mobile_base_mobility_pb2 as mobile__base__mobility__pb2 import part_pb2 as part__pb2 +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in mobile_base_lidar_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) + class MobileBaseLidarServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -20,27 +40,27 @@ def __init__(self, channel): '/reachy.part.mobile.base.lidar.MobileBaseLidarService/SetZuuuSafety', request_serializer=mobile__base__lidar__pb2.LidarSafety.SerializeToString, response_deserializer=mobile__base__mobility__pb2.MobilityServiceAck.FromString, - ) + _registered_method=True) self.GetZuuuSafety = channel.unary_unary( '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetZuuuSafety', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__lidar__pb2.LidarSafety.FromString, - ) + _registered_method=True) self.ResetDefaultSafetyDistances = channel.unary_unary( '/reachy.part.mobile.base.lidar.MobileBaseLidarService/ResetDefaultSafetyDistances', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__mobility__pb2.MobilityServiceAck.FromString, - ) + _registered_method=True) self.GetLidarMap = channel.unary_unary( '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetLidarMap', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__lidar__pb2.LidarMap.FromString, - ) + _registered_method=True) self.GetLidarObstacleDetectionStatus = channel.unary_unary( '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetLidarObstacleDetectionStatus', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__lidar__pb2.LidarObstacleDetectionStatus.FromString, - ) + _registered_method=True) class MobileBaseLidarServiceServicer(object): @@ -108,6 +128,7 @@ def add_MobileBaseLidarServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.part.mobile.base.lidar.MobileBaseLidarService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) + server.add_registered_method_handlers('reachy.part.mobile.base.lidar.MobileBaseLidarService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -125,11 +146,21 @@ def SetZuuuSafety(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.lidar.MobileBaseLidarService/SetZuuuSafety', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.lidar.MobileBaseLidarService/SetZuuuSafety', mobile__base__lidar__pb2.LidarSafety.SerializeToString, mobile__base__mobility__pb2.MobilityServiceAck.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetZuuuSafety(request, @@ -142,11 +173,21 @@ def GetZuuuSafety(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetZuuuSafety', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetZuuuSafety', part__pb2.PartId.SerializeToString, mobile__base__lidar__pb2.LidarSafety.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def ResetDefaultSafetyDistances(request, @@ -159,11 +200,21 @@ def ResetDefaultSafetyDistances(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.lidar.MobileBaseLidarService/ResetDefaultSafetyDistances', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.lidar.MobileBaseLidarService/ResetDefaultSafetyDistances', part__pb2.PartId.SerializeToString, mobile__base__mobility__pb2.MobilityServiceAck.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetLidarMap(request, @@ -176,11 +227,21 @@ def GetLidarMap(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetLidarMap', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetLidarMap', part__pb2.PartId.SerializeToString, mobile__base__lidar__pb2.LidarMap.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetLidarObstacleDetectionStatus(request, @@ -193,8 +254,18 @@ def GetLidarObstacleDetectionStatus(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetLidarObstacleDetectionStatus', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetLidarObstacleDetectionStatus', part__pb2.PartId.SerializeToString, mobile__base__lidar__pb2.LidarObstacleDetectionStatus.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) diff --git a/python/reachy2_sdk_api/mobile_base_lidar_pb2_grpc.pyi b/python/reachy2_sdk_api/mobile_base_lidar_pb2_grpc.pyi index 32a1784..406749d 100644 --- a/python/reachy2_sdk_api/mobile_base_lidar_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/mobile_base_lidar_pb2_grpc.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import grpc @@ -11,12 +12,11 @@ import mobile_base_mobility_pb2 import part_pb2 import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... class MobileBaseLidarServiceStub: @@ -25,18 +25,22 @@ class MobileBaseLidarServiceStub: mobile_base_lidar_pb2.LidarSafety, mobile_base_mobility_pb2.MobilityServiceAck, ] + GetZuuuSafety: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_lidar_pb2.LidarSafety, ] + ResetDefaultSafetyDistances: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_mobility_pb2.MobilityServiceAck, ] + GetLidarMap: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_lidar_pb2.LidarMap, ] + GetLidarObstacleDetectionStatus: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_lidar_pb2.LidarObstacleDetectionStatus, @@ -47,18 +51,22 @@ class MobileBaseLidarServiceAsyncStub: mobile_base_lidar_pb2.LidarSafety, mobile_base_mobility_pb2.MobilityServiceAck, ] + GetZuuuSafety: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_lidar_pb2.LidarSafety, ] + ResetDefaultSafetyDistances: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_mobility_pb2.MobilityServiceAck, ] + GetLidarMap: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_lidar_pb2.LidarMap, ] + GetLidarObstacleDetectionStatus: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_lidar_pb2.LidarObstacleDetectionStatus, @@ -71,24 +79,28 @@ class MobileBaseLidarServiceServicer(metaclass=abc.ABCMeta): request: mobile_base_lidar_pb2.LidarSafety, context: _ServicerContext, ) -> typing.Union[mobile_base_mobility_pb2.MobilityServiceAck, collections.abc.Awaitable[mobile_base_mobility_pb2.MobilityServiceAck]]: ... + @abc.abstractmethod def GetZuuuSafety( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_lidar_pb2.LidarSafety, collections.abc.Awaitable[mobile_base_lidar_pb2.LidarSafety]]: ... + @abc.abstractmethod def ResetDefaultSafetyDistances( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_mobility_pb2.MobilityServiceAck, collections.abc.Awaitable[mobile_base_mobility_pb2.MobilityServiceAck]]: ... + @abc.abstractmethod def GetLidarMap( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_lidar_pb2.LidarMap, collections.abc.Awaitable[mobile_base_lidar_pb2.LidarMap]]: ... + @abc.abstractmethod def GetLidarObstacleDetectionStatus( self, diff --git a/python/reachy2_sdk_api/mobile_base_mobility_pb2.py b/python/reachy2_sdk_api/mobile_base_mobility_pb2.py index 4fefd0b..6046c10 100644 --- a/python/reachy2_sdk_api/mobile_base_mobility_pb2.py +++ b/python/reachy2_sdk_api/mobile_base_mobility_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: mobile_base_mobility.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'mobile_base_mobility.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -20,8 +31,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'mobile_base_mobility_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_DIRECTIONVECTOR']._serialized_start=109 _globals['_DIRECTIONVECTOR']._serialized_end=250 _globals['_TARGETDIRECTIONCOMMAND']._serialized_start=252 diff --git a/python/reachy2_sdk_api/mobile_base_mobility_pb2.pyi b/python/reachy2_sdk_api/mobile_base_mobility_pb2.pyi index f049f1c..58a8756 100644 --- a/python/reachy2_sdk_api/mobile_base_mobility_pb2.pyi +++ b/python/reachy2_sdk_api/mobile_base_mobility_pb2.pyi @@ -2,21 +2,17 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import builtins import google.protobuf.descriptor import google.protobuf.message import google.protobuf.wrappers_pb2 import part_pb2 -import sys - -if sys.version_info >= (3, 8): - import typing as typing_extensions -else: - import typing_extensions +import typing DESCRIPTOR: google.protobuf.descriptor.FileDescriptor -@typing_extensions.final +@typing.final class DirectionVector(google.protobuf.message.Message): """Speed commands in SI units (m/s and rad/s)""" @@ -28,6 +24,7 @@ class DirectionVector(google.protobuf.message.Message): @property def x(self) -> google.protobuf.wrappers_pb2.FloatValue: """use FloatValue instead of double to avoid 0.0 default value being ignored""" + @property def y(self) -> google.protobuf.wrappers_pb2.FloatValue: ... @property @@ -39,12 +36,12 @@ class DirectionVector(google.protobuf.message.Message): y: google.protobuf.wrappers_pb2.FloatValue | None = ..., theta: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["theta", b"theta", "x", b"x", "y", b"y"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["theta", b"theta", "x", b"x", "y", b"y"]) -> None: ... + def HasField(self, field_name: typing.Literal["theta", b"theta", "x", b"x", "y", b"y"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["theta", b"theta", "x", b"x", "y", b"y"]) -> None: ... global___DirectionVector = DirectionVector -@typing_extensions.final +@typing.final class TargetDirectionCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -60,12 +57,12 @@ class TargetDirectionCommand(google.protobuf.message.Message): id: part_pb2.PartId | None = ..., direction: global___DirectionVector | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["direction", b"direction", "id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["direction", b"direction", "id", b"id"]) -> None: ... + def HasField(self, field_name: typing.Literal["direction", b"direction", "id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["direction", b"direction", "id", b"id"]) -> None: ... global___TargetDirectionCommand = TargetDirectionCommand -@typing_extensions.final +@typing.final class SetSpeedVector(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -93,12 +90,12 @@ class SetSpeedVector(google.protobuf.message.Message): rot_vel: google.protobuf.wrappers_pb2.FloatValue | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "rot_vel", b"rot_vel", "x_vel", b"x_vel", "y_vel", b"y_vel"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "rot_vel", b"rot_vel", "x_vel", b"x_vel", "y_vel", b"y_vel"]) -> None: ... + def HasField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "rot_vel", b"rot_vel", "x_vel", b"x_vel", "y_vel", b"y_vel"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "rot_vel", b"rot_vel", "x_vel", b"x_vel", "y_vel", b"y_vel"]) -> None: ... global___SetSpeedVector = SetSpeedVector -@typing_extensions.final +@typing.final class DistanceToGoalVector(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -122,12 +119,12 @@ class DistanceToGoalVector(google.protobuf.message.Message): delta_theta: google.protobuf.wrappers_pb2.FloatValue | None = ..., distance: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["delta_theta", b"delta_theta", "delta_x", b"delta_x", "delta_y", b"delta_y", "distance", b"distance"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["delta_theta", b"delta_theta", "delta_x", b"delta_x", "delta_y", b"delta_y", "distance", b"distance"]) -> None: ... + def HasField(self, field_name: typing.Literal["delta_theta", b"delta_theta", "delta_x", b"delta_x", "delta_y", b"delta_y", "distance", b"distance"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["delta_theta", b"delta_theta", "delta_x", b"delta_x", "delta_y", b"delta_y", "distance", b"distance"]) -> None: ... global___DistanceToGoalVector = DistanceToGoalVector -@typing_extensions.final +@typing.final class MobilityServiceAck(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -139,7 +136,7 @@ class MobilityServiceAck(google.protobuf.message.Message): *, success: google.protobuf.wrappers_pb2.BoolValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["success", b"success"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["success", b"success"]) -> None: ... + def HasField(self, field_name: typing.Literal["success", b"success"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["success", b"success"]) -> None: ... global___MobilityServiceAck = MobilityServiceAck diff --git a/python/reachy2_sdk_api/mobile_base_mobility_pb2_grpc.py b/python/reachy2_sdk_api/mobile_base_mobility_pb2_grpc.py index 6fe78fc..090cf36 100644 --- a/python/reachy2_sdk_api/mobile_base_mobility_pb2_grpc.py +++ b/python/reachy2_sdk_api/mobile_base_mobility_pb2_grpc.py @@ -1,10 +1,30 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings import mobile_base_mobility_pb2 as mobile__base__mobility__pb2 import part_pb2 as part__pb2 +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in mobile_base_mobility_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) + class MobileBaseMobilityServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -19,22 +39,22 @@ def __init__(self, channel): '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/SendDirection', request_serializer=mobile__base__mobility__pb2.TargetDirectionCommand.SerializeToString, response_deserializer=mobile__base__mobility__pb2.MobilityServiceAck.FromString, - ) + _registered_method=True) self.SendSetSpeed = channel.unary_unary( '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/SendSetSpeed', request_serializer=mobile__base__mobility__pb2.SetSpeedVector.SerializeToString, response_deserializer=mobile__base__mobility__pb2.MobilityServiceAck.FromString, - ) + _registered_method=True) self.GetLastDirection = channel.unary_unary( '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/GetLastDirection', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__mobility__pb2.DirectionVector.FromString, - ) + _registered_method=True) self.DistanceToGoal = channel.unary_unary( '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/DistanceToGoal', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__mobility__pb2.DistanceToGoalVector.FromString, - ) + _registered_method=True) class MobileBaseMobilityServiceServicer(object): @@ -91,6 +111,7 @@ def add_MobileBaseMobilityServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.part.mobile.base.mobility.MobileBaseMobilityService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) + server.add_registered_method_handlers('reachy.part.mobile.base.mobility.MobileBaseMobilityService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -108,11 +129,21 @@ def SendDirection(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/SendDirection', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/SendDirection', mobile__base__mobility__pb2.TargetDirectionCommand.SerializeToString, mobile__base__mobility__pb2.MobilityServiceAck.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SendSetSpeed(request, @@ -125,11 +156,21 @@ def SendSetSpeed(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/SendSetSpeed', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/SendSetSpeed', mobile__base__mobility__pb2.SetSpeedVector.SerializeToString, mobile__base__mobility__pb2.MobilityServiceAck.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetLastDirection(request, @@ -142,11 +183,21 @@ def GetLastDirection(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/GetLastDirection', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/GetLastDirection', part__pb2.PartId.SerializeToString, mobile__base__mobility__pb2.DirectionVector.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def DistanceToGoal(request, @@ -159,8 +210,18 @@ def DistanceToGoal(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/DistanceToGoal', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/DistanceToGoal', part__pb2.PartId.SerializeToString, mobile__base__mobility__pb2.DistanceToGoalVector.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) diff --git a/python/reachy2_sdk_api/mobile_base_mobility_pb2_grpc.pyi b/python/reachy2_sdk_api/mobile_base_mobility_pb2_grpc.pyi index cdde4ed..60db286 100644 --- a/python/reachy2_sdk_api/mobile_base_mobility_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/mobile_base_mobility_pb2_grpc.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import grpc @@ -10,12 +11,11 @@ import mobile_base_mobility_pb2 import part_pb2 import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... class MobileBaseMobilityServiceStub: @@ -24,14 +24,17 @@ class MobileBaseMobilityServiceStub: mobile_base_mobility_pb2.TargetDirectionCommand, mobile_base_mobility_pb2.MobilityServiceAck, ] + SendSetSpeed: grpc.UnaryUnaryMultiCallable[ mobile_base_mobility_pb2.SetSpeedVector, mobile_base_mobility_pb2.MobilityServiceAck, ] + GetLastDirection: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_mobility_pb2.DirectionVector, ] + DistanceToGoal: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_mobility_pb2.DistanceToGoalVector, @@ -42,14 +45,17 @@ class MobileBaseMobilityServiceAsyncStub: mobile_base_mobility_pb2.TargetDirectionCommand, mobile_base_mobility_pb2.MobilityServiceAck, ] + SendSetSpeed: grpc.aio.UnaryUnaryMultiCallable[ mobile_base_mobility_pb2.SetSpeedVector, mobile_base_mobility_pb2.MobilityServiceAck, ] + GetLastDirection: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_mobility_pb2.DirectionVector, ] + DistanceToGoal: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_mobility_pb2.DistanceToGoalVector, @@ -62,18 +68,21 @@ class MobileBaseMobilityServiceServicer(metaclass=abc.ABCMeta): request: mobile_base_mobility_pb2.TargetDirectionCommand, context: _ServicerContext, ) -> typing.Union[mobile_base_mobility_pb2.MobilityServiceAck, collections.abc.Awaitable[mobile_base_mobility_pb2.MobilityServiceAck]]: ... + @abc.abstractmethod def SendSetSpeed( self, request: mobile_base_mobility_pb2.SetSpeedVector, context: _ServicerContext, ) -> typing.Union[mobile_base_mobility_pb2.MobilityServiceAck, collections.abc.Awaitable[mobile_base_mobility_pb2.MobilityServiceAck]]: ... + @abc.abstractmethod def GetLastDirection( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_mobility_pb2.DirectionVector, collections.abc.Awaitable[mobile_base_mobility_pb2.DirectionVector]]: ... + @abc.abstractmethod def DistanceToGoal( self, diff --git a/python/reachy2_sdk_api/mobile_base_utility_pb2.py b/python/reachy2_sdk_api/mobile_base_utility_pb2.py index f507b01..33e8a38 100644 --- a/python/reachy2_sdk_api/mobile_base_utility_pb2.py +++ b/python/reachy2_sdk_api/mobile_base_utility_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: mobile_base_utility.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'mobile_base_utility.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -25,8 +36,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'mobile_base_utility_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_CONTROLMODEPOSSIBLITIES']._serialized_start=1436 _globals['_CONTROLMODEPOSSIBLITIES']._serialized_end=1508 _globals['_ZUUUMODEPOSSIBLITIES']._serialized_start=1511 diff --git a/python/reachy2_sdk_api/mobile_base_utility_pb2.pyi b/python/reachy2_sdk_api/mobile_base_utility_pb2.pyi index 342e876..9690cb2 100644 --- a/python/reachy2_sdk_api/mobile_base_utility_pb2.pyi +++ b/python/reachy2_sdk_api/mobile_base_utility_pb2.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import builtins import collections.abc import error_pb2 @@ -67,7 +68,7 @@ EMERGENCY_STOP: ZuuuModePossiblities.ValueType # 6 CMD_GOTO: ZuuuModePossiblities.ValueType # 7 global___ZuuuModePossiblities = ZuuuModePossiblities -@typing_extensions.final +@typing.final class MobileBase(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -83,12 +84,12 @@ class MobileBase(google.protobuf.message.Message): part_id: part_pb2.PartId | None = ..., info: part_pb2.PartInfo | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["info", b"info", "part_id", b"part_id"]) -> None: ... + def HasField(self, field_name: typing.Literal["info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["info", b"info", "part_id", b"part_id"]) -> None: ... global___MobileBase = MobileBase -@typing_extensions.final +@typing.final class ListOfMobileBase(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -100,11 +101,11 @@ class ListOfMobileBase(google.protobuf.message.Message): *, mobile_base: collections.abc.Iterable[global___MobileBase] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["mobile_base", b"mobile_base"]) -> None: ... + def ClearField(self, field_name: typing.Literal["mobile_base", b"mobile_base"]) -> None: ... global___ListOfMobileBase = ListOfMobileBase -@typing_extensions.final +@typing.final class MobileBaseState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -115,11 +116,11 @@ class MobileBaseState(google.protobuf.message.Message): LIDAR_SAFETY_FIELD_NUMBER: builtins.int ZUUU_MODE_FIELD_NUMBER: builtins.int CONTROL_MODE_FIELD_NUMBER: builtins.int + activated: builtins.bool @property def timestamp(self) -> google.protobuf.timestamp_pb2.Timestamp: ... @property def id(self) -> part_pb2.PartId: ... - activated: builtins.bool @property def battery_level(self) -> global___BatteryLevel: ... @property @@ -139,12 +140,12 @@ class MobileBaseState(google.protobuf.message.Message): zuuu_mode: global___ZuuuModeCommand | None = ..., control_mode: global___ControlModeCommand | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["battery_level", b"battery_level", "control_mode", b"control_mode", "id", b"id", "lidar_safety", b"lidar_safety", "timestamp", b"timestamp", "zuuu_mode", b"zuuu_mode"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["activated", b"activated", "battery_level", b"battery_level", "control_mode", b"control_mode", "id", b"id", "lidar_safety", b"lidar_safety", "timestamp", b"timestamp", "zuuu_mode", b"zuuu_mode"]) -> None: ... + def HasField(self, field_name: typing.Literal["battery_level", b"battery_level", "control_mode", b"control_mode", "id", b"id", "lidar_safety", b"lidar_safety", "timestamp", b"timestamp", "zuuu_mode", b"zuuu_mode"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["activated", b"activated", "battery_level", b"battery_level", "control_mode", b"control_mode", "id", b"id", "lidar_safety", b"lidar_safety", "timestamp", b"timestamp", "zuuu_mode", b"zuuu_mode"]) -> None: ... global___MobileBaseState = MobileBaseState -@typing_extensions.final +@typing.final class OdometryVector(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -176,52 +177,52 @@ class OdometryVector(google.protobuf.message.Message): vy: google.protobuf.wrappers_pb2.FloatValue | None = ..., vtheta: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["theta", b"theta", "vtheta", b"vtheta", "vx", b"vx", "vy", b"vy", "x", b"x", "y", b"y"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["theta", b"theta", "vtheta", b"vtheta", "vx", b"vx", "vy", b"vy", "x", b"x", "y", b"y"]) -> None: ... + def HasField(self, field_name: typing.Literal["theta", b"theta", "vtheta", b"vtheta", "vx", b"vx", "vy", b"vy", "x", b"x", "y", b"y"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["theta", b"theta", "vtheta", b"vtheta", "vx", b"vx", "vy", b"vy", "x", b"x", "y", b"y"]) -> None: ... global___OdometryVector = OdometryVector -@typing_extensions.final +@typing.final class ControlModeCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int MODE_FIELD_NUMBER: builtins.int + mode: global___ControlModePossiblities.ValueType @property def id(self) -> part_pb2.PartId: ... - mode: global___ControlModePossiblities.ValueType def __init__( self, *, id: part_pb2.PartId | None = ..., mode: global___ControlModePossiblities.ValueType = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "mode", b"mode"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "mode", b"mode"]) -> None: ... global___ControlModeCommand = ControlModeCommand -@typing_extensions.final +@typing.final class ZuuuModeCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int MODE_FIELD_NUMBER: builtins.int + mode: global___ZuuuModePossiblities.ValueType @property def id(self) -> part_pb2.PartId: ... - mode: global___ZuuuModePossiblities.ValueType def __init__( self, *, id: part_pb2.PartId | None = ..., mode: global___ZuuuModePossiblities.ValueType = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "mode", b"mode"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "mode", b"mode"]) -> None: ... global___ZuuuModeCommand = ZuuuModeCommand -@typing_extensions.final +@typing.final class BatteryLevel(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -233,12 +234,12 @@ class BatteryLevel(google.protobuf.message.Message): *, level: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["level", b"level"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["level", b"level"]) -> None: ... + def HasField(self, field_name: typing.Literal["level", b"level"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["level", b"level"]) -> None: ... global___BatteryLevel = BatteryLevel -@typing_extensions.final +@typing.final class MobileBaseStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -250,6 +251,6 @@ class MobileBaseStatus(google.protobuf.message.Message): *, errors: collections.abc.Iterable[error_pb2.Error] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["errors", b"errors"]) -> None: ... + def ClearField(self, field_name: typing.Literal["errors", b"errors"]) -> None: ... global___MobileBaseStatus = MobileBaseStatus diff --git a/python/reachy2_sdk_api/mobile_base_utility_pb2_grpc.py b/python/reachy2_sdk_api/mobile_base_utility_pb2_grpc.py index 397e80b..5a3b15f 100644 --- a/python/reachy2_sdk_api/mobile_base_utility_pb2_grpc.py +++ b/python/reachy2_sdk_api/mobile_base_utility_pb2_grpc.py @@ -1,12 +1,32 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import mobile_base_mobility_pb2 as mobile__base__mobility__pb2 import mobile_base_utility_pb2 as mobile__base__utility__pb2 import part_pb2 as part__pb2 +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in mobile_base_utility_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) + class MobileBaseUtilityServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -21,72 +41,72 @@ def __init__(self, channel): '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetAllMobileBases', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=mobile__base__utility__pb2.ListOfMobileBase.FromString, - ) + _registered_method=True) self.GetState = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetState', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__utility__pb2.MobileBaseState.FromString, - ) + _registered_method=True) self.Audit = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/Audit', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__utility__pb2.MobileBaseStatus.FromString, - ) + _registered_method=True) self.HeartBeat = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/HeartBeat', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.Restart = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/Restart', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.TurnOn = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/TurnOn', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.TurnOff = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/TurnOff', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.SetControlMode = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/SetControlMode', request_serializer=mobile__base__utility__pb2.ControlModeCommand.SerializeToString, response_deserializer=mobile__base__mobility__pb2.MobilityServiceAck.FromString, - ) + _registered_method=True) self.GetControlMode = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetControlMode', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__utility__pb2.ControlModeCommand.FromString, - ) + _registered_method=True) self.SetZuuuMode = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/SetZuuuMode', request_serializer=mobile__base__utility__pb2.ZuuuModeCommand.SerializeToString, response_deserializer=mobile__base__mobility__pb2.MobilityServiceAck.FromString, - ) + _registered_method=True) self.GetZuuuMode = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetZuuuMode', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__utility__pb2.ZuuuModeCommand.FromString, - ) + _registered_method=True) self.GetBatteryLevel = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetBatteryLevel', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__utility__pb2.BatteryLevel.FromString, - ) + _registered_method=True) self.GetOdometry = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetOdometry', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__utility__pb2.OdometryVector.FromString, - ) + _registered_method=True) self.ResetOdometry = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/ResetOdometry', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__mobility__pb2.MobilityServiceAck.FromString, - ) + _registered_method=True) class MobileBaseUtilityServiceServicer(object): @@ -253,6 +273,7 @@ def add_MobileBaseUtilityServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.part.mobile.base.utility.MobileBaseUtilityService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) + server.add_registered_method_handlers('reachy.part.mobile.base.utility.MobileBaseUtilityService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -270,11 +291,21 @@ def GetAllMobileBases(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetAllMobileBases', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetAllMobileBases', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, mobile__base__utility__pb2.ListOfMobileBase.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetState(request, @@ -287,11 +318,21 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetState', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetState', part__pb2.PartId.SerializeToString, mobile__base__utility__pb2.MobileBaseState.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Audit(request, @@ -304,11 +345,21 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/Audit', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.utility.MobileBaseUtilityService/Audit', part__pb2.PartId.SerializeToString, mobile__base__utility__pb2.MobileBaseStatus.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def HeartBeat(request, @@ -321,11 +372,21 @@ def HeartBeat(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/HeartBeat', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.utility.MobileBaseUtilityService/HeartBeat', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Restart(request, @@ -338,11 +399,21 @@ def Restart(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/Restart', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.utility.MobileBaseUtilityService/Restart', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def TurnOn(request, @@ -355,11 +426,21 @@ def TurnOn(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/TurnOn', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.utility.MobileBaseUtilityService/TurnOn', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def TurnOff(request, @@ -372,11 +453,21 @@ def TurnOff(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/TurnOff', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.utility.MobileBaseUtilityService/TurnOff', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SetControlMode(request, @@ -389,11 +480,21 @@ def SetControlMode(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/SetControlMode', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.utility.MobileBaseUtilityService/SetControlMode', mobile__base__utility__pb2.ControlModeCommand.SerializeToString, mobile__base__mobility__pb2.MobilityServiceAck.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetControlMode(request, @@ -406,11 +507,21 @@ def GetControlMode(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetControlMode', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetControlMode', part__pb2.PartId.SerializeToString, mobile__base__utility__pb2.ControlModeCommand.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SetZuuuMode(request, @@ -423,11 +534,21 @@ def SetZuuuMode(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/SetZuuuMode', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.utility.MobileBaseUtilityService/SetZuuuMode', mobile__base__utility__pb2.ZuuuModeCommand.SerializeToString, mobile__base__mobility__pb2.MobilityServiceAck.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetZuuuMode(request, @@ -440,11 +561,21 @@ def GetZuuuMode(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetZuuuMode', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetZuuuMode', part__pb2.PartId.SerializeToString, mobile__base__utility__pb2.ZuuuModeCommand.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetBatteryLevel(request, @@ -457,11 +588,21 @@ def GetBatteryLevel(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetBatteryLevel', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetBatteryLevel', part__pb2.PartId.SerializeToString, mobile__base__utility__pb2.BatteryLevel.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetOdometry(request, @@ -474,11 +615,21 @@ def GetOdometry(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetOdometry', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetOdometry', part__pb2.PartId.SerializeToString, mobile__base__utility__pb2.OdometryVector.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def ResetOdometry(request, @@ -491,8 +642,18 @@ def ResetOdometry(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/ResetOdometry', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.mobile.base.utility.MobileBaseUtilityService/ResetOdometry', part__pb2.PartId.SerializeToString, mobile__base__mobility__pb2.MobilityServiceAck.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) diff --git a/python/reachy2_sdk_api/mobile_base_utility_pb2_grpc.pyi b/python/reachy2_sdk_api/mobile_base_utility_pb2_grpc.pyi index 5a0589b..7fa8836 100644 --- a/python/reachy2_sdk_api/mobile_base_utility_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/mobile_base_utility_pb2_grpc.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import google.protobuf.empty_pb2 @@ -12,12 +13,11 @@ import mobile_base_utility_pb2 import part_pb2 import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... class MobileBaseUtilityServiceStub: @@ -26,54 +26,67 @@ class MobileBaseUtilityServiceStub: google.protobuf.empty_pb2.Empty, mobile_base_utility_pb2.ListOfMobileBase, ] + GetState: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.MobileBaseState, ] + Audit: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.MobileBaseStatus, ] + HeartBeat: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + Restart: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + TurnOn: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + TurnOff: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + SetControlMode: grpc.UnaryUnaryMultiCallable[ mobile_base_utility_pb2.ControlModeCommand, mobile_base_mobility_pb2.MobilityServiceAck, ] + GetControlMode: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.ControlModeCommand, ] + SetZuuuMode: grpc.UnaryUnaryMultiCallable[ mobile_base_utility_pb2.ZuuuModeCommand, mobile_base_mobility_pb2.MobilityServiceAck, ] + GetZuuuMode: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.ZuuuModeCommand, ] + GetBatteryLevel: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.BatteryLevel, ] + GetOdometry: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.OdometryVector, ] + ResetOdometry: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_mobility_pb2.MobilityServiceAck, @@ -84,54 +97,67 @@ class MobileBaseUtilityServiceAsyncStub: google.protobuf.empty_pb2.Empty, mobile_base_utility_pb2.ListOfMobileBase, ] + GetState: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.MobileBaseState, ] + Audit: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.MobileBaseStatus, ] + HeartBeat: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + Restart: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + TurnOn: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + TurnOff: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + SetControlMode: grpc.aio.UnaryUnaryMultiCallable[ mobile_base_utility_pb2.ControlModeCommand, mobile_base_mobility_pb2.MobilityServiceAck, ] + GetControlMode: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.ControlModeCommand, ] + SetZuuuMode: grpc.aio.UnaryUnaryMultiCallable[ mobile_base_utility_pb2.ZuuuModeCommand, mobile_base_mobility_pb2.MobilityServiceAck, ] + GetZuuuMode: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.ZuuuModeCommand, ] + GetBatteryLevel: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.BatteryLevel, ] + GetOdometry: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.OdometryVector, ] + ResetOdometry: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_mobility_pb2.MobilityServiceAck, @@ -144,78 +170,91 @@ class MobileBaseUtilityServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[mobile_base_utility_pb2.ListOfMobileBase, collections.abc.Awaitable[mobile_base_utility_pb2.ListOfMobileBase]]: ... + @abc.abstractmethod def GetState( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_utility_pb2.MobileBaseState, collections.abc.Awaitable[mobile_base_utility_pb2.MobileBaseState]]: ... + @abc.abstractmethod def Audit( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_utility_pb2.MobileBaseStatus, collections.abc.Awaitable[mobile_base_utility_pb2.MobileBaseStatus]]: ... + @abc.abstractmethod def HeartBeat( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def Restart( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def TurnOn( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def TurnOff( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def SetControlMode( self, request: mobile_base_utility_pb2.ControlModeCommand, context: _ServicerContext, ) -> typing.Union[mobile_base_mobility_pb2.MobilityServiceAck, collections.abc.Awaitable[mobile_base_mobility_pb2.MobilityServiceAck]]: ... + @abc.abstractmethod def GetControlMode( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_utility_pb2.ControlModeCommand, collections.abc.Awaitable[mobile_base_utility_pb2.ControlModeCommand]]: ... + @abc.abstractmethod def SetZuuuMode( self, request: mobile_base_utility_pb2.ZuuuModeCommand, context: _ServicerContext, ) -> typing.Union[mobile_base_mobility_pb2.MobilityServiceAck, collections.abc.Awaitable[mobile_base_mobility_pb2.MobilityServiceAck]]: ... + @abc.abstractmethod def GetZuuuMode( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_utility_pb2.ZuuuModeCommand, collections.abc.Awaitable[mobile_base_utility_pb2.ZuuuModeCommand]]: ... + @abc.abstractmethod def GetBatteryLevel( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_utility_pb2.BatteryLevel, collections.abc.Awaitable[mobile_base_utility_pb2.BatteryLevel]]: ... + @abc.abstractmethod def GetOdometry( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_utility_pb2.OdometryVector, collections.abc.Awaitable[mobile_base_utility_pb2.OdometryVector]]: ... + @abc.abstractmethod def ResetOdometry( self, diff --git a/python/reachy2_sdk_api/mujoco_pb2.py b/python/reachy2_sdk_api/mujoco_pb2.py new file mode 100644 index 0000000..91f6fa9 --- /dev/null +++ b/python/reachy2_sdk_api/mujoco_pb2.py @@ -0,0 +1,42 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE +# source: mujoco.proto +# Protobuf Python Version: 5.29.0 +"""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, + 0, + '', + 'mujoco.proto' +) +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 +import kinematics_pb2 as kinematics__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0cmujoco.proto\x12\rreachy.mujoco\x1a\x1bgoogle/protobuf/empty.proto\x1a\x10kinematics.proto\"L\n\x10MujocoObjectPose\x12\x0c\n\x04name\x18\x01 \x01(\t\x12*\n\x04pose\x18\x02 \x01(\x0b\x32\x1c.reachy.kinematics.Matrix4x4\"D\n\x12MujocoObjectsPoses\x12.\n\x05poses\x18\x01 \x03(\x0b\x32\x1f.reachy.mujoco.MujocoObjectPose2]\n\rMujocoService\x12L\n\x0fGetObjectsPoses\x12\x16.google.protobuf.Empty\x1a!.reachy.mujoco.MujocoObjectsPosesb\x06proto3') + +_globals = globals() +_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) +_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'mujoco_pb2', _globals) +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None + _globals['_MUJOCOOBJECTPOSE']._serialized_start=78 + _globals['_MUJOCOOBJECTPOSE']._serialized_end=154 + _globals['_MUJOCOOBJECTSPOSES']._serialized_start=156 + _globals['_MUJOCOOBJECTSPOSES']._serialized_end=224 + _globals['_MUJOCOSERVICE']._serialized_start=226 + _globals['_MUJOCOSERVICE']._serialized_end=319 +# @@protoc_insertion_point(module_scope) diff --git a/python/reachy2_sdk_api/mujoco_pb2.pyi b/python/reachy2_sdk_api/mujoco_pb2.pyi new file mode 100644 index 0000000..c092704 --- /dev/null +++ b/python/reachy2_sdk_api/mujoco_pb2.pyi @@ -0,0 +1,50 @@ +""" +@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 kinematics_pb2 +import typing + +DESCRIPTOR: google.protobuf.descriptor.FileDescriptor + +@typing.final +class MujocoObjectPose(google.protobuf.message.Message): + DESCRIPTOR: google.protobuf.descriptor.Descriptor + + NAME_FIELD_NUMBER: builtins.int + POSE_FIELD_NUMBER: builtins.int + name: builtins.str + @property + def pose(self) -> kinematics_pb2.Matrix4x4: ... + def __init__( + self, + *, + name: builtins.str = ..., + pose: kinematics_pb2.Matrix4x4 | None = ..., + ) -> None: ... + def HasField(self, field_name: typing.Literal["pose", b"pose"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["name", b"name", "pose", b"pose"]) -> None: ... + +global___MujocoObjectPose = MujocoObjectPose + +@typing.final +class MujocoObjectsPoses(google.protobuf.message.Message): + DESCRIPTOR: google.protobuf.descriptor.Descriptor + + POSES_FIELD_NUMBER: builtins.int + @property + def poses(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___MujocoObjectPose]: ... + def __init__( + self, + *, + poses: collections.abc.Iterable[global___MujocoObjectPose] | None = ..., + ) -> None: ... + def ClearField(self, field_name: typing.Literal["poses", b"poses"]) -> None: ... + +global___MujocoObjectsPoses = MujocoObjectsPoses diff --git a/python/reachy2_sdk_api/mujoco_pb2_grpc.py b/python/reachy2_sdk_api/mujoco_pb2_grpc.py new file mode 100644 index 0000000..7062d73 --- /dev/null +++ b/python/reachy2_sdk_api/mujoco_pb2_grpc.py @@ -0,0 +1,98 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc +import warnings + +from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 +import mujoco_pb2 as mujoco__pb2 + +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in mujoco_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) + + +class MujocoServiceStub(object): + """Missing associated documentation comment in .proto file.""" + + def __init__(self, channel): + """Constructor. + + Args: + channel: A grpc.Channel. + """ + self.GetObjectsPoses = channel.unary_unary( + '/reachy.mujoco.MujocoService/GetObjectsPoses', + request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, + response_deserializer=mujoco__pb2.MujocoObjectsPoses.FromString, + _registered_method=True) + + +class MujocoServiceServicer(object): + """Missing associated documentation comment in .proto file.""" + + def GetObjectsPoses(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + +def add_MujocoServiceServicer_to_server(servicer, server): + rpc_method_handlers = { + 'GetObjectsPoses': grpc.unary_unary_rpc_method_handler( + servicer.GetObjectsPoses, + request_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, + response_serializer=mujoco__pb2.MujocoObjectsPoses.SerializeToString, + ), + } + generic_handler = grpc.method_handlers_generic_handler( + 'reachy.mujoco.MujocoService', rpc_method_handlers) + server.add_generic_rpc_handlers((generic_handler,)) + server.add_registered_method_handlers('reachy.mujoco.MujocoService', rpc_method_handlers) + + + # This class is part of an EXPERIMENTAL API. +class MujocoService(object): + """Missing associated documentation comment in .proto file.""" + + @staticmethod + def GetObjectsPoses(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, + '/reachy.mujoco.MujocoService/GetObjectsPoses', + google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, + mujoco__pb2.MujocoObjectsPoses.FromString, + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) diff --git a/python/reachy2_sdk_api/mujoco_pb2_grpc.pyi b/python/reachy2_sdk_api/mujoco_pb2_grpc.pyi new file mode 100644 index 0000000..06c41ea --- /dev/null +++ b/python/reachy2_sdk_api/mujoco_pb2_grpc.pyi @@ -0,0 +1,42 @@ +""" +@generated by mypy-protobuf. Do not edit manually! +isort:skip_file +""" + +import abc +import collections.abc +import google.protobuf.empty_pb2 +import grpc +import grpc.aio +import mujoco_pb2 +import typing + +_T = typing.TypeVar("_T") + +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... + +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] + ... + +class MujocoServiceStub: + def __init__(self, channel: typing.Union[grpc.Channel, grpc.aio.Channel]) -> None: ... + GetObjectsPoses: grpc.UnaryUnaryMultiCallable[ + google.protobuf.empty_pb2.Empty, + mujoco_pb2.MujocoObjectsPoses, + ] + +class MujocoServiceAsyncStub: + GetObjectsPoses: grpc.aio.UnaryUnaryMultiCallable[ + google.protobuf.empty_pb2.Empty, + mujoco_pb2.MujocoObjectsPoses, + ] + +class MujocoServiceServicer(metaclass=abc.ABCMeta): + @abc.abstractmethod + def GetObjectsPoses( + self, + request: google.protobuf.empty_pb2.Empty, + context: _ServicerContext, + ) -> typing.Union[mujoco_pb2.MujocoObjectsPoses, collections.abc.Awaitable[mujoco_pb2.MujocoObjectsPoses]]: ... + +def add_MujocoServiceServicer_to_server(servicer: MujocoServiceServicer, server: typing.Union[grpc.Server, grpc.aio.Server]) -> None: ... diff --git a/python/reachy2_sdk_api/orbita2d_pb2.py b/python/reachy2_sdk_api/orbita2d_pb2.py index fe73e4a..64c272a 100644 --- a/python/reachy2_sdk_api/orbita2d_pb2.py +++ b/python/reachy2_sdk_api/orbita2d_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: orbita2d.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'orbita2d.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -23,8 +34,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'orbita2d_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_ORBITA2DFIELD']._serialized_start=2081 _globals['_ORBITA2DFIELD']._serialized_end=2305 _globals['_AXIS']._serialized_start=2307 diff --git a/python/reachy2_sdk_api/orbita2d_pb2.pyi b/python/reachy2_sdk_api/orbita2d_pb2.pyi index fedb7a2..42b45d5 100644 --- a/python/reachy2_sdk_api/orbita2d_pb2.pyi +++ b/python/reachy2_sdk_api/orbita2d_pb2.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import builtins import collections.abc import component_pb2 @@ -78,7 +79,7 @@ PITCH: Axis.ValueType # 1 YAW: Axis.ValueType # 2 global___Axis = Axis -@typing_extensions.final +@typing.final class Orbita2dState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -134,12 +135,12 @@ class Orbita2dState(google.protobuf.message.Message): torque_limit: global___Float2d | None = ..., pid: global___PID2d | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> None: ... + def HasField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> None: ... global___Orbita2dState = Orbita2dState -@typing_extensions.final +@typing.final class Orbita2dStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -155,32 +156,32 @@ class Orbita2dStateRequest(google.protobuf.message.Message): fields: collections.abc.Iterable[global___Orbita2dField.ValueType] | None = ..., id: component_pb2.ComponentId | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["fields", b"fields", "id", b"id"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["fields", b"fields", "id", b"id"]) -> None: ... global___Orbita2dStateRequest = Orbita2dStateRequest -@typing_extensions.final +@typing.final class Orbita2dStreamStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor REQ_FIELD_NUMBER: builtins.int FREQ_FIELD_NUMBER: builtins.int + freq: builtins.float @property def req(self) -> global___Orbita2dStateRequest: ... - freq: builtins.float def __init__( self, *, req: global___Orbita2dStateRequest | None = ..., freq: builtins.float = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["req", b"req"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["freq", b"freq", "req", b"req"]) -> None: ... + def HasField(self, field_name: typing.Literal["req", b"req"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["freq", b"freq", "req", b"req"]) -> None: ... global___Orbita2dStreamStateRequest = Orbita2dStreamStateRequest -@typing_extensions.final +@typing.final class PID2d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -196,12 +197,12 @@ class PID2d(google.protobuf.message.Message): motor_1: component_pb2.PIDGains | None = ..., motor_2: component_pb2.PIDGains | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["motor_1", b"motor_1", "motor_2", b"motor_2"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["motor_1", b"motor_1", "motor_2", b"motor_2"]) -> None: ... + def HasField(self, field_name: typing.Literal["motor_1", b"motor_1", "motor_2", b"motor_2"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["motor_1", b"motor_1", "motor_2", b"motor_2"]) -> None: ... global___PID2d = PID2d -@typing_extensions.final +@typing.final class Limits2d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -217,12 +218,12 @@ class Limits2d(google.protobuf.message.Message): axis_1: component_pb2.JointLimits | None = ..., axis_2: component_pb2.JointLimits | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["axis_1", b"axis_1", "axis_2", b"axis_2"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["axis_1", b"axis_1", "axis_2", b"axis_2"]) -> None: ... + def HasField(self, field_name: typing.Literal["axis_1", b"axis_1", "axis_2", b"axis_2"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["axis_1", b"axis_1", "axis_2", b"axis_2"]) -> None: ... global___Limits2d = Limits2d -@typing_extensions.final +@typing.final class Pose2d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -238,12 +239,12 @@ class Pose2d(google.protobuf.message.Message): axis_1: google.protobuf.wrappers_pb2.FloatValue | None = ..., axis_2: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["axis_1", b"axis_1", "axis_2", b"axis_2"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["axis_1", b"axis_1", "axis_2", b"axis_2"]) -> None: ... + def HasField(self, field_name: typing.Literal["axis_1", b"axis_1", "axis_2", b"axis_2"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["axis_1", b"axis_1", "axis_2", b"axis_2"]) -> None: ... global___Pose2d = Pose2d -@typing_extensions.final +@typing.final class Float2d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -259,12 +260,12 @@ class Float2d(google.protobuf.message.Message): motor_1: google.protobuf.wrappers_pb2.FloatValue | None = ..., motor_2: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["motor_1", b"motor_1", "motor_2", b"motor_2"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["motor_1", b"motor_1", "motor_2", b"motor_2"]) -> None: ... + def HasField(self, field_name: typing.Literal["motor_1", b"motor_1", "motor_2", b"motor_2"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["motor_1", b"motor_1", "motor_2", b"motor_2"]) -> None: ... global___Float2d = Float2d -@typing_extensions.final +@typing.final class Vector2d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -280,12 +281,12 @@ class Vector2d(google.protobuf.message.Message): x: google.protobuf.wrappers_pb2.FloatValue | None = ..., y: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["x", b"x", "y", b"y"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["x", b"x", "y", b"y"]) -> None: ... + def HasField(self, field_name: typing.Literal["x", b"x", "y", b"y"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["x", b"x", "y", b"y"]) -> None: ... global___Vector2d = Vector2d -@typing_extensions.final +@typing.final class Orbita2dCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -317,12 +318,12 @@ class Orbita2dCommand(google.protobuf.message.Message): torque_limit: global___Float2d | None = ..., pid: global___PID2d | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "pid", b"pid", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "pid", b"pid", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> None: ... + def HasField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "pid", b"pid", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "pid", b"pid", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> None: ... global___Orbita2dCommand = Orbita2dCommand -@typing_extensions.final +@typing.final class Orbita2dsCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -334,11 +335,11 @@ class Orbita2dsCommand(google.protobuf.message.Message): *, cmd: collections.abc.Iterable[global___Orbita2dCommand] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["cmd", b"cmd"]) -> None: ... + def ClearField(self, field_name: typing.Literal["cmd", b"cmd"]) -> None: ... global___Orbita2dsCommand = Orbita2dsCommand -@typing_extensions.final +@typing.final class Orbita2d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -346,11 +347,11 @@ class Orbita2d(google.protobuf.message.Message): SERIAL_NUMBER_FIELD_NUMBER: builtins.int AXIS_1_FIELD_NUMBER: builtins.int AXIS_2_FIELD_NUMBER: builtins.int - @property - def id(self) -> component_pb2.ComponentId: ... serial_number: builtins.str axis_1: global___Axis.ValueType axis_2: global___Axis.ValueType + @property + def id(self) -> component_pb2.ComponentId: ... def __init__( self, *, @@ -359,12 +360,12 @@ class Orbita2d(google.protobuf.message.Message): axis_1: global___Axis.ValueType = ..., axis_2: global___Axis.ValueType = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["axis_1", b"axis_1", "axis_2", b"axis_2", "id", b"id", "serial_number", b"serial_number"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["axis_1", b"axis_1", "axis_2", b"axis_2", "id", b"id", "serial_number", b"serial_number"]) -> None: ... global___Orbita2d = Orbita2d -@typing_extensions.final +@typing.final class ListOfOrbita2d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -376,11 +377,11 @@ class ListOfOrbita2d(google.protobuf.message.Message): *, orbita2d: collections.abc.Iterable[global___Orbita2d] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["orbita2d", b"orbita2d"]) -> None: ... + def ClearField(self, field_name: typing.Literal["orbita2d", b"orbita2d"]) -> None: ... global___ListOfOrbita2d = ListOfOrbita2d -@typing_extensions.final +@typing.final class Orbita2dStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -392,6 +393,6 @@ class Orbita2dStatus(google.protobuf.message.Message): *, errors: collections.abc.Iterable[error_pb2.Error] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["errors", b"errors"]) -> None: ... + def ClearField(self, field_name: typing.Literal["errors", b"errors"]) -> None: ... global___Orbita2dStatus = Orbita2dStatus diff --git a/python/reachy2_sdk_api/orbita2d_pb2_grpc.py b/python/reachy2_sdk_api/orbita2d_pb2_grpc.py index 817d41c..336ddba 100644 --- a/python/reachy2_sdk_api/orbita2d_pb2_grpc.py +++ b/python/reachy2_sdk_api/orbita2d_pb2_grpc.py @@ -1,11 +1,31 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings import component_pb2 as component__pb2 from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import orbita2d_pb2 as orbita2d__pb2 +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in orbita2d_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) + class Orbita2dServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -20,42 +40,42 @@ def __init__(self, channel): '/component.orbita2d.Orbita2dService/GetAllOrbita2d', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=orbita2d__pb2.ListOfOrbita2d.FromString, - ) + _registered_method=True) self.GetState = channel.unary_unary( '/component.orbita2d.Orbita2dService/GetState', request_serializer=orbita2d__pb2.Orbita2dStateRequest.SerializeToString, response_deserializer=orbita2d__pb2.Orbita2dState.FromString, - ) + _registered_method=True) self.StreamState = channel.unary_stream( '/component.orbita2d.Orbita2dService/StreamState', request_serializer=orbita2d__pb2.Orbita2dStreamStateRequest.SerializeToString, response_deserializer=orbita2d__pb2.Orbita2dState.FromString, - ) + _registered_method=True) self.SendCommand = channel.unary_unary( '/component.orbita2d.Orbita2dService/SendCommand', request_serializer=orbita2d__pb2.Orbita2dsCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.StreamCommand = channel.stream_unary( '/component.orbita2d.Orbita2dService/StreamCommand', request_serializer=orbita2d__pb2.Orbita2dsCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.Audit = channel.unary_unary( '/component.orbita2d.Orbita2dService/Audit', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=orbita2d__pb2.Orbita2dStatus.FromString, - ) + _registered_method=True) self.HeartBeat = channel.unary_unary( '/component.orbita2d.Orbita2dService/HeartBeat', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.Restart = channel.unary_unary( '/component.orbita2d.Orbita2dService/Restart', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) class Orbita2dServiceServicer(object): @@ -156,6 +176,7 @@ def add_Orbita2dServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'component.orbita2d.Orbita2dService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) + server.add_registered_method_handlers('component.orbita2d.Orbita2dService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -173,11 +194,21 @@ def GetAllOrbita2d(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.orbita2d.Orbita2dService/GetAllOrbita2d', + return grpc.experimental.unary_unary( + request, + target, + '/component.orbita2d.Orbita2dService/GetAllOrbita2d', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, orbita2d__pb2.ListOfOrbita2d.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetState(request, @@ -190,11 +221,21 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.orbita2d.Orbita2dService/GetState', + return grpc.experimental.unary_unary( + request, + target, + '/component.orbita2d.Orbita2dService/GetState', orbita2d__pb2.Orbita2dStateRequest.SerializeToString, orbita2d__pb2.Orbita2dState.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def StreamState(request, @@ -207,11 +248,21 @@ def StreamState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_stream(request, target, '/component.orbita2d.Orbita2dService/StreamState', + return grpc.experimental.unary_stream( + request, + target, + '/component.orbita2d.Orbita2dService/StreamState', orbita2d__pb2.Orbita2dStreamStateRequest.SerializeToString, orbita2d__pb2.Orbita2dState.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SendCommand(request, @@ -224,11 +275,21 @@ def SendCommand(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.orbita2d.Orbita2dService/SendCommand', + return grpc.experimental.unary_unary( + request, + target, + '/component.orbita2d.Orbita2dService/SendCommand', orbita2d__pb2.Orbita2dsCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def StreamCommand(request_iterator, @@ -241,11 +302,21 @@ def StreamCommand(request_iterator, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.stream_unary(request_iterator, target, '/component.orbita2d.Orbita2dService/StreamCommand', + return grpc.experimental.stream_unary( + request_iterator, + target, + '/component.orbita2d.Orbita2dService/StreamCommand', orbita2d__pb2.Orbita2dsCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Audit(request, @@ -258,11 +329,21 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.orbita2d.Orbita2dService/Audit', + return grpc.experimental.unary_unary( + request, + target, + '/component.orbita2d.Orbita2dService/Audit', component__pb2.ComponentId.SerializeToString, orbita2d__pb2.Orbita2dStatus.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def HeartBeat(request, @@ -275,11 +356,21 @@ def HeartBeat(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.orbita2d.Orbita2dService/HeartBeat', + return grpc.experimental.unary_unary( + request, + target, + '/component.orbita2d.Orbita2dService/HeartBeat', component__pb2.ComponentId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Restart(request, @@ -292,8 +383,18 @@ def Restart(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.orbita2d.Orbita2dService/Restart', + return grpc.experimental.unary_unary( + request, + target, + '/component.orbita2d.Orbita2dService/Restart', component__pb2.ComponentId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) diff --git a/python/reachy2_sdk_api/orbita2d_pb2_grpc.pyi b/python/reachy2_sdk_api/orbita2d_pb2_grpc.pyi index e453d5b..d9c28af 100644 --- a/python/reachy2_sdk_api/orbita2d_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/orbita2d_pb2_grpc.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import component_pb2 @@ -11,12 +12,11 @@ import grpc.aio import orbita2d_pb2 import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... class Orbita2dServiceStub: @@ -25,30 +25,37 @@ class Orbita2dServiceStub: google.protobuf.empty_pb2.Empty, orbita2d_pb2.ListOfOrbita2d, ] + GetState: grpc.UnaryUnaryMultiCallable[ orbita2d_pb2.Orbita2dStateRequest, orbita2d_pb2.Orbita2dState, ] + StreamState: grpc.UnaryStreamMultiCallable[ orbita2d_pb2.Orbita2dStreamStateRequest, orbita2d_pb2.Orbita2dState, ] + SendCommand: grpc.UnaryUnaryMultiCallable[ orbita2d_pb2.Orbita2dsCommand, google.protobuf.empty_pb2.Empty, ] + StreamCommand: grpc.StreamUnaryMultiCallable[ orbita2d_pb2.Orbita2dsCommand, google.protobuf.empty_pb2.Empty, ] + Audit: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, orbita2d_pb2.Orbita2dStatus, ] + HeartBeat: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, ] + Restart: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, @@ -59,30 +66,37 @@ class Orbita2dServiceAsyncStub: google.protobuf.empty_pb2.Empty, orbita2d_pb2.ListOfOrbita2d, ] + GetState: grpc.aio.UnaryUnaryMultiCallable[ orbita2d_pb2.Orbita2dStateRequest, orbita2d_pb2.Orbita2dState, ] + StreamState: grpc.aio.UnaryStreamMultiCallable[ orbita2d_pb2.Orbita2dStreamStateRequest, orbita2d_pb2.Orbita2dState, ] + SendCommand: grpc.aio.UnaryUnaryMultiCallable[ orbita2d_pb2.Orbita2dsCommand, google.protobuf.empty_pb2.Empty, ] + StreamCommand: grpc.aio.StreamUnaryMultiCallable[ orbita2d_pb2.Orbita2dsCommand, google.protobuf.empty_pb2.Empty, ] + Audit: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, orbita2d_pb2.Orbita2dStatus, ] + HeartBeat: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, ] + Restart: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, @@ -95,42 +109,49 @@ class Orbita2dServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[orbita2d_pb2.ListOfOrbita2d, collections.abc.Awaitable[orbita2d_pb2.ListOfOrbita2d]]: ... + @abc.abstractmethod def GetState( self, request: orbita2d_pb2.Orbita2dStateRequest, context: _ServicerContext, ) -> typing.Union[orbita2d_pb2.Orbita2dState, collections.abc.Awaitable[orbita2d_pb2.Orbita2dState]]: ... + @abc.abstractmethod def StreamState( self, request: orbita2d_pb2.Orbita2dStreamStateRequest, context: _ServicerContext, ) -> typing.Union[collections.abc.Iterator[orbita2d_pb2.Orbita2dState], collections.abc.AsyncIterator[orbita2d_pb2.Orbita2dState]]: ... + @abc.abstractmethod def SendCommand( self, request: orbita2d_pb2.Orbita2dsCommand, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def StreamCommand( self, request_iterator: _MaybeAsyncIterator[orbita2d_pb2.Orbita2dsCommand], context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def Audit( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[orbita2d_pb2.Orbita2dStatus, collections.abc.Awaitable[orbita2d_pb2.Orbita2dStatus]]: ... + @abc.abstractmethod def HeartBeat( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def Restart( self, diff --git a/python/reachy2_sdk_api/orbita3d_pb2.py b/python/reachy2_sdk_api/orbita3d_pb2.py index aede339..6f1d8fa 100644 --- a/python/reachy2_sdk_api/orbita3d_pb2.py +++ b/python/reachy2_sdk_api/orbita3d_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: orbita3d.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'orbita3d.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -24,8 +35,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'orbita3d_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_ORBITA3DFIELD']._serialized_start=2228 _globals['_ORBITA3DFIELD']._serialized_end=2452 _globals['_ORBITA3DSTATE']._serialized_start=181 diff --git a/python/reachy2_sdk_api/orbita3d_pb2.pyi b/python/reachy2_sdk_api/orbita3d_pb2.pyi index 5a27cc3..e55872e 100644 --- a/python/reachy2_sdk_api/orbita3d_pb2.pyi +++ b/python/reachy2_sdk_api/orbita3d_pb2.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import builtins import collections.abc import component_pb2 @@ -62,7 +63,7 @@ PID: Orbita3dField.ValueType # 12 ALL: Orbita3dField.ValueType # 15 global___Orbita3dField = Orbita3dField -@typing_extensions.final +@typing.final class Orbita3dState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -118,12 +119,12 @@ class Orbita3dState(google.protobuf.message.Message): torque_limit: global___Float3d | None = ..., pid: global___PID3d | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> None: ... + def HasField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> None: ... global___Orbita3dState = Orbita3dState -@typing_extensions.final +@typing.final class Orbita3dStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -139,32 +140,32 @@ class Orbita3dStateRequest(google.protobuf.message.Message): fields: collections.abc.Iterable[global___Orbita3dField.ValueType] | None = ..., id: component_pb2.ComponentId | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["fields", b"fields", "id", b"id"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["fields", b"fields", "id", b"id"]) -> None: ... global___Orbita3dStateRequest = Orbita3dStateRequest -@typing_extensions.final +@typing.final class Orbita3dStreamStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor REQ_FIELD_NUMBER: builtins.int FREQ_FIELD_NUMBER: builtins.int + freq: builtins.float @property def req(self) -> global___Orbita3dStateRequest: ... - freq: builtins.float def __init__( self, *, req: global___Orbita3dStateRequest | None = ..., freq: builtins.float = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["req", b"req"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["freq", b"freq", "req", b"req"]) -> None: ... + def HasField(self, field_name: typing.Literal["req", b"req"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["freq", b"freq", "req", b"req"]) -> None: ... global___Orbita3dStreamStateRequest = Orbita3dStreamStateRequest -@typing_extensions.final +@typing.final class PID3d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -184,12 +185,12 @@ class PID3d(google.protobuf.message.Message): motor_2: component_pb2.PIDGains | None = ..., motor_3: component_pb2.PIDGains | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["motor_1", b"motor_1", "motor_2", b"motor_2", "motor_3", b"motor_3"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["motor_1", b"motor_1", "motor_2", b"motor_2", "motor_3", b"motor_3"]) -> None: ... + def HasField(self, field_name: typing.Literal["motor_1", b"motor_1", "motor_2", b"motor_2", "motor_3", b"motor_3"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["motor_1", b"motor_1", "motor_2", b"motor_2", "motor_3", b"motor_3"]) -> None: ... global___PID3d = PID3d -@typing_extensions.final +@typing.final class Limits3d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -209,12 +210,12 @@ class Limits3d(google.protobuf.message.Message): pitch: component_pb2.JointLimits | None = ..., yaw: component_pb2.JointLimits | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["pitch", b"pitch", "roll", b"roll", "yaw", b"yaw"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["pitch", b"pitch", "roll", b"roll", "yaw", b"yaw"]) -> None: ... + def HasField(self, field_name: typing.Literal["pitch", b"pitch", "roll", b"roll", "yaw", b"yaw"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["pitch", b"pitch", "roll", b"roll", "yaw", b"yaw"]) -> None: ... global___Limits3d = Limits3d -@typing_extensions.final +@typing.final class Float3d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -234,12 +235,12 @@ class Float3d(google.protobuf.message.Message): motor_2: google.protobuf.wrappers_pb2.FloatValue | None = ..., motor_3: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["motor_1", b"motor_1", "motor_2", b"motor_2", "motor_3", b"motor_3"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["motor_1", b"motor_1", "motor_2", b"motor_2", "motor_3", b"motor_3"]) -> None: ... + def HasField(self, field_name: typing.Literal["motor_1", b"motor_1", "motor_2", b"motor_2", "motor_3", b"motor_3"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["motor_1", b"motor_1", "motor_2", b"motor_2", "motor_3", b"motor_3"]) -> None: ... global___Float3d = Float3d -@typing_extensions.final +@typing.final class Vector3d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -259,12 +260,12 @@ class Vector3d(google.protobuf.message.Message): y: google.protobuf.wrappers_pb2.FloatValue | None = ..., z: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["x", b"x", "y", b"y", "z", b"z"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["x", b"x", "y", b"y", "z", b"z"]) -> None: ... + def HasField(self, field_name: typing.Literal["x", b"x", "y", b"y", "z", b"z"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["x", b"x", "y", b"y", "z", b"z"]) -> None: ... global___Vector3d = Vector3d -@typing_extensions.final +@typing.final class Orbita3dCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -296,12 +297,12 @@ class Orbita3dCommand(google.protobuf.message.Message): torque_limit: global___Float3d | None = ..., pid: global___PID3d | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "pid", b"pid", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "pid", b"pid", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> None: ... + def HasField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "pid", b"pid", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "pid", b"pid", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> None: ... global___Orbita3dCommand = Orbita3dCommand -@typing_extensions.final +@typing.final class Orbita3dsCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -313,11 +314,11 @@ class Orbita3dsCommand(google.protobuf.message.Message): *, cmd: collections.abc.Iterable[global___Orbita3dCommand] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["cmd", b"cmd"]) -> None: ... + def ClearField(self, field_name: typing.Literal["cmd", b"cmd"]) -> None: ... global___Orbita3dsCommand = Orbita3dsCommand -@typing_extensions.final +@typing.final class Orbita3dGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -337,32 +338,32 @@ class Orbita3dGoal(google.protobuf.message.Message): rotation: kinematics_pb2.Rotation3d | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "rotation", b"rotation"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "rotation", b"rotation"]) -> None: ... + def HasField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "rotation", b"rotation"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "rotation", b"rotation"]) -> None: ... global___Orbita3dGoal = Orbita3dGoal -@typing_extensions.final +@typing.final class Orbita3d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int SERIAL_NUMBER_FIELD_NUMBER: builtins.int + serial_number: builtins.str @property def id(self) -> component_pb2.ComponentId: ... - serial_number: builtins.str def __init__( self, *, id: component_pb2.ComponentId | None = ..., serial_number: builtins.str = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "serial_number", b"serial_number"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "serial_number", b"serial_number"]) -> None: ... global___Orbita3d = Orbita3d -@typing_extensions.final +@typing.final class ListOfOrbita3d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -374,11 +375,11 @@ class ListOfOrbita3d(google.protobuf.message.Message): *, info: collections.abc.Iterable[global___Orbita3d] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["info", b"info"]) -> None: ... + def ClearField(self, field_name: typing.Literal["info", b"info"]) -> None: ... global___ListOfOrbita3d = ListOfOrbita3d -@typing_extensions.final +@typing.final class Orbita3dStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -390,6 +391,6 @@ class Orbita3dStatus(google.protobuf.message.Message): *, errors: collections.abc.Iterable[error_pb2.Error] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["errors", b"errors"]) -> None: ... + def ClearField(self, field_name: typing.Literal["errors", b"errors"]) -> None: ... global___Orbita3dStatus = Orbita3dStatus diff --git a/python/reachy2_sdk_api/orbita3d_pb2_grpc.py b/python/reachy2_sdk_api/orbita3d_pb2_grpc.py index 5153456..85ba706 100644 --- a/python/reachy2_sdk_api/orbita3d_pb2_grpc.py +++ b/python/reachy2_sdk_api/orbita3d_pb2_grpc.py @@ -1,11 +1,31 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings import component_pb2 as component__pb2 from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import orbita3d_pb2 as orbita3d__pb2 +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in orbita3d_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) + class Orbita3dServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -20,47 +40,47 @@ def __init__(self, channel): '/component.orbita3d.Orbita3dService/GetAllOrbita3d', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=orbita3d__pb2.ListOfOrbita3d.FromString, - ) + _registered_method=True) self.GetState = channel.unary_unary( '/component.orbita3d.Orbita3dService/GetState', request_serializer=orbita3d__pb2.Orbita3dStateRequest.SerializeToString, response_deserializer=orbita3d__pb2.Orbita3dState.FromString, - ) + _registered_method=True) self.StreamState = channel.unary_stream( '/component.orbita3d.Orbita3dService/StreamState', request_serializer=orbita3d__pb2.Orbita3dStreamStateRequest.SerializeToString, response_deserializer=orbita3d__pb2.Orbita3dState.FromString, - ) + _registered_method=True) self.GoToOrientation = channel.unary_unary( '/component.orbita3d.Orbita3dService/GoToOrientation', request_serializer=orbita3d__pb2.Orbita3dGoal.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.SendCommand = channel.unary_unary( '/component.orbita3d.Orbita3dService/SendCommand', request_serializer=orbita3d__pb2.Orbita3dsCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.StreamCommand = channel.stream_unary( '/component.orbita3d.Orbita3dService/StreamCommand', request_serializer=orbita3d__pb2.Orbita3dsCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.Audit = channel.unary_unary( '/component.orbita3d.Orbita3dService/Audit', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=orbita3d__pb2.Orbita3dStatus.FromString, - ) + _registered_method=True) self.HeartBeat = channel.unary_unary( '/component.orbita3d.Orbita3dService/HeartBeat', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.Restart = channel.unary_unary( '/component.orbita3d.Orbita3dService/Restart', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) class Orbita3dServiceServicer(object): @@ -172,6 +192,7 @@ def add_Orbita3dServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'component.orbita3d.Orbita3dService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) + server.add_registered_method_handlers('component.orbita3d.Orbita3dService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -189,11 +210,21 @@ def GetAllOrbita3d(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.orbita3d.Orbita3dService/GetAllOrbita3d', + return grpc.experimental.unary_unary( + request, + target, + '/component.orbita3d.Orbita3dService/GetAllOrbita3d', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, orbita3d__pb2.ListOfOrbita3d.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetState(request, @@ -206,11 +237,21 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.orbita3d.Orbita3dService/GetState', + return grpc.experimental.unary_unary( + request, + target, + '/component.orbita3d.Orbita3dService/GetState', orbita3d__pb2.Orbita3dStateRequest.SerializeToString, orbita3d__pb2.Orbita3dState.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def StreamState(request, @@ -223,11 +264,21 @@ def StreamState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_stream(request, target, '/component.orbita3d.Orbita3dService/StreamState', + return grpc.experimental.unary_stream( + request, + target, + '/component.orbita3d.Orbita3dService/StreamState', orbita3d__pb2.Orbita3dStreamStateRequest.SerializeToString, orbita3d__pb2.Orbita3dState.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GoToOrientation(request, @@ -240,11 +291,21 @@ def GoToOrientation(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.orbita3d.Orbita3dService/GoToOrientation', + return grpc.experimental.unary_unary( + request, + target, + '/component.orbita3d.Orbita3dService/GoToOrientation', orbita3d__pb2.Orbita3dGoal.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SendCommand(request, @@ -257,11 +318,21 @@ def SendCommand(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.orbita3d.Orbita3dService/SendCommand', + return grpc.experimental.unary_unary( + request, + target, + '/component.orbita3d.Orbita3dService/SendCommand', orbita3d__pb2.Orbita3dsCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def StreamCommand(request_iterator, @@ -274,11 +345,21 @@ def StreamCommand(request_iterator, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.stream_unary(request_iterator, target, '/component.orbita3d.Orbita3dService/StreamCommand', + return grpc.experimental.stream_unary( + request_iterator, + target, + '/component.orbita3d.Orbita3dService/StreamCommand', orbita3d__pb2.Orbita3dsCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Audit(request, @@ -291,11 +372,21 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.orbita3d.Orbita3dService/Audit', + return grpc.experimental.unary_unary( + request, + target, + '/component.orbita3d.Orbita3dService/Audit', component__pb2.ComponentId.SerializeToString, orbita3d__pb2.Orbita3dStatus.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def HeartBeat(request, @@ -308,11 +399,21 @@ def HeartBeat(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.orbita3d.Orbita3dService/HeartBeat', + return grpc.experimental.unary_unary( + request, + target, + '/component.orbita3d.Orbita3dService/HeartBeat', component__pb2.ComponentId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Restart(request, @@ -325,8 +426,18 @@ def Restart(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.orbita3d.Orbita3dService/Restart', + return grpc.experimental.unary_unary( + request, + target, + '/component.orbita3d.Orbita3dService/Restart', component__pb2.ComponentId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) diff --git a/python/reachy2_sdk_api/orbita3d_pb2_grpc.pyi b/python/reachy2_sdk_api/orbita3d_pb2_grpc.pyi index 057cb0b..404f681 100644 --- a/python/reachy2_sdk_api/orbita3d_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/orbita3d_pb2_grpc.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import component_pb2 @@ -11,12 +12,11 @@ import grpc.aio import orbita3d_pb2 import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... class Orbita3dServiceStub: @@ -25,34 +25,42 @@ class Orbita3dServiceStub: google.protobuf.empty_pb2.Empty, orbita3d_pb2.ListOfOrbita3d, ] + GetState: grpc.UnaryUnaryMultiCallable[ orbita3d_pb2.Orbita3dStateRequest, orbita3d_pb2.Orbita3dState, ] + StreamState: grpc.UnaryStreamMultiCallable[ orbita3d_pb2.Orbita3dStreamStateRequest, orbita3d_pb2.Orbita3dState, ] + GoToOrientation: grpc.UnaryUnaryMultiCallable[ orbita3d_pb2.Orbita3dGoal, google.protobuf.empty_pb2.Empty, ] + SendCommand: grpc.UnaryUnaryMultiCallable[ orbita3d_pb2.Orbita3dsCommand, google.protobuf.empty_pb2.Empty, ] + StreamCommand: grpc.StreamUnaryMultiCallable[ orbita3d_pb2.Orbita3dsCommand, google.protobuf.empty_pb2.Empty, ] + Audit: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, orbita3d_pb2.Orbita3dStatus, ] + HeartBeat: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, ] + Restart: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, @@ -63,34 +71,42 @@ class Orbita3dServiceAsyncStub: google.protobuf.empty_pb2.Empty, orbita3d_pb2.ListOfOrbita3d, ] + GetState: grpc.aio.UnaryUnaryMultiCallable[ orbita3d_pb2.Orbita3dStateRequest, orbita3d_pb2.Orbita3dState, ] + StreamState: grpc.aio.UnaryStreamMultiCallable[ orbita3d_pb2.Orbita3dStreamStateRequest, orbita3d_pb2.Orbita3dState, ] + GoToOrientation: grpc.aio.UnaryUnaryMultiCallable[ orbita3d_pb2.Orbita3dGoal, google.protobuf.empty_pb2.Empty, ] + SendCommand: grpc.aio.UnaryUnaryMultiCallable[ orbita3d_pb2.Orbita3dsCommand, google.protobuf.empty_pb2.Empty, ] + StreamCommand: grpc.aio.StreamUnaryMultiCallable[ orbita3d_pb2.Orbita3dsCommand, google.protobuf.empty_pb2.Empty, ] + Audit: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, orbita3d_pb2.Orbita3dStatus, ] + HeartBeat: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, ] + Restart: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, @@ -103,48 +119,56 @@ class Orbita3dServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[orbita3d_pb2.ListOfOrbita3d, collections.abc.Awaitable[orbita3d_pb2.ListOfOrbita3d]]: ... + @abc.abstractmethod def GetState( self, request: orbita3d_pb2.Orbita3dStateRequest, context: _ServicerContext, ) -> typing.Union[orbita3d_pb2.Orbita3dState, collections.abc.Awaitable[orbita3d_pb2.Orbita3dState]]: ... + @abc.abstractmethod def StreamState( self, request: orbita3d_pb2.Orbita3dStreamStateRequest, context: _ServicerContext, ) -> typing.Union[collections.abc.Iterator[orbita3d_pb2.Orbita3dState], collections.abc.AsyncIterator[orbita3d_pb2.Orbita3dState]]: ... + @abc.abstractmethod def GoToOrientation( self, request: orbita3d_pb2.Orbita3dGoal, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def SendCommand( self, request: orbita3d_pb2.Orbita3dsCommand, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def StreamCommand( self, request_iterator: _MaybeAsyncIterator[orbita3d_pb2.Orbita3dsCommand], context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def Audit( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[orbita3d_pb2.Orbita3dStatus, collections.abc.Awaitable[orbita3d_pb2.Orbita3dStatus]]: ... + @abc.abstractmethod def HeartBeat( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def Restart( self, diff --git a/python/reachy2_sdk_api/parallel_gripper_pb2.py b/python/reachy2_sdk_api/parallel_gripper_pb2.py index 7866eda..126cd6e 100644 --- a/python/reachy2_sdk_api/parallel_gripper_pb2.py +++ b/python/reachy2_sdk_api/parallel_gripper_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: parallel_gripper.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'parallel_gripper.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -22,8 +33,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'parallel_gripper_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_PARALLELGRIPPERFIELD']._serialized_start=745 _globals['_PARALLELGRIPPERFIELD']._serialized_end=976 _globals['_PARALLELGRIPPERSTATE']._serialized_start=146 diff --git a/python/reachy2_sdk_api/parallel_gripper_pb2.pyi b/python/reachy2_sdk_api/parallel_gripper_pb2.pyi index b5cdaa4..34eb7b7 100644 --- a/python/reachy2_sdk_api/parallel_gripper_pb2.pyi +++ b/python/reachy2_sdk_api/parallel_gripper_pb2.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import builtins import collections.abc import component_pb2 @@ -60,7 +61,7 @@ PID: ParallelGripperField.ValueType # 12 ALL: ParallelGripperField.ValueType # 15 global___ParallelGripperField = ParallelGripperField -@typing_extensions.final +@typing.final class ParallelGripperState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -72,12 +73,12 @@ class ParallelGripperState(google.protobuf.message.Message): *, timestamp: google.protobuf.timestamp_pb2.Timestamp | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["timestamp", b"timestamp"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["timestamp", b"timestamp"]) -> None: ... + def HasField(self, field_name: typing.Literal["timestamp", b"timestamp"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["timestamp", b"timestamp"]) -> None: ... global___ParallelGripperState = ParallelGripperState -@typing_extensions.final +@typing.final class ParallelGripperStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -93,32 +94,32 @@ class ParallelGripperStateRequest(google.protobuf.message.Message): fields: collections.abc.Iterable[global___ParallelGripperField.ValueType] | None = ..., id: component_pb2.ComponentId | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["fields", b"fields", "id", b"id"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["fields", b"fields", "id", b"id"]) -> None: ... global___ParallelGripperStateRequest = ParallelGripperStateRequest -@typing_extensions.final +@typing.final class ParallelGripperStreamStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor REQ_FIELD_NUMBER: builtins.int FREQ_FIELD_NUMBER: builtins.int + freq: builtins.float @property def req(self) -> global___ParallelGripperStateRequest: ... - freq: builtins.float def __init__( self, *, req: global___ParallelGripperStateRequest | None = ..., freq: builtins.float = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["req", b"req"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["freq", b"freq", "req", b"req"]) -> None: ... + def HasField(self, field_name: typing.Literal["req", b"req"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["freq", b"freq", "req", b"req"]) -> None: ... global___ParallelGripperStreamStateRequest = ParallelGripperStreamStateRequest -@typing_extensions.final +@typing.final class ParallelGripperCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -128,27 +129,27 @@ class ParallelGripperCommand(google.protobuf.message.Message): global___ParallelGripperCommand = ParallelGripperCommand -@typing_extensions.final +@typing.final class ParallelGripperInfo(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int SERIAL_NUMBER_FIELD_NUMBER: builtins.int + serial_number: builtins.str @property def id(self) -> component_pb2.ComponentId: ... - serial_number: builtins.str def __init__( self, *, id: component_pb2.ComponentId | None = ..., serial_number: builtins.str = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "serial_number", b"serial_number"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "serial_number", b"serial_number"]) -> None: ... global___ParallelGripperInfo = ParallelGripperInfo -@typing_extensions.final +@typing.final class ListOfParallelGripperInfo(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -160,11 +161,11 @@ class ListOfParallelGripperInfo(google.protobuf.message.Message): *, parallel_gripper_info: collections.abc.Iterable[global___ParallelGripperInfo] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["parallel_gripper_info", b"parallel_gripper_info"]) -> None: ... + def ClearField(self, field_name: typing.Literal["parallel_gripper_info", b"parallel_gripper_info"]) -> None: ... global___ListOfParallelGripperInfo = ListOfParallelGripperInfo -@typing_extensions.final +@typing.final class ParallelGripperStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -176,6 +177,6 @@ class ParallelGripperStatus(google.protobuf.message.Message): *, errors: collections.abc.Iterable[error_pb2.Error] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["errors", b"errors"]) -> None: ... + def ClearField(self, field_name: typing.Literal["errors", b"errors"]) -> None: ... global___ParallelGripperStatus = ParallelGripperStatus diff --git a/python/reachy2_sdk_api/parallel_gripper_pb2_grpc.py b/python/reachy2_sdk_api/parallel_gripper_pb2_grpc.py index 6e7a6b4..af8dd19 100644 --- a/python/reachy2_sdk_api/parallel_gripper_pb2_grpc.py +++ b/python/reachy2_sdk_api/parallel_gripper_pb2_grpc.py @@ -1,11 +1,31 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings import component_pb2 as component__pb2 from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import parallel_gripper_pb2 as parallel__gripper__pb2 +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in parallel_gripper_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) + class GripperServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -20,42 +40,42 @@ def __init__(self, channel): '/component.parallel_gripper.GripperService/GetAllParallelGripper', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=parallel__gripper__pb2.ListOfParallelGripperInfo.FromString, - ) + _registered_method=True) self.GetState = channel.unary_unary( '/component.parallel_gripper.GripperService/GetState', request_serializer=parallel__gripper__pb2.ParallelGripperStateRequest.SerializeToString, response_deserializer=parallel__gripper__pb2.ParallelGripperState.FromString, - ) + _registered_method=True) self.StreamState = channel.unary_stream( '/component.parallel_gripper.GripperService/StreamState', request_serializer=parallel__gripper__pb2.ParallelGripperStreamStateRequest.SerializeToString, response_deserializer=parallel__gripper__pb2.ParallelGripperState.FromString, - ) + _registered_method=True) self.SendCommand = channel.unary_unary( '/component.parallel_gripper.GripperService/SendCommand', request_serializer=parallel__gripper__pb2.ParallelGripperCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.StreamCommand = channel.stream_unary( '/component.parallel_gripper.GripperService/StreamCommand', request_serializer=parallel__gripper__pb2.ParallelGripperCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.Audit = channel.unary_unary( '/component.parallel_gripper.GripperService/Audit', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=parallel__gripper__pb2.ParallelGripperStatus.FromString, - ) + _registered_method=True) self.HeartBeat = channel.unary_unary( '/component.parallel_gripper.GripperService/HeartBeat', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.Restart = channel.unary_unary( '/component.parallel_gripper.GripperService/Restart', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) class GripperServiceServicer(object): @@ -156,6 +176,7 @@ def add_GripperServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'component.parallel_gripper.GripperService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) + server.add_registered_method_handlers('component.parallel_gripper.GripperService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -173,11 +194,21 @@ def GetAllParallelGripper(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.parallel_gripper.GripperService/GetAllParallelGripper', + return grpc.experimental.unary_unary( + request, + target, + '/component.parallel_gripper.GripperService/GetAllParallelGripper', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, parallel__gripper__pb2.ListOfParallelGripperInfo.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetState(request, @@ -190,11 +221,21 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.parallel_gripper.GripperService/GetState', + return grpc.experimental.unary_unary( + request, + target, + '/component.parallel_gripper.GripperService/GetState', parallel__gripper__pb2.ParallelGripperStateRequest.SerializeToString, parallel__gripper__pb2.ParallelGripperState.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def StreamState(request, @@ -207,11 +248,21 @@ def StreamState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_stream(request, target, '/component.parallel_gripper.GripperService/StreamState', + return grpc.experimental.unary_stream( + request, + target, + '/component.parallel_gripper.GripperService/StreamState', parallel__gripper__pb2.ParallelGripperStreamStateRequest.SerializeToString, parallel__gripper__pb2.ParallelGripperState.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SendCommand(request, @@ -224,11 +275,21 @@ def SendCommand(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.parallel_gripper.GripperService/SendCommand', + return grpc.experimental.unary_unary( + request, + target, + '/component.parallel_gripper.GripperService/SendCommand', parallel__gripper__pb2.ParallelGripperCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def StreamCommand(request_iterator, @@ -241,11 +302,21 @@ def StreamCommand(request_iterator, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.stream_unary(request_iterator, target, '/component.parallel_gripper.GripperService/StreamCommand', + return grpc.experimental.stream_unary( + request_iterator, + target, + '/component.parallel_gripper.GripperService/StreamCommand', parallel__gripper__pb2.ParallelGripperCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Audit(request, @@ -258,11 +329,21 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.parallel_gripper.GripperService/Audit', + return grpc.experimental.unary_unary( + request, + target, + '/component.parallel_gripper.GripperService/Audit', component__pb2.ComponentId.SerializeToString, parallel__gripper__pb2.ParallelGripperStatus.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def HeartBeat(request, @@ -275,11 +356,21 @@ def HeartBeat(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.parallel_gripper.GripperService/HeartBeat', + return grpc.experimental.unary_unary( + request, + target, + '/component.parallel_gripper.GripperService/HeartBeat', component__pb2.ComponentId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Restart(request, @@ -292,8 +383,18 @@ def Restart(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.parallel_gripper.GripperService/Restart', + return grpc.experimental.unary_unary( + request, + target, + '/component.parallel_gripper.GripperService/Restart', component__pb2.ComponentId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) diff --git a/python/reachy2_sdk_api/parallel_gripper_pb2_grpc.pyi b/python/reachy2_sdk_api/parallel_gripper_pb2_grpc.pyi index de751b9..cc8929b 100644 --- a/python/reachy2_sdk_api/parallel_gripper_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/parallel_gripper_pb2_grpc.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import component_pb2 @@ -11,12 +12,11 @@ import grpc.aio import parallel_gripper_pb2 import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... class GripperServiceStub: @@ -25,30 +25,37 @@ class GripperServiceStub: google.protobuf.empty_pb2.Empty, parallel_gripper_pb2.ListOfParallelGripperInfo, ] + GetState: grpc.UnaryUnaryMultiCallable[ parallel_gripper_pb2.ParallelGripperStateRequest, parallel_gripper_pb2.ParallelGripperState, ] + StreamState: grpc.UnaryStreamMultiCallable[ parallel_gripper_pb2.ParallelGripperStreamStateRequest, parallel_gripper_pb2.ParallelGripperState, ] + SendCommand: grpc.UnaryUnaryMultiCallable[ parallel_gripper_pb2.ParallelGripperCommand, google.protobuf.empty_pb2.Empty, ] + StreamCommand: grpc.StreamUnaryMultiCallable[ parallel_gripper_pb2.ParallelGripperCommand, google.protobuf.empty_pb2.Empty, ] + Audit: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, parallel_gripper_pb2.ParallelGripperStatus, ] + HeartBeat: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, ] + Restart: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, @@ -59,30 +66,37 @@ class GripperServiceAsyncStub: google.protobuf.empty_pb2.Empty, parallel_gripper_pb2.ListOfParallelGripperInfo, ] + GetState: grpc.aio.UnaryUnaryMultiCallable[ parallel_gripper_pb2.ParallelGripperStateRequest, parallel_gripper_pb2.ParallelGripperState, ] + StreamState: grpc.aio.UnaryStreamMultiCallable[ parallel_gripper_pb2.ParallelGripperStreamStateRequest, parallel_gripper_pb2.ParallelGripperState, ] + SendCommand: grpc.aio.UnaryUnaryMultiCallable[ parallel_gripper_pb2.ParallelGripperCommand, google.protobuf.empty_pb2.Empty, ] + StreamCommand: grpc.aio.StreamUnaryMultiCallable[ parallel_gripper_pb2.ParallelGripperCommand, google.protobuf.empty_pb2.Empty, ] + Audit: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, parallel_gripper_pb2.ParallelGripperStatus, ] + HeartBeat: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, ] + Restart: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, @@ -95,42 +109,49 @@ class GripperServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[parallel_gripper_pb2.ListOfParallelGripperInfo, collections.abc.Awaitable[parallel_gripper_pb2.ListOfParallelGripperInfo]]: ... + @abc.abstractmethod def GetState( self, request: parallel_gripper_pb2.ParallelGripperStateRequest, context: _ServicerContext, ) -> typing.Union[parallel_gripper_pb2.ParallelGripperState, collections.abc.Awaitable[parallel_gripper_pb2.ParallelGripperState]]: ... + @abc.abstractmethod def StreamState( self, request: parallel_gripper_pb2.ParallelGripperStreamStateRequest, context: _ServicerContext, ) -> typing.Union[collections.abc.Iterator[parallel_gripper_pb2.ParallelGripperState], collections.abc.AsyncIterator[parallel_gripper_pb2.ParallelGripperState]]: ... + @abc.abstractmethod def SendCommand( self, request: parallel_gripper_pb2.ParallelGripperCommand, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def StreamCommand( self, request_iterator: _MaybeAsyncIterator[parallel_gripper_pb2.ParallelGripperCommand], context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def Audit( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[parallel_gripper_pb2.ParallelGripperStatus, collections.abc.Awaitable[parallel_gripper_pb2.ParallelGripperStatus]]: ... + @abc.abstractmethod def HeartBeat( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def Restart( self, diff --git a/python/reachy2_sdk_api/part_pb2.py b/python/reachy2_sdk_api/part_pb2.py index 40b1579..8f3402d 100644 --- a/python/reachy2_sdk_api/part_pb2.py +++ b/python/reachy2_sdk_api/part_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: part.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'part.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -18,8 +29,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'part_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_PARTID']._serialized_start=27 _globals['_PARTID']._serialized_end=61 _globals['_PARTINFO']._serialized_start=63 diff --git a/python/reachy2_sdk_api/part_pb2.pyi b/python/reachy2_sdk_api/part_pb2.pyi index 7a025cb..fa4bb94 100644 --- a/python/reachy2_sdk_api/part_pb2.pyi +++ b/python/reachy2_sdk_api/part_pb2.pyi @@ -2,19 +2,15 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import builtins import google.protobuf.descriptor import google.protobuf.message -import sys - -if sys.version_info >= (3, 8): - import typing as typing_extensions -else: - import typing_extensions +import typing DESCRIPTOR: google.protobuf.descriptor.FileDescriptor -@typing_extensions.final +@typing.final class PartId(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -28,11 +24,11 @@ class PartId(google.protobuf.message.Message): id: builtins.int = ..., name: builtins.str = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "name", b"name"]) -> None: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "name", b"name"]) -> None: ... global___PartId = PartId -@typing_extensions.final +@typing.final class PartInfo(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -49,6 +45,6 @@ class PartInfo(google.protobuf.message.Message): version_hard: builtins.str = ..., version_soft: builtins.str = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["serial_number", b"serial_number", "version_hard", b"version_hard", "version_soft", b"version_soft"]) -> None: ... + def ClearField(self, field_name: typing.Literal["serial_number", b"serial_number", "version_hard", b"version_hard", "version_soft", b"version_soft"]) -> None: ... global___PartInfo = PartInfo diff --git a/python/reachy2_sdk_api/part_pb2_grpc.py b/python/reachy2_sdk_api/part_pb2_grpc.py index 2daafff..5a2ab5d 100644 --- a/python/reachy2_sdk_api/part_pb2_grpc.py +++ b/python/reachy2_sdk_api/part_pb2_grpc.py @@ -1,4 +1,24 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings + +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in part_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/python/reachy2_sdk_api/part_pb2_grpc.pyi b/python/reachy2_sdk_api/part_pb2_grpc.pyi index b13382f..a6a9cff 100644 --- a/python/reachy2_sdk_api/part_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/part_pb2_grpc.pyi @@ -2,16 +2,16 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import grpc import grpc.aio import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... diff --git a/python/reachy2_sdk_api/reachy_pb2.py b/python/reachy2_sdk_api/reachy_pb2.py index 1612b39..26e1f4e 100644 --- a/python/reachy2_sdk_api/reachy_pb2.py +++ b/python/reachy2_sdk_api/reachy_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: reachy.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'reachy.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -25,8 +36,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'reachy_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_REACHYCOREMODE']._serialized_start=2202 _globals['_REACHYCOREMODE']._serialized_end=2272 _globals['_REACHY']._serialized_start=163 diff --git a/python/reachy2_sdk_api/reachy_pb2.pyi b/python/reachy2_sdk_api/reachy_pb2.pyi index af7052b..41d39a5 100644 --- a/python/reachy2_sdk_api/reachy_pb2.pyi +++ b/python/reachy2_sdk_api/reachy_pb2.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import arm_pb2 import builtins import google.protobuf.descriptor @@ -43,7 +44,7 @@ GAZEBO: ReachyCoreMode.ValueType # 3 MUJOCO: ReachyCoreMode.ValueType # 4 global___ReachyCoreMode = ReachyCoreMode -@typing_extensions.final +@typing.final class Reachy(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -87,12 +88,12 @@ class Reachy(google.protobuf.message.Message): tripod: tripod_pb2.Tripod | None = ..., info: global___ReachyInfo | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["head", b"head", "id", b"id", "info", b"info", "l_arm", b"l_arm", "l_hand", b"l_hand", "mobile_base", b"mobile_base", "r_arm", b"r_arm", "r_hand", b"r_hand", "tripod", b"tripod"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["head", b"head", "id", b"id", "info", b"info", "l_arm", b"l_arm", "l_hand", b"l_hand", "mobile_base", b"mobile_base", "r_arm", b"r_arm", "r_hand", b"r_hand", "tripod", b"tripod"]) -> None: ... + def HasField(self, field_name: typing.Literal["head", b"head", "id", b"id", "info", b"info", "l_arm", b"l_arm", "l_hand", b"l_hand", "mobile_base", b"mobile_base", "r_arm", b"r_arm", "r_hand", b"r_hand", "tripod", b"tripod"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["head", b"head", "id", b"id", "info", b"info", "l_arm", b"l_arm", "l_hand", b"l_hand", "mobile_base", b"mobile_base", "r_arm", b"r_arm", "r_hand", b"r_hand", "tripod", b"tripod"]) -> None: ... global___Reachy = Reachy -@typing_extensions.final +@typing.final class ReachyId(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -106,11 +107,11 @@ class ReachyId(google.protobuf.message.Message): id: builtins.int = ..., name: builtins.str = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "name", b"name"]) -> None: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "name", b"name"]) -> None: ... global___ReachyId = ReachyId -@typing_extensions.final +@typing.final class ReachyInfo(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -133,11 +134,11 @@ class ReachyInfo(google.protobuf.message.Message): api_version: builtins.str = ..., core_mode: global___ReachyCoreMode.ValueType = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["api_version", b"api_version", "core_mode", b"core_mode", "serial_number", b"serial_number", "version_hard", b"version_hard", "version_soft", b"version_soft"]) -> None: ... + def ClearField(self, field_name: typing.Literal["api_version", b"api_version", "core_mode", b"core_mode", "serial_number", b"serial_number", "version_hard", b"version_hard", "version_soft", b"version_soft"]) -> None: ... global___ReachyInfo = ReachyInfo -@typing_extensions.final +@typing.final class ReachyState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -181,12 +182,12 @@ class ReachyState(google.protobuf.message.Message): mobile_base_state: mobile_base_utility_pb2.MobileBaseState | None = ..., tripod_state: tripod_pb2.TripodState | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["head_state", b"head_state", "id", b"id", "l_arm_state", b"l_arm_state", "l_hand_state", b"l_hand_state", "mobile_base_state", b"mobile_base_state", "r_arm_state", b"r_arm_state", "r_hand_state", b"r_hand_state", "timestamp", b"timestamp", "tripod_state", b"tripod_state"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["head_state", b"head_state", "id", b"id", "l_arm_state", b"l_arm_state", "l_hand_state", b"l_hand_state", "mobile_base_state", b"mobile_base_state", "r_arm_state", b"r_arm_state", "r_hand_state", b"r_hand_state", "timestamp", b"timestamp", "tripod_state", b"tripod_state"]) -> None: ... + def HasField(self, field_name: typing.Literal["head_state", b"head_state", "id", b"id", "l_arm_state", b"l_arm_state", "l_hand_state", b"l_hand_state", "mobile_base_state", b"mobile_base_state", "r_arm_state", b"r_arm_state", "r_hand_state", b"r_hand_state", "timestamp", b"timestamp", "tripod_state", b"tripod_state"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["head_state", b"head_state", "id", b"id", "l_arm_state", b"l_arm_state", "l_hand_state", b"l_hand_state", "mobile_base_state", b"mobile_base_state", "r_arm_state", b"r_arm_state", "r_hand_state", b"r_hand_state", "timestamp", b"timestamp", "tripod_state", b"tripod_state"]) -> None: ... global___ReachyState = ReachyState -@typing_extensions.final +@typing.final class ReachyStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -230,52 +231,52 @@ class ReachyStatus(google.protobuf.message.Message): mobile_base_status: mobile_base_utility_pb2.MobileBaseStatus | None = ..., tripod_status: tripod_pb2.TripodStatus | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["head_status", b"head_status", "id", b"id", "l_arm_status", b"l_arm_status", "l_hand_status", b"l_hand_status", "mobile_base_status", b"mobile_base_status", "r_arm_status", b"r_arm_status", "r_hand_status", b"r_hand_status", "timestamp", b"timestamp", "tripod_status", b"tripod_status"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["head_status", b"head_status", "id", b"id", "l_arm_status", b"l_arm_status", "l_hand_status", b"l_hand_status", "mobile_base_status", b"mobile_base_status", "r_arm_status", b"r_arm_status", "r_hand_status", b"r_hand_status", "timestamp", b"timestamp", "tripod_status", b"tripod_status"]) -> None: ... + def HasField(self, field_name: typing.Literal["head_status", b"head_status", "id", b"id", "l_arm_status", b"l_arm_status", "l_hand_status", b"l_hand_status", "mobile_base_status", b"mobile_base_status", "r_arm_status", b"r_arm_status", "r_hand_status", b"r_hand_status", "timestamp", b"timestamp", "tripod_status", b"tripod_status"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["head_status", b"head_status", "id", b"id", "l_arm_status", b"l_arm_status", "l_hand_status", b"l_hand_status", "mobile_base_status", b"mobile_base_status", "r_arm_status", b"r_arm_status", "r_hand_status", b"r_hand_status", "timestamp", b"timestamp", "tripod_status", b"tripod_status"]) -> None: ... global___ReachyStatus = ReachyStatus -@typing_extensions.final +@typing.final class ReachyStreamStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int PUBLISH_FREQUENCY_FIELD_NUMBER: builtins.int + publish_frequency: builtins.float @property def id(self) -> global___ReachyId: ... - publish_frequency: builtins.float def __init__( self, *, id: global___ReachyId | None = ..., publish_frequency: builtins.float = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "publish_frequency", b"publish_frequency"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "publish_frequency", b"publish_frequency"]) -> None: ... global___ReachyStreamStateRequest = ReachyStreamStateRequest -@typing_extensions.final +@typing.final class ReachyStreamAuditRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int PUBLISH_FREQUENCY_FIELD_NUMBER: builtins.int + publish_frequency: builtins.float @property def id(self) -> global___ReachyId: ... - publish_frequency: builtins.float def __init__( self, *, id: global___ReachyId | None = ..., publish_frequency: builtins.float = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "publish_frequency", b"publish_frequency"]) -> None: ... + def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["id", b"id", "publish_frequency", b"publish_frequency"]) -> None: ... global___ReachyStreamAuditRequest = ReachyStreamAuditRequest -@typing_extensions.final +@typing.final class ReachyComponentsCommands(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -303,7 +304,7 @@ class ReachyComponentsCommands(google.protobuf.message.Message): l_hand_commands: hand_pb2.HandPositionRequest | None = ..., r_hand_commands: hand_pb2.HandPositionRequest | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["head_commands", b"head_commands", "l_arm_commands", b"l_arm_commands", "l_hand_commands", b"l_hand_commands", "r_arm_commands", b"r_arm_commands", "r_hand_commands", b"r_hand_commands"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["head_commands", b"head_commands", "l_arm_commands", b"l_arm_commands", "l_hand_commands", b"l_hand_commands", "r_arm_commands", b"r_arm_commands", "r_hand_commands", b"r_hand_commands"]) -> None: ... + def HasField(self, field_name: typing.Literal["head_commands", b"head_commands", "l_arm_commands", b"l_arm_commands", "l_hand_commands", b"l_hand_commands", "r_arm_commands", b"r_arm_commands", "r_hand_commands", b"r_hand_commands"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["head_commands", b"head_commands", "l_arm_commands", b"l_arm_commands", "l_hand_commands", b"l_hand_commands", "r_arm_commands", b"r_arm_commands", "r_hand_commands", b"r_hand_commands"]) -> None: ... global___ReachyComponentsCommands = ReachyComponentsCommands diff --git a/python/reachy2_sdk_api/reachy_pb2_grpc.py b/python/reachy2_sdk_api/reachy_pb2_grpc.py index dca5c43..1f7b3c6 100644 --- a/python/reachy2_sdk_api/reachy_pb2_grpc.py +++ b/python/reachy2_sdk_api/reachy_pb2_grpc.py @@ -1,10 +1,30 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import reachy_pb2 as reachy__pb2 +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in reachy_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) + class ReachyServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -19,32 +39,32 @@ def __init__(self, channel): '/reachy.ReachyService/GetReachy', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=reachy__pb2.Reachy.FromString, - ) + _registered_method=True) self.GetReachyState = channel.unary_unary( '/reachy.ReachyService/GetReachyState', request_serializer=reachy__pb2.ReachyId.SerializeToString, response_deserializer=reachy__pb2.ReachyState.FromString, - ) + _registered_method=True) self.StreamReachyState = channel.unary_stream( '/reachy.ReachyService/StreamReachyState', request_serializer=reachy__pb2.ReachyStreamStateRequest.SerializeToString, response_deserializer=reachy__pb2.ReachyState.FromString, - ) + _registered_method=True) self.SendComponentsCommands = channel.unary_unary( '/reachy.ReachyService/SendComponentsCommands', request_serializer=reachy__pb2.ReachyComponentsCommands.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.Audit = channel.unary_unary( '/reachy.ReachyService/Audit', request_serializer=reachy__pb2.ReachyId.SerializeToString, response_deserializer=reachy__pb2.ReachyStatus.FromString, - ) + _registered_method=True) self.StreamAudit = channel.unary_stream( '/reachy.ReachyService/StreamAudit', request_serializer=reachy__pb2.ReachyStreamAuditRequest.SerializeToString, response_deserializer=reachy__pb2.ReachyStatus.FromString, - ) + _registered_method=True) class ReachyServiceServicer(object): @@ -123,6 +143,7 @@ def add_ReachyServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.ReachyService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) + server.add_registered_method_handlers('reachy.ReachyService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -140,11 +161,21 @@ def GetReachy(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.ReachyService/GetReachy', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.ReachyService/GetReachy', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, reachy__pb2.Reachy.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetReachyState(request, @@ -157,11 +188,21 @@ def GetReachyState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.ReachyService/GetReachyState', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.ReachyService/GetReachyState', reachy__pb2.ReachyId.SerializeToString, reachy__pb2.ReachyState.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def StreamReachyState(request, @@ -174,11 +215,21 @@ def StreamReachyState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_stream(request, target, '/reachy.ReachyService/StreamReachyState', + return grpc.experimental.unary_stream( + request, + target, + '/reachy.ReachyService/StreamReachyState', reachy__pb2.ReachyStreamStateRequest.SerializeToString, reachy__pb2.ReachyState.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SendComponentsCommands(request, @@ -191,11 +242,21 @@ def SendComponentsCommands(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.ReachyService/SendComponentsCommands', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.ReachyService/SendComponentsCommands', reachy__pb2.ReachyComponentsCommands.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def Audit(request, @@ -208,11 +269,21 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.ReachyService/Audit', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.ReachyService/Audit', reachy__pb2.ReachyId.SerializeToString, reachy__pb2.ReachyStatus.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def StreamAudit(request, @@ -225,8 +296,18 @@ def StreamAudit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_stream(request, target, '/reachy.ReachyService/StreamAudit', + return grpc.experimental.unary_stream( + request, + target, + '/reachy.ReachyService/StreamAudit', reachy__pb2.ReachyStreamAuditRequest.SerializeToString, reachy__pb2.ReachyStatus.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) diff --git a/python/reachy2_sdk_api/reachy_pb2_grpc.pyi b/python/reachy2_sdk_api/reachy_pb2_grpc.pyi index 6b48016..6c61977 100644 --- a/python/reachy2_sdk_api/reachy_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/reachy_pb2_grpc.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import google.protobuf.empty_pb2 @@ -10,12 +11,11 @@ import grpc.aio import reachy_pb2 import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... class ReachyServiceStub: @@ -24,22 +24,27 @@ class ReachyServiceStub: google.protobuf.empty_pb2.Empty, reachy_pb2.Reachy, ] + GetReachyState: grpc.UnaryUnaryMultiCallable[ reachy_pb2.ReachyId, reachy_pb2.ReachyState, ] + StreamReachyState: grpc.UnaryStreamMultiCallable[ reachy_pb2.ReachyStreamStateRequest, reachy_pb2.ReachyState, ] + SendComponentsCommands: grpc.UnaryUnaryMultiCallable[ reachy_pb2.ReachyComponentsCommands, google.protobuf.empty_pb2.Empty, ] + Audit: grpc.UnaryUnaryMultiCallable[ reachy_pb2.ReachyId, reachy_pb2.ReachyStatus, ] + StreamAudit: grpc.UnaryStreamMultiCallable[ reachy_pb2.ReachyStreamAuditRequest, reachy_pb2.ReachyStatus, @@ -50,22 +55,27 @@ class ReachyServiceAsyncStub: google.protobuf.empty_pb2.Empty, reachy_pb2.Reachy, ] + GetReachyState: grpc.aio.UnaryUnaryMultiCallable[ reachy_pb2.ReachyId, reachy_pb2.ReachyState, ] + StreamReachyState: grpc.aio.UnaryStreamMultiCallable[ reachy_pb2.ReachyStreamStateRequest, reachy_pb2.ReachyState, ] + SendComponentsCommands: grpc.aio.UnaryUnaryMultiCallable[ reachy_pb2.ReachyComponentsCommands, google.protobuf.empty_pb2.Empty, ] + Audit: grpc.aio.UnaryUnaryMultiCallable[ reachy_pb2.ReachyId, reachy_pb2.ReachyStatus, ] + StreamAudit: grpc.aio.UnaryStreamMultiCallable[ reachy_pb2.ReachyStreamAuditRequest, reachy_pb2.ReachyStatus, @@ -78,30 +88,35 @@ class ReachyServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[reachy_pb2.Reachy, collections.abc.Awaitable[reachy_pb2.Reachy]]: ... + @abc.abstractmethod def GetReachyState( self, request: reachy_pb2.ReachyId, context: _ServicerContext, ) -> typing.Union[reachy_pb2.ReachyState, collections.abc.Awaitable[reachy_pb2.ReachyState]]: ... + @abc.abstractmethod def StreamReachyState( self, request: reachy_pb2.ReachyStreamStateRequest, context: _ServicerContext, ) -> typing.Union[collections.abc.Iterator[reachy_pb2.ReachyState], collections.abc.AsyncIterator[reachy_pb2.ReachyState]]: ... + @abc.abstractmethod def SendComponentsCommands( self, request: reachy_pb2.ReachyComponentsCommands, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def Audit( self, request: reachy_pb2.ReachyId, context: _ServicerContext, ) -> typing.Union[reachy_pb2.ReachyStatus, collections.abc.Awaitable[reachy_pb2.ReachyStatus]]: ... + @abc.abstractmethod def StreamAudit( self, diff --git a/python/reachy2_sdk_api/tripod_pb2.py b/python/reachy2_sdk_api/tripod_pb2.py index aeb34d9..fbf3d8d 100644 --- a/python/reachy2_sdk_api/tripod_pb2.py +++ b/python/reachy2_sdk_api/tripod_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: tripod.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'tripod.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -23,8 +34,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'tripod_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_TRIPODAXIS']._serialized_start=966 _globals['_TRIPODAXIS']._serialized_end=990 _globals['_TRIPOD']._serialized_start=140 diff --git a/python/reachy2_sdk_api/tripod_pb2.pyi b/python/reachy2_sdk_api/tripod_pb2.pyi index a604d0e..98cb978 100644 --- a/python/reachy2_sdk_api/tripod_pb2.pyi +++ b/python/reachy2_sdk_api/tripod_pb2.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import builtins import collections.abc import component_pb2 @@ -35,7 +36,7 @@ class TripodAxis(_TripodAxis, metaclass=_TripodAxisEnumTypeWrapper): ... HEIGHT: TripodAxis.ValueType # 0 global___TripodAxis = TripodAxis -@typing_extensions.final +@typing.final class Tripod(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -55,12 +56,12 @@ class Tripod(google.protobuf.message.Message): description: global___TripodDescription | None = ..., info: part_pb2.PartInfo | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> None: ... + def HasField(self, field_name: typing.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> None: ... global___Tripod = Tripod -@typing_extensions.final +@typing.final class TripodDescription(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -72,12 +73,12 @@ class TripodDescription(google.protobuf.message.Message): *, height_joint: global___TripodJoint | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["height_joint", b"height_joint"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["height_joint", b"height_joint"]) -> None: ... + def HasField(self, field_name: typing.Literal["height_joint", b"height_joint"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["height_joint", b"height_joint"]) -> None: ... global___TripodDescription = TripodDescription -@typing_extensions.final +@typing.final class TripodJoint(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -88,11 +89,11 @@ class TripodJoint(google.protobuf.message.Message): *, axis: global___TripodAxis.ValueType = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["axis", b"axis"]) -> None: ... + def ClearField(self, field_name: typing.Literal["axis", b"axis"]) -> None: ... global___TripodJoint = TripodJoint -@typing_extensions.final +@typing.final class TripodJointState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -112,12 +113,12 @@ class TripodJointState(google.protobuf.message.Message): present_position: google.protobuf.wrappers_pb2.FloatValue | None = ..., goal_position: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["goal_position", b"goal_position", "joint", b"joint", "present_position", b"present_position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["goal_position", b"goal_position", "joint", b"joint", "present_position", b"present_position"]) -> None: ... + def HasField(self, field_name: typing.Literal["goal_position", b"goal_position", "joint", b"joint", "present_position", b"present_position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["goal_position", b"goal_position", "joint", b"joint", "present_position", b"present_position"]) -> None: ... global___TripodJointState = TripodJointState -@typing_extensions.final +@typing.final class TripodState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -133,12 +134,12 @@ class TripodState(google.protobuf.message.Message): part_id: part_pb2.PartId | None = ..., height: global___TripodJointState | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["height", b"height", "part_id", b"part_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["height", b"height", "part_id", b"part_id"]) -> None: ... + def HasField(self, field_name: typing.Literal["height", b"height", "part_id", b"part_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["height", b"height", "part_id", b"part_id"]) -> None: ... global___TripodState = TripodState -@typing_extensions.final +@typing.final class TripodStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -154,12 +155,12 @@ class TripodStatus(google.protobuf.message.Message): part_id: part_pb2.PartId | None = ..., errors: collections.abc.Iterable[error_pb2.Error] | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["part_id", b"part_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["errors", b"errors", "part_id", b"part_id"]) -> None: ... + def HasField(self, field_name: typing.Literal["part_id", b"part_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["errors", b"errors", "part_id", b"part_id"]) -> None: ... global___TripodStatus = TripodStatus -@typing_extensions.final +@typing.final class TripodCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -175,12 +176,12 @@ class TripodCommand(google.protobuf.message.Message): part_id: part_pb2.PartId | None = ..., height_position: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["height_position", b"height_position", "part_id", b"part_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["height_position", b"height_position", "part_id", b"part_id"]) -> None: ... + def HasField(self, field_name: typing.Literal["height_position", b"height_position", "part_id", b"part_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["height_position", b"height_position", "part_id", b"part_id"]) -> None: ... global___TripodCommand = TripodCommand -@typing_extensions.final +@typing.final class TripodJointsLimits(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -192,7 +193,7 @@ class TripodJointsLimits(google.protobuf.message.Message): *, height_limit: component_pb2.JointLimits | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["height_limit", b"height_limit"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["height_limit", b"height_limit"]) -> None: ... + def HasField(self, field_name: typing.Literal["height_limit", b"height_limit"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["height_limit", b"height_limit"]) -> None: ... global___TripodJointsLimits = TripodJointsLimits diff --git a/python/reachy2_sdk_api/tripod_pb2_grpc.py b/python/reachy2_sdk_api/tripod_pb2_grpc.py index 97e5b35..c4f6337 100644 --- a/python/reachy2_sdk_api/tripod_pb2_grpc.py +++ b/python/reachy2_sdk_api/tripod_pb2_grpc.py @@ -1,11 +1,31 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import part_pb2 as part__pb2 import tripod_pb2 as tripod__pb2 +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in tripod_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) + class TripodServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -20,27 +40,27 @@ def __init__(self, channel): '/reachy.part.tripod.TripodService/GetTripod', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=tripod__pb2.Tripod.FromString, - ) + _registered_method=True) self.GetState = channel.unary_unary( '/reachy.part.tripod.TripodService/GetState', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=tripod__pb2.TripodState.FromString, - ) + _registered_method=True) self.SendCommand = channel.unary_unary( '/reachy.part.tripod.TripodService/SendCommand', request_serializer=tripod__pb2.TripodCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.ResetDefaultValues = channel.unary_unary( '/reachy.part.tripod.TripodService/ResetDefaultValues', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - ) + _registered_method=True) self.GetJointsLimits = channel.unary_unary( '/reachy.part.tripod.TripodService/GetJointsLimits', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=tripod__pb2.TripodJointsLimits.FromString, - ) + _registered_method=True) class TripodServiceServicer(object): @@ -108,6 +128,7 @@ def add_TripodServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.part.tripod.TripodService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) + server.add_registered_method_handlers('reachy.part.tripod.TripodService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -125,11 +146,21 @@ def GetTripod(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.tripod.TripodService/GetTripod', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.tripod.TripodService/GetTripod', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, tripod__pb2.Tripod.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetState(request, @@ -142,11 +173,21 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.tripod.TripodService/GetState', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.tripod.TripodService/GetState', part__pb2.PartId.SerializeToString, tripod__pb2.TripodState.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def SendCommand(request, @@ -159,11 +200,21 @@ def SendCommand(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.tripod.TripodService/SendCommand', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.tripod.TripodService/SendCommand', tripod__pb2.TripodCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def ResetDefaultValues(request, @@ -176,11 +227,21 @@ def ResetDefaultValues(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.tripod.TripodService/ResetDefaultValues', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.tripod.TripodService/ResetDefaultValues', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetJointsLimits(request, @@ -193,8 +254,18 @@ def GetJointsLimits(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/reachy.part.tripod.TripodService/GetJointsLimits', + return grpc.experimental.unary_unary( + request, + target, + '/reachy.part.tripod.TripodService/GetJointsLimits', part__pb2.PartId.SerializeToString, tripod__pb2.TripodJointsLimits.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) diff --git a/python/reachy2_sdk_api/tripod_pb2_grpc.pyi b/python/reachy2_sdk_api/tripod_pb2_grpc.pyi index 054cab4..d6a5b2d 100644 --- a/python/reachy2_sdk_api/tripod_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/tripod_pb2_grpc.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import google.protobuf.empty_pb2 @@ -11,12 +12,11 @@ import part_pb2 import tripod_pb2 import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... class TripodServiceStub: @@ -25,18 +25,22 @@ class TripodServiceStub: google.protobuf.empty_pb2.Empty, tripod_pb2.Tripod, ] + GetState: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, tripod_pb2.TripodState, ] + SendCommand: grpc.UnaryUnaryMultiCallable[ tripod_pb2.TripodCommand, google.protobuf.empty_pb2.Empty, ] + ResetDefaultValues: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + GetJointsLimits: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, tripod_pb2.TripodJointsLimits, @@ -47,18 +51,22 @@ class TripodServiceAsyncStub: google.protobuf.empty_pb2.Empty, tripod_pb2.Tripod, ] + GetState: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, tripod_pb2.TripodState, ] + SendCommand: grpc.aio.UnaryUnaryMultiCallable[ tripod_pb2.TripodCommand, google.protobuf.empty_pb2.Empty, ] + ResetDefaultValues: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] + GetJointsLimits: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, tripod_pb2.TripodJointsLimits, @@ -71,24 +79,28 @@ class TripodServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[tripod_pb2.Tripod, collections.abc.Awaitable[tripod_pb2.Tripod]]: ... + @abc.abstractmethod def GetState( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[tripod_pb2.TripodState, collections.abc.Awaitable[tripod_pb2.TripodState]]: ... + @abc.abstractmethod def SendCommand( self, request: tripod_pb2.TripodCommand, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def ResetDefaultValues( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... + @abc.abstractmethod def GetJointsLimits( self, diff --git a/python/reachy2_sdk_api/video_pb2.py b/python/reachy2_sdk_api/video_pb2.py index deeae06..3927b81 100644 --- a/python/reachy2_sdk_api/video_pb2.py +++ b/python/reachy2_sdk_api/video_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: video.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'video.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -23,8 +34,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'video_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_VIEW']._serialized_start=923 _globals['_VIEW']._serialized_end=961 _globals['_VIDEOACK']._serialized_start=157 diff --git a/python/reachy2_sdk_api/video_pb2.pyi b/python/reachy2_sdk_api/video_pb2.pyi index 981ccd1..6d5b9b0 100644 --- a/python/reachy2_sdk_api/video_pb2.pyi +++ b/python/reachy2_sdk_api/video_pb2.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import builtins import collections.abc import error_pb2 @@ -39,7 +40,7 @@ RIGHT: View.ValueType # 1 DEPTH: View.ValueType # 2 global___View = View -@typing_extensions.final +@typing.final class VideoAck(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -55,12 +56,12 @@ class VideoAck(google.protobuf.message.Message): success: google.protobuf.wrappers_pb2.BoolValue | None = ..., error: error_pb2.Error | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["error", b"error", "success", b"success"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["error", b"error", "success", b"success"]) -> None: ... + def HasField(self, field_name: typing.Literal["error", b"error", "success", b"success"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["error", b"error", "success", b"success"]) -> None: ... global___VideoAck = VideoAck -@typing_extensions.final +@typing.final class CameraFeatures(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -77,11 +78,11 @@ class CameraFeatures(google.protobuf.message.Message): stereo: builtins.bool = ..., depth: builtins.bool = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["depth", b"depth", "name", b"name", "stereo", b"stereo"]) -> None: ... + def ClearField(self, field_name: typing.Literal["depth", b"depth", "name", b"name", "stereo", b"stereo"]) -> None: ... global___CameraFeatures = CameraFeatures -@typing_extensions.final +@typing.final class CameraParameters(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -114,11 +115,11 @@ class CameraParameters(google.protobuf.message.Message): R: collections.abc.Iterable[builtins.float] | None = ..., P: collections.abc.Iterable[builtins.float] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["D", b"D", "K", b"K", "P", b"P", "R", b"R", "distortion_model", b"distortion_model", "height", b"height", "width", b"width"]) -> None: ... + def ClearField(self, field_name: typing.Literal["D", b"D", "K", b"K", "P", b"P", "R", b"R", "distortion_model", b"distortion_model", "height", b"height", "width", b"width"]) -> None: ... global___CameraParameters = CameraParameters -@typing_extensions.final +@typing.final class CameraExtrinsics(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -130,12 +131,12 @@ class CameraExtrinsics(google.protobuf.message.Message): *, extrinsics: kinematics_pb2.Matrix4x4 | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["extrinsics", b"extrinsics"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["extrinsics", b"extrinsics"]) -> None: ... + def HasField(self, field_name: typing.Literal["extrinsics", b"extrinsics"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["extrinsics", b"extrinsics"]) -> None: ... global___CameraExtrinsics = CameraExtrinsics -@typing_extensions.final +@typing.final class ListOfCameraFeatures(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -147,31 +148,31 @@ class ListOfCameraFeatures(google.protobuf.message.Message): *, camera_feat: collections.abc.Iterable[global___CameraFeatures] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["camera_feat", b"camera_feat"]) -> None: ... + def ClearField(self, field_name: typing.Literal["camera_feat", b"camera_feat"]) -> None: ... global___ListOfCameraFeatures = ListOfCameraFeatures -@typing_extensions.final +@typing.final class Frame(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor TIMESTAMP_FIELD_NUMBER: builtins.int DATA_FIELD_NUMBER: builtins.int + data: builtins.bytes @property def timestamp(self) -> google.protobuf.timestamp_pb2.Timestamp: ... - data: builtins.bytes def __init__( self, *, timestamp: google.protobuf.timestamp_pb2.Timestamp | None = ..., data: builtins.bytes = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["timestamp", b"timestamp"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["data", b"data", "timestamp", b"timestamp"]) -> None: ... + def HasField(self, field_name: typing.Literal["timestamp", b"timestamp"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["data", b"data", "timestamp", b"timestamp"]) -> None: ... global___Frame = Frame -@typing_extensions.final +@typing.final class FrameRaw(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -182,14 +183,14 @@ class FrameRaw(google.protobuf.message.Message): ENCODING_FIELD_NUMBER: builtins.int STEP_FIELD_NUMBER: builtins.int ISBIGENDIAN_FIELD_NUMBER: builtins.int - @property - def timestamp(self) -> google.protobuf.timestamp_pb2.Timestamp: ... data: builtins.bytes height: builtins.int width: builtins.int encoding: builtins.str step: builtins.int isbigendian: builtins.bool + @property + def timestamp(self) -> google.protobuf.timestamp_pb2.Timestamp: ... def __init__( self, *, @@ -201,28 +202,28 @@ class FrameRaw(google.protobuf.message.Message): step: builtins.int = ..., isbigendian: builtins.bool = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["timestamp", b"timestamp"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["data", b"data", "encoding", b"encoding", "height", b"height", "isbigendian", b"isbigendian", "step", b"step", "timestamp", b"timestamp", "width", b"width"]) -> None: ... + def HasField(self, field_name: typing.Literal["timestamp", b"timestamp"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["data", b"data", "encoding", b"encoding", "height", b"height", "isbigendian", b"isbigendian", "step", b"step", "timestamp", b"timestamp", "width", b"width"]) -> None: ... global___FrameRaw = FrameRaw -@typing_extensions.final +@typing.final class ViewRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor CAMERA_FEAT_FIELD_NUMBER: builtins.int VIEW_FIELD_NUMBER: builtins.int + view: global___View.ValueType @property def camera_feat(self) -> global___CameraFeatures: ... - view: global___View.ValueType def __init__( self, *, camera_feat: global___CameraFeatures | None = ..., view: global___View.ValueType | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["_view", b"_view", "camera_feat", b"camera_feat", "view", b"view"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["_view", b"_view", "camera_feat", b"camera_feat", "view", b"view"]) -> None: ... - def WhichOneof(self, oneof_group: typing_extensions.Literal["_view", b"_view"]) -> typing_extensions.Literal["view"] | None: ... + def HasField(self, field_name: typing.Literal["_view", b"_view", "camera_feat", b"camera_feat", "view", b"view"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["_view", b"_view", "camera_feat", b"camera_feat", "view", b"view"]) -> None: ... + def WhichOneof(self, oneof_group: typing.Literal["_view", b"_view"]) -> typing.Literal["view"] | None: ... global___ViewRequest = ViewRequest diff --git a/python/reachy2_sdk_api/video_pb2_grpc.py b/python/reachy2_sdk_api/video_pb2_grpc.py index f302805..17574cf 100644 --- a/python/reachy2_sdk_api/video_pb2_grpc.py +++ b/python/reachy2_sdk_api/video_pb2_grpc.py @@ -1,10 +1,30 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import video_pb2 as video__pb2 +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in video_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) + class VideoServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -19,27 +39,27 @@ def __init__(self, channel): '/component.video.VideoService/GetAvailableCameras', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=video__pb2.ListOfCameraFeatures.FromString, - ) + _registered_method=True) self.GetFrame = channel.unary_unary( '/component.video.VideoService/GetFrame', request_serializer=video__pb2.ViewRequest.SerializeToString, response_deserializer=video__pb2.Frame.FromString, - ) + _registered_method=True) self.GetParameters = channel.unary_unary( '/component.video.VideoService/GetParameters', request_serializer=video__pb2.ViewRequest.SerializeToString, response_deserializer=video__pb2.CameraParameters.FromString, - ) + _registered_method=True) self.GetDepth = channel.unary_unary( '/component.video.VideoService/GetDepth', request_serializer=video__pb2.ViewRequest.SerializeToString, response_deserializer=video__pb2.FrameRaw.FromString, - ) + _registered_method=True) self.GetExtrinsics = channel.unary_unary( '/component.video.VideoService/GetExtrinsics', request_serializer=video__pb2.ViewRequest.SerializeToString, response_deserializer=video__pb2.CameraExtrinsics.FromString, - ) + _registered_method=True) class VideoServiceServicer(object): @@ -107,6 +127,7 @@ def add_VideoServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'component.video.VideoService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) + server.add_registered_method_handlers('component.video.VideoService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -124,11 +145,21 @@ def GetAvailableCameras(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.video.VideoService/GetAvailableCameras', + return grpc.experimental.unary_unary( + request, + target, + '/component.video.VideoService/GetAvailableCameras', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, video__pb2.ListOfCameraFeatures.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetFrame(request, @@ -141,11 +172,21 @@ def GetFrame(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.video.VideoService/GetFrame', + return grpc.experimental.unary_unary( + request, + target, + '/component.video.VideoService/GetFrame', video__pb2.ViewRequest.SerializeToString, video__pb2.Frame.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetParameters(request, @@ -158,11 +199,21 @@ def GetParameters(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.video.VideoService/GetParameters', + return grpc.experimental.unary_unary( + request, + target, + '/component.video.VideoService/GetParameters', video__pb2.ViewRequest.SerializeToString, video__pb2.CameraParameters.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetDepth(request, @@ -175,11 +226,21 @@ def GetDepth(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.video.VideoService/GetDepth', + return grpc.experimental.unary_unary( + request, + target, + '/component.video.VideoService/GetDepth', video__pb2.ViewRequest.SerializeToString, video__pb2.FrameRaw.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) @staticmethod def GetExtrinsics(request, @@ -192,8 +253,18 @@ def GetExtrinsics(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary(request, target, '/component.video.VideoService/GetExtrinsics', + return grpc.experimental.unary_unary( + request, + target, + '/component.video.VideoService/GetExtrinsics', video__pb2.ViewRequest.SerializeToString, video__pb2.CameraExtrinsics.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) diff --git a/python/reachy2_sdk_api/video_pb2_grpc.pyi b/python/reachy2_sdk_api/video_pb2_grpc.pyi index 8fc3111..7bffa32 100644 --- a/python/reachy2_sdk_api/video_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/video_pb2_grpc.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import google.protobuf.empty_pb2 @@ -10,12 +11,11 @@ import grpc.aio import typing import video_pb2 -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... class VideoServiceStub: @@ -24,18 +24,22 @@ class VideoServiceStub: google.protobuf.empty_pb2.Empty, video_pb2.ListOfCameraFeatures, ] + GetFrame: grpc.UnaryUnaryMultiCallable[ video_pb2.ViewRequest, video_pb2.Frame, ] + GetParameters: grpc.UnaryUnaryMultiCallable[ video_pb2.ViewRequest, video_pb2.CameraParameters, ] + GetDepth: grpc.UnaryUnaryMultiCallable[ video_pb2.ViewRequest, video_pb2.FrameRaw, ] + GetExtrinsics: grpc.UnaryUnaryMultiCallable[ video_pb2.ViewRequest, video_pb2.CameraExtrinsics, @@ -46,18 +50,22 @@ class VideoServiceAsyncStub: google.protobuf.empty_pb2.Empty, video_pb2.ListOfCameraFeatures, ] + GetFrame: grpc.aio.UnaryUnaryMultiCallable[ video_pb2.ViewRequest, video_pb2.Frame, ] + GetParameters: grpc.aio.UnaryUnaryMultiCallable[ video_pb2.ViewRequest, video_pb2.CameraParameters, ] + GetDepth: grpc.aio.UnaryUnaryMultiCallable[ video_pb2.ViewRequest, video_pb2.FrameRaw, ] + GetExtrinsics: grpc.aio.UnaryUnaryMultiCallable[ video_pb2.ViewRequest, video_pb2.CameraExtrinsics, @@ -70,24 +78,28 @@ class VideoServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[video_pb2.ListOfCameraFeatures, collections.abc.Awaitable[video_pb2.ListOfCameraFeatures]]: ... + @abc.abstractmethod def GetFrame( self, request: video_pb2.ViewRequest, context: _ServicerContext, ) -> typing.Union[video_pb2.Frame, collections.abc.Awaitable[video_pb2.Frame]]: ... + @abc.abstractmethod def GetParameters( self, request: video_pb2.ViewRequest, context: _ServicerContext, ) -> typing.Union[video_pb2.CameraParameters, collections.abc.Awaitable[video_pb2.CameraParameters]]: ... + @abc.abstractmethod def GetDepth( self, request: video_pb2.ViewRequest, context: _ServicerContext, ) -> typing.Union[video_pb2.FrameRaw, collections.abc.Awaitable[video_pb2.FrameRaw]]: ... + @abc.abstractmethod def GetExtrinsics( self, diff --git a/python/reachy2_sdk_api/webrtc_bridge_pb2.py b/python/reachy2_sdk_api/webrtc_bridge_pb2.py index 05ed651..01916db 100644 --- a/python/reachy2_sdk_api/webrtc_bridge_pb2.py +++ b/python/reachy2_sdk_api/webrtc_bridge_pb2.py @@ -1,11 +1,22 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! +# NO CHECKED-IN PROTOBUF GENCODE # source: webrtc_bridge.proto +# Protobuf Python Version: 5.29.0 """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, + 0, + '', + 'webrtc_bridge.proto' +) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -27,8 +38,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'webrtc_bridge_pb2', _globals) -if _descriptor._USE_C_DESCRIPTORS == False: - DESCRIPTOR._options = None +if not _descriptor._USE_C_DESCRIPTORS: + DESCRIPTOR._loaded_options = None _globals['_GETREACHY']._serialized_start=183 _globals['_GETREACHY']._serialized_end=194 _globals['_CONNECT']._serialized_start=196 diff --git a/python/reachy2_sdk_api/webrtc_bridge_pb2.pyi b/python/reachy2_sdk_api/webrtc_bridge_pb2.pyi index c26ddfc..99f99d8 100644 --- a/python/reachy2_sdk_api/webrtc_bridge_pb2.pyi +++ b/python/reachy2_sdk_api/webrtc_bridge_pb2.pyi @@ -2,6 +2,7 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import arm_pb2 import builtins import collections.abc @@ -16,16 +17,11 @@ import mobile_base_mobility_pb2 import mobile_base_utility_pb2 import part_pb2 import reachy_pb2 -import sys - -if sys.version_info >= (3, 8): - import typing as typing_extensions -else: - import typing_extensions +import typing DESCRIPTOR: google.protobuf.descriptor.FileDescriptor -@typing_extensions.final +@typing.final class GetReachy(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -35,17 +31,17 @@ class GetReachy(google.protobuf.message.Message): global___GetReachy = GetReachy -@typing_extensions.final +@typing.final class Connect(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor REACHY_ID_FIELD_NUMBER: builtins.int UPDATE_FREQUENCY_FIELD_NUMBER: builtins.int AUDIT_FREQUENCY_FIELD_NUMBER: builtins.int - @property - def reachy_id(self) -> reachy_pb2.ReachyId: ... update_frequency: builtins.float audit_frequency: builtins.float + @property + def reachy_id(self) -> reachy_pb2.ReachyId: ... def __init__( self, *, @@ -53,12 +49,12 @@ class Connect(google.protobuf.message.Message): update_frequency: builtins.float = ..., audit_frequency: builtins.float = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["reachy_id", b"reachy_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["audit_frequency", b"audit_frequency", "reachy_id", b"reachy_id", "update_frequency", b"update_frequency"]) -> None: ... + def HasField(self, field_name: typing.Literal["reachy_id", b"reachy_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["audit_frequency", b"audit_frequency", "reachy_id", b"reachy_id", "update_frequency", b"update_frequency"]) -> None: ... global___Connect = Connect -@typing_extensions.final +@typing.final class Disconnect(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -70,12 +66,12 @@ class Disconnect(google.protobuf.message.Message): *, reachy_id: reachy_pb2.ReachyId | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["reachy_id", b"reachy_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["reachy_id", b"reachy_id"]) -> None: ... + def HasField(self, field_name: typing.Literal["reachy_id", b"reachy_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["reachy_id", b"reachy_id"]) -> None: ... global___Disconnect = Disconnect -@typing_extensions.final +@typing.final class ServiceRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -95,13 +91,13 @@ class ServiceRequest(google.protobuf.message.Message): connect: global___Connect | None = ..., disconnect: global___Disconnect | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["connect", b"connect", "disconnect", b"disconnect", "get_reachy", b"get_reachy", "request", b"request"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["connect", b"connect", "disconnect", b"disconnect", "get_reachy", b"get_reachy", "request", b"request"]) -> None: ... - def WhichOneof(self, oneof_group: typing_extensions.Literal["request", b"request"]) -> typing_extensions.Literal["get_reachy", "connect", "disconnect"] | None: ... + def HasField(self, field_name: typing.Literal["connect", b"connect", "disconnect", b"disconnect", "get_reachy", b"get_reachy", "request", b"request"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["connect", b"connect", "disconnect", b"disconnect", "get_reachy", b"get_reachy", "request", b"request"]) -> None: ... + def WhichOneof(self, oneof_group: typing.Literal["request", b"request"]) -> typing.Literal["get_reachy", "connect", "disconnect"] | None: ... global___ServiceRequest = ServiceRequest -@typing_extensions.final +@typing.final class ConnectionStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -122,12 +118,12 @@ class ConnectionStatus(google.protobuf.message.Message): command_channel: builtins.str = ..., reachy: reachy_pb2.Reachy | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["reachy", b"reachy"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["command_channel", b"command_channel", "connected", b"connected", "reachy", b"reachy", "state_channel", b"state_channel"]) -> None: ... + def HasField(self, field_name: typing.Literal["reachy", b"reachy"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["command_channel", b"command_channel", "connected", b"connected", "reachy", b"reachy", "state_channel", b"state_channel"]) -> None: ... global___ConnectionStatus = ConnectionStatus -@typing_extensions.final +@typing.final class ServiceResponse(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -143,13 +139,13 @@ class ServiceResponse(google.protobuf.message.Message): connection_status: global___ConnectionStatus | None = ..., error: error_pb2.Error | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["connection_status", b"connection_status", "error", b"error", "response", b"response"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["connection_status", b"connection_status", "error", b"error", "response", b"response"]) -> None: ... - def WhichOneof(self, oneof_group: typing_extensions.Literal["response", b"response"]) -> typing_extensions.Literal["connection_status", "error"] | None: ... + def HasField(self, field_name: typing.Literal["connection_status", b"connection_status", "error", b"error", "response", b"response"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["connection_status", b"connection_status", "error", b"error", "response", b"response"]) -> None: ... + def WhichOneof(self, oneof_group: typing.Literal["response", b"response"]) -> typing.Literal["connection_status", "error"] | None: ... global___ServiceResponse = ServiceResponse -@typing_extensions.final +@typing.final class AnyCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -177,13 +173,13 @@ class AnyCommand(google.protobuf.message.Message): mobile_base_command: global___MobileBaseCommand | None = ..., antennas_command: dynamixel_motor_pb2.DynamixelMotorsCommand | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["antennas_command", b"antennas_command", "arm_command", b"arm_command", "command", b"command", "hand_command", b"hand_command", "mobile_base_command", b"mobile_base_command", "neck_command", b"neck_command"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["antennas_command", b"antennas_command", "arm_command", b"arm_command", "command", b"command", "hand_command", b"hand_command", "mobile_base_command", b"mobile_base_command", "neck_command", b"neck_command"]) -> None: ... - def WhichOneof(self, oneof_group: typing_extensions.Literal["command", b"command"]) -> typing_extensions.Literal["arm_command", "hand_command", "neck_command", "mobile_base_command", "antennas_command"] | None: ... + def HasField(self, field_name: typing.Literal["antennas_command", b"antennas_command", "arm_command", b"arm_command", "command", b"command", "hand_command", b"hand_command", "mobile_base_command", b"mobile_base_command", "neck_command", b"neck_command"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["antennas_command", b"antennas_command", "arm_command", b"arm_command", "command", b"command", "hand_command", b"hand_command", "mobile_base_command", b"mobile_base_command", "neck_command", b"neck_command"]) -> None: ... + def WhichOneof(self, oneof_group: typing.Literal["command", b"command"]) -> typing.Literal["arm_command", "hand_command", "neck_command", "mobile_base_command", "antennas_command"] | None: ... global___AnyCommand = AnyCommand -@typing_extensions.final +@typing.final class ArmCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -211,12 +207,12 @@ class ArmCommand(google.protobuf.message.Message): speed_limit: arm_pb2.SpeedLimitRequest | None = ..., torque_limit: arm_pb2.TorqueLimitRequest | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["arm_cartesian_goal", b"arm_cartesian_goal", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["arm_cartesian_goal", b"arm_cartesian_goal", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> None: ... + def HasField(self, field_name: typing.Literal["arm_cartesian_goal", b"arm_cartesian_goal", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["arm_cartesian_goal", b"arm_cartesian_goal", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> None: ... global___ArmCommand = ArmCommand -@typing_extensions.final +@typing.final class HandCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -236,12 +232,12 @@ class HandCommand(google.protobuf.message.Message): turn_on: part_pb2.PartId | None = ..., turn_off: part_pb2.PartId | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["hand_goal", b"hand_goal", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["hand_goal", b"hand_goal", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> None: ... + def HasField(self, field_name: typing.Literal["hand_goal", b"hand_goal", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["hand_goal", b"hand_goal", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> None: ... global___HandCommand = HandCommand -@typing_extensions.final +@typing.final class NeckCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -269,12 +265,12 @@ class NeckCommand(google.protobuf.message.Message): speed_limit: head_pb2.SpeedLimitRequest | None = ..., torque_limit: head_pb2.TorqueLimitRequest | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["neck_goal", b"neck_goal", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["neck_goal", b"neck_goal", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> None: ... + def HasField(self, field_name: typing.Literal["neck_goal", b"neck_goal", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["neck_goal", b"neck_goal", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> None: ... global___NeckCommand = NeckCommand -@typing_extensions.final +@typing.final class MobileBaseCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -290,12 +286,12 @@ class MobileBaseCommand(google.protobuf.message.Message): target_direction: mobile_base_mobility_pb2.TargetDirectionCommand | None = ..., mobile_base_mode: mobile_base_utility_pb2.ZuuuModeCommand | None = ..., ) -> None: ... - def HasField(self, field_name: typing_extensions.Literal["mobile_base_mode", b"mobile_base_mode", "target_direction", b"target_direction"]) -> builtins.bool: ... - def ClearField(self, field_name: typing_extensions.Literal["mobile_base_mode", b"mobile_base_mode", "target_direction", b"target_direction"]) -> None: ... + def HasField(self, field_name: typing.Literal["mobile_base_mode", b"mobile_base_mode", "target_direction", b"target_direction"]) -> builtins.bool: ... + def ClearField(self, field_name: typing.Literal["mobile_base_mode", b"mobile_base_mode", "target_direction", b"target_direction"]) -> None: ... global___MobileBaseCommand = MobileBaseCommand -@typing_extensions.final +@typing.final class AnyCommands(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -307,6 +303,6 @@ class AnyCommands(google.protobuf.message.Message): *, commands: collections.abc.Iterable[global___AnyCommand] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing_extensions.Literal["commands", b"commands"]) -> None: ... + def ClearField(self, field_name: typing.Literal["commands", b"commands"]) -> None: ... global___AnyCommands = AnyCommands diff --git a/python/reachy2_sdk_api/webrtc_bridge_pb2_grpc.py b/python/reachy2_sdk_api/webrtc_bridge_pb2_grpc.py index 2daafff..28629da 100644 --- a/python/reachy2_sdk_api/webrtc_bridge_pb2_grpc.py +++ b/python/reachy2_sdk_api/webrtc_bridge_pb2_grpc.py @@ -1,4 +1,24 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc +import warnings + +GRPC_GENERATED_VERSION = '1.70.0' +GRPC_VERSION = grpc.__version__ +_version_not_supported = False + +try: + from grpc._utilities import first_version_is_lower + _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) +except ImportError: + _version_not_supported = True + +if _version_not_supported: + raise RuntimeError( + f'The grpc package installed is at version {GRPC_VERSION},' + + f' but the generated code in webrtc_bridge_pb2_grpc.py depends on' + + f' grpcio>={GRPC_GENERATED_VERSION}.' + + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' + + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' + ) diff --git a/python/reachy2_sdk_api/webrtc_bridge_pb2_grpc.pyi b/python/reachy2_sdk_api/webrtc_bridge_pb2_grpc.pyi index b13382f..a6a9cff 100644 --- a/python/reachy2_sdk_api/webrtc_bridge_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/webrtc_bridge_pb2_grpc.pyi @@ -2,16 +2,16 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ + import abc import collections.abc import grpc import grpc.aio import typing -_T = typing.TypeVar('_T') +_T = typing.TypeVar("_T") -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): - ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] ... From 2b07e8ee2c432a3ff88ea1dc03cf76450120bb57 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" Date: Thu, 18 Sep 2025 15:56:16 +0000 Subject: [PATCH 2/4] Generated Protobuf Python Code --- python/reachy2_sdk_api/arm_pb2.py | 15 +- python/reachy2_sdk_api/arm_pb2.pyi | 129 +++---- python/reachy2_sdk_api/arm_pb2_grpc.py | 363 ++++-------------- python/reachy2_sdk_api/arm_pb2_grpc.pyi | 62 +-- python/reachy2_sdk_api/audio_pb2.py | 15 +- python/reachy2_sdk_api/audio_pb2.pyi | 36 +- python/reachy2_sdk_api/audio_pb2_grpc.py | 165 ++------ python/reachy2_sdk_api/audio_pb2_grpc.pyi | 29 +- python/reachy2_sdk_api/component_pb2.py | 15 +- python/reachy2_sdk_api/component_pb2.pyi | 24 +- python/reachy2_sdk_api/component_pb2_grpc.py | 20 - python/reachy2_sdk_api/component_pb2_grpc.pyi | 8 +- python/reachy2_sdk_api/dynamixel_motor_pb2.py | 15 +- .../reachy2_sdk_api/dynamixel_motor_pb2.pyi | 53 ++- .../dynamixel_motor_pb2_grpc.py | 183 ++------- .../dynamixel_motor_pb2_grpc.pyi | 32 +- python/reachy2_sdk_api/error_pb2.py | 15 +- python/reachy2_sdk_api/error_pb2.pyi | 12 +- python/reachy2_sdk_api/error_pb2_grpc.py | 20 - python/reachy2_sdk_api/error_pb2_grpc.pyi | 8 +- python/reachy2_sdk_api/goto_pb2.py | 15 +- python/reachy2_sdk_api/goto_pb2.pyi | 69 ++-- python/reachy2_sdk_api/goto_pb2_grpc.py | 255 +++--------- python/reachy2_sdk_api/goto_pb2_grpc.pyi | 44 +-- python/reachy2_sdk_api/hand_pb2.py | 15 +- python/reachy2_sdk_api/hand_pb2.pyi | 97 +++-- python/reachy2_sdk_api/hand_pb2_grpc.py | 309 +++------------ python/reachy2_sdk_api/hand_pb2_grpc.pyi | 53 +-- python/reachy2_sdk_api/head_pb2.py | 15 +- python/reachy2_sdk_api/head_pb2.pyi | 127 +++--- python/reachy2_sdk_api/head_pb2_grpc.py | 345 ++++------------- python/reachy2_sdk_api/head_pb2_grpc.pyi | 59 +-- python/reachy2_sdk_api/kinematics_pb2.py | 15 +- python/reachy2_sdk_api/kinematics_pb2.pyi | 46 ++- python/reachy2_sdk_api/kinematics_pb2_grpc.py | 20 - .../reachy2_sdk_api/kinematics_pb2_grpc.pyi | 8 +- .../reachy2_sdk_api/mobile_base_lidar_pb2.py | 15 +- .../reachy2_sdk_api/mobile_base_lidar_pb2.pyi | 15 +- .../mobile_base_lidar_pb2_grpc.py | 111 +----- .../mobile_base_lidar_pb2_grpc.pyi | 20 +- .../mobile_base_mobility_pb2.py | 15 +- .../mobile_base_mobility_pb2.pyi | 39 +- .../mobile_base_mobility_pb2_grpc.py | 93 +---- .../mobile_base_mobility_pb2_grpc.pyi | 17 +- .../mobile_base_utility_pb2.py | 15 +- .../mobile_base_utility_pb2.pyi | 51 ++- .../mobile_base_utility_pb2_grpc.py | 273 +++---------- .../mobile_base_utility_pb2_grpc.pyi | 47 +-- python/reachy2_sdk_api/mujoco_pb2.py | 15 +- python/reachy2_sdk_api/mujoco_pb2.pyi | 18 +- python/reachy2_sdk_api/mujoco_pb2_grpc.py | 39 +- python/reachy2_sdk_api/mujoco_pb2_grpc.pyi | 8 +- python/reachy2_sdk_api/orbita2d_pb2.py | 15 +- python/reachy2_sdk_api/orbita2d_pb2.pyi | 79 ++-- python/reachy2_sdk_api/orbita2d_pb2_grpc.py | 165 ++------ python/reachy2_sdk_api/orbita2d_pb2_grpc.pyi | 29 +- python/reachy2_sdk_api/orbita3d_pb2.py | 15 +- python/reachy2_sdk_api/orbita3d_pb2.pyi | 77 ++-- python/reachy2_sdk_api/orbita3d_pb2_grpc.py | 183 ++------- python/reachy2_sdk_api/orbita3d_pb2_grpc.pyi | 32 +- .../reachy2_sdk_api/parallel_gripper_pb2.py | 15 +- .../reachy2_sdk_api/parallel_gripper_pb2.pyi | 39 +- .../parallel_gripper_pb2_grpc.py | 165 ++------ .../parallel_gripper_pb2_grpc.pyi | 29 +- python/reachy2_sdk_api/part_pb2.py | 15 +- python/reachy2_sdk_api/part_pb2.pyi | 16 +- python/reachy2_sdk_api/part_pb2_grpc.py | 20 - python/reachy2_sdk_api/part_pb2_grpc.pyi | 8 +- python/reachy2_sdk_api/reachy_pb2.py | 15 +- python/reachy2_sdk_api/reachy_pb2.pyi | 49 ++- python/reachy2_sdk_api/reachy_pb2_grpc.py | 129 ++----- python/reachy2_sdk_api/reachy_pb2_grpc.pyi | 23 +- python/reachy2_sdk_api/tripod_pb2.py | 15 +- python/reachy2_sdk_api/tripod_pb2.pyi | 47 ++- python/reachy2_sdk_api/tripod_pb2_grpc.py | 111 +----- python/reachy2_sdk_api/tripod_pb2_grpc.pyi | 20 +- python/reachy2_sdk_api/video_pb2.py | 15 +- python/reachy2_sdk_api/video_pb2.pyi | 53 ++- python/reachy2_sdk_api/video_pb2_grpc.py | 111 +----- python/reachy2_sdk_api/video_pb2_grpc.pyi | 20 +- python/reachy2_sdk_api/webrtc_bridge_pb2.py | 15 +- python/reachy2_sdk_api/webrtc_bridge_pb2.pyi | 84 ++-- .../reachy2_sdk_api/webrtc_bridge_pb2_grpc.py | 20 - .../webrtc_bridge_pb2_grpc.pyi | 8 +- 84 files changed, 1307 insertions(+), 3832 deletions(-) diff --git a/python/reachy2_sdk_api/arm_pb2.py b/python/reachy2_sdk_api/arm_pb2.py index b6348b1..8eb078d 100644 --- a/python/reachy2_sdk_api/arm_pb2.py +++ b/python/reachy2_sdk_api/arm_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: arm.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'arm.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -37,8 +26,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'arm_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_ARMFIELD']._serialized_start=3473 _globals['_ARMFIELD']._serialized_end=3692 _globals['_ARMJOINTS']._serialized_start=3695 diff --git a/python/reachy2_sdk_api/arm_pb2.pyi b/python/reachy2_sdk_api/arm_pb2.pyi index 8270e8c..69a55ee 100644 --- a/python/reachy2_sdk_api/arm_pb2.pyi +++ b/python/reachy2_sdk_api/arm_pb2.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import builtins import collections.abc import error_pb2 @@ -155,7 +154,7 @@ MULTITURN_FREEZE: ReachabilityError.ValueType # 7 OTHER: ReachabilityError.ValueType # 20 global___ReachabilityError = ReachabilityError -@typing.final +@typing_extensions.final class CustomArmJoints(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -167,11 +166,11 @@ class CustomArmJoints(google.protobuf.message.Message): *, joints: collections.abc.Iterable[global___ArmJoints.ValueType] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["joints", b"joints"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["joints", b"joints"]) -> None: ... global___CustomArmJoints = CustomArmJoints -@typing.final +@typing_extensions.final class ArmState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -182,11 +181,11 @@ class ArmState(google.protobuf.message.Message): ELBOW_STATE_FIELD_NUMBER: builtins.int WRIST_STATE_FIELD_NUMBER: builtins.int REACHABILITY_FIELD_NUMBER: builtins.int - activated: builtins.bool @property def timestamp(self) -> google.protobuf.timestamp_pb2.Timestamp: ... @property def id(self) -> part_pb2.PartId: ... + activated: builtins.bool @property def shoulder_state(self) -> orbita2d_pb2.Orbita2dState: ... @property @@ -206,23 +205,23 @@ class ArmState(google.protobuf.message.Message): wrist_state: orbita3d_pb2.Orbita3dState | None = ..., reachability: collections.abc.Iterable[global___ReachabilityAnswer] | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["elbow_state", b"elbow_state", "id", b"id", "shoulder_state", b"shoulder_state", "timestamp", b"timestamp", "wrist_state", b"wrist_state"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["activated", b"activated", "elbow_state", b"elbow_state", "id", b"id", "reachability", b"reachability", "shoulder_state", b"shoulder_state", "timestamp", b"timestamp", "wrist_state", b"wrist_state"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["elbow_state", b"elbow_state", "id", b"id", "shoulder_state", b"shoulder_state", "timestamp", b"timestamp", "wrist_state", b"wrist_state"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["activated", b"activated", "elbow_state", b"elbow_state", "id", b"id", "reachability", b"reachability", "shoulder_state", b"shoulder_state", "timestamp", b"timestamp", "wrist_state", b"wrist_state"]) -> None: ... global___ArmState = ArmState -@typing.final +@typing_extensions.final class ReachabilityAnswer(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ORDER_ID_FIELD_NUMBER: builtins.int IS_REACHABLE_FIELD_NUMBER: builtins.int DESCRIPTION_FIELD_NUMBER: builtins.int - description: global___ReachabilityError.ValueType @property def order_id(self) -> google.protobuf.wrappers_pb2.Int32Value: ... @property def is_reachable(self) -> google.protobuf.wrappers_pb2.BoolValue: ... + description: global___ReachabilityError.ValueType def __init__( self, *, @@ -230,12 +229,12 @@ class ReachabilityAnswer(google.protobuf.message.Message): is_reachable: google.protobuf.wrappers_pb2.BoolValue | None = ..., description: global___ReachabilityError.ValueType = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["is_reachable", b"is_reachable", "order_id", b"order_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["description", b"description", "is_reachable", b"is_reachable", "order_id", b"order_id"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["is_reachable", b"is_reachable", "order_id", b"order_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["description", b"description", "is_reachable", b"is_reachable", "order_id", b"order_id"]) -> None: ... global___ReachabilityAnswer = ReachabilityAnswer -@typing.final +@typing_extensions.final class ArmDescription(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -255,12 +254,12 @@ class ArmDescription(google.protobuf.message.Message): elbow: orbita2d_pb2.Orbita2d | None = ..., wrist: orbita3d_pb2.Orbita3d | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["elbow", b"elbow", "shoulder", b"shoulder", "wrist", b"wrist"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["elbow", b"elbow", "shoulder", b"shoulder", "wrist", b"wrist"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["elbow", b"elbow", "shoulder", b"shoulder", "wrist", b"wrist"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["elbow", b"elbow", "shoulder", b"shoulder", "wrist", b"wrist"]) -> None: ... global___ArmDescription = ArmDescription -@typing.final +@typing_extensions.final class Arm(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -280,12 +279,12 @@ class Arm(google.protobuf.message.Message): description: global___ArmDescription | None = ..., info: part_pb2.PartInfo | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> None: ... global___Arm = Arm -@typing.final +@typing_extensions.final class ListOfArm(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -297,11 +296,11 @@ class ListOfArm(google.protobuf.message.Message): *, arm: collections.abc.Iterable[global___Arm] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["arm", b"arm"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["arm", b"arm"]) -> None: ... global___ListOfArm = ListOfArm -@typing.final +@typing_extensions.final class ArmPosition(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -321,12 +320,12 @@ class ArmPosition(google.protobuf.message.Message): elbow_position: orbita2d_pb2.Pose2d | None = ..., wrist_position: kinematics_pb2.Rotation3d | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["elbow_position", b"elbow_position", "shoulder_position", b"shoulder_position", "wrist_position", b"wrist_position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["elbow_position", b"elbow_position", "shoulder_position", b"shoulder_position", "wrist_position", b"wrist_position"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["elbow_position", b"elbow_position", "shoulder_position", b"shoulder_position", "wrist_position", b"wrist_position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["elbow_position", b"elbow_position", "shoulder_position", b"shoulder_position", "wrist_position", b"wrist_position"]) -> None: ... global___ArmPosition = ArmPosition -@typing.final +@typing_extensions.final class ArmCartesianGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -341,8 +340,6 @@ class ArmCartesianGoal(google.protobuf.message.Message): CONTINUOUS_MODE_FIELD_NUMBER: builtins.int DURATION_FIELD_NUMBER: builtins.int ORDER_ID_FIELD_NUMBER: builtins.int - constrained_mode: global___IKConstrainedMode.ValueType - continuous_mode: global___IKContinuousMode.ValueType @property def id(self) -> part_pb2.PartId: ... @property @@ -353,10 +350,12 @@ class ArmCartesianGoal(google.protobuf.message.Message): def orientation_tolerance(self) -> kinematics_pb2.ExtEulerAnglesTolerances: ... @property def q0(self) -> global___ArmPosition: ... + constrained_mode: global___IKConstrainedMode.ValueType @property def preferred_theta(self) -> google.protobuf.wrappers_pb2.FloatValue: ... @property def d_theta_max(self) -> google.protobuf.wrappers_pb2.FloatValue: ... + continuous_mode: global___IKContinuousMode.ValueType @property def duration(self) -> google.protobuf.wrappers_pb2.FloatValue: ... @property @@ -376,12 +375,12 @@ class ArmCartesianGoal(google.protobuf.message.Message): duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., order_id: google.protobuf.wrappers_pb2.Int32Value | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["d_theta_max", b"d_theta_max", "duration", b"duration", "goal_pose", b"goal_pose", "id", b"id", "order_id", b"order_id", "orientation_tolerance", b"orientation_tolerance", "position_tolerance", b"position_tolerance", "preferred_theta", b"preferred_theta", "q0", b"q0"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["constrained_mode", b"constrained_mode", "continuous_mode", b"continuous_mode", "d_theta_max", b"d_theta_max", "duration", b"duration", "goal_pose", b"goal_pose", "id", b"id", "order_id", b"order_id", "orientation_tolerance", b"orientation_tolerance", "position_tolerance", b"position_tolerance", "preferred_theta", b"preferred_theta", "q0", b"q0"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["d_theta_max", b"d_theta_max", "duration", b"duration", "goal_pose", b"goal_pose", "id", b"id", "order_id", b"order_id", "orientation_tolerance", b"orientation_tolerance", "position_tolerance", b"position_tolerance", "preferred_theta", b"preferred_theta", "q0", b"q0"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["constrained_mode", b"constrained_mode", "continuous_mode", b"continuous_mode", "d_theta_max", b"d_theta_max", "duration", b"duration", "goal_pose", b"goal_pose", "id", b"id", "order_id", b"order_id", "orientation_tolerance", b"orientation_tolerance", "position_tolerance", b"position_tolerance", "preferred_theta", b"preferred_theta", "q0", b"q0"]) -> None: ... global___ArmCartesianGoal = ArmCartesianGoal -@typing.final +@typing_extensions.final class ArmJointGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -401,12 +400,12 @@ class ArmJointGoal(google.protobuf.message.Message): joints_goal: global___ArmPosition | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "joints_goal", b"joints_goal"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "joints_goal", b"joints_goal"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "joints_goal", b"joints_goal"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "joints_goal", b"joints_goal"]) -> None: ... global___ArmJointGoal = ArmJointGoal -@typing.final +@typing_extensions.final class ArmEndEffector(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -418,12 +417,12 @@ class ArmEndEffector(google.protobuf.message.Message): *, pose: kinematics_pb2.Matrix4x4 | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["pose", b"pose"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["pose", b"pose"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["pose", b"pose"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["pose", b"pose"]) -> None: ... global___ArmEndEffector = ArmEndEffector -@typing.final +@typing_extensions.final class ArmFKRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -439,12 +438,12 @@ class ArmFKRequest(google.protobuf.message.Message): id: part_pb2.PartId | None = ..., position: global___ArmPosition | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id", "position", b"position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "position", b"position"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id", "position", b"position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "position", b"position"]) -> None: ... global___ArmFKRequest = ArmFKRequest -@typing.final +@typing_extensions.final class ArmFKSolution(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -459,12 +458,12 @@ class ArmFKSolution(google.protobuf.message.Message): success: builtins.bool = ..., end_effector: global___ArmEndEffector | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["end_effector", b"end_effector"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["end_effector", b"end_effector", "success", b"success"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["end_effector", b"end_effector"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["end_effector", b"end_effector", "success", b"success"]) -> None: ... global___ArmFKSolution = ArmFKSolution -@typing.final +@typing_extensions.final class ArmIKRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -484,12 +483,12 @@ class ArmIKRequest(google.protobuf.message.Message): target: global___ArmEndEffector | None = ..., q0: global___ArmPosition | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id", "q0", b"q0", "target", b"target"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "q0", b"q0", "target", b"target"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id", "q0", b"q0", "target", b"target"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "q0", b"q0", "target", b"target"]) -> None: ... global___ArmIKRequest = ArmIKRequest -@typing.final +@typing_extensions.final class ArmIKSolution(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -508,12 +507,12 @@ class ArmIKSolution(google.protobuf.message.Message): arm_position: global___ArmPosition | None = ..., error: error_pb2.Error | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["arm_position", b"arm_position", "error", b"error"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["arm_position", b"arm_position", "error", b"error", "success", b"success"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["arm_position", b"arm_position", "error", b"error"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["arm_position", b"arm_position", "error", b"error", "success", b"success"]) -> None: ... global___ArmIKSolution = ArmIKSolution -@typing.final +@typing_extensions.final class ArmStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -533,52 +532,52 @@ class ArmStatus(google.protobuf.message.Message): elbow_status: orbita2d_pb2.Orbita2dStatus | None = ..., wrist_status: orbita3d_pb2.Orbita3dStatus | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["elbow_status", b"elbow_status", "shoulder_status", b"shoulder_status", "wrist_status", b"wrist_status"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["elbow_status", b"elbow_status", "shoulder_status", b"shoulder_status", "wrist_status", b"wrist_status"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["elbow_status", b"elbow_status", "shoulder_status", b"shoulder_status", "wrist_status", b"wrist_status"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["elbow_status", b"elbow_status", "shoulder_status", b"shoulder_status", "wrist_status", b"wrist_status"]) -> None: ... global___ArmStatus = ArmStatus -@typing.final +@typing_extensions.final class SpeedLimitRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int LIMIT_FIELD_NUMBER: builtins.int - limit: builtins.int @property def id(self) -> part_pb2.PartId: ... + limit: builtins.int def __init__( self, *, id: part_pb2.PartId | None = ..., limit: builtins.int = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "limit", b"limit"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "limit", b"limit"]) -> None: ... global___SpeedLimitRequest = SpeedLimitRequest -@typing.final +@typing_extensions.final class TorqueLimitRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int LIMIT_FIELD_NUMBER: builtins.int - limit: builtins.int @property def id(self) -> part_pb2.PartId: ... + limit: builtins.int def __init__( self, *, id: part_pb2.PartId | None = ..., limit: builtins.int = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "limit", b"limit"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "limit", b"limit"]) -> None: ... global___TorqueLimitRequest = TorqueLimitRequest -@typing.final +@typing_extensions.final class ArmLimits(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -598,12 +597,12 @@ class ArmLimits(google.protobuf.message.Message): elbow_limits: orbita2d_pb2.Limits2d | None = ..., wrist_limits: orbita3d_pb2.Limits3d | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["elbow_limits", b"elbow_limits", "shoulder_limits", b"shoulder_limits", "wrist_limits", b"wrist_limits"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["elbow_limits", b"elbow_limits", "shoulder_limits", b"shoulder_limits", "wrist_limits", b"wrist_limits"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["elbow_limits", b"elbow_limits", "shoulder_limits", b"shoulder_limits", "wrist_limits", b"wrist_limits"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["elbow_limits", b"elbow_limits", "shoulder_limits", b"shoulder_limits", "wrist_limits", b"wrist_limits"]) -> None: ... global___ArmLimits = ArmLimits -@typing.final +@typing_extensions.final class ArmTemperatures(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -623,12 +622,12 @@ class ArmTemperatures(google.protobuf.message.Message): elbow_temperature: orbita2d_pb2.Float2d | None = ..., wrist_temperature: orbita3d_pb2.Float3d | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["elbow_temperature", b"elbow_temperature", "shoulder_temperature", b"shoulder_temperature", "wrist_temperature", b"wrist_temperature"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["elbow_temperature", b"elbow_temperature", "shoulder_temperature", b"shoulder_temperature", "wrist_temperature", b"wrist_temperature"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["elbow_temperature", b"elbow_temperature", "shoulder_temperature", b"shoulder_temperature", "wrist_temperature", b"wrist_temperature"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["elbow_temperature", b"elbow_temperature", "shoulder_temperature", b"shoulder_temperature", "wrist_temperature", b"wrist_temperature"]) -> None: ... global___ArmTemperatures = ArmTemperatures -@typing.final +@typing_extensions.final class ArmComponentsCommands(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -648,7 +647,7 @@ class ArmComponentsCommands(google.protobuf.message.Message): elbow_command: orbita2d_pb2.Orbita2dsCommand | None = ..., wrist_command: orbita3d_pb2.Orbita3dsCommand | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["elbow_command", b"elbow_command", "shoulder_command", b"shoulder_command", "wrist_command", b"wrist_command"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["elbow_command", b"elbow_command", "shoulder_command", b"shoulder_command", "wrist_command", b"wrist_command"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["elbow_command", b"elbow_command", "shoulder_command", b"shoulder_command", "wrist_command", b"wrist_command"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["elbow_command", b"elbow_command", "shoulder_command", b"shoulder_command", "wrist_command", b"wrist_command"]) -> None: ... global___ArmComponentsCommands = ArmComponentsCommands diff --git a/python/reachy2_sdk_api/arm_pb2_grpc.py b/python/reachy2_sdk_api/arm_pb2_grpc.py index 1d6da13..e238b29 100644 --- a/python/reachy2_sdk_api/arm_pb2_grpc.py +++ b/python/reachy2_sdk_api/arm_pb2_grpc.py @@ -1,32 +1,12 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings import arm_pb2 as arm__pb2 from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import kinematics_pb2 as kinematics__pb2 import part_pb2 as part__pb2 -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in arm_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) - class ArmServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -41,97 +21,97 @@ def __init__(self, channel): '/reachy.part.arm.ArmService/GetAllArms', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=arm__pb2.ListOfArm.FromString, - _registered_method=True) + ) self.GetState = channel.unary_unary( '/reachy.part.arm.ArmService/GetState', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=arm__pb2.ArmState.FromString, - _registered_method=True) + ) self.ComputeArmFK = channel.unary_unary( '/reachy.part.arm.ArmService/ComputeArmFK', request_serializer=arm__pb2.ArmFKRequest.SerializeToString, response_deserializer=arm__pb2.ArmFKSolution.FromString, - _registered_method=True) + ) self.ComputeArmIK = channel.unary_unary( '/reachy.part.arm.ArmService/ComputeArmIK', request_serializer=arm__pb2.ArmIKRequest.SerializeToString, response_deserializer=arm__pb2.ArmIKSolution.FromString, - _registered_method=True) + ) self.GetCartesianPosition = channel.unary_unary( '/reachy.part.arm.ArmService/GetCartesianPosition', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=kinematics__pb2.Matrix4x4.FromString, - _registered_method=True) + ) self.GetJointPosition = channel.unary_unary( '/reachy.part.arm.ArmService/GetJointPosition', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=arm__pb2.ArmPosition.FromString, - _registered_method=True) + ) self.Audit = channel.unary_unary( '/reachy.part.arm.ArmService/Audit', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=arm__pb2.ArmStatus.FromString, - _registered_method=True) + ) self.HeartBeat = channel.unary_unary( '/reachy.part.arm.ArmService/HeartBeat', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.Restart = channel.unary_unary( '/reachy.part.arm.ArmService/Restart', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.ResetDefaultValues = channel.unary_unary( '/reachy.part.arm.ArmService/ResetDefaultValues', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.TurnOn = channel.unary_unary( '/reachy.part.arm.ArmService/TurnOn', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.TurnOff = channel.unary_unary( '/reachy.part.arm.ArmService/TurnOff', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.GetJointsLimits = channel.unary_unary( '/reachy.part.arm.ArmService/GetJointsLimits', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=arm__pb2.ArmLimits.FromString, - _registered_method=True) + ) self.GetTemperatures = channel.unary_unary( '/reachy.part.arm.ArmService/GetTemperatures', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=arm__pb2.ArmTemperatures.FromString, - _registered_method=True) + ) self.GetJointGoalPosition = channel.unary_unary( '/reachy.part.arm.ArmService/GetJointGoalPosition', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=arm__pb2.ArmPosition.FromString, - _registered_method=True) + ) self.SetSpeedLimit = channel.unary_unary( '/reachy.part.arm.ArmService/SetSpeedLimit', request_serializer=arm__pb2.SpeedLimitRequest.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.SetTorqueLimit = channel.unary_unary( '/reachy.part.arm.ArmService/SetTorqueLimit', request_serializer=arm__pb2.TorqueLimitRequest.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.SendArmCartesianGoal = channel.unary_unary( '/reachy.part.arm.ArmService/SendArmCartesianGoal', request_serializer=arm__pb2.ArmCartesianGoal.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.SendComponentsCommands = channel.unary_unary( '/reachy.part.arm.ArmService/SendComponentsCommands', request_serializer=arm__pb2.ArmComponentsCommands.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) class ArmServiceServicer(object): @@ -353,7 +333,6 @@ def add_ArmServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.part.arm.ArmService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('reachy.part.arm.ArmService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -371,21 +350,11 @@ def GetAllArms(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/GetAllArms', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/GetAllArms', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, arm__pb2.ListOfArm.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetState(request, @@ -398,21 +367,11 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/GetState', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/GetState', part__pb2.PartId.SerializeToString, arm__pb2.ArmState.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def ComputeArmFK(request, @@ -425,21 +384,11 @@ def ComputeArmFK(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/ComputeArmFK', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/ComputeArmFK', arm__pb2.ArmFKRequest.SerializeToString, arm__pb2.ArmFKSolution.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def ComputeArmIK(request, @@ -452,21 +401,11 @@ def ComputeArmIK(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/ComputeArmIK', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/ComputeArmIK', arm__pb2.ArmIKRequest.SerializeToString, arm__pb2.ArmIKSolution.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetCartesianPosition(request, @@ -479,21 +418,11 @@ def GetCartesianPosition(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/GetCartesianPosition', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/GetCartesianPosition', part__pb2.PartId.SerializeToString, kinematics__pb2.Matrix4x4.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetJointPosition(request, @@ -506,21 +435,11 @@ def GetJointPosition(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/GetJointPosition', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/GetJointPosition', part__pb2.PartId.SerializeToString, arm__pb2.ArmPosition.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Audit(request, @@ -533,21 +452,11 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/Audit', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/Audit', part__pb2.PartId.SerializeToString, arm__pb2.ArmStatus.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def HeartBeat(request, @@ -560,21 +469,11 @@ def HeartBeat(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/HeartBeat', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/HeartBeat', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Restart(request, @@ -587,21 +486,11 @@ def Restart(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/Restart', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/Restart', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def ResetDefaultValues(request, @@ -614,21 +503,11 @@ def ResetDefaultValues(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/ResetDefaultValues', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/ResetDefaultValues', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def TurnOn(request, @@ -641,21 +520,11 @@ def TurnOn(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/TurnOn', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/TurnOn', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def TurnOff(request, @@ -668,21 +537,11 @@ def TurnOff(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/TurnOff', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/TurnOff', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetJointsLimits(request, @@ -695,21 +554,11 @@ def GetJointsLimits(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/GetJointsLimits', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/GetJointsLimits', part__pb2.PartId.SerializeToString, arm__pb2.ArmLimits.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetTemperatures(request, @@ -722,21 +571,11 @@ def GetTemperatures(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/GetTemperatures', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/GetTemperatures', part__pb2.PartId.SerializeToString, arm__pb2.ArmTemperatures.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetJointGoalPosition(request, @@ -749,21 +588,11 @@ def GetJointGoalPosition(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/GetJointGoalPosition', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/GetJointGoalPosition', part__pb2.PartId.SerializeToString, arm__pb2.ArmPosition.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SetSpeedLimit(request, @@ -776,21 +605,11 @@ def SetSpeedLimit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/SetSpeedLimit', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/SetSpeedLimit', arm__pb2.SpeedLimitRequest.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SetTorqueLimit(request, @@ -803,21 +622,11 @@ def SetTorqueLimit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/SetTorqueLimit', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/SetTorqueLimit', arm__pb2.TorqueLimitRequest.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SendArmCartesianGoal(request, @@ -830,21 +639,11 @@ def SendArmCartesianGoal(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/SendArmCartesianGoal', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/SendArmCartesianGoal', arm__pb2.ArmCartesianGoal.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SendComponentsCommands(request, @@ -857,18 +656,8 @@ def SendComponentsCommands(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.arm.ArmService/SendComponentsCommands', + return grpc.experimental.unary_unary(request, target, '/reachy.part.arm.ArmService/SendComponentsCommands', arm__pb2.ArmComponentsCommands.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/reachy2_sdk_api/arm_pb2_grpc.pyi b/python/reachy2_sdk_api/arm_pb2_grpc.pyi index 13d6419..1259084 100644 --- a/python/reachy2_sdk_api/arm_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/arm_pb2_grpc.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import arm_pb2 import collections.abc @@ -13,11 +12,12 @@ import kinematics_pb2 import part_pb2 import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... class ArmServiceStub: @@ -26,92 +26,74 @@ class ArmServiceStub: google.protobuf.empty_pb2.Empty, arm_pb2.ListOfArm, ] - GetState: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmState, ] - ComputeArmFK: grpc.UnaryUnaryMultiCallable[ arm_pb2.ArmFKRequest, arm_pb2.ArmFKSolution, ] - ComputeArmIK: grpc.UnaryUnaryMultiCallable[ arm_pb2.ArmIKRequest, arm_pb2.ArmIKSolution, ] - GetCartesianPosition: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, kinematics_pb2.Matrix4x4, ] - GetJointPosition: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmPosition, ] - Audit: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmStatus, ] - HeartBeat: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - Restart: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - ResetDefaultValues: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - TurnOn: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - TurnOff: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - GetJointsLimits: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmLimits, ] - GetTemperatures: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmTemperatures, ] - GetJointGoalPosition: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmPosition, ] - SetSpeedLimit: grpc.UnaryUnaryMultiCallable[ arm_pb2.SpeedLimitRequest, google.protobuf.empty_pb2.Empty, ] - SetTorqueLimit: grpc.UnaryUnaryMultiCallable[ arm_pb2.TorqueLimitRequest, google.protobuf.empty_pb2.Empty, ] - SendArmCartesianGoal: grpc.UnaryUnaryMultiCallable[ arm_pb2.ArmCartesianGoal, google.protobuf.empty_pb2.Empty, ] - SendComponentsCommands: grpc.UnaryUnaryMultiCallable[ arm_pb2.ArmComponentsCommands, google.protobuf.empty_pb2.Empty, @@ -122,92 +104,74 @@ class ArmServiceAsyncStub: google.protobuf.empty_pb2.Empty, arm_pb2.ListOfArm, ] - GetState: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmState, ] - ComputeArmFK: grpc.aio.UnaryUnaryMultiCallable[ arm_pb2.ArmFKRequest, arm_pb2.ArmFKSolution, ] - ComputeArmIK: grpc.aio.UnaryUnaryMultiCallable[ arm_pb2.ArmIKRequest, arm_pb2.ArmIKSolution, ] - GetCartesianPosition: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, kinematics_pb2.Matrix4x4, ] - GetJointPosition: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmPosition, ] - Audit: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmStatus, ] - HeartBeat: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - Restart: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - ResetDefaultValues: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - TurnOn: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - TurnOff: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - GetJointsLimits: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmLimits, ] - GetTemperatures: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmTemperatures, ] - GetJointGoalPosition: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, arm_pb2.ArmPosition, ] - SetSpeedLimit: grpc.aio.UnaryUnaryMultiCallable[ arm_pb2.SpeedLimitRequest, google.protobuf.empty_pb2.Empty, ] - SetTorqueLimit: grpc.aio.UnaryUnaryMultiCallable[ arm_pb2.TorqueLimitRequest, google.protobuf.empty_pb2.Empty, ] - SendArmCartesianGoal: grpc.aio.UnaryUnaryMultiCallable[ arm_pb2.ArmCartesianGoal, google.protobuf.empty_pb2.Empty, ] - SendComponentsCommands: grpc.aio.UnaryUnaryMultiCallable[ arm_pb2.ArmComponentsCommands, google.protobuf.empty_pb2.Empty, @@ -220,126 +184,108 @@ class ArmServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[arm_pb2.ListOfArm, collections.abc.Awaitable[arm_pb2.ListOfArm]]: ... - @abc.abstractmethod def GetState( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[arm_pb2.ArmState, collections.abc.Awaitable[arm_pb2.ArmState]]: ... - @abc.abstractmethod def ComputeArmFK( self, request: arm_pb2.ArmFKRequest, context: _ServicerContext, ) -> typing.Union[arm_pb2.ArmFKSolution, collections.abc.Awaitable[arm_pb2.ArmFKSolution]]: ... - @abc.abstractmethod def ComputeArmIK( self, request: arm_pb2.ArmIKRequest, context: _ServicerContext, ) -> typing.Union[arm_pb2.ArmIKSolution, collections.abc.Awaitable[arm_pb2.ArmIKSolution]]: ... - @abc.abstractmethod def GetCartesianPosition( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[kinematics_pb2.Matrix4x4, collections.abc.Awaitable[kinematics_pb2.Matrix4x4]]: ... - @abc.abstractmethod def GetJointPosition( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[arm_pb2.ArmPosition, collections.abc.Awaitable[arm_pb2.ArmPosition]]: ... - @abc.abstractmethod def Audit( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[arm_pb2.ArmStatus, collections.abc.Awaitable[arm_pb2.ArmStatus]]: ... - @abc.abstractmethod def HeartBeat( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def Restart( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def ResetDefaultValues( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def TurnOn( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def TurnOff( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def GetJointsLimits( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[arm_pb2.ArmLimits, collections.abc.Awaitable[arm_pb2.ArmLimits]]: ... - @abc.abstractmethod def GetTemperatures( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[arm_pb2.ArmTemperatures, collections.abc.Awaitable[arm_pb2.ArmTemperatures]]: ... - @abc.abstractmethod def GetJointGoalPosition( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[arm_pb2.ArmPosition, collections.abc.Awaitable[arm_pb2.ArmPosition]]: ... - @abc.abstractmethod def SetSpeedLimit( self, request: arm_pb2.SpeedLimitRequest, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def SetTorqueLimit( self, request: arm_pb2.TorqueLimitRequest, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def SendArmCartesianGoal( self, request: arm_pb2.ArmCartesianGoal, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def SendComponentsCommands( self, diff --git a/python/reachy2_sdk_api/audio_pb2.py b/python/reachy2_sdk_api/audio_pb2.py index c6769f9..5807360 100644 --- a/python/reachy2_sdk_api/audio_pb2.py +++ b/python/reachy2_sdk_api/audio_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: audio.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'audio.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -32,8 +21,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'audio_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_AUDIOFILE']._serialized_start=106 _globals['_AUDIOFILE']._serialized_end=167 _globals['_AUDIOFILES']._serialized_start=169 diff --git a/python/reachy2_sdk_api/audio_pb2.pyi b/python/reachy2_sdk_api/audio_pb2.pyi index 68008ed..d98905a 100644 --- a/python/reachy2_sdk_api/audio_pb2.pyi +++ b/python/reachy2_sdk_api/audio_pb2.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import builtins import collections.abc import error_pb2 @@ -10,11 +9,16 @@ import google.protobuf.descriptor import google.protobuf.internal.containers import google.protobuf.message import google.protobuf.wrappers_pb2 -import typing +import sys + +if sys.version_info >= (3, 8): + import typing as typing_extensions +else: + import typing_extensions DESCRIPTOR: google.protobuf.descriptor.FileDescriptor -@typing.final +@typing_extensions.final class AudioFile(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -28,13 +32,13 @@ class AudioFile(google.protobuf.message.Message): path: builtins.str = ..., duration: builtins.float | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["_duration", b"_duration", "duration", b"duration"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["_duration", b"_duration", "duration", b"duration", "path", b"path"]) -> None: ... - def WhichOneof(self, oneof_group: typing.Literal["_duration", b"_duration"]) -> typing.Literal["duration"] | None: ... + def HasField(self, field_name: typing_extensions.Literal["_duration", b"_duration", "duration", b"duration"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["_duration", b"_duration", "duration", b"duration", "path", b"path"]) -> None: ... + def WhichOneof(self, oneof_group: typing_extensions.Literal["_duration", b"_duration"]) -> typing_extensions.Literal["duration"] | None: ... global___AudioFile = AudioFile -@typing.final +@typing_extensions.final class AudioFiles(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -46,32 +50,32 @@ class AudioFiles(google.protobuf.message.Message): *, files: collections.abc.Iterable[global___AudioFile] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["files", b"files"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["files", b"files"]) -> None: ... global___AudioFiles = AudioFiles -@typing.final +@typing_extensions.final class AudioFileRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor INFO_FIELD_NUMBER: builtins.int CHUNK_DATA_FIELD_NUMBER: builtins.int - chunk_data: builtins.bytes @property def info(self) -> global___AudioFile: ... + chunk_data: builtins.bytes def __init__( self, *, info: global___AudioFile | None = ..., chunk_data: builtins.bytes = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["chunk_data", b"chunk_data", "data", b"data", "info", b"info"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["chunk_data", b"chunk_data", "data", b"data", "info", b"info"]) -> None: ... - def WhichOneof(self, oneof_group: typing.Literal["data", b"data"]) -> typing.Literal["info", "chunk_data"] | None: ... + def HasField(self, field_name: typing_extensions.Literal["chunk_data", b"chunk_data", "data", b"data", "info", b"info"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["chunk_data", b"chunk_data", "data", b"data", "info", b"info"]) -> None: ... + def WhichOneof(self, oneof_group: typing_extensions.Literal["data", b"data"]) -> typing_extensions.Literal["info", "chunk_data"] | None: ... global___AudioFileRequest = AudioFileRequest -@typing.final +@typing_extensions.final class AudioAck(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -87,7 +91,7 @@ class AudioAck(google.protobuf.message.Message): success: google.protobuf.wrappers_pb2.BoolValue | None = ..., error: error_pb2.Error | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["error", b"error", "success", b"success"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["error", b"error", "success", b"success"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["error", b"error", "success", b"success"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["error", b"error", "success", b"success"]) -> None: ... global___AudioAck = AudioAck diff --git a/python/reachy2_sdk_api/audio_pb2_grpc.py b/python/reachy2_sdk_api/audio_pb2_grpc.py index a1d1e60..22787be 100644 --- a/python/reachy2_sdk_api/audio_pb2_grpc.py +++ b/python/reachy2_sdk_api/audio_pb2_grpc.py @@ -1,30 +1,10 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings import audio_pb2 as audio__pb2 from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in audio_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) - class AudioServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -39,42 +19,42 @@ def __init__(self, channel): '/component.audio.AudioService/GetAudioFiles', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=audio__pb2.AudioFiles.FromString, - _registered_method=True) + ) self.PlayAudioFile = channel.unary_unary( '/component.audio.AudioService/PlayAudioFile', request_serializer=audio__pb2.AudioFile.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.StopPlaying = channel.unary_unary( '/component.audio.AudioService/StopPlaying', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.RecordAudioFile = channel.unary_unary( '/component.audio.AudioService/RecordAudioFile', request_serializer=audio__pb2.AudioFile.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.StopRecording = channel.unary_unary( '/component.audio.AudioService/StopRecording', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.UploadAudioFile = channel.stream_unary( '/component.audio.AudioService/UploadAudioFile', request_serializer=audio__pb2.AudioFileRequest.SerializeToString, response_deserializer=audio__pb2.AudioAck.FromString, - _registered_method=True) + ) self.DownloadAudioFile = channel.unary_stream( '/component.audio.AudioService/DownloadAudioFile', request_serializer=audio__pb2.AudioFile.SerializeToString, response_deserializer=audio__pb2.AudioFileRequest.FromString, - _registered_method=True) + ) self.RemoveAudioFile = channel.unary_unary( '/component.audio.AudioService/RemoveAudioFile', request_serializer=audio__pb2.AudioFile.SerializeToString, response_deserializer=audio__pb2.AudioAck.FromString, - _registered_method=True) + ) class AudioServiceServicer(object): @@ -175,7 +155,6 @@ def add_AudioServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'component.audio.AudioService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('component.audio.AudioService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -193,21 +172,11 @@ def GetAudioFiles(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.audio.AudioService/GetAudioFiles', + return grpc.experimental.unary_unary(request, target, '/component.audio.AudioService/GetAudioFiles', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, audio__pb2.AudioFiles.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def PlayAudioFile(request, @@ -220,21 +189,11 @@ def PlayAudioFile(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.audio.AudioService/PlayAudioFile', + return grpc.experimental.unary_unary(request, target, '/component.audio.AudioService/PlayAudioFile', audio__pb2.AudioFile.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def StopPlaying(request, @@ -247,21 +206,11 @@ def StopPlaying(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.audio.AudioService/StopPlaying', + return grpc.experimental.unary_unary(request, target, '/component.audio.AudioService/StopPlaying', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def RecordAudioFile(request, @@ -274,21 +223,11 @@ def RecordAudioFile(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.audio.AudioService/RecordAudioFile', + return grpc.experimental.unary_unary(request, target, '/component.audio.AudioService/RecordAudioFile', audio__pb2.AudioFile.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def StopRecording(request, @@ -301,21 +240,11 @@ def StopRecording(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.audio.AudioService/StopRecording', + return grpc.experimental.unary_unary(request, target, '/component.audio.AudioService/StopRecording', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def UploadAudioFile(request_iterator, @@ -328,21 +257,11 @@ def UploadAudioFile(request_iterator, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.stream_unary( - request_iterator, - target, - '/component.audio.AudioService/UploadAudioFile', + return grpc.experimental.stream_unary(request_iterator, target, '/component.audio.AudioService/UploadAudioFile', audio__pb2.AudioFileRequest.SerializeToString, audio__pb2.AudioAck.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def DownloadAudioFile(request, @@ -355,21 +274,11 @@ def DownloadAudioFile(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_stream( - request, - target, - '/component.audio.AudioService/DownloadAudioFile', + return grpc.experimental.unary_stream(request, target, '/component.audio.AudioService/DownloadAudioFile', audio__pb2.AudioFile.SerializeToString, audio__pb2.AudioFileRequest.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def RemoveAudioFile(request, @@ -382,18 +291,8 @@ def RemoveAudioFile(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.audio.AudioService/RemoveAudioFile', + return grpc.experimental.unary_unary(request, target, '/component.audio.AudioService/RemoveAudioFile', audio__pb2.AudioFile.SerializeToString, audio__pb2.AudioAck.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/reachy2_sdk_api/audio_pb2_grpc.pyi b/python/reachy2_sdk_api/audio_pb2_grpc.pyi index b720465..a0f7b9a 100644 --- a/python/reachy2_sdk_api/audio_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/audio_pb2_grpc.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import audio_pb2 import collections.abc @@ -11,11 +10,12 @@ import grpc import grpc.aio import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... class AudioServiceStub: @@ -24,37 +24,30 @@ class AudioServiceStub: google.protobuf.empty_pb2.Empty, audio_pb2.AudioFiles, ] - PlayAudioFile: grpc.UnaryUnaryMultiCallable[ audio_pb2.AudioFile, google.protobuf.empty_pb2.Empty, ] - StopPlaying: grpc.UnaryUnaryMultiCallable[ google.protobuf.empty_pb2.Empty, google.protobuf.empty_pb2.Empty, ] - RecordAudioFile: grpc.UnaryUnaryMultiCallable[ audio_pb2.AudioFile, google.protobuf.empty_pb2.Empty, ] - StopRecording: grpc.UnaryUnaryMultiCallable[ google.protobuf.empty_pb2.Empty, google.protobuf.empty_pb2.Empty, ] - UploadAudioFile: grpc.StreamUnaryMultiCallable[ audio_pb2.AudioFileRequest, audio_pb2.AudioAck, ] - DownloadAudioFile: grpc.UnaryStreamMultiCallable[ audio_pb2.AudioFile, audio_pb2.AudioFileRequest, ] - RemoveAudioFile: grpc.UnaryUnaryMultiCallable[ audio_pb2.AudioFile, audio_pb2.AudioAck, @@ -65,37 +58,30 @@ class AudioServiceAsyncStub: google.protobuf.empty_pb2.Empty, audio_pb2.AudioFiles, ] - PlayAudioFile: grpc.aio.UnaryUnaryMultiCallable[ audio_pb2.AudioFile, google.protobuf.empty_pb2.Empty, ] - StopPlaying: grpc.aio.UnaryUnaryMultiCallable[ google.protobuf.empty_pb2.Empty, google.protobuf.empty_pb2.Empty, ] - RecordAudioFile: grpc.aio.UnaryUnaryMultiCallable[ audio_pb2.AudioFile, google.protobuf.empty_pb2.Empty, ] - StopRecording: grpc.aio.UnaryUnaryMultiCallable[ google.protobuf.empty_pb2.Empty, google.protobuf.empty_pb2.Empty, ] - UploadAudioFile: grpc.aio.StreamUnaryMultiCallable[ audio_pb2.AudioFileRequest, audio_pb2.AudioAck, ] - DownloadAudioFile: grpc.aio.UnaryStreamMultiCallable[ audio_pb2.AudioFile, audio_pb2.AudioFileRequest, ] - RemoveAudioFile: grpc.aio.UnaryUnaryMultiCallable[ audio_pb2.AudioFile, audio_pb2.AudioAck, @@ -108,49 +94,42 @@ class AudioServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[audio_pb2.AudioFiles, collections.abc.Awaitable[audio_pb2.AudioFiles]]: ... - @abc.abstractmethod def PlayAudioFile( self, request: audio_pb2.AudioFile, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def StopPlaying( self, request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def RecordAudioFile( self, request: audio_pb2.AudioFile, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def StopRecording( self, request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def UploadAudioFile( self, request_iterator: _MaybeAsyncIterator[audio_pb2.AudioFileRequest], context: _ServicerContext, ) -> typing.Union[audio_pb2.AudioAck, collections.abc.Awaitable[audio_pb2.AudioAck]]: ... - @abc.abstractmethod def DownloadAudioFile( self, request: audio_pb2.AudioFile, context: _ServicerContext, ) -> typing.Union[collections.abc.Iterator[audio_pb2.AudioFileRequest], collections.abc.AsyncIterator[audio_pb2.AudioFileRequest]]: ... - @abc.abstractmethod def RemoveAudioFile( self, diff --git a/python/reachy2_sdk_api/component_pb2.py b/python/reachy2_sdk_api/component_pb2.py index 03acda4..3842471 100644 --- a/python/reachy2_sdk_api/component_pb2.py +++ b/python/reachy2_sdk_api/component_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: component.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'component.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -30,8 +19,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_COMPONENTID']._serialized_start=62 _globals['_COMPONENTID']._serialized_end=101 _globals['_PIDGAINS']._serialized_start=104 diff --git a/python/reachy2_sdk_api/component_pb2.pyi b/python/reachy2_sdk_api/component_pb2.pyi index 7cb75e8..68433ff 100644 --- a/python/reachy2_sdk_api/component_pb2.pyi +++ b/python/reachy2_sdk_api/component_pb2.pyi @@ -2,16 +2,20 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import builtins import google.protobuf.descriptor import google.protobuf.message import google.protobuf.wrappers_pb2 -import typing +import sys + +if sys.version_info >= (3, 8): + import typing as typing_extensions +else: + import typing_extensions DESCRIPTOR: google.protobuf.descriptor.FileDescriptor -@typing.final +@typing_extensions.final class ComponentId(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -25,11 +29,11 @@ class ComponentId(google.protobuf.message.Message): id: builtins.int = ..., name: builtins.str = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "name", b"name"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "name", b"name"]) -> None: ... global___ComponentId = ComponentId -@typing.final +@typing_extensions.final class PIDGains(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -49,12 +53,12 @@ class PIDGains(google.protobuf.message.Message): i: google.protobuf.wrappers_pb2.FloatValue | None = ..., d: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["d", b"d", "i", b"i", "p", b"p"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["d", b"d", "i", b"i", "p", b"p"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["d", b"d", "i", b"i", "p", b"p"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["d", b"d", "i", b"i", "p", b"p"]) -> None: ... global___PIDGains = PIDGains -@typing.final +@typing_extensions.final class JointLimits(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -70,7 +74,7 @@ class JointLimits(google.protobuf.message.Message): min: google.protobuf.wrappers_pb2.FloatValue | None = ..., max: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["max", b"max", "min", b"min"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["max", b"max", "min", b"min"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["max", b"max", "min", b"min"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["max", b"max", "min", b"min"]) -> None: ... global___JointLimits = JointLimits diff --git a/python/reachy2_sdk_api/component_pb2_grpc.py b/python/reachy2_sdk_api/component_pb2_grpc.py index 16a4d75..2daafff 100644 --- a/python/reachy2_sdk_api/component_pb2_grpc.py +++ b/python/reachy2_sdk_api/component_pb2_grpc.py @@ -1,24 +1,4 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings - -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in component_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) diff --git a/python/reachy2_sdk_api/component_pb2_grpc.pyi b/python/reachy2_sdk_api/component_pb2_grpc.pyi index a6a9cff..b13382f 100644 --- a/python/reachy2_sdk_api/component_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/component_pb2_grpc.pyi @@ -2,16 +2,16 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import grpc import grpc.aio import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... diff --git a/python/reachy2_sdk_api/dynamixel_motor_pb2.py b/python/reachy2_sdk_api/dynamixel_motor_pb2.py index 7726451..388b0b9 100644 --- a/python/reachy2_sdk_api/dynamixel_motor_pb2.py +++ b/python/reachy2_sdk_api/dynamixel_motor_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: dynamixel_motor.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'dynamixel_motor.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -34,8 +23,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'dynamixel_motor_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_DYNAMIXELMOTORFIELD']._serialized_start=1742 _globals['_DYNAMIXELMOTORFIELD']._serialized_end=1972 _globals['_DYNAMIXELMOTORSTATE']._serialized_start=177 diff --git a/python/reachy2_sdk_api/dynamixel_motor_pb2.pyi b/python/reachy2_sdk_api/dynamixel_motor_pb2.pyi index c54534f..7f3c185 100644 --- a/python/reachy2_sdk_api/dynamixel_motor_pb2.pyi +++ b/python/reachy2_sdk_api/dynamixel_motor_pb2.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import builtins import collections.abc import component_pb2 @@ -62,7 +61,7 @@ PID: DynamixelMotorField.ValueType # 12 ALL: DynamixelMotorField.ValueType # 15 global___DynamixelMotorField = DynamixelMotorField -@typing.final +@typing_extensions.final class DynamixelMotorState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -118,12 +117,12 @@ class DynamixelMotorState(google.protobuf.message.Message): torque_limit: google.protobuf.wrappers_pb2.FloatValue | None = ..., pid: component_pb2.PIDGains | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> None: ... global___DynamixelMotorState = DynamixelMotorState -@typing.final +@typing_extensions.final class DynamixelMotorStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -139,32 +138,32 @@ class DynamixelMotorStateRequest(google.protobuf.message.Message): fields: collections.abc.Iterable[global___DynamixelMotorField.ValueType] | None = ..., id: component_pb2.ComponentId | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["fields", b"fields", "id", b"id"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["fields", b"fields", "id", b"id"]) -> None: ... global___DynamixelMotorStateRequest = DynamixelMotorStateRequest -@typing.final +@typing_extensions.final class DynamixelMotorStreamStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor REQ_FIELD_NUMBER: builtins.int FREQ_FIELD_NUMBER: builtins.int - freq: builtins.float @property def req(self) -> global___DynamixelMotorStateRequest: ... + freq: builtins.float def __init__( self, *, req: global___DynamixelMotorStateRequest | None = ..., freq: builtins.float = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["req", b"req"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["freq", b"freq", "req", b"req"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["req", b"req"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["freq", b"freq", "req", b"req"]) -> None: ... global___DynamixelMotorStreamStateRequest = DynamixelMotorStreamStateRequest -@typing.final +@typing_extensions.final class DynamixelMotorGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -184,12 +183,12 @@ class DynamixelMotorGoal(google.protobuf.message.Message): goal_position: google.protobuf.wrappers_pb2.FloatValue | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["duration", b"duration", "goal_position", b"goal_position", "id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["duration", b"duration", "goal_position", b"goal_position", "id", b"id"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["duration", b"duration", "goal_position", b"goal_position", "id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["duration", b"duration", "goal_position", b"goal_position", "id", b"id"]) -> None: ... global___DynamixelMotorGoal = DynamixelMotorGoal -@typing.final +@typing_extensions.final class DynamixelMotorCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -217,12 +216,12 @@ class DynamixelMotorCommand(google.protobuf.message.Message): speed_limit: google.protobuf.wrappers_pb2.FloatValue | None = ..., torque_limit: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> None: ... global___DynamixelMotorCommand = DynamixelMotorCommand -@typing.final +@typing_extensions.final class DynamixelMotorsCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -234,31 +233,31 @@ class DynamixelMotorsCommand(google.protobuf.message.Message): *, cmd: collections.abc.Iterable[global___DynamixelMotorCommand] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["cmd", b"cmd"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["cmd", b"cmd"]) -> None: ... global___DynamixelMotorsCommand = DynamixelMotorsCommand -@typing.final +@typing_extensions.final class DynamixelMotor(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int SERIAL_NUMBER_FIELD_NUMBER: builtins.int - serial_number: builtins.str @property def id(self) -> component_pb2.ComponentId: ... + serial_number: builtins.str def __init__( self, *, id: component_pb2.ComponentId | None = ..., serial_number: builtins.str = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "serial_number", b"serial_number"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "serial_number", b"serial_number"]) -> None: ... global___DynamixelMotor = DynamixelMotor -@typing.final +@typing_extensions.final class ListOfDynamixelMotor(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -270,11 +269,11 @@ class ListOfDynamixelMotor(google.protobuf.message.Message): *, info: collections.abc.Iterable[global___DynamixelMotor] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["info", b"info"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["info", b"info"]) -> None: ... global___ListOfDynamixelMotor = ListOfDynamixelMotor -@typing.final +@typing_extensions.final class DynamixelMotorStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -286,6 +285,6 @@ class DynamixelMotorStatus(google.protobuf.message.Message): *, errors: collections.abc.Iterable[error_pb2.Error] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["errors", b"errors"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["errors", b"errors"]) -> None: ... global___DynamixelMotorStatus = DynamixelMotorStatus diff --git a/python/reachy2_sdk_api/dynamixel_motor_pb2_grpc.py b/python/reachy2_sdk_api/dynamixel_motor_pb2_grpc.py index 1db5fc1..3d7f640 100644 --- a/python/reachy2_sdk_api/dynamixel_motor_pb2_grpc.py +++ b/python/reachy2_sdk_api/dynamixel_motor_pb2_grpc.py @@ -1,31 +1,11 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings import component_pb2 as component__pb2 import dynamixel_motor_pb2 as dynamixel__motor__pb2 from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in dynamixel_motor_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) - class DynamixelMotorServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -40,47 +20,47 @@ def __init__(self, channel): '/component.dynamixel_motor.DynamixelMotorService/GetAllDynamixelMotor', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=dynamixel__motor__pb2.ListOfDynamixelMotor.FromString, - _registered_method=True) + ) self.GetState = channel.unary_unary( '/component.dynamixel_motor.DynamixelMotorService/GetState', request_serializer=dynamixel__motor__pb2.DynamixelMotorStateRequest.SerializeToString, response_deserializer=dynamixel__motor__pb2.DynamixelMotorState.FromString, - _registered_method=True) + ) self.StreamState = channel.unary_stream( '/component.dynamixel_motor.DynamixelMotorService/StreamState', request_serializer=dynamixel__motor__pb2.DynamixelMotorStreamStateRequest.SerializeToString, response_deserializer=dynamixel__motor__pb2.DynamixelMotorState.FromString, - _registered_method=True) + ) self.SendCommand = channel.unary_unary( '/component.dynamixel_motor.DynamixelMotorService/SendCommand', request_serializer=dynamixel__motor__pb2.DynamixelMotorsCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.StreamCommand = channel.stream_unary( '/component.dynamixel_motor.DynamixelMotorService/StreamCommand', request_serializer=dynamixel__motor__pb2.DynamixelMotorsCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.SetPosition = channel.unary_unary( '/component.dynamixel_motor.DynamixelMotorService/SetPosition', request_serializer=dynamixel__motor__pb2.DynamixelMotorGoal.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.Audit = channel.unary_unary( '/component.dynamixel_motor.DynamixelMotorService/Audit', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=dynamixel__motor__pb2.DynamixelMotorStatus.FromString, - _registered_method=True) + ) self.HeartBeat = channel.unary_unary( '/component.dynamixel_motor.DynamixelMotorService/HeartBeat', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.Restart = channel.unary_unary( '/component.dynamixel_motor.DynamixelMotorService/Restart', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) class DynamixelMotorServiceServicer(object): @@ -192,7 +172,6 @@ def add_DynamixelMotorServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'component.dynamixel_motor.DynamixelMotorService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('component.dynamixel_motor.DynamixelMotorService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -210,21 +189,11 @@ def GetAllDynamixelMotor(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.dynamixel_motor.DynamixelMotorService/GetAllDynamixelMotor', + return grpc.experimental.unary_unary(request, target, '/component.dynamixel_motor.DynamixelMotorService/GetAllDynamixelMotor', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, dynamixel__motor__pb2.ListOfDynamixelMotor.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetState(request, @@ -237,21 +206,11 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.dynamixel_motor.DynamixelMotorService/GetState', + return grpc.experimental.unary_unary(request, target, '/component.dynamixel_motor.DynamixelMotorService/GetState', dynamixel__motor__pb2.DynamixelMotorStateRequest.SerializeToString, dynamixel__motor__pb2.DynamixelMotorState.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def StreamState(request, @@ -264,21 +223,11 @@ def StreamState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_stream( - request, - target, - '/component.dynamixel_motor.DynamixelMotorService/StreamState', + return grpc.experimental.unary_stream(request, target, '/component.dynamixel_motor.DynamixelMotorService/StreamState', dynamixel__motor__pb2.DynamixelMotorStreamStateRequest.SerializeToString, dynamixel__motor__pb2.DynamixelMotorState.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SendCommand(request, @@ -291,21 +240,11 @@ def SendCommand(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.dynamixel_motor.DynamixelMotorService/SendCommand', + return grpc.experimental.unary_unary(request, target, '/component.dynamixel_motor.DynamixelMotorService/SendCommand', dynamixel__motor__pb2.DynamixelMotorsCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def StreamCommand(request_iterator, @@ -318,21 +257,11 @@ def StreamCommand(request_iterator, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.stream_unary( - request_iterator, - target, - '/component.dynamixel_motor.DynamixelMotorService/StreamCommand', + return grpc.experimental.stream_unary(request_iterator, target, '/component.dynamixel_motor.DynamixelMotorService/StreamCommand', dynamixel__motor__pb2.DynamixelMotorsCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SetPosition(request, @@ -345,21 +274,11 @@ def SetPosition(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.dynamixel_motor.DynamixelMotorService/SetPosition', + return grpc.experimental.unary_unary(request, target, '/component.dynamixel_motor.DynamixelMotorService/SetPosition', dynamixel__motor__pb2.DynamixelMotorGoal.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Audit(request, @@ -372,21 +291,11 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.dynamixel_motor.DynamixelMotorService/Audit', + return grpc.experimental.unary_unary(request, target, '/component.dynamixel_motor.DynamixelMotorService/Audit', component__pb2.ComponentId.SerializeToString, dynamixel__motor__pb2.DynamixelMotorStatus.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def HeartBeat(request, @@ -399,21 +308,11 @@ def HeartBeat(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.dynamixel_motor.DynamixelMotorService/HeartBeat', + return grpc.experimental.unary_unary(request, target, '/component.dynamixel_motor.DynamixelMotorService/HeartBeat', component__pb2.ComponentId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Restart(request, @@ -426,18 +325,8 @@ def Restart(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.dynamixel_motor.DynamixelMotorService/Restart', + return grpc.experimental.unary_unary(request, target, '/component.dynamixel_motor.DynamixelMotorService/Restart', component__pb2.ComponentId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/reachy2_sdk_api/dynamixel_motor_pb2_grpc.pyi b/python/reachy2_sdk_api/dynamixel_motor_pb2_grpc.pyi index 38405c7..c1f2953 100644 --- a/python/reachy2_sdk_api/dynamixel_motor_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/dynamixel_motor_pb2_grpc.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import component_pb2 @@ -12,11 +11,12 @@ import grpc import grpc.aio import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... class DynamixelMotorServiceStub: @@ -25,42 +25,34 @@ class DynamixelMotorServiceStub: google.protobuf.empty_pb2.Empty, dynamixel_motor_pb2.ListOfDynamixelMotor, ] - GetState: grpc.UnaryUnaryMultiCallable[ dynamixel_motor_pb2.DynamixelMotorStateRequest, dynamixel_motor_pb2.DynamixelMotorState, ] - StreamState: grpc.UnaryStreamMultiCallable[ dynamixel_motor_pb2.DynamixelMotorStreamStateRequest, dynamixel_motor_pb2.DynamixelMotorState, ] - SendCommand: grpc.UnaryUnaryMultiCallable[ dynamixel_motor_pb2.DynamixelMotorsCommand, google.protobuf.empty_pb2.Empty, ] - StreamCommand: grpc.StreamUnaryMultiCallable[ dynamixel_motor_pb2.DynamixelMotorsCommand, google.protobuf.empty_pb2.Empty, ] - SetPosition: grpc.UnaryUnaryMultiCallable[ dynamixel_motor_pb2.DynamixelMotorGoal, google.protobuf.empty_pb2.Empty, ] - Audit: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, dynamixel_motor_pb2.DynamixelMotorStatus, ] - HeartBeat: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, ] - Restart: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, @@ -71,42 +63,34 @@ class DynamixelMotorServiceAsyncStub: google.protobuf.empty_pb2.Empty, dynamixel_motor_pb2.ListOfDynamixelMotor, ] - GetState: grpc.aio.UnaryUnaryMultiCallable[ dynamixel_motor_pb2.DynamixelMotorStateRequest, dynamixel_motor_pb2.DynamixelMotorState, ] - StreamState: grpc.aio.UnaryStreamMultiCallable[ dynamixel_motor_pb2.DynamixelMotorStreamStateRequest, dynamixel_motor_pb2.DynamixelMotorState, ] - SendCommand: grpc.aio.UnaryUnaryMultiCallable[ dynamixel_motor_pb2.DynamixelMotorsCommand, google.protobuf.empty_pb2.Empty, ] - StreamCommand: grpc.aio.StreamUnaryMultiCallable[ dynamixel_motor_pb2.DynamixelMotorsCommand, google.protobuf.empty_pb2.Empty, ] - SetPosition: grpc.aio.UnaryUnaryMultiCallable[ dynamixel_motor_pb2.DynamixelMotorGoal, google.protobuf.empty_pb2.Empty, ] - Audit: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, dynamixel_motor_pb2.DynamixelMotorStatus, ] - HeartBeat: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, ] - Restart: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, @@ -119,56 +103,48 @@ class DynamixelMotorServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[dynamixel_motor_pb2.ListOfDynamixelMotor, collections.abc.Awaitable[dynamixel_motor_pb2.ListOfDynamixelMotor]]: ... - @abc.abstractmethod def GetState( self, request: dynamixel_motor_pb2.DynamixelMotorStateRequest, context: _ServicerContext, ) -> typing.Union[dynamixel_motor_pb2.DynamixelMotorState, collections.abc.Awaitable[dynamixel_motor_pb2.DynamixelMotorState]]: ... - @abc.abstractmethod def StreamState( self, request: dynamixel_motor_pb2.DynamixelMotorStreamStateRequest, context: _ServicerContext, ) -> typing.Union[collections.abc.Iterator[dynamixel_motor_pb2.DynamixelMotorState], collections.abc.AsyncIterator[dynamixel_motor_pb2.DynamixelMotorState]]: ... - @abc.abstractmethod def SendCommand( self, request: dynamixel_motor_pb2.DynamixelMotorsCommand, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def StreamCommand( self, request_iterator: _MaybeAsyncIterator[dynamixel_motor_pb2.DynamixelMotorsCommand], context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def SetPosition( self, request: dynamixel_motor_pb2.DynamixelMotorGoal, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def Audit( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[dynamixel_motor_pb2.DynamixelMotorStatus, collections.abc.Awaitable[dynamixel_motor_pb2.DynamixelMotorStatus]]: ... - @abc.abstractmethod def HeartBeat( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def Restart( self, diff --git a/python/reachy2_sdk_api/error_pb2.py b/python/reachy2_sdk_api/error_pb2.py index 0911bb4..b1356a6 100644 --- a/python/reachy2_sdk_api/error_pb2.py +++ b/python/reachy2_sdk_api/error_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: error.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'error.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -29,8 +18,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'error_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_ERROR']._serialized_start=22 _globals['_ERROR']._serialized_end=46 # @@protoc_insertion_point(module_scope) diff --git a/python/reachy2_sdk_api/error_pb2.pyi b/python/reachy2_sdk_api/error_pb2.pyi index e45d8c1..de14f82 100644 --- a/python/reachy2_sdk_api/error_pb2.pyi +++ b/python/reachy2_sdk_api/error_pb2.pyi @@ -2,15 +2,19 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import builtins import google.protobuf.descriptor import google.protobuf.message -import typing +import sys + +if sys.version_info >= (3, 8): + import typing as typing_extensions +else: + import typing_extensions DESCRIPTOR: google.protobuf.descriptor.FileDescriptor -@typing.final +@typing_extensions.final class Error(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -21,6 +25,6 @@ class Error(google.protobuf.message.Message): *, details: builtins.str = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["details", b"details"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["details", b"details"]) -> None: ... global___Error = Error diff --git a/python/reachy2_sdk_api/error_pb2_grpc.py b/python/reachy2_sdk_api/error_pb2_grpc.py index 2a50058..2daafff 100644 --- a/python/reachy2_sdk_api/error_pb2_grpc.py +++ b/python/reachy2_sdk_api/error_pb2_grpc.py @@ -1,24 +1,4 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings - -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in error_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) diff --git a/python/reachy2_sdk_api/error_pb2_grpc.pyi b/python/reachy2_sdk_api/error_pb2_grpc.pyi index a6a9cff..b13382f 100644 --- a/python/reachy2_sdk_api/error_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/error_pb2_grpc.pyi @@ -2,16 +2,16 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import grpc import grpc.aio import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... diff --git a/python/reachy2_sdk_api/goto_pb2.py b/python/reachy2_sdk_api/goto_pb2.py index 82911f8..6ec9ca9 100644 --- a/python/reachy2_sdk_api/goto_pb2.py +++ b/python/reachy2_sdk_api/goto_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: goto.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'goto.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -37,8 +26,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'goto_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_GOALSTATUS']._serialized_start=1894 _globals['_GOALSTATUS']._serialized_end=2064 _globals['_INTERPOLATIONMODE']._serialized_start=2066 diff --git a/python/reachy2_sdk_api/goto_pb2.pyi b/python/reachy2_sdk_api/goto_pb2.pyi index 40acfa3..8900178 100644 --- a/python/reachy2_sdk_api/goto_pb2.pyi +++ b/python/reachy2_sdk_api/goto_pb2.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import arm_pb2 import builtins import collections.abc @@ -113,7 +112,7 @@ LEFT: ArcDirection.ValueType # 5 RIGHT: ArcDirection.ValueType # 6 global___ArcDirection = ArcDirection -@typing.final +@typing_extensions.final class GoToId(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -124,11 +123,11 @@ class GoToId(google.protobuf.message.Message): *, id: builtins.int = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["id", b"id"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id"]) -> None: ... global___GoToId = GoToId -@typing.final +@typing_extensions.final class GoToAck(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -139,11 +138,11 @@ class GoToAck(google.protobuf.message.Message): *, ack: builtins.bool = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["ack", b"ack"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["ack", b"ack"]) -> None: ... global___GoToAck = GoToAck -@typing.final +@typing_extensions.final class GoToGoalStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -154,11 +153,11 @@ class GoToGoalStatus(google.protobuf.message.Message): *, goal_status: global___GoalStatus.ValueType = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["goal_status", b"goal_status"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["goal_status", b"goal_status"]) -> None: ... global___GoToGoalStatus = GoToGoalStatus -@typing.final +@typing_extensions.final class CartesianGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -174,13 +173,13 @@ class CartesianGoal(google.protobuf.message.Message): arm_cartesian_goal: arm_pb2.ArmCartesianGoal | None = ..., neck_cartesian_goal: head_pb2.NeckCartesianGoal | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["arm_cartesian_goal", b"arm_cartesian_goal", "cartesian_goal", b"cartesian_goal", "neck_cartesian_goal", b"neck_cartesian_goal"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["arm_cartesian_goal", b"arm_cartesian_goal", "cartesian_goal", b"cartesian_goal", "neck_cartesian_goal", b"neck_cartesian_goal"]) -> None: ... - def WhichOneof(self, oneof_group: typing.Literal["cartesian_goal", b"cartesian_goal"]) -> typing.Literal["arm_cartesian_goal", "neck_cartesian_goal"] | None: ... + def HasField(self, field_name: typing_extensions.Literal["arm_cartesian_goal", b"arm_cartesian_goal", "cartesian_goal", b"cartesian_goal", "neck_cartesian_goal", b"neck_cartesian_goal"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["arm_cartesian_goal", b"arm_cartesian_goal", "cartesian_goal", b"cartesian_goal", "neck_cartesian_goal", b"neck_cartesian_goal"]) -> None: ... + def WhichOneof(self, oneof_group: typing_extensions.Literal["cartesian_goal", b"cartesian_goal"]) -> typing_extensions.Literal["arm_cartesian_goal", "neck_cartesian_goal"] | None: ... global___CartesianGoal = CartesianGoal -@typing.final +@typing_extensions.final class JointsGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -208,13 +207,13 @@ class JointsGoal(google.protobuf.message.Message): antenna_joint_goal: head_pb2.AntennaJointGoal | None = ..., hand_joint_goal: hand_pb2.HandJointGoal | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["antenna_joint_goal", b"antenna_joint_goal", "arm_joint_goal", b"arm_joint_goal", "custom_joint_goal", b"custom_joint_goal", "hand_joint_goal", b"hand_joint_goal", "joints_goal", b"joints_goal", "neck_joint_goal", b"neck_joint_goal"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["antenna_joint_goal", b"antenna_joint_goal", "arm_joint_goal", b"arm_joint_goal", "custom_joint_goal", b"custom_joint_goal", "hand_joint_goal", b"hand_joint_goal", "joints_goal", b"joints_goal", "neck_joint_goal", b"neck_joint_goal"]) -> None: ... - def WhichOneof(self, oneof_group: typing.Literal["joints_goal", b"joints_goal"]) -> typing.Literal["arm_joint_goal", "neck_joint_goal", "custom_joint_goal", "antenna_joint_goal", "hand_joint_goal"] | None: ... + def HasField(self, field_name: typing_extensions.Literal["antenna_joint_goal", b"antenna_joint_goal", "arm_joint_goal", b"arm_joint_goal", "custom_joint_goal", b"custom_joint_goal", "hand_joint_goal", b"hand_joint_goal", "joints_goal", b"joints_goal", "neck_joint_goal", b"neck_joint_goal"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["antenna_joint_goal", b"antenna_joint_goal", "arm_joint_goal", b"arm_joint_goal", "custom_joint_goal", b"custom_joint_goal", "hand_joint_goal", b"hand_joint_goal", "joints_goal", b"joints_goal", "neck_joint_goal", b"neck_joint_goal"]) -> None: ... + def WhichOneof(self, oneof_group: typing_extensions.Literal["joints_goal", b"joints_goal"]) -> typing_extensions.Literal["arm_joint_goal", "neck_joint_goal", "custom_joint_goal", "antenna_joint_goal", "hand_joint_goal"] | None: ... global___JointsGoal = JointsGoal -@typing.final +@typing_extensions.final class OdometryGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -238,12 +237,12 @@ class OdometryGoal(google.protobuf.message.Message): angle_tolerance: google.protobuf.wrappers_pb2.FloatValue | None = ..., timeout: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["angle_tolerance", b"angle_tolerance", "distance_tolerance", b"distance_tolerance", "odometry_goal", b"odometry_goal", "timeout", b"timeout"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["angle_tolerance", b"angle_tolerance", "distance_tolerance", b"distance_tolerance", "odometry_goal", b"odometry_goal", "timeout", b"timeout"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["angle_tolerance", b"angle_tolerance", "distance_tolerance", b"distance_tolerance", "odometry_goal", b"odometry_goal", "timeout", b"timeout"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["angle_tolerance", b"angle_tolerance", "distance_tolerance", b"distance_tolerance", "odometry_goal", b"odometry_goal", "timeout", b"timeout"]) -> None: ... global___OdometryGoal = OdometryGoal -@typing.final +@typing_extensions.final class CustomJointGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -271,13 +270,13 @@ class CustomJointGoal(google.protobuf.message.Message): joints_goals: collections.abc.Iterable[google.protobuf.wrappers_pb2.FloatValue] | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["arm_joints", b"arm_joints", "duration", b"duration", "id", b"id", "joints", b"joints", "neck_joints", b"neck_joints"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["arm_joints", b"arm_joints", "duration", b"duration", "id", b"id", "joints", b"joints", "joints_goals", b"joints_goals", "neck_joints", b"neck_joints"]) -> None: ... - def WhichOneof(self, oneof_group: typing.Literal["joints", b"joints"]) -> typing.Literal["arm_joints", "neck_joints"] | None: ... + def HasField(self, field_name: typing_extensions.Literal["arm_joints", b"arm_joints", "duration", b"duration", "id", b"id", "joints", b"joints", "neck_joints", b"neck_joints"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["arm_joints", b"arm_joints", "duration", b"duration", "id", b"id", "joints", b"joints", "joints_goals", b"joints_goals", "neck_joints", b"neck_joints"]) -> None: ... + def WhichOneof(self, oneof_group: typing_extensions.Literal["joints", b"joints"]) -> typing_extensions.Literal["arm_joints", "neck_joints"] | None: ... global___CustomJointGoal = CustomJointGoal -@typing.final +@typing_extensions.final class GoToInterpolation(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -288,11 +287,11 @@ class GoToInterpolation(google.protobuf.message.Message): *, interpolation_type: global___InterpolationMode.ValueType = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["interpolation_type", b"interpolation_type"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["interpolation_type", b"interpolation_type"]) -> None: ... global___GoToInterpolation = GoToInterpolation -@typing.final +@typing_extensions.final class GoToInterpolationSpace(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -303,11 +302,11 @@ class GoToInterpolationSpace(google.protobuf.message.Message): *, interpolation_space: global___InterpolationSpace.ValueType = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["interpolation_space", b"interpolation_space"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["interpolation_space", b"interpolation_space"]) -> None: ... global___GoToInterpolationSpace = GoToInterpolationSpace -@typing.final +@typing_extensions.final class EllipticalGoToParameters(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -322,12 +321,12 @@ class EllipticalGoToParameters(google.protobuf.message.Message): arc_direction: global___ArcDirection.ValueType = ..., secondary_radius: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["secondary_radius", b"secondary_radius"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["arc_direction", b"arc_direction", "secondary_radius", b"secondary_radius"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["secondary_radius", b"secondary_radius"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["arc_direction", b"arc_direction", "secondary_radius", b"secondary_radius"]) -> None: ... global___EllipticalGoToParameters = EllipticalGoToParameters -@typing.final +@typing_extensions.final class GoToRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -359,13 +358,13 @@ class GoToRequest(google.protobuf.message.Message): interpolation_mode: global___GoToInterpolation | None = ..., elliptical_parameters: global___EllipticalGoToParameters | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["cartesian_goal", b"cartesian_goal", "elliptical_parameters", b"elliptical_parameters", "goal", b"goal", "interpolation_mode", b"interpolation_mode", "interpolation_space", b"interpolation_space", "joints_goal", b"joints_goal", "odometry_goal", b"odometry_goal"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["cartesian_goal", b"cartesian_goal", "elliptical_parameters", b"elliptical_parameters", "goal", b"goal", "interpolation_mode", b"interpolation_mode", "interpolation_space", b"interpolation_space", "joints_goal", b"joints_goal", "odometry_goal", b"odometry_goal"]) -> None: ... - def WhichOneof(self, oneof_group: typing.Literal["goal", b"goal"]) -> typing.Literal["cartesian_goal", "joints_goal", "odometry_goal"] | None: ... + def HasField(self, field_name: typing_extensions.Literal["cartesian_goal", b"cartesian_goal", "elliptical_parameters", b"elliptical_parameters", "goal", b"goal", "interpolation_mode", b"interpolation_mode", "interpolation_space", b"interpolation_space", "joints_goal", b"joints_goal", "odometry_goal", b"odometry_goal"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["cartesian_goal", b"cartesian_goal", "elliptical_parameters", b"elliptical_parameters", "goal", b"goal", "interpolation_mode", b"interpolation_mode", "interpolation_space", b"interpolation_space", "joints_goal", b"joints_goal", "odometry_goal", b"odometry_goal"]) -> None: ... + def WhichOneof(self, oneof_group: typing_extensions.Literal["goal", b"goal"]) -> typing_extensions.Literal["cartesian_goal", "joints_goal", "odometry_goal"] | None: ... global___GoToRequest = GoToRequest -@typing.final +@typing_extensions.final class GoToQueue(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -377,6 +376,6 @@ class GoToQueue(google.protobuf.message.Message): *, goto_ids: collections.abc.Iterable[global___GoToId] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["goto_ids", b"goto_ids"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["goto_ids", b"goto_ids"]) -> None: ... global___GoToQueue = GoToQueue diff --git a/python/reachy2_sdk_api/goto_pb2_grpc.py b/python/reachy2_sdk_api/goto_pb2_grpc.py index 6454ab8..df0ef2d 100644 --- a/python/reachy2_sdk_api/goto_pb2_grpc.py +++ b/python/reachy2_sdk_api/goto_pb2_grpc.py @@ -1,32 +1,12 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings import component_pb2 as component__pb2 from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import goto_pb2 as goto__pb2 import part_pb2 as part__pb2 -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in goto_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) - class GoToServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -41,67 +21,67 @@ def __init__(self, channel): '/GoToService/GoToCartesian', request_serializer=goto__pb2.GoToRequest.SerializeToString, response_deserializer=goto__pb2.GoToId.FromString, - _registered_method=True) + ) self.GoToJoints = channel.unary_unary( '/GoToService/GoToJoints', request_serializer=goto__pb2.GoToRequest.SerializeToString, response_deserializer=goto__pb2.GoToId.FromString, - _registered_method=True) + ) self.GoToOdometry = channel.unary_unary( '/GoToService/GoToOdometry', request_serializer=goto__pb2.GoToRequest.SerializeToString, response_deserializer=goto__pb2.GoToId.FromString, - _registered_method=True) + ) self.GetGoToState = channel.unary_unary( '/GoToService/GetGoToState', request_serializer=goto__pb2.GoToId.SerializeToString, response_deserializer=goto__pb2.GoToGoalStatus.FromString, - _registered_method=True) + ) self.GetGoToRequest = channel.unary_unary( '/GoToService/GetGoToRequest', request_serializer=goto__pb2.GoToId.SerializeToString, response_deserializer=goto__pb2.GoToRequest.FromString, - _registered_method=True) + ) self.GetPartGoToPlaying = channel.unary_unary( '/GoToService/GetPartGoToPlaying', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=goto__pb2.GoToId.FromString, - _registered_method=True) + ) self.GetComponentGoToPlaying = channel.unary_unary( '/GoToService/GetComponentGoToPlaying', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=goto__pb2.GoToId.FromString, - _registered_method=True) + ) self.GetPartGoToQueue = channel.unary_unary( '/GoToService/GetPartGoToQueue', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=goto__pb2.GoToQueue.FromString, - _registered_method=True) + ) self.GetComponentGoToQueue = channel.unary_unary( '/GoToService/GetComponentGoToQueue', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=goto__pb2.GoToQueue.FromString, - _registered_method=True) + ) self.CancelGoTo = channel.unary_unary( '/GoToService/CancelGoTo', request_serializer=goto__pb2.GoToId.SerializeToString, response_deserializer=goto__pb2.GoToAck.FromString, - _registered_method=True) + ) self.CancelAllGoTo = channel.unary_unary( '/GoToService/CancelAllGoTo', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=goto__pb2.GoToAck.FromString, - _registered_method=True) + ) self.CancelPartAllGoTo = channel.unary_unary( '/GoToService/CancelPartAllGoTo', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=goto__pb2.GoToAck.FromString, - _registered_method=True) + ) self.CancelComponentAllGoTo = channel.unary_unary( '/GoToService/CancelComponentAllGoTo', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=goto__pb2.GoToAck.FromString, - _registered_method=True) + ) class GoToServiceServicer(object): @@ -257,7 +237,6 @@ def add_GoToServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'GoToService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('GoToService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -275,21 +254,11 @@ def GoToCartesian(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/GoToService/GoToCartesian', + return grpc.experimental.unary_unary(request, target, '/GoToService/GoToCartesian', goto__pb2.GoToRequest.SerializeToString, goto__pb2.GoToId.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GoToJoints(request, @@ -302,21 +271,11 @@ def GoToJoints(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/GoToService/GoToJoints', + return grpc.experimental.unary_unary(request, target, '/GoToService/GoToJoints', goto__pb2.GoToRequest.SerializeToString, goto__pb2.GoToId.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GoToOdometry(request, @@ -329,21 +288,11 @@ def GoToOdometry(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/GoToService/GoToOdometry', + return grpc.experimental.unary_unary(request, target, '/GoToService/GoToOdometry', goto__pb2.GoToRequest.SerializeToString, goto__pb2.GoToId.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetGoToState(request, @@ -356,21 +305,11 @@ def GetGoToState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/GoToService/GetGoToState', + return grpc.experimental.unary_unary(request, target, '/GoToService/GetGoToState', goto__pb2.GoToId.SerializeToString, goto__pb2.GoToGoalStatus.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetGoToRequest(request, @@ -383,21 +322,11 @@ def GetGoToRequest(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/GoToService/GetGoToRequest', + return grpc.experimental.unary_unary(request, target, '/GoToService/GetGoToRequest', goto__pb2.GoToId.SerializeToString, goto__pb2.GoToRequest.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetPartGoToPlaying(request, @@ -410,21 +339,11 @@ def GetPartGoToPlaying(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/GoToService/GetPartGoToPlaying', + return grpc.experimental.unary_unary(request, target, '/GoToService/GetPartGoToPlaying', part__pb2.PartId.SerializeToString, goto__pb2.GoToId.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetComponentGoToPlaying(request, @@ -437,21 +356,11 @@ def GetComponentGoToPlaying(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/GoToService/GetComponentGoToPlaying', + return grpc.experimental.unary_unary(request, target, '/GoToService/GetComponentGoToPlaying', component__pb2.ComponentId.SerializeToString, goto__pb2.GoToId.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetPartGoToQueue(request, @@ -464,21 +373,11 @@ def GetPartGoToQueue(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/GoToService/GetPartGoToQueue', + return grpc.experimental.unary_unary(request, target, '/GoToService/GetPartGoToQueue', part__pb2.PartId.SerializeToString, goto__pb2.GoToQueue.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetComponentGoToQueue(request, @@ -491,21 +390,11 @@ def GetComponentGoToQueue(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/GoToService/GetComponentGoToQueue', + return grpc.experimental.unary_unary(request, target, '/GoToService/GetComponentGoToQueue', component__pb2.ComponentId.SerializeToString, goto__pb2.GoToQueue.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def CancelGoTo(request, @@ -518,21 +407,11 @@ def CancelGoTo(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/GoToService/CancelGoTo', + return grpc.experimental.unary_unary(request, target, '/GoToService/CancelGoTo', goto__pb2.GoToId.SerializeToString, goto__pb2.GoToAck.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def CancelAllGoTo(request, @@ -545,21 +424,11 @@ def CancelAllGoTo(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/GoToService/CancelAllGoTo', + return grpc.experimental.unary_unary(request, target, '/GoToService/CancelAllGoTo', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, goto__pb2.GoToAck.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def CancelPartAllGoTo(request, @@ -572,21 +441,11 @@ def CancelPartAllGoTo(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/GoToService/CancelPartAllGoTo', + return grpc.experimental.unary_unary(request, target, '/GoToService/CancelPartAllGoTo', part__pb2.PartId.SerializeToString, goto__pb2.GoToAck.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def CancelComponentAllGoTo(request, @@ -599,18 +458,8 @@ def CancelComponentAllGoTo(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/GoToService/CancelComponentAllGoTo', + return grpc.experimental.unary_unary(request, target, '/GoToService/CancelComponentAllGoTo', component__pb2.ComponentId.SerializeToString, goto__pb2.GoToAck.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/reachy2_sdk_api/goto_pb2_grpc.pyi b/python/reachy2_sdk_api/goto_pb2_grpc.pyi index b0f5341..3eaba67 100644 --- a/python/reachy2_sdk_api/goto_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/goto_pb2_grpc.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import component_pb2 @@ -13,11 +12,12 @@ import grpc.aio import part_pb2 import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... class GoToServiceStub: @@ -26,62 +26,50 @@ class GoToServiceStub: goto_pb2.GoToRequest, goto_pb2.GoToId, ] - GoToJoints: grpc.UnaryUnaryMultiCallable[ goto_pb2.GoToRequest, goto_pb2.GoToId, ] - GoToOdometry: grpc.UnaryUnaryMultiCallable[ goto_pb2.GoToRequest, goto_pb2.GoToId, ] - GetGoToState: grpc.UnaryUnaryMultiCallable[ goto_pb2.GoToId, goto_pb2.GoToGoalStatus, ] - GetGoToRequest: grpc.UnaryUnaryMultiCallable[ goto_pb2.GoToId, goto_pb2.GoToRequest, ] - GetPartGoToPlaying: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, goto_pb2.GoToId, ] - GetComponentGoToPlaying: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, goto_pb2.GoToId, ] - GetPartGoToQueue: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, goto_pb2.GoToQueue, ] - GetComponentGoToQueue: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, goto_pb2.GoToQueue, ] - CancelGoTo: grpc.UnaryUnaryMultiCallable[ goto_pb2.GoToId, goto_pb2.GoToAck, ] - CancelAllGoTo: grpc.UnaryUnaryMultiCallable[ google.protobuf.empty_pb2.Empty, goto_pb2.GoToAck, ] - CancelPartAllGoTo: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, goto_pb2.GoToAck, ] - CancelComponentAllGoTo: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, goto_pb2.GoToAck, @@ -92,62 +80,50 @@ class GoToServiceAsyncStub: goto_pb2.GoToRequest, goto_pb2.GoToId, ] - GoToJoints: grpc.aio.UnaryUnaryMultiCallable[ goto_pb2.GoToRequest, goto_pb2.GoToId, ] - GoToOdometry: grpc.aio.UnaryUnaryMultiCallable[ goto_pb2.GoToRequest, goto_pb2.GoToId, ] - GetGoToState: grpc.aio.UnaryUnaryMultiCallable[ goto_pb2.GoToId, goto_pb2.GoToGoalStatus, ] - GetGoToRequest: grpc.aio.UnaryUnaryMultiCallable[ goto_pb2.GoToId, goto_pb2.GoToRequest, ] - GetPartGoToPlaying: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, goto_pb2.GoToId, ] - GetComponentGoToPlaying: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, goto_pb2.GoToId, ] - GetPartGoToQueue: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, goto_pb2.GoToQueue, ] - GetComponentGoToQueue: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, goto_pb2.GoToQueue, ] - CancelGoTo: grpc.aio.UnaryUnaryMultiCallable[ goto_pb2.GoToId, goto_pb2.GoToAck, ] - CancelAllGoTo: grpc.aio.UnaryUnaryMultiCallable[ google.protobuf.empty_pb2.Empty, goto_pb2.GoToAck, ] - CancelPartAllGoTo: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, goto_pb2.GoToAck, ] - CancelComponentAllGoTo: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, goto_pb2.GoToAck, @@ -160,84 +136,72 @@ class GoToServiceServicer(metaclass=abc.ABCMeta): request: goto_pb2.GoToRequest, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToId, collections.abc.Awaitable[goto_pb2.GoToId]]: ... - @abc.abstractmethod def GoToJoints( self, request: goto_pb2.GoToRequest, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToId, collections.abc.Awaitable[goto_pb2.GoToId]]: ... - @abc.abstractmethod def GoToOdometry( self, request: goto_pb2.GoToRequest, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToId, collections.abc.Awaitable[goto_pb2.GoToId]]: ... - @abc.abstractmethod def GetGoToState( self, request: goto_pb2.GoToId, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToGoalStatus, collections.abc.Awaitable[goto_pb2.GoToGoalStatus]]: ... - @abc.abstractmethod def GetGoToRequest( self, request: goto_pb2.GoToId, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToRequest, collections.abc.Awaitable[goto_pb2.GoToRequest]]: ... - @abc.abstractmethod def GetPartGoToPlaying( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToId, collections.abc.Awaitable[goto_pb2.GoToId]]: ... - @abc.abstractmethod def GetComponentGoToPlaying( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToId, collections.abc.Awaitable[goto_pb2.GoToId]]: ... - @abc.abstractmethod def GetPartGoToQueue( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToQueue, collections.abc.Awaitable[goto_pb2.GoToQueue]]: ... - @abc.abstractmethod def GetComponentGoToQueue( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToQueue, collections.abc.Awaitable[goto_pb2.GoToQueue]]: ... - @abc.abstractmethod def CancelGoTo( self, request: goto_pb2.GoToId, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToAck, collections.abc.Awaitable[goto_pb2.GoToAck]]: ... - @abc.abstractmethod def CancelAllGoTo( self, request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToAck, collections.abc.Awaitable[goto_pb2.GoToAck]]: ... - @abc.abstractmethod def CancelPartAllGoTo( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[goto_pb2.GoToAck, collections.abc.Awaitable[goto_pb2.GoToAck]]: ... - @abc.abstractmethod def CancelComponentAllGoTo( self, diff --git a/python/reachy2_sdk_api/hand_pb2.py b/python/reachy2_sdk_api/hand_pb2.py index 6cb2962..d663244 100644 --- a/python/reachy2_sdk_api/hand_pb2.py +++ b/python/reachy2_sdk_api/hand_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: hand.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'hand.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -33,8 +22,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'hand_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_HANDTYPE']._serialized_start=1796 _globals['_HANDTYPE']._serialized_end=1841 _globals['_SPEEDLIMIT']._serialized_start=1843 diff --git a/python/reachy2_sdk_api/hand_pb2.pyi b/python/reachy2_sdk_api/hand_pb2.pyi index ee97026..1cce263 100644 --- a/python/reachy2_sdk_api/hand_pb2.pyi +++ b/python/reachy2_sdk_api/hand_pb2.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import builtins import collections.abc import error_pb2 @@ -56,16 +55,16 @@ NORMAL: SpeedLimit.ValueType # 2 SLOW: SpeedLimit.ValueType # 3 global___SpeedLimit = SpeedLimit -@typing.final +@typing_extensions.final class Hand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor PART_ID_FIELD_NUMBER: builtins.int TYPE_FIELD_NUMBER: builtins.int INFO_FIELD_NUMBER: builtins.int - type: global___HandType.ValueType @property def part_id(self) -> part_pb2.PartId: ... + type: global___HandType.ValueType @property def info(self) -> part_pb2.PartInfo: ... def __init__( @@ -75,12 +74,12 @@ class Hand(google.protobuf.message.Message): type: global___HandType.ValueType = ..., info: part_pb2.PartInfo | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["info", b"info", "part_id", b"part_id", "type", b"type"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["info", b"info", "part_id", b"part_id", "type", b"type"]) -> None: ... global___Hand = Hand -@typing.final +@typing_extensions.final class ListOfHand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -92,11 +91,11 @@ class ListOfHand(google.protobuf.message.Message): *, hand: collections.abc.Iterable[global___Hand] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["hand", b"hand"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["hand", b"hand"]) -> None: ... global___ListOfHand = ListOfHand -@typing.final +@typing_extensions.final class HandState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -136,12 +135,12 @@ class HandState(google.protobuf.message.Message): goal_position: global___HandPosition | None = ..., compliant: google.protobuf.wrappers_pb2.BoolValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["compliant", b"compliant", "force", b"force", "goal_position", b"goal_position", "holding_object", b"holding_object", "joints_limits", b"joints_limits", "opening", b"opening", "present_position", b"present_position", "temperatures", b"temperatures"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["compliant", b"compliant", "force", b"force", "goal_position", b"goal_position", "holding_object", b"holding_object", "joints_limits", b"joints_limits", "opening", b"opening", "present_position", b"present_position", "temperatures", b"temperatures"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "force", b"force", "goal_position", b"goal_position", "holding_object", b"holding_object", "joints_limits", b"joints_limits", "opening", b"opening", "present_position", b"present_position", "temperatures", b"temperatures"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "force", b"force", "goal_position", b"goal_position", "holding_object", b"holding_object", "joints_limits", b"joints_limits", "opening", b"opening", "present_position", b"present_position", "temperatures", b"temperatures"]) -> None: ... global___HandState = HandState -@typing.final +@typing_extensions.final class HandStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -153,11 +152,11 @@ class HandStatus(google.protobuf.message.Message): *, errors: collections.abc.Iterable[error_pb2.Error] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["errors", b"errors"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["errors", b"errors"]) -> None: ... global___HandStatus = HandStatus -@typing.final +@typing_extensions.final class Force(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -167,7 +166,7 @@ class Force(google.protobuf.message.Message): global___Force = Force -@typing.final +@typing_extensions.final class JointLimits(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -181,11 +180,11 @@ class JointLimits(google.protobuf.message.Message): min: builtins.float = ..., max: builtins.float = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["max", b"max", "min", b"min"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["max", b"max", "min", b"min"]) -> None: ... global___JointLimits = JointLimits -@typing.final +@typing_extensions.final class ParallelGripperLimits(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -197,12 +196,12 @@ class ParallelGripperLimits(google.protobuf.message.Message): *, limits: global___JointLimits | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["limits", b"limits"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["limits", b"limits"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["limits", b"limits"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["limits", b"limits"]) -> None: ... global___ParallelGripperLimits = ParallelGripperLimits -@typing.final +@typing_extensions.final class JointsLimits(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -214,13 +213,13 @@ class JointsLimits(google.protobuf.message.Message): *, parallel_gripper: global___ParallelGripperLimits | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["limits", b"limits", "parallel_gripper", b"parallel_gripper"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["limits", b"limits", "parallel_gripper", b"parallel_gripper"]) -> None: ... - def WhichOneof(self, oneof_group: typing.Literal["limits", b"limits"]) -> typing.Literal["parallel_gripper"] | None: ... + def HasField(self, field_name: typing_extensions.Literal["limits", b"limits", "parallel_gripper", b"parallel_gripper"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["limits", b"limits", "parallel_gripper", b"parallel_gripper"]) -> None: ... + def WhichOneof(self, oneof_group: typing_extensions.Literal["limits", b"limits"]) -> typing_extensions.Literal["parallel_gripper"] | None: ... global___JointsLimits = JointsLimits -@typing.final +@typing_extensions.final class ParallelGripperPosition(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -236,13 +235,13 @@ class ParallelGripperPosition(google.protobuf.message.Message): opening_percentage: google.protobuf.wrappers_pb2.FloatValue | None = ..., position: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["gripper_position", b"gripper_position", "opening_percentage", b"opening_percentage", "position", b"position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["gripper_position", b"gripper_position", "opening_percentage", b"opening_percentage", "position", b"position"]) -> None: ... - def WhichOneof(self, oneof_group: typing.Literal["gripper_position", b"gripper_position"]) -> typing.Literal["opening_percentage", "position"] | None: ... + def HasField(self, field_name: typing_extensions.Literal["gripper_position", b"gripper_position", "opening_percentage", b"opening_percentage", "position", b"position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["gripper_position", b"gripper_position", "opening_percentage", b"opening_percentage", "position", b"position"]) -> None: ... + def WhichOneof(self, oneof_group: typing_extensions.Literal["gripper_position", b"gripper_position"]) -> typing_extensions.Literal["opening_percentage", "position"] | None: ... global___ParallelGripperPosition = ParallelGripperPosition -@typing.final +@typing_extensions.final class HandPosition(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -254,13 +253,13 @@ class HandPosition(google.protobuf.message.Message): *, parallel_gripper: global___ParallelGripperPosition | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["parallel_gripper", b"parallel_gripper", "position", b"position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["parallel_gripper", b"parallel_gripper", "position", b"position"]) -> None: ... - def WhichOneof(self, oneof_group: typing.Literal["position", b"position"]) -> typing.Literal["parallel_gripper"] | None: ... + def HasField(self, field_name: typing_extensions.Literal["parallel_gripper", b"parallel_gripper", "position", b"position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["parallel_gripper", b"parallel_gripper", "position", b"position"]) -> None: ... + def WhichOneof(self, oneof_group: typing_extensions.Literal["position", b"position"]) -> typing_extensions.Literal["parallel_gripper"] | None: ... global___HandPosition = HandPosition -@typing.final +@typing_extensions.final class HandPositionRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -276,12 +275,12 @@ class HandPositionRequest(google.protobuf.message.Message): id: part_pb2.PartId | None = ..., position: global___HandPosition | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id", "position", b"position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "position", b"position"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id", "position", b"position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "position", b"position"]) -> None: ... global___HandPositionRequest = HandPositionRequest -@typing.final +@typing_extensions.final class HandJointGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -297,12 +296,12 @@ class HandJointGoal(google.protobuf.message.Message): goal_request: global___HandPositionRequest | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["duration", b"duration", "goal_request", b"goal_request"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["duration", b"duration", "goal_request", b"goal_request"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["duration", b"duration", "goal_request", b"goal_request"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["duration", b"duration", "goal_request", b"goal_request"]) -> None: ... global___HandJointGoal = HandJointGoal -@typing.final +@typing_extensions.final class Temperatures(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -316,11 +315,11 @@ class Temperatures(google.protobuf.message.Message): motor: builtins.float = ..., driver: builtins.float = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["driver", b"driver", "motor", b"motor"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["driver", b"driver", "motor", b"motor"]) -> None: ... global___Temperatures = Temperatures -@typing.final +@typing_extensions.final class ParallelGripperTemperature(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -332,12 +331,12 @@ class ParallelGripperTemperature(google.protobuf.message.Message): *, temperature: global___Temperatures | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["temperature", b"temperature"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["temperature", b"temperature"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["temperature", b"temperature"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["temperature", b"temperature"]) -> None: ... global___ParallelGripperTemperature = ParallelGripperTemperature -@typing.final +@typing_extensions.final class HandTemperatures(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -349,28 +348,28 @@ class HandTemperatures(google.protobuf.message.Message): *, parallel_gripper: global___Temperatures | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["parallel_gripper", b"parallel_gripper", "temperatures", b"temperatures"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["parallel_gripper", b"parallel_gripper", "temperatures", b"temperatures"]) -> None: ... - def WhichOneof(self, oneof_group: typing.Literal["temperatures", b"temperatures"]) -> typing.Literal["parallel_gripper"] | None: ... + def HasField(self, field_name: typing_extensions.Literal["parallel_gripper", b"parallel_gripper", "temperatures", b"temperatures"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["parallel_gripper", b"parallel_gripper", "temperatures", b"temperatures"]) -> None: ... + def WhichOneof(self, oneof_group: typing_extensions.Literal["temperatures", b"temperatures"]) -> typing_extensions.Literal["parallel_gripper"] | None: ... global___HandTemperatures = HandTemperatures -@typing.final +@typing_extensions.final class SpeedLimitRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int LIMIT_FIELD_NUMBER: builtins.int - limit: global___SpeedLimit.ValueType @property def id(self) -> part_pb2.PartId: ... + limit: global___SpeedLimit.ValueType def __init__( self, *, id: part_pb2.PartId | None = ..., limit: global___SpeedLimit.ValueType = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "limit", b"limit"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "limit", b"limit"]) -> None: ... global___SpeedLimitRequest = SpeedLimitRequest diff --git a/python/reachy2_sdk_api/hand_pb2_grpc.py b/python/reachy2_sdk_api/hand_pb2_grpc.py index 9d21eec..011dc95 100644 --- a/python/reachy2_sdk_api/hand_pb2_grpc.py +++ b/python/reachy2_sdk_api/hand_pb2_grpc.py @@ -1,31 +1,11 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import hand_pb2 as hand__pb2 import part_pb2 as part__pb2 -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in hand_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) - class HandServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -40,82 +20,82 @@ def __init__(self, channel): '/reachy.part.hand.HandService/GetAllHands', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=hand__pb2.ListOfHand.FromString, - _registered_method=True) + ) self.GetState = channel.unary_unary( '/reachy.part.hand.HandService/GetState', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=hand__pb2.HandState.FromString, - _registered_method=True) + ) self.OpenHand = channel.unary_unary( '/reachy.part.hand.HandService/OpenHand', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.CloseHand = channel.unary_unary( '/reachy.part.hand.HandService/CloseHand', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.Audit = channel.unary_unary( '/reachy.part.hand.HandService/Audit', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=hand__pb2.HandStatus.FromString, - _registered_method=True) + ) self.HeartBeat = channel.unary_unary( '/reachy.part.hand.HandService/HeartBeat', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.Restart = channel.unary_unary( '/reachy.part.hand.HandService/Restart', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.ResetDefaultValues = channel.unary_unary( '/reachy.part.hand.HandService/ResetDefaultValues', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.TurnOn = channel.unary_unary( '/reachy.part.hand.HandService/TurnOn', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.TurnOff = channel.unary_unary( '/reachy.part.hand.HandService/TurnOff', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.GetJointLimit = channel.unary_unary( '/reachy.part.hand.HandService/GetJointLimit', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=hand__pb2.JointsLimits.FromString, - _registered_method=True) + ) self.GetTemperature = channel.unary_unary( '/reachy.part.hand.HandService/GetTemperature', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=hand__pb2.HandTemperatures.FromString, - _registered_method=True) + ) self.GetHandGoalPosition = channel.unary_unary( '/reachy.part.hand.HandService/GetHandGoalPosition', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=hand__pb2.HandPosition.FromString, - _registered_method=True) + ) self.SetSpeedLimit = channel.unary_unary( '/reachy.part.hand.HandService/SetSpeedLimit', request_serializer=hand__pb2.SpeedLimitRequest.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.SetHandPosition = channel.unary_unary( '/reachy.part.hand.HandService/SetHandPosition', request_serializer=hand__pb2.HandPositionRequest.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.GetForce = channel.unary_unary( '/reachy.part.hand.HandService/GetForce', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=hand__pb2.Force.FromString, - _registered_method=True) + ) class HandServiceServicer(object): @@ -304,7 +284,6 @@ def add_HandServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.part.hand.HandService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('reachy.part.hand.HandService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -322,21 +301,11 @@ def GetAllHands(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.hand.HandService/GetAllHands', + return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/GetAllHands', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, hand__pb2.ListOfHand.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetState(request, @@ -349,21 +318,11 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.hand.HandService/GetState', + return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/GetState', part__pb2.PartId.SerializeToString, hand__pb2.HandState.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def OpenHand(request, @@ -376,21 +335,11 @@ def OpenHand(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.hand.HandService/OpenHand', + return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/OpenHand', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def CloseHand(request, @@ -403,21 +352,11 @@ def CloseHand(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.hand.HandService/CloseHand', + return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/CloseHand', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Audit(request, @@ -430,21 +369,11 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.hand.HandService/Audit', + return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/Audit', part__pb2.PartId.SerializeToString, hand__pb2.HandStatus.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def HeartBeat(request, @@ -457,21 +386,11 @@ def HeartBeat(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.hand.HandService/HeartBeat', + return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/HeartBeat', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Restart(request, @@ -484,21 +403,11 @@ def Restart(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.hand.HandService/Restart', + return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/Restart', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def ResetDefaultValues(request, @@ -511,21 +420,11 @@ def ResetDefaultValues(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.hand.HandService/ResetDefaultValues', + return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/ResetDefaultValues', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def TurnOn(request, @@ -538,21 +437,11 @@ def TurnOn(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.hand.HandService/TurnOn', + return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/TurnOn', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def TurnOff(request, @@ -565,21 +454,11 @@ def TurnOff(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.hand.HandService/TurnOff', + return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/TurnOff', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetJointLimit(request, @@ -592,21 +471,11 @@ def GetJointLimit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.hand.HandService/GetJointLimit', + return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/GetJointLimit', part__pb2.PartId.SerializeToString, hand__pb2.JointsLimits.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetTemperature(request, @@ -619,21 +488,11 @@ def GetTemperature(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.hand.HandService/GetTemperature', + return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/GetTemperature', part__pb2.PartId.SerializeToString, hand__pb2.HandTemperatures.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetHandGoalPosition(request, @@ -646,21 +505,11 @@ def GetHandGoalPosition(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.hand.HandService/GetHandGoalPosition', + return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/GetHandGoalPosition', part__pb2.PartId.SerializeToString, hand__pb2.HandPosition.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SetSpeedLimit(request, @@ -673,21 +522,11 @@ def SetSpeedLimit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.hand.HandService/SetSpeedLimit', + return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/SetSpeedLimit', hand__pb2.SpeedLimitRequest.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SetHandPosition(request, @@ -700,21 +539,11 @@ def SetHandPosition(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.hand.HandService/SetHandPosition', + return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/SetHandPosition', hand__pb2.HandPositionRequest.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetForce(request, @@ -727,18 +556,8 @@ def GetForce(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.hand.HandService/GetForce', + return grpc.experimental.unary_unary(request, target, '/reachy.part.hand.HandService/GetForce', part__pb2.PartId.SerializeToString, hand__pb2.Force.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/reachy2_sdk_api/hand_pb2_grpc.pyi b/python/reachy2_sdk_api/hand_pb2_grpc.pyi index c2ff67a..01b07af 100644 --- a/python/reachy2_sdk_api/hand_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/hand_pb2_grpc.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import google.protobuf.empty_pb2 @@ -12,11 +11,12 @@ import hand_pb2 import part_pb2 import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... class HandServiceStub: @@ -25,77 +25,62 @@ class HandServiceStub: google.protobuf.empty_pb2.Empty, hand_pb2.ListOfHand, ] - GetState: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.HandState, ] - OpenHand: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - CloseHand: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - Audit: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.HandStatus, ] - HeartBeat: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - Restart: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - ResetDefaultValues: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - TurnOn: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - TurnOff: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - GetJointLimit: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.JointsLimits, ] - GetTemperature: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.HandTemperatures, ] - GetHandGoalPosition: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.HandPosition, ] - SetSpeedLimit: grpc.UnaryUnaryMultiCallable[ hand_pb2.SpeedLimitRequest, google.protobuf.empty_pb2.Empty, ] - SetHandPosition: grpc.UnaryUnaryMultiCallable[ hand_pb2.HandPositionRequest, google.protobuf.empty_pb2.Empty, ] - GetForce: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.Force, @@ -106,77 +91,62 @@ class HandServiceAsyncStub: google.protobuf.empty_pb2.Empty, hand_pb2.ListOfHand, ] - GetState: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.HandState, ] - OpenHand: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - CloseHand: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - Audit: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.HandStatus, ] - HeartBeat: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - Restart: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - ResetDefaultValues: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - TurnOn: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - TurnOff: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - GetJointLimit: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.JointsLimits, ] - GetTemperature: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.HandTemperatures, ] - GetHandGoalPosition: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.HandPosition, ] - SetSpeedLimit: grpc.aio.UnaryUnaryMultiCallable[ hand_pb2.SpeedLimitRequest, google.protobuf.empty_pb2.Empty, ] - SetHandPosition: grpc.aio.UnaryUnaryMultiCallable[ hand_pb2.HandPositionRequest, google.protobuf.empty_pb2.Empty, ] - GetForce: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, hand_pb2.Force, @@ -189,105 +159,90 @@ class HandServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[hand_pb2.ListOfHand, collections.abc.Awaitable[hand_pb2.ListOfHand]]: ... - @abc.abstractmethod def GetState( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[hand_pb2.HandState, collections.abc.Awaitable[hand_pb2.HandState]]: ... - @abc.abstractmethod def OpenHand( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def CloseHand( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def Audit( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[hand_pb2.HandStatus, collections.abc.Awaitable[hand_pb2.HandStatus]]: ... - @abc.abstractmethod def HeartBeat( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def Restart( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def ResetDefaultValues( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def TurnOn( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def TurnOff( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def GetJointLimit( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[hand_pb2.JointsLimits, collections.abc.Awaitable[hand_pb2.JointsLimits]]: ... - @abc.abstractmethod def GetTemperature( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[hand_pb2.HandTemperatures, collections.abc.Awaitable[hand_pb2.HandTemperatures]]: ... - @abc.abstractmethod def GetHandGoalPosition( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[hand_pb2.HandPosition, collections.abc.Awaitable[hand_pb2.HandPosition]]: ... - @abc.abstractmethod def SetSpeedLimit( self, request: hand_pb2.SpeedLimitRequest, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def SetHandPosition( self, request: hand_pb2.HandPositionRequest, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def GetForce( self, diff --git a/python/reachy2_sdk_api/head_pb2.py b/python/reachy2_sdk_api/head_pb2.py index 8a77a7a..8600776 100644 --- a/python/reachy2_sdk_api/head_pb2.py +++ b/python/reachy2_sdk_api/head_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: head.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'head.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -38,8 +27,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'head_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_HEADFIELD']._serialized_start=3105 _globals['_HEADFIELD']._serialized_end=3325 _globals['_NECKJOINTS']._serialized_start=3327 diff --git a/python/reachy2_sdk_api/head_pb2.pyi b/python/reachy2_sdk_api/head_pb2.pyi index 552a072..77db2fe 100644 --- a/python/reachy2_sdk_api/head_pb2.pyi +++ b/python/reachy2_sdk_api/head_pb2.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import builtins import collections.abc import component_pb2 @@ -83,7 +82,7 @@ PITCH: NeckJoints.ValueType # 1 YAW: NeckJoints.ValueType # 2 global___NeckJoints = NeckJoints -@typing.final +@typing_extensions.final class CustomNeckJoints(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -95,11 +94,11 @@ class CustomNeckJoints(google.protobuf.message.Message): *, joints: collections.abc.Iterable[global___NeckJoints.ValueType] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["joints", b"joints"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["joints", b"joints"]) -> None: ... global___CustomNeckJoints = CustomNeckJoints -@typing.final +@typing_extensions.final class Head(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -119,12 +118,12 @@ class Head(google.protobuf.message.Message): description: global___HeadDescription | None = ..., info: part_pb2.PartInfo | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> None: ... global___Head = Head -@typing.final +@typing_extensions.final class HeadDescription(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -144,12 +143,12 @@ class HeadDescription(google.protobuf.message.Message): l_antenna: dynamixel_motor_pb2.DynamixelMotor | None = ..., r_antenna: dynamixel_motor_pb2.DynamixelMotor | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["l_antenna", b"l_antenna", "neck", b"neck", "r_antenna", b"r_antenna"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["l_antenna", b"l_antenna", "neck", b"neck", "r_antenna", b"r_antenna"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["l_antenna", b"l_antenna", "neck", b"neck", "r_antenna", b"r_antenna"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["l_antenna", b"l_antenna", "neck", b"neck", "r_antenna", b"r_antenna"]) -> None: ... global___HeadDescription = HeadDescription -@typing.final +@typing_extensions.final class ListOfHead(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -161,11 +160,11 @@ class ListOfHead(google.protobuf.message.Message): *, head: collections.abc.Iterable[global___Head] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["head", b"head"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["head", b"head"]) -> None: ... global___ListOfHead = ListOfHead -@typing.final +@typing_extensions.final class HeadState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -175,11 +174,11 @@ class HeadState(google.protobuf.message.Message): NECK_STATE_FIELD_NUMBER: builtins.int L_ANTENNA_STATE_FIELD_NUMBER: builtins.int R_ANTENNA_STATE_FIELD_NUMBER: builtins.int - activated: builtins.bool @property def timestamp(self) -> google.protobuf.timestamp_pb2.Timestamp: ... @property def id(self) -> part_pb2.PartId: ... + activated: builtins.bool @property def neck_state(self) -> orbita3d_pb2.Orbita3dState: ... @property @@ -196,12 +195,12 @@ class HeadState(google.protobuf.message.Message): l_antenna_state: dynamixel_motor_pb2.DynamixelMotorState | None = ..., r_antenna_state: dynamixel_motor_pb2.DynamixelMotorState | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id", "l_antenna_state", b"l_antenna_state", "neck_state", b"neck_state", "r_antenna_state", b"r_antenna_state", "timestamp", b"timestamp"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["activated", b"activated", "id", b"id", "l_antenna_state", b"l_antenna_state", "neck_state", b"neck_state", "r_antenna_state", b"r_antenna_state", "timestamp", b"timestamp"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id", "l_antenna_state", b"l_antenna_state", "neck_state", b"neck_state", "r_antenna_state", b"r_antenna_state", "timestamp", b"timestamp"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["activated", b"activated", "id", b"id", "l_antenna_state", b"l_antenna_state", "neck_state", b"neck_state", "r_antenna_state", b"r_antenna_state", "timestamp", b"timestamp"]) -> None: ... global___HeadState = HeadState -@typing.final +@typing_extensions.final class HeadPosition(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -221,12 +220,12 @@ class HeadPosition(google.protobuf.message.Message): l_antenna_position: google.protobuf.wrappers_pb2.FloatValue | None = ..., r_antenna_position: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["l_antenna_position", b"l_antenna_position", "neck_position", b"neck_position", "r_antenna_position", b"r_antenna_position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["l_antenna_position", b"l_antenna_position", "neck_position", b"neck_position", "r_antenna_position", b"r_antenna_position"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["l_antenna_position", b"l_antenna_position", "neck_position", b"neck_position", "r_antenna_position", b"r_antenna_position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["l_antenna_position", b"l_antenna_position", "neck_position", b"neck_position", "r_antenna_position", b"r_antenna_position"]) -> None: ... global___HeadPosition = HeadPosition -@typing.final +@typing_extensions.final class NeckCartesianGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -246,12 +245,12 @@ class NeckCartesianGoal(google.protobuf.message.Message): point: kinematics_pb2.Point | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "point", b"point"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "point", b"point"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "point", b"point"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "point", b"point"]) -> None: ... global___NeckCartesianGoal = NeckCartesianGoal -@typing.final +@typing_extensions.final class NeckJointGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -271,12 +270,12 @@ class NeckJointGoal(google.protobuf.message.Message): joints_goal: global___NeckOrientation | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "joints_goal", b"joints_goal"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "joints_goal", b"joints_goal"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "joints_goal", b"joints_goal"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "joints_goal", b"joints_goal"]) -> None: ... global___NeckJointGoal = NeckJointGoal -@typing.final +@typing_extensions.final class AntennaJointGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -300,12 +299,12 @@ class AntennaJointGoal(google.protobuf.message.Message): joint_goal: google.protobuf.wrappers_pb2.FloatValue | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["antenna", b"antenna", "duration", b"duration", "id", b"id", "joint_goal", b"joint_goal"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["antenna", b"antenna", "duration", b"duration", "id", b"id", "joint_goal", b"joint_goal"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["antenna", b"antenna", "duration", b"duration", "id", b"id", "joint_goal", b"joint_goal"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["antenna", b"antenna", "duration", b"duration", "id", b"id", "joint_goal", b"joint_goal"]) -> None: ... global___AntennaJointGoal = AntennaJointGoal -@typing.final +@typing_extensions.final class NeckOrientation(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -317,12 +316,12 @@ class NeckOrientation(google.protobuf.message.Message): *, rotation: kinematics_pb2.Rotation3d | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["rotation", b"rotation"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["rotation", b"rotation"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["rotation", b"rotation"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["rotation", b"rotation"]) -> None: ... global___NeckOrientation = NeckOrientation -@typing.final +@typing_extensions.final class NeckFKRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -338,12 +337,12 @@ class NeckFKRequest(google.protobuf.message.Message): id: part_pb2.PartId | None = ..., position: global___HeadPosition | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id", "position", b"position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "position", b"position"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id", "position", b"position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "position", b"position"]) -> None: ... global___NeckFKRequest = NeckFKRequest -@typing.final +@typing_extensions.final class NeckFKSolution(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -358,12 +357,12 @@ class NeckFKSolution(google.protobuf.message.Message): success: builtins.bool = ..., orientation: global___NeckOrientation | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["orientation", b"orientation"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["orientation", b"orientation", "success", b"success"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["orientation", b"orientation"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["orientation", b"orientation", "success", b"success"]) -> None: ... global___NeckFKSolution = NeckFKSolution -@typing.final +@typing_extensions.final class NeckIKRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -383,12 +382,12 @@ class NeckIKRequest(google.protobuf.message.Message): target: global___NeckOrientation | None = ..., q0: kinematics_pb2.Rotation3d | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id", "q0", b"q0", "target", b"target"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "q0", b"q0", "target", b"target"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id", "q0", b"q0", "target", b"target"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "q0", b"q0", "target", b"target"]) -> None: ... global___NeckIKRequest = NeckIKRequest -@typing.final +@typing_extensions.final class NeckIKSolution(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -407,12 +406,12 @@ class NeckIKSolution(google.protobuf.message.Message): position: kinematics_pb2.Rotation3d | None = ..., error: error_pb2.Error | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["error", b"error", "position", b"position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["error", b"error", "position", b"position", "success", b"success"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["error", b"error", "position", b"position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["error", b"error", "position", b"position", "success", b"success"]) -> None: ... global___NeckIKSolution = NeckIKSolution -@typing.final +@typing_extensions.final class HeadStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -432,52 +431,52 @@ class HeadStatus(google.protobuf.message.Message): l_antenna_status: dynamixel_motor_pb2.DynamixelMotorStatus | None = ..., r_antenna_status: dynamixel_motor_pb2.DynamixelMotorStatus | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["l_antenna_status", b"l_antenna_status", "neck_status", b"neck_status", "r_antenna_status", b"r_antenna_status"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["l_antenna_status", b"l_antenna_status", "neck_status", b"neck_status", "r_antenna_status", b"r_antenna_status"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["l_antenna_status", b"l_antenna_status", "neck_status", b"neck_status", "r_antenna_status", b"r_antenna_status"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["l_antenna_status", b"l_antenna_status", "neck_status", b"neck_status", "r_antenna_status", b"r_antenna_status"]) -> None: ... global___HeadStatus = HeadStatus -@typing.final +@typing_extensions.final class SpeedLimitRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int LIMIT_FIELD_NUMBER: builtins.int - limit: builtins.int @property def id(self) -> part_pb2.PartId: ... + limit: builtins.int def __init__( self, *, id: part_pb2.PartId | None = ..., limit: builtins.int = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "limit", b"limit"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "limit", b"limit"]) -> None: ... global___SpeedLimitRequest = SpeedLimitRequest -@typing.final +@typing_extensions.final class TorqueLimitRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int LIMIT_FIELD_NUMBER: builtins.int - limit: builtins.int @property def id(self) -> part_pb2.PartId: ... + limit: builtins.int def __init__( self, *, id: part_pb2.PartId | None = ..., limit: builtins.int = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "limit", b"limit"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "limit", b"limit"]) -> None: ... global___TorqueLimitRequest = TorqueLimitRequest -@typing.final +@typing_extensions.final class JointsLimits(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -497,22 +496,22 @@ class JointsLimits(google.protobuf.message.Message): l_antenna_limits: component_pb2.JointLimits | None = ..., r_antenna_limits: component_pb2.JointLimits | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["l_antenna_limits", b"l_antenna_limits", "neck_limits", b"neck_limits", "r_antenna_limits", b"r_antenna_limits"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["l_antenna_limits", b"l_antenna_limits", "neck_limits", b"neck_limits", "r_antenna_limits", b"r_antenna_limits"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["l_antenna_limits", b"l_antenna_limits", "neck_limits", b"neck_limits", "r_antenna_limits", b"r_antenna_limits"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["l_antenna_limits", b"l_antenna_limits", "neck_limits", b"neck_limits", "r_antenna_limits", b"r_antenna_limits"]) -> None: ... global___JointsLimits = JointsLimits -@typing.final +@typing_extensions.final class HeadTemperatures(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor NECK_TEMPERATURE_FIELD_NUMBER: builtins.int L_ANTENNA_TEMPERATURE_FIELD_NUMBER: builtins.int R_ANTENNA_TEMPERATURE_FIELD_NUMBER: builtins.int - l_antenna_temperature: builtins.float - r_antenna_temperature: builtins.float @property def neck_temperature(self) -> orbita3d_pb2.Float3d: ... + l_antenna_temperature: builtins.float + r_antenna_temperature: builtins.float def __init__( self, *, @@ -520,12 +519,12 @@ class HeadTemperatures(google.protobuf.message.Message): l_antenna_temperature: builtins.float = ..., r_antenna_temperature: builtins.float = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["neck_temperature", b"neck_temperature"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["l_antenna_temperature", b"l_antenna_temperature", "neck_temperature", b"neck_temperature", "r_antenna_temperature", b"r_antenna_temperature"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["neck_temperature", b"neck_temperature"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["l_antenna_temperature", b"l_antenna_temperature", "neck_temperature", b"neck_temperature", "r_antenna_temperature", b"r_antenna_temperature"]) -> None: ... global___HeadTemperatures = HeadTemperatures -@typing.final +@typing_extensions.final class HeadComponentsCommands(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -545,7 +544,7 @@ class HeadComponentsCommands(google.protobuf.message.Message): l_antenna_command: dynamixel_motor_pb2.DynamixelMotorsCommand | None = ..., r_antenna_command: dynamixel_motor_pb2.DynamixelMotorsCommand | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["l_antenna_command", b"l_antenna_command", "neck_command", b"neck_command", "r_antenna_command", b"r_antenna_command"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["l_antenna_command", b"l_antenna_command", "neck_command", b"neck_command", "r_antenna_command", b"r_antenna_command"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["l_antenna_command", b"l_antenna_command", "neck_command", b"neck_command", "r_antenna_command", b"r_antenna_command"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["l_antenna_command", b"l_antenna_command", "neck_command", b"neck_command", "r_antenna_command", b"r_antenna_command"]) -> None: ... global___HeadComponentsCommands = HeadComponentsCommands diff --git a/python/reachy2_sdk_api/head_pb2_grpc.py b/python/reachy2_sdk_api/head_pb2_grpc.py index fdcd20e..2d42c31 100644 --- a/python/reachy2_sdk_api/head_pb2_grpc.py +++ b/python/reachy2_sdk_api/head_pb2_grpc.py @@ -1,32 +1,12 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import head_pb2 as head__pb2 import kinematics_pb2 as kinematics__pb2 import part_pb2 as part__pb2 -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in head_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) - class HeadServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -41,92 +21,92 @@ def __init__(self, channel): '/reachy.part.head.HeadService/GetAllHeads', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=head__pb2.ListOfHead.FromString, - _registered_method=True) + ) self.GetState = channel.unary_unary( '/reachy.part.head.HeadService/GetState', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=head__pb2.HeadState.FromString, - _registered_method=True) + ) self.ComputeNeckFK = channel.unary_unary( '/reachy.part.head.HeadService/ComputeNeckFK', request_serializer=head__pb2.NeckFKRequest.SerializeToString, response_deserializer=head__pb2.NeckFKSolution.FromString, - _registered_method=True) + ) self.ComputeNeckIK = channel.unary_unary( '/reachy.part.head.HeadService/ComputeNeckIK', request_serializer=head__pb2.NeckIKRequest.SerializeToString, response_deserializer=head__pb2.NeckIKSolution.FromString, - _registered_method=True) + ) self.GetOrientation = channel.unary_unary( '/reachy.part.head.HeadService/GetOrientation', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=kinematics__pb2.Rotation3d.FromString, - _registered_method=True) + ) self.Audit = channel.unary_unary( '/reachy.part.head.HeadService/Audit', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=head__pb2.HeadStatus.FromString, - _registered_method=True) + ) self.HeartBeat = channel.unary_unary( '/reachy.part.head.HeadService/HeartBeat', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.Restart = channel.unary_unary( '/reachy.part.head.HeadService/Restart', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.ResetDefaultValues = channel.unary_unary( '/reachy.part.head.HeadService/ResetDefaultValues', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.TurnOn = channel.unary_unary( '/reachy.part.head.HeadService/TurnOn', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.TurnOff = channel.unary_unary( '/reachy.part.head.HeadService/TurnOff', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.GetJointsLimits = channel.unary_unary( '/reachy.part.head.HeadService/GetJointsLimits', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=head__pb2.JointsLimits.FromString, - _registered_method=True) + ) self.GetTemperatures = channel.unary_unary( '/reachy.part.head.HeadService/GetTemperatures', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=head__pb2.HeadTemperatures.FromString, - _registered_method=True) + ) self.GetJointGoalPosition = channel.unary_unary( '/reachy.part.head.HeadService/GetJointGoalPosition', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=kinematics__pb2.Rotation3d.FromString, - _registered_method=True) + ) self.SetSpeedLimit = channel.unary_unary( '/reachy.part.head.HeadService/SetSpeedLimit', request_serializer=head__pb2.SpeedLimitRequest.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.SetTorqueLimit = channel.unary_unary( '/reachy.part.head.HeadService/SetTorqueLimit', request_serializer=head__pb2.TorqueLimitRequest.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.SendNeckJointGoal = channel.unary_unary( '/reachy.part.head.HeadService/SendNeckJointGoal', request_serializer=head__pb2.NeckJointGoal.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.SendComponentsCommands = channel.unary_unary( '/reachy.part.head.HeadService/SendComponentsCommands', request_serializer=head__pb2.HeadComponentsCommands.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) class HeadServiceServicer(object): @@ -337,7 +317,6 @@ def add_HeadServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.part.head.HeadService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('reachy.part.head.HeadService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -355,21 +334,11 @@ def GetAllHeads(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/GetAllHeads', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/GetAllHeads', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, head__pb2.ListOfHead.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetState(request, @@ -382,21 +351,11 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/GetState', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/GetState', part__pb2.PartId.SerializeToString, head__pb2.HeadState.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def ComputeNeckFK(request, @@ -409,21 +368,11 @@ def ComputeNeckFK(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/ComputeNeckFK', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/ComputeNeckFK', head__pb2.NeckFKRequest.SerializeToString, head__pb2.NeckFKSolution.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def ComputeNeckIK(request, @@ -436,21 +385,11 @@ def ComputeNeckIK(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/ComputeNeckIK', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/ComputeNeckIK', head__pb2.NeckIKRequest.SerializeToString, head__pb2.NeckIKSolution.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetOrientation(request, @@ -463,21 +402,11 @@ def GetOrientation(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/GetOrientation', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/GetOrientation', part__pb2.PartId.SerializeToString, kinematics__pb2.Rotation3d.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Audit(request, @@ -490,21 +419,11 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/Audit', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/Audit', part__pb2.PartId.SerializeToString, head__pb2.HeadStatus.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def HeartBeat(request, @@ -517,21 +436,11 @@ def HeartBeat(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/HeartBeat', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/HeartBeat', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Restart(request, @@ -544,21 +453,11 @@ def Restart(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/Restart', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/Restart', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def ResetDefaultValues(request, @@ -571,21 +470,11 @@ def ResetDefaultValues(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/ResetDefaultValues', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/ResetDefaultValues', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def TurnOn(request, @@ -598,21 +487,11 @@ def TurnOn(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/TurnOn', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/TurnOn', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def TurnOff(request, @@ -625,21 +504,11 @@ def TurnOff(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/TurnOff', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/TurnOff', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetJointsLimits(request, @@ -652,21 +521,11 @@ def GetJointsLimits(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/GetJointsLimits', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/GetJointsLimits', part__pb2.PartId.SerializeToString, head__pb2.JointsLimits.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetTemperatures(request, @@ -679,21 +538,11 @@ def GetTemperatures(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/GetTemperatures', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/GetTemperatures', part__pb2.PartId.SerializeToString, head__pb2.HeadTemperatures.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetJointGoalPosition(request, @@ -706,21 +555,11 @@ def GetJointGoalPosition(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/GetJointGoalPosition', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/GetJointGoalPosition', part__pb2.PartId.SerializeToString, kinematics__pb2.Rotation3d.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SetSpeedLimit(request, @@ -733,21 +572,11 @@ def SetSpeedLimit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/SetSpeedLimit', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/SetSpeedLimit', head__pb2.SpeedLimitRequest.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SetTorqueLimit(request, @@ -760,21 +589,11 @@ def SetTorqueLimit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/SetTorqueLimit', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/SetTorqueLimit', head__pb2.TorqueLimitRequest.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SendNeckJointGoal(request, @@ -787,21 +606,11 @@ def SendNeckJointGoal(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/SendNeckJointGoal', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/SendNeckJointGoal', head__pb2.NeckJointGoal.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SendComponentsCommands(request, @@ -814,18 +623,8 @@ def SendComponentsCommands(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.head.HeadService/SendComponentsCommands', + return grpc.experimental.unary_unary(request, target, '/reachy.part.head.HeadService/SendComponentsCommands', head__pb2.HeadComponentsCommands.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/reachy2_sdk_api/head_pb2_grpc.pyi b/python/reachy2_sdk_api/head_pb2_grpc.pyi index efe14c5..ef23421 100644 --- a/python/reachy2_sdk_api/head_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/head_pb2_grpc.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import google.protobuf.empty_pb2 @@ -13,11 +12,12 @@ import kinematics_pb2 import part_pb2 import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... class HeadServiceStub: @@ -26,87 +26,70 @@ class HeadServiceStub: google.protobuf.empty_pb2.Empty, head_pb2.ListOfHead, ] - GetState: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, head_pb2.HeadState, ] - ComputeNeckFK: grpc.UnaryUnaryMultiCallable[ head_pb2.NeckFKRequest, head_pb2.NeckFKSolution, ] - ComputeNeckIK: grpc.UnaryUnaryMultiCallable[ head_pb2.NeckIKRequest, head_pb2.NeckIKSolution, ] - GetOrientation: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, kinematics_pb2.Rotation3d, ] - Audit: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, head_pb2.HeadStatus, ] - HeartBeat: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - Restart: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - ResetDefaultValues: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - TurnOn: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - TurnOff: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - GetJointsLimits: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, head_pb2.JointsLimits, ] - GetTemperatures: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, head_pb2.HeadTemperatures, ] - GetJointGoalPosition: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, kinematics_pb2.Rotation3d, ] - SetSpeedLimit: grpc.UnaryUnaryMultiCallable[ head_pb2.SpeedLimitRequest, google.protobuf.empty_pb2.Empty, ] - SetTorqueLimit: grpc.UnaryUnaryMultiCallable[ head_pb2.TorqueLimitRequest, google.protobuf.empty_pb2.Empty, ] - SendNeckJointGoal: grpc.UnaryUnaryMultiCallable[ head_pb2.NeckJointGoal, google.protobuf.empty_pb2.Empty, ] - SendComponentsCommands: grpc.UnaryUnaryMultiCallable[ head_pb2.HeadComponentsCommands, google.protobuf.empty_pb2.Empty, @@ -117,87 +100,70 @@ class HeadServiceAsyncStub: google.protobuf.empty_pb2.Empty, head_pb2.ListOfHead, ] - GetState: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, head_pb2.HeadState, ] - ComputeNeckFK: grpc.aio.UnaryUnaryMultiCallable[ head_pb2.NeckFKRequest, head_pb2.NeckFKSolution, ] - ComputeNeckIK: grpc.aio.UnaryUnaryMultiCallable[ head_pb2.NeckIKRequest, head_pb2.NeckIKSolution, ] - GetOrientation: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, kinematics_pb2.Rotation3d, ] - Audit: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, head_pb2.HeadStatus, ] - HeartBeat: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - Restart: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - ResetDefaultValues: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - TurnOn: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - TurnOff: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - GetJointsLimits: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, head_pb2.JointsLimits, ] - GetTemperatures: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, head_pb2.HeadTemperatures, ] - GetJointGoalPosition: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, kinematics_pb2.Rotation3d, ] - SetSpeedLimit: grpc.aio.UnaryUnaryMultiCallable[ head_pb2.SpeedLimitRequest, google.protobuf.empty_pb2.Empty, ] - SetTorqueLimit: grpc.aio.UnaryUnaryMultiCallable[ head_pb2.TorqueLimitRequest, google.protobuf.empty_pb2.Empty, ] - SendNeckJointGoal: grpc.aio.UnaryUnaryMultiCallable[ head_pb2.NeckJointGoal, google.protobuf.empty_pb2.Empty, ] - SendComponentsCommands: grpc.aio.UnaryUnaryMultiCallable[ head_pb2.HeadComponentsCommands, google.protobuf.empty_pb2.Empty, @@ -210,119 +176,102 @@ class HeadServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[head_pb2.ListOfHead, collections.abc.Awaitable[head_pb2.ListOfHead]]: ... - @abc.abstractmethod def GetState( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[head_pb2.HeadState, collections.abc.Awaitable[head_pb2.HeadState]]: ... - @abc.abstractmethod def ComputeNeckFK( self, request: head_pb2.NeckFKRequest, context: _ServicerContext, ) -> typing.Union[head_pb2.NeckFKSolution, collections.abc.Awaitable[head_pb2.NeckFKSolution]]: ... - @abc.abstractmethod def ComputeNeckIK( self, request: head_pb2.NeckIKRequest, context: _ServicerContext, ) -> typing.Union[head_pb2.NeckIKSolution, collections.abc.Awaitable[head_pb2.NeckIKSolution]]: ... - @abc.abstractmethod def GetOrientation( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[kinematics_pb2.Rotation3d, collections.abc.Awaitable[kinematics_pb2.Rotation3d]]: ... - @abc.abstractmethod def Audit( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[head_pb2.HeadStatus, collections.abc.Awaitable[head_pb2.HeadStatus]]: ... - @abc.abstractmethod def HeartBeat( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def Restart( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def ResetDefaultValues( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def TurnOn( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def TurnOff( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def GetJointsLimits( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[head_pb2.JointsLimits, collections.abc.Awaitable[head_pb2.JointsLimits]]: ... - @abc.abstractmethod def GetTemperatures( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[head_pb2.HeadTemperatures, collections.abc.Awaitable[head_pb2.HeadTemperatures]]: ... - @abc.abstractmethod def GetJointGoalPosition( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[kinematics_pb2.Rotation3d, collections.abc.Awaitable[kinematics_pb2.Rotation3d]]: ... - @abc.abstractmethod def SetSpeedLimit( self, request: head_pb2.SpeedLimitRequest, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def SetTorqueLimit( self, request: head_pb2.TorqueLimitRequest, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def SendNeckJointGoal( self, request: head_pb2.NeckJointGoal, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def SendComponentsCommands( self, diff --git a/python/reachy2_sdk_api/kinematics_pb2.py b/python/reachy2_sdk_api/kinematics_pb2.py index 1248ce4..2dae96e 100644 --- a/python/reachy2_sdk_api/kinematics_pb2.py +++ b/python/reachy2_sdk_api/kinematics_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: kinematics.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'kinematics.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -30,8 +19,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'kinematics_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_MATRIX4X4']._serialized_start=71 _globals['_MATRIX4X4']._serialized_end=96 _globals['_MATRIX3X3']._serialized_start=98 diff --git a/python/reachy2_sdk_api/kinematics_pb2.pyi b/python/reachy2_sdk_api/kinematics_pb2.pyi index 9fd19c3..21bea37 100644 --- a/python/reachy2_sdk_api/kinematics_pb2.pyi +++ b/python/reachy2_sdk_api/kinematics_pb2.pyi @@ -2,18 +2,22 @@ @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.wrappers_pb2 -import typing +import sys + +if sys.version_info >= (3, 8): + import typing as typing_extensions +else: + import typing_extensions DESCRIPTOR: google.protobuf.descriptor.FileDescriptor -@typing.final +@typing_extensions.final class Matrix4x4(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -25,11 +29,11 @@ class Matrix4x4(google.protobuf.message.Message): *, data: collections.abc.Iterable[builtins.float] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["data", b"data"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["data", b"data"]) -> None: ... global___Matrix4x4 = Matrix4x4 -@typing.final +@typing_extensions.final class Matrix3x3(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -41,11 +45,11 @@ class Matrix3x3(google.protobuf.message.Message): *, data: collections.abc.Iterable[builtins.float] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["data", b"data"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["data", b"data"]) -> None: ... global___Matrix3x3 = Matrix3x3 -@typing.final +@typing_extensions.final class Quaternion(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -65,11 +69,11 @@ class Quaternion(google.protobuf.message.Message): y: builtins.float = ..., z: builtins.float = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["w", b"w", "x", b"x", "y", b"y", "z", b"z"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["w", b"w", "x", b"x", "y", b"y", "z", b"z"]) -> None: ... global___Quaternion = Quaternion -@typing.final +@typing_extensions.final class Rotation3d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -89,13 +93,13 @@ class Rotation3d(google.protobuf.message.Message): rpy: global___ExtEulerAngles | None = ..., matrix: global___Matrix3x3 | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["matrix", b"matrix", "q", b"q", "rotation", b"rotation", "rpy", b"rpy"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["matrix", b"matrix", "q", b"q", "rotation", b"rotation", "rpy", b"rpy"]) -> None: ... - def WhichOneof(self, oneof_group: typing.Literal["rotation", b"rotation"]) -> typing.Literal["q", "rpy", "matrix"] | None: ... + def HasField(self, field_name: typing_extensions.Literal["matrix", b"matrix", "q", b"q", "rotation", b"rotation", "rpy", b"rpy"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["matrix", b"matrix", "q", b"q", "rotation", b"rotation", "rpy", b"rpy"]) -> None: ... + def WhichOneof(self, oneof_group: typing_extensions.Literal["rotation", b"rotation"]) -> typing_extensions.Literal["q", "rpy", "matrix"] | None: ... global___Rotation3d = Rotation3d -@typing.final +@typing_extensions.final class Point(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -112,11 +116,11 @@ class Point(google.protobuf.message.Message): y: builtins.float = ..., z: builtins.float = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["x", b"x", "y", b"y", "z", b"z"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["x", b"x", "y", b"y", "z", b"z"]) -> None: ... global___Point = Point -@typing.final +@typing_extensions.final class ExtEulerAngles(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -136,12 +140,12 @@ class ExtEulerAngles(google.protobuf.message.Message): pitch: google.protobuf.wrappers_pb2.FloatValue | None = ..., yaw: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["pitch", b"pitch", "roll", b"roll", "yaw", b"yaw"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["pitch", b"pitch", "roll", b"roll", "yaw", b"yaw"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["pitch", b"pitch", "roll", b"roll", "yaw", b"yaw"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["pitch", b"pitch", "roll", b"roll", "yaw", b"yaw"]) -> None: ... global___ExtEulerAngles = ExtEulerAngles -@typing.final +@typing_extensions.final class PointDistanceTolerances(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -158,11 +162,11 @@ class PointDistanceTolerances(google.protobuf.message.Message): y_tol: builtins.float = ..., z_tol: builtins.float = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["x_tol", b"x_tol", "y_tol", b"y_tol", "z_tol", b"z_tol"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["x_tol", b"x_tol", "y_tol", b"y_tol", "z_tol", b"z_tol"]) -> None: ... global___PointDistanceTolerances = PointDistanceTolerances -@typing.final +@typing_extensions.final class ExtEulerAnglesTolerances(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -179,6 +183,6 @@ class ExtEulerAnglesTolerances(google.protobuf.message.Message): pitch_tol: builtins.float = ..., yaw_tol: builtins.float = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["pitch_tol", b"pitch_tol", "roll_tol", b"roll_tol", "yaw_tol", b"yaw_tol"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["pitch_tol", b"pitch_tol", "roll_tol", b"roll_tol", "yaw_tol", b"yaw_tol"]) -> None: ... global___ExtEulerAnglesTolerances = ExtEulerAnglesTolerances diff --git a/python/reachy2_sdk_api/kinematics_pb2_grpc.py b/python/reachy2_sdk_api/kinematics_pb2_grpc.py index c6e63f0..2daafff 100644 --- a/python/reachy2_sdk_api/kinematics_pb2_grpc.py +++ b/python/reachy2_sdk_api/kinematics_pb2_grpc.py @@ -1,24 +1,4 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings - -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in kinematics_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) diff --git a/python/reachy2_sdk_api/kinematics_pb2_grpc.pyi b/python/reachy2_sdk_api/kinematics_pb2_grpc.pyi index a6a9cff..b13382f 100644 --- a/python/reachy2_sdk_api/kinematics_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/kinematics_pb2_grpc.pyi @@ -2,16 +2,16 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import grpc import grpc.aio import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... diff --git a/python/reachy2_sdk_api/mobile_base_lidar_pb2.py b/python/reachy2_sdk_api/mobile_base_lidar_pb2.py index 5be6b9a..42bae97 100644 --- a/python/reachy2_sdk_api/mobile_base_lidar_pb2.py +++ b/python/reachy2_sdk_api/mobile_base_lidar_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: mobile_base_lidar.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'mobile_base_lidar.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -32,8 +21,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'mobile_base_lidar_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_LIDAROBSTACLEDETECTIONENUM']._serialized_start=566 _globals['_LIDAROBSTACLEDETECTIONENUM']._serialized_end=695 _globals['_LIDAROBSTACLEDETECTIONSTATUS']._serialized_start=130 diff --git a/python/reachy2_sdk_api/mobile_base_lidar_pb2.pyi b/python/reachy2_sdk_api/mobile_base_lidar_pb2.pyi index 1aa9672..44d57cb 100644 --- a/python/reachy2_sdk_api/mobile_base_lidar_pb2.pyi +++ b/python/reachy2_sdk_api/mobile_base_lidar_pb2.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import builtins import google.protobuf.descriptor import google.protobuf.internal.enum_type_wrapper @@ -38,7 +37,7 @@ OBJECT_DETECTED_SLOWDOWN: LidarObstacleDetectionEnum.ValueType # 2 OBJECT_DETECTED_STOP: LidarObstacleDetectionEnum.ValueType # 3 global___LidarObstacleDetectionEnum = LidarObstacleDetectionEnum -@typing.final +@typing_extensions.final class LidarObstacleDetectionStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -49,11 +48,11 @@ class LidarObstacleDetectionStatus(google.protobuf.message.Message): *, status: global___LidarObstacleDetectionEnum.ValueType = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["status", b"status"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["status", b"status"]) -> None: ... global___LidarObstacleDetectionStatus = LidarObstacleDetectionStatus -@typing.final +@typing_extensions.final class LidarSafety(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -81,12 +80,12 @@ class LidarSafety(google.protobuf.message.Message): critical_distance: google.protobuf.wrappers_pb2.FloatValue | None = ..., obstacle_detection_status: global___LidarObstacleDetectionStatus | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["critical_distance", b"critical_distance", "id", b"id", "obstacle_detection_status", b"obstacle_detection_status", "safety_distance", b"safety_distance", "safety_on", b"safety_on"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["critical_distance", b"critical_distance", "id", b"id", "obstacle_detection_status", b"obstacle_detection_status", "safety_distance", b"safety_distance", "safety_on", b"safety_on"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["critical_distance", b"critical_distance", "id", b"id", "obstacle_detection_status", b"obstacle_detection_status", "safety_distance", b"safety_distance", "safety_on", b"safety_on"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["critical_distance", b"critical_distance", "id", b"id", "obstacle_detection_status", b"obstacle_detection_status", "safety_distance", b"safety_distance", "safety_on", b"safety_on"]) -> None: ... global___LidarSafety = LidarSafety -@typing.final +@typing_extensions.final class LidarMap(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -97,6 +96,6 @@ class LidarMap(google.protobuf.message.Message): *, data: builtins.bytes = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["data", b"data"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["data", b"data"]) -> None: ... global___LidarMap = LidarMap diff --git a/python/reachy2_sdk_api/mobile_base_lidar_pb2_grpc.py b/python/reachy2_sdk_api/mobile_base_lidar_pb2_grpc.py index a61b4db..05cbfaf 100644 --- a/python/reachy2_sdk_api/mobile_base_lidar_pb2_grpc.py +++ b/python/reachy2_sdk_api/mobile_base_lidar_pb2_grpc.py @@ -1,31 +1,11 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings import mobile_base_lidar_pb2 as mobile__base__lidar__pb2 import mobile_base_mobility_pb2 as mobile__base__mobility__pb2 import part_pb2 as part__pb2 -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in mobile_base_lidar_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) - class MobileBaseLidarServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -40,27 +20,27 @@ def __init__(self, channel): '/reachy.part.mobile.base.lidar.MobileBaseLidarService/SetZuuuSafety', request_serializer=mobile__base__lidar__pb2.LidarSafety.SerializeToString, response_deserializer=mobile__base__mobility__pb2.MobilityServiceAck.FromString, - _registered_method=True) + ) self.GetZuuuSafety = channel.unary_unary( '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetZuuuSafety', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__lidar__pb2.LidarSafety.FromString, - _registered_method=True) + ) self.ResetDefaultSafetyDistances = channel.unary_unary( '/reachy.part.mobile.base.lidar.MobileBaseLidarService/ResetDefaultSafetyDistances', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__mobility__pb2.MobilityServiceAck.FromString, - _registered_method=True) + ) self.GetLidarMap = channel.unary_unary( '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetLidarMap', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__lidar__pb2.LidarMap.FromString, - _registered_method=True) + ) self.GetLidarObstacleDetectionStatus = channel.unary_unary( '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetLidarObstacleDetectionStatus', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__lidar__pb2.LidarObstacleDetectionStatus.FromString, - _registered_method=True) + ) class MobileBaseLidarServiceServicer(object): @@ -128,7 +108,6 @@ def add_MobileBaseLidarServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.part.mobile.base.lidar.MobileBaseLidarService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('reachy.part.mobile.base.lidar.MobileBaseLidarService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -146,21 +125,11 @@ def SetZuuuSafety(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.lidar.MobileBaseLidarService/SetZuuuSafety', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.lidar.MobileBaseLidarService/SetZuuuSafety', mobile__base__lidar__pb2.LidarSafety.SerializeToString, mobile__base__mobility__pb2.MobilityServiceAck.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetZuuuSafety(request, @@ -173,21 +142,11 @@ def GetZuuuSafety(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetZuuuSafety', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetZuuuSafety', part__pb2.PartId.SerializeToString, mobile__base__lidar__pb2.LidarSafety.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def ResetDefaultSafetyDistances(request, @@ -200,21 +159,11 @@ def ResetDefaultSafetyDistances(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.lidar.MobileBaseLidarService/ResetDefaultSafetyDistances', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.lidar.MobileBaseLidarService/ResetDefaultSafetyDistances', part__pb2.PartId.SerializeToString, mobile__base__mobility__pb2.MobilityServiceAck.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetLidarMap(request, @@ -227,21 +176,11 @@ def GetLidarMap(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetLidarMap', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetLidarMap', part__pb2.PartId.SerializeToString, mobile__base__lidar__pb2.LidarMap.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetLidarObstacleDetectionStatus(request, @@ -254,18 +193,8 @@ def GetLidarObstacleDetectionStatus(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetLidarObstacleDetectionStatus', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.lidar.MobileBaseLidarService/GetLidarObstacleDetectionStatus', part__pb2.PartId.SerializeToString, mobile__base__lidar__pb2.LidarObstacleDetectionStatus.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/reachy2_sdk_api/mobile_base_lidar_pb2_grpc.pyi b/python/reachy2_sdk_api/mobile_base_lidar_pb2_grpc.pyi index 406749d..32a1784 100644 --- a/python/reachy2_sdk_api/mobile_base_lidar_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/mobile_base_lidar_pb2_grpc.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import grpc @@ -12,11 +11,12 @@ import mobile_base_mobility_pb2 import part_pb2 import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... class MobileBaseLidarServiceStub: @@ -25,22 +25,18 @@ class MobileBaseLidarServiceStub: mobile_base_lidar_pb2.LidarSafety, mobile_base_mobility_pb2.MobilityServiceAck, ] - GetZuuuSafety: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_lidar_pb2.LidarSafety, ] - ResetDefaultSafetyDistances: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_mobility_pb2.MobilityServiceAck, ] - GetLidarMap: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_lidar_pb2.LidarMap, ] - GetLidarObstacleDetectionStatus: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_lidar_pb2.LidarObstacleDetectionStatus, @@ -51,22 +47,18 @@ class MobileBaseLidarServiceAsyncStub: mobile_base_lidar_pb2.LidarSafety, mobile_base_mobility_pb2.MobilityServiceAck, ] - GetZuuuSafety: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_lidar_pb2.LidarSafety, ] - ResetDefaultSafetyDistances: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_mobility_pb2.MobilityServiceAck, ] - GetLidarMap: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_lidar_pb2.LidarMap, ] - GetLidarObstacleDetectionStatus: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_lidar_pb2.LidarObstacleDetectionStatus, @@ -79,28 +71,24 @@ class MobileBaseLidarServiceServicer(metaclass=abc.ABCMeta): request: mobile_base_lidar_pb2.LidarSafety, context: _ServicerContext, ) -> typing.Union[mobile_base_mobility_pb2.MobilityServiceAck, collections.abc.Awaitable[mobile_base_mobility_pb2.MobilityServiceAck]]: ... - @abc.abstractmethod def GetZuuuSafety( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_lidar_pb2.LidarSafety, collections.abc.Awaitable[mobile_base_lidar_pb2.LidarSafety]]: ... - @abc.abstractmethod def ResetDefaultSafetyDistances( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_mobility_pb2.MobilityServiceAck, collections.abc.Awaitable[mobile_base_mobility_pb2.MobilityServiceAck]]: ... - @abc.abstractmethod def GetLidarMap( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_lidar_pb2.LidarMap, collections.abc.Awaitable[mobile_base_lidar_pb2.LidarMap]]: ... - @abc.abstractmethod def GetLidarObstacleDetectionStatus( self, diff --git a/python/reachy2_sdk_api/mobile_base_mobility_pb2.py b/python/reachy2_sdk_api/mobile_base_mobility_pb2.py index 6046c10..4fefd0b 100644 --- a/python/reachy2_sdk_api/mobile_base_mobility_pb2.py +++ b/python/reachy2_sdk_api/mobile_base_mobility_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: mobile_base_mobility.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'mobile_base_mobility.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -31,8 +20,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'mobile_base_mobility_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_DIRECTIONVECTOR']._serialized_start=109 _globals['_DIRECTIONVECTOR']._serialized_end=250 _globals['_TARGETDIRECTIONCOMMAND']._serialized_start=252 diff --git a/python/reachy2_sdk_api/mobile_base_mobility_pb2.pyi b/python/reachy2_sdk_api/mobile_base_mobility_pb2.pyi index 58a8756..f049f1c 100644 --- a/python/reachy2_sdk_api/mobile_base_mobility_pb2.pyi +++ b/python/reachy2_sdk_api/mobile_base_mobility_pb2.pyi @@ -2,17 +2,21 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import builtins import google.protobuf.descriptor import google.protobuf.message import google.protobuf.wrappers_pb2 import part_pb2 -import typing +import sys + +if sys.version_info >= (3, 8): + import typing as typing_extensions +else: + import typing_extensions DESCRIPTOR: google.protobuf.descriptor.FileDescriptor -@typing.final +@typing_extensions.final class DirectionVector(google.protobuf.message.Message): """Speed commands in SI units (m/s and rad/s)""" @@ -24,7 +28,6 @@ class DirectionVector(google.protobuf.message.Message): @property def x(self) -> google.protobuf.wrappers_pb2.FloatValue: """use FloatValue instead of double to avoid 0.0 default value being ignored""" - @property def y(self) -> google.protobuf.wrappers_pb2.FloatValue: ... @property @@ -36,12 +39,12 @@ class DirectionVector(google.protobuf.message.Message): y: google.protobuf.wrappers_pb2.FloatValue | None = ..., theta: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["theta", b"theta", "x", b"x", "y", b"y"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["theta", b"theta", "x", b"x", "y", b"y"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["theta", b"theta", "x", b"x", "y", b"y"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["theta", b"theta", "x", b"x", "y", b"y"]) -> None: ... global___DirectionVector = DirectionVector -@typing.final +@typing_extensions.final class TargetDirectionCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -57,12 +60,12 @@ class TargetDirectionCommand(google.protobuf.message.Message): id: part_pb2.PartId | None = ..., direction: global___DirectionVector | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["direction", b"direction", "id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["direction", b"direction", "id", b"id"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["direction", b"direction", "id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["direction", b"direction", "id", b"id"]) -> None: ... global___TargetDirectionCommand = TargetDirectionCommand -@typing.final +@typing_extensions.final class SetSpeedVector(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -90,12 +93,12 @@ class SetSpeedVector(google.protobuf.message.Message): rot_vel: google.protobuf.wrappers_pb2.FloatValue | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "rot_vel", b"rot_vel", "x_vel", b"x_vel", "y_vel", b"y_vel"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "rot_vel", b"rot_vel", "x_vel", b"x_vel", "y_vel", b"y_vel"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "rot_vel", b"rot_vel", "x_vel", b"x_vel", "y_vel", b"y_vel"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "rot_vel", b"rot_vel", "x_vel", b"x_vel", "y_vel", b"y_vel"]) -> None: ... global___SetSpeedVector = SetSpeedVector -@typing.final +@typing_extensions.final class DistanceToGoalVector(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -119,12 +122,12 @@ class DistanceToGoalVector(google.protobuf.message.Message): delta_theta: google.protobuf.wrappers_pb2.FloatValue | None = ..., distance: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["delta_theta", b"delta_theta", "delta_x", b"delta_x", "delta_y", b"delta_y", "distance", b"distance"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["delta_theta", b"delta_theta", "delta_x", b"delta_x", "delta_y", b"delta_y", "distance", b"distance"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["delta_theta", b"delta_theta", "delta_x", b"delta_x", "delta_y", b"delta_y", "distance", b"distance"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["delta_theta", b"delta_theta", "delta_x", b"delta_x", "delta_y", b"delta_y", "distance", b"distance"]) -> None: ... global___DistanceToGoalVector = DistanceToGoalVector -@typing.final +@typing_extensions.final class MobilityServiceAck(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -136,7 +139,7 @@ class MobilityServiceAck(google.protobuf.message.Message): *, success: google.protobuf.wrappers_pb2.BoolValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["success", b"success"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["success", b"success"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["success", b"success"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["success", b"success"]) -> None: ... global___MobilityServiceAck = MobilityServiceAck diff --git a/python/reachy2_sdk_api/mobile_base_mobility_pb2_grpc.py b/python/reachy2_sdk_api/mobile_base_mobility_pb2_grpc.py index 090cf36..6fe78fc 100644 --- a/python/reachy2_sdk_api/mobile_base_mobility_pb2_grpc.py +++ b/python/reachy2_sdk_api/mobile_base_mobility_pb2_grpc.py @@ -1,30 +1,10 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings import mobile_base_mobility_pb2 as mobile__base__mobility__pb2 import part_pb2 as part__pb2 -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in mobile_base_mobility_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) - class MobileBaseMobilityServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -39,22 +19,22 @@ def __init__(self, channel): '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/SendDirection', request_serializer=mobile__base__mobility__pb2.TargetDirectionCommand.SerializeToString, response_deserializer=mobile__base__mobility__pb2.MobilityServiceAck.FromString, - _registered_method=True) + ) self.SendSetSpeed = channel.unary_unary( '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/SendSetSpeed', request_serializer=mobile__base__mobility__pb2.SetSpeedVector.SerializeToString, response_deserializer=mobile__base__mobility__pb2.MobilityServiceAck.FromString, - _registered_method=True) + ) self.GetLastDirection = channel.unary_unary( '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/GetLastDirection', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__mobility__pb2.DirectionVector.FromString, - _registered_method=True) + ) self.DistanceToGoal = channel.unary_unary( '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/DistanceToGoal', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__mobility__pb2.DistanceToGoalVector.FromString, - _registered_method=True) + ) class MobileBaseMobilityServiceServicer(object): @@ -111,7 +91,6 @@ def add_MobileBaseMobilityServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.part.mobile.base.mobility.MobileBaseMobilityService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('reachy.part.mobile.base.mobility.MobileBaseMobilityService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -129,21 +108,11 @@ def SendDirection(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/SendDirection', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/SendDirection', mobile__base__mobility__pb2.TargetDirectionCommand.SerializeToString, mobile__base__mobility__pb2.MobilityServiceAck.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SendSetSpeed(request, @@ -156,21 +125,11 @@ def SendSetSpeed(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/SendSetSpeed', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/SendSetSpeed', mobile__base__mobility__pb2.SetSpeedVector.SerializeToString, mobile__base__mobility__pb2.MobilityServiceAck.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetLastDirection(request, @@ -183,21 +142,11 @@ def GetLastDirection(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/GetLastDirection', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/GetLastDirection', part__pb2.PartId.SerializeToString, mobile__base__mobility__pb2.DirectionVector.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def DistanceToGoal(request, @@ -210,18 +159,8 @@ def DistanceToGoal(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/DistanceToGoal', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.mobility.MobileBaseMobilityService/DistanceToGoal', part__pb2.PartId.SerializeToString, mobile__base__mobility__pb2.DistanceToGoalVector.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/reachy2_sdk_api/mobile_base_mobility_pb2_grpc.pyi b/python/reachy2_sdk_api/mobile_base_mobility_pb2_grpc.pyi index 60db286..cdde4ed 100644 --- a/python/reachy2_sdk_api/mobile_base_mobility_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/mobile_base_mobility_pb2_grpc.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import grpc @@ -11,11 +10,12 @@ import mobile_base_mobility_pb2 import part_pb2 import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... class MobileBaseMobilityServiceStub: @@ -24,17 +24,14 @@ class MobileBaseMobilityServiceStub: mobile_base_mobility_pb2.TargetDirectionCommand, mobile_base_mobility_pb2.MobilityServiceAck, ] - SendSetSpeed: grpc.UnaryUnaryMultiCallable[ mobile_base_mobility_pb2.SetSpeedVector, mobile_base_mobility_pb2.MobilityServiceAck, ] - GetLastDirection: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_mobility_pb2.DirectionVector, ] - DistanceToGoal: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_mobility_pb2.DistanceToGoalVector, @@ -45,17 +42,14 @@ class MobileBaseMobilityServiceAsyncStub: mobile_base_mobility_pb2.TargetDirectionCommand, mobile_base_mobility_pb2.MobilityServiceAck, ] - SendSetSpeed: grpc.aio.UnaryUnaryMultiCallable[ mobile_base_mobility_pb2.SetSpeedVector, mobile_base_mobility_pb2.MobilityServiceAck, ] - GetLastDirection: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_mobility_pb2.DirectionVector, ] - DistanceToGoal: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_mobility_pb2.DistanceToGoalVector, @@ -68,21 +62,18 @@ class MobileBaseMobilityServiceServicer(metaclass=abc.ABCMeta): request: mobile_base_mobility_pb2.TargetDirectionCommand, context: _ServicerContext, ) -> typing.Union[mobile_base_mobility_pb2.MobilityServiceAck, collections.abc.Awaitable[mobile_base_mobility_pb2.MobilityServiceAck]]: ... - @abc.abstractmethod def SendSetSpeed( self, request: mobile_base_mobility_pb2.SetSpeedVector, context: _ServicerContext, ) -> typing.Union[mobile_base_mobility_pb2.MobilityServiceAck, collections.abc.Awaitable[mobile_base_mobility_pb2.MobilityServiceAck]]: ... - @abc.abstractmethod def GetLastDirection( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_mobility_pb2.DirectionVector, collections.abc.Awaitable[mobile_base_mobility_pb2.DirectionVector]]: ... - @abc.abstractmethod def DistanceToGoal( self, diff --git a/python/reachy2_sdk_api/mobile_base_utility_pb2.py b/python/reachy2_sdk_api/mobile_base_utility_pb2.py index 33e8a38..f507b01 100644 --- a/python/reachy2_sdk_api/mobile_base_utility_pb2.py +++ b/python/reachy2_sdk_api/mobile_base_utility_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: mobile_base_utility.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'mobile_base_utility.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -36,8 +25,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'mobile_base_utility_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_CONTROLMODEPOSSIBLITIES']._serialized_start=1436 _globals['_CONTROLMODEPOSSIBLITIES']._serialized_end=1508 _globals['_ZUUUMODEPOSSIBLITIES']._serialized_start=1511 diff --git a/python/reachy2_sdk_api/mobile_base_utility_pb2.pyi b/python/reachy2_sdk_api/mobile_base_utility_pb2.pyi index 9690cb2..342e876 100644 --- a/python/reachy2_sdk_api/mobile_base_utility_pb2.pyi +++ b/python/reachy2_sdk_api/mobile_base_utility_pb2.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import builtins import collections.abc import error_pb2 @@ -68,7 +67,7 @@ EMERGENCY_STOP: ZuuuModePossiblities.ValueType # 6 CMD_GOTO: ZuuuModePossiblities.ValueType # 7 global___ZuuuModePossiblities = ZuuuModePossiblities -@typing.final +@typing_extensions.final class MobileBase(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -84,12 +83,12 @@ class MobileBase(google.protobuf.message.Message): part_id: part_pb2.PartId | None = ..., info: part_pb2.PartInfo | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["info", b"info", "part_id", b"part_id"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["info", b"info", "part_id", b"part_id"]) -> None: ... global___MobileBase = MobileBase -@typing.final +@typing_extensions.final class ListOfMobileBase(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -101,11 +100,11 @@ class ListOfMobileBase(google.protobuf.message.Message): *, mobile_base: collections.abc.Iterable[global___MobileBase] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["mobile_base", b"mobile_base"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["mobile_base", b"mobile_base"]) -> None: ... global___ListOfMobileBase = ListOfMobileBase -@typing.final +@typing_extensions.final class MobileBaseState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -116,11 +115,11 @@ class MobileBaseState(google.protobuf.message.Message): LIDAR_SAFETY_FIELD_NUMBER: builtins.int ZUUU_MODE_FIELD_NUMBER: builtins.int CONTROL_MODE_FIELD_NUMBER: builtins.int - activated: builtins.bool @property def timestamp(self) -> google.protobuf.timestamp_pb2.Timestamp: ... @property def id(self) -> part_pb2.PartId: ... + activated: builtins.bool @property def battery_level(self) -> global___BatteryLevel: ... @property @@ -140,12 +139,12 @@ class MobileBaseState(google.protobuf.message.Message): zuuu_mode: global___ZuuuModeCommand | None = ..., control_mode: global___ControlModeCommand | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["battery_level", b"battery_level", "control_mode", b"control_mode", "id", b"id", "lidar_safety", b"lidar_safety", "timestamp", b"timestamp", "zuuu_mode", b"zuuu_mode"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["activated", b"activated", "battery_level", b"battery_level", "control_mode", b"control_mode", "id", b"id", "lidar_safety", b"lidar_safety", "timestamp", b"timestamp", "zuuu_mode", b"zuuu_mode"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["battery_level", b"battery_level", "control_mode", b"control_mode", "id", b"id", "lidar_safety", b"lidar_safety", "timestamp", b"timestamp", "zuuu_mode", b"zuuu_mode"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["activated", b"activated", "battery_level", b"battery_level", "control_mode", b"control_mode", "id", b"id", "lidar_safety", b"lidar_safety", "timestamp", b"timestamp", "zuuu_mode", b"zuuu_mode"]) -> None: ... global___MobileBaseState = MobileBaseState -@typing.final +@typing_extensions.final class OdometryVector(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -177,52 +176,52 @@ class OdometryVector(google.protobuf.message.Message): vy: google.protobuf.wrappers_pb2.FloatValue | None = ..., vtheta: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["theta", b"theta", "vtheta", b"vtheta", "vx", b"vx", "vy", b"vy", "x", b"x", "y", b"y"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["theta", b"theta", "vtheta", b"vtheta", "vx", b"vx", "vy", b"vy", "x", b"x", "y", b"y"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["theta", b"theta", "vtheta", b"vtheta", "vx", b"vx", "vy", b"vy", "x", b"x", "y", b"y"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["theta", b"theta", "vtheta", b"vtheta", "vx", b"vx", "vy", b"vy", "x", b"x", "y", b"y"]) -> None: ... global___OdometryVector = OdometryVector -@typing.final +@typing_extensions.final class ControlModeCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int MODE_FIELD_NUMBER: builtins.int - mode: global___ControlModePossiblities.ValueType @property def id(self) -> part_pb2.PartId: ... + mode: global___ControlModePossiblities.ValueType def __init__( self, *, id: part_pb2.PartId | None = ..., mode: global___ControlModePossiblities.ValueType = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "mode", b"mode"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "mode", b"mode"]) -> None: ... global___ControlModeCommand = ControlModeCommand -@typing.final +@typing_extensions.final class ZuuuModeCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int MODE_FIELD_NUMBER: builtins.int - mode: global___ZuuuModePossiblities.ValueType @property def id(self) -> part_pb2.PartId: ... + mode: global___ZuuuModePossiblities.ValueType def __init__( self, *, id: part_pb2.PartId | None = ..., mode: global___ZuuuModePossiblities.ValueType = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "mode", b"mode"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "mode", b"mode"]) -> None: ... global___ZuuuModeCommand = ZuuuModeCommand -@typing.final +@typing_extensions.final class BatteryLevel(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -234,12 +233,12 @@ class BatteryLevel(google.protobuf.message.Message): *, level: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["level", b"level"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["level", b"level"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["level", b"level"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["level", b"level"]) -> None: ... global___BatteryLevel = BatteryLevel -@typing.final +@typing_extensions.final class MobileBaseStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -251,6 +250,6 @@ class MobileBaseStatus(google.protobuf.message.Message): *, errors: collections.abc.Iterable[error_pb2.Error] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["errors", b"errors"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["errors", b"errors"]) -> None: ... global___MobileBaseStatus = MobileBaseStatus diff --git a/python/reachy2_sdk_api/mobile_base_utility_pb2_grpc.py b/python/reachy2_sdk_api/mobile_base_utility_pb2_grpc.py index 5a3b15f..397e80b 100644 --- a/python/reachy2_sdk_api/mobile_base_utility_pb2_grpc.py +++ b/python/reachy2_sdk_api/mobile_base_utility_pb2_grpc.py @@ -1,32 +1,12 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import mobile_base_mobility_pb2 as mobile__base__mobility__pb2 import mobile_base_utility_pb2 as mobile__base__utility__pb2 import part_pb2 as part__pb2 -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in mobile_base_utility_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) - class MobileBaseUtilityServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -41,72 +21,72 @@ def __init__(self, channel): '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetAllMobileBases', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=mobile__base__utility__pb2.ListOfMobileBase.FromString, - _registered_method=True) + ) self.GetState = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetState', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__utility__pb2.MobileBaseState.FromString, - _registered_method=True) + ) self.Audit = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/Audit', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__utility__pb2.MobileBaseStatus.FromString, - _registered_method=True) + ) self.HeartBeat = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/HeartBeat', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.Restart = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/Restart', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.TurnOn = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/TurnOn', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.TurnOff = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/TurnOff', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.SetControlMode = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/SetControlMode', request_serializer=mobile__base__utility__pb2.ControlModeCommand.SerializeToString, response_deserializer=mobile__base__mobility__pb2.MobilityServiceAck.FromString, - _registered_method=True) + ) self.GetControlMode = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetControlMode', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__utility__pb2.ControlModeCommand.FromString, - _registered_method=True) + ) self.SetZuuuMode = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/SetZuuuMode', request_serializer=mobile__base__utility__pb2.ZuuuModeCommand.SerializeToString, response_deserializer=mobile__base__mobility__pb2.MobilityServiceAck.FromString, - _registered_method=True) + ) self.GetZuuuMode = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetZuuuMode', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__utility__pb2.ZuuuModeCommand.FromString, - _registered_method=True) + ) self.GetBatteryLevel = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetBatteryLevel', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__utility__pb2.BatteryLevel.FromString, - _registered_method=True) + ) self.GetOdometry = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetOdometry', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__utility__pb2.OdometryVector.FromString, - _registered_method=True) + ) self.ResetOdometry = channel.unary_unary( '/reachy.part.mobile.base.utility.MobileBaseUtilityService/ResetOdometry', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=mobile__base__mobility__pb2.MobilityServiceAck.FromString, - _registered_method=True) + ) class MobileBaseUtilityServiceServicer(object): @@ -273,7 +253,6 @@ def add_MobileBaseUtilityServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.part.mobile.base.utility.MobileBaseUtilityService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('reachy.part.mobile.base.utility.MobileBaseUtilityService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -291,21 +270,11 @@ def GetAllMobileBases(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetAllMobileBases', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetAllMobileBases', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, mobile__base__utility__pb2.ListOfMobileBase.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetState(request, @@ -318,21 +287,11 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetState', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetState', part__pb2.PartId.SerializeToString, mobile__base__utility__pb2.MobileBaseState.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Audit(request, @@ -345,21 +304,11 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.utility.MobileBaseUtilityService/Audit', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/Audit', part__pb2.PartId.SerializeToString, mobile__base__utility__pb2.MobileBaseStatus.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def HeartBeat(request, @@ -372,21 +321,11 @@ def HeartBeat(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.utility.MobileBaseUtilityService/HeartBeat', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/HeartBeat', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Restart(request, @@ -399,21 +338,11 @@ def Restart(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.utility.MobileBaseUtilityService/Restart', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/Restart', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def TurnOn(request, @@ -426,21 +355,11 @@ def TurnOn(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.utility.MobileBaseUtilityService/TurnOn', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/TurnOn', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def TurnOff(request, @@ -453,21 +372,11 @@ def TurnOff(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.utility.MobileBaseUtilityService/TurnOff', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/TurnOff', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SetControlMode(request, @@ -480,21 +389,11 @@ def SetControlMode(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.utility.MobileBaseUtilityService/SetControlMode', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/SetControlMode', mobile__base__utility__pb2.ControlModeCommand.SerializeToString, mobile__base__mobility__pb2.MobilityServiceAck.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetControlMode(request, @@ -507,21 +406,11 @@ def GetControlMode(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetControlMode', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetControlMode', part__pb2.PartId.SerializeToString, mobile__base__utility__pb2.ControlModeCommand.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SetZuuuMode(request, @@ -534,21 +423,11 @@ def SetZuuuMode(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.utility.MobileBaseUtilityService/SetZuuuMode', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/SetZuuuMode', mobile__base__utility__pb2.ZuuuModeCommand.SerializeToString, mobile__base__mobility__pb2.MobilityServiceAck.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetZuuuMode(request, @@ -561,21 +440,11 @@ def GetZuuuMode(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetZuuuMode', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetZuuuMode', part__pb2.PartId.SerializeToString, mobile__base__utility__pb2.ZuuuModeCommand.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetBatteryLevel(request, @@ -588,21 +457,11 @@ def GetBatteryLevel(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetBatteryLevel', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetBatteryLevel', part__pb2.PartId.SerializeToString, mobile__base__utility__pb2.BatteryLevel.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetOdometry(request, @@ -615,21 +474,11 @@ def GetOdometry(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetOdometry', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/GetOdometry', part__pb2.PartId.SerializeToString, mobile__base__utility__pb2.OdometryVector.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def ResetOdometry(request, @@ -642,18 +491,8 @@ def ResetOdometry(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.mobile.base.utility.MobileBaseUtilityService/ResetOdometry', + return grpc.experimental.unary_unary(request, target, '/reachy.part.mobile.base.utility.MobileBaseUtilityService/ResetOdometry', part__pb2.PartId.SerializeToString, mobile__base__mobility__pb2.MobilityServiceAck.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/reachy2_sdk_api/mobile_base_utility_pb2_grpc.pyi b/python/reachy2_sdk_api/mobile_base_utility_pb2_grpc.pyi index 7fa8836..5a0589b 100644 --- a/python/reachy2_sdk_api/mobile_base_utility_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/mobile_base_utility_pb2_grpc.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import google.protobuf.empty_pb2 @@ -13,11 +12,12 @@ import mobile_base_utility_pb2 import part_pb2 import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... class MobileBaseUtilityServiceStub: @@ -26,67 +26,54 @@ class MobileBaseUtilityServiceStub: google.protobuf.empty_pb2.Empty, mobile_base_utility_pb2.ListOfMobileBase, ] - GetState: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.MobileBaseState, ] - Audit: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.MobileBaseStatus, ] - HeartBeat: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - Restart: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - TurnOn: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - TurnOff: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - SetControlMode: grpc.UnaryUnaryMultiCallable[ mobile_base_utility_pb2.ControlModeCommand, mobile_base_mobility_pb2.MobilityServiceAck, ] - GetControlMode: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.ControlModeCommand, ] - SetZuuuMode: grpc.UnaryUnaryMultiCallable[ mobile_base_utility_pb2.ZuuuModeCommand, mobile_base_mobility_pb2.MobilityServiceAck, ] - GetZuuuMode: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.ZuuuModeCommand, ] - GetBatteryLevel: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.BatteryLevel, ] - GetOdometry: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.OdometryVector, ] - ResetOdometry: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_mobility_pb2.MobilityServiceAck, @@ -97,67 +84,54 @@ class MobileBaseUtilityServiceAsyncStub: google.protobuf.empty_pb2.Empty, mobile_base_utility_pb2.ListOfMobileBase, ] - GetState: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.MobileBaseState, ] - Audit: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.MobileBaseStatus, ] - HeartBeat: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - Restart: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - TurnOn: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - TurnOff: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - SetControlMode: grpc.aio.UnaryUnaryMultiCallable[ mobile_base_utility_pb2.ControlModeCommand, mobile_base_mobility_pb2.MobilityServiceAck, ] - GetControlMode: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.ControlModeCommand, ] - SetZuuuMode: grpc.aio.UnaryUnaryMultiCallable[ mobile_base_utility_pb2.ZuuuModeCommand, mobile_base_mobility_pb2.MobilityServiceAck, ] - GetZuuuMode: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.ZuuuModeCommand, ] - GetBatteryLevel: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.BatteryLevel, ] - GetOdometry: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_utility_pb2.OdometryVector, ] - ResetOdometry: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, mobile_base_mobility_pb2.MobilityServiceAck, @@ -170,91 +144,78 @@ class MobileBaseUtilityServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[mobile_base_utility_pb2.ListOfMobileBase, collections.abc.Awaitable[mobile_base_utility_pb2.ListOfMobileBase]]: ... - @abc.abstractmethod def GetState( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_utility_pb2.MobileBaseState, collections.abc.Awaitable[mobile_base_utility_pb2.MobileBaseState]]: ... - @abc.abstractmethod def Audit( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_utility_pb2.MobileBaseStatus, collections.abc.Awaitable[mobile_base_utility_pb2.MobileBaseStatus]]: ... - @abc.abstractmethod def HeartBeat( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def Restart( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def TurnOn( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def TurnOff( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def SetControlMode( self, request: mobile_base_utility_pb2.ControlModeCommand, context: _ServicerContext, ) -> typing.Union[mobile_base_mobility_pb2.MobilityServiceAck, collections.abc.Awaitable[mobile_base_mobility_pb2.MobilityServiceAck]]: ... - @abc.abstractmethod def GetControlMode( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_utility_pb2.ControlModeCommand, collections.abc.Awaitable[mobile_base_utility_pb2.ControlModeCommand]]: ... - @abc.abstractmethod def SetZuuuMode( self, request: mobile_base_utility_pb2.ZuuuModeCommand, context: _ServicerContext, ) -> typing.Union[mobile_base_mobility_pb2.MobilityServiceAck, collections.abc.Awaitable[mobile_base_mobility_pb2.MobilityServiceAck]]: ... - @abc.abstractmethod def GetZuuuMode( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_utility_pb2.ZuuuModeCommand, collections.abc.Awaitable[mobile_base_utility_pb2.ZuuuModeCommand]]: ... - @abc.abstractmethod def GetBatteryLevel( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_utility_pb2.BatteryLevel, collections.abc.Awaitable[mobile_base_utility_pb2.BatteryLevel]]: ... - @abc.abstractmethod def GetOdometry( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[mobile_base_utility_pb2.OdometryVector, collections.abc.Awaitable[mobile_base_utility_pb2.OdometryVector]]: ... - @abc.abstractmethod def ResetOdometry( self, diff --git a/python/reachy2_sdk_api/mujoco_pb2.py b/python/reachy2_sdk_api/mujoco_pb2.py index 91f6fa9..3edbe83 100644 --- a/python/reachy2_sdk_api/mujoco_pb2.py +++ b/python/reachy2_sdk_api/mujoco_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: mujoco.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'mujoco.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -31,8 +20,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'mujoco_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_MUJOCOOBJECTPOSE']._serialized_start=78 _globals['_MUJOCOOBJECTPOSE']._serialized_end=154 _globals['_MUJOCOOBJECTSPOSES']._serialized_start=156 diff --git a/python/reachy2_sdk_api/mujoco_pb2.pyi b/python/reachy2_sdk_api/mujoco_pb2.pyi index c092704..239c030 100644 --- a/python/reachy2_sdk_api/mujoco_pb2.pyi +++ b/python/reachy2_sdk_api/mujoco_pb2.pyi @@ -2,18 +2,22 @@ @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 kinematics_pb2 -import typing +import sys + +if sys.version_info >= (3, 8): + import typing as typing_extensions +else: + import typing_extensions DESCRIPTOR: google.protobuf.descriptor.FileDescriptor -@typing.final +@typing_extensions.final class MujocoObjectPose(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -28,12 +32,12 @@ class MujocoObjectPose(google.protobuf.message.Message): name: builtins.str = ..., pose: kinematics_pb2.Matrix4x4 | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["pose", b"pose"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["name", b"name", "pose", b"pose"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["pose", b"pose"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["name", b"name", "pose", b"pose"]) -> None: ... global___MujocoObjectPose = MujocoObjectPose -@typing.final +@typing_extensions.final class MujocoObjectsPoses(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -45,6 +49,6 @@ class MujocoObjectsPoses(google.protobuf.message.Message): *, poses: collections.abc.Iterable[global___MujocoObjectPose] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["poses", b"poses"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["poses", b"poses"]) -> None: ... global___MujocoObjectsPoses = MujocoObjectsPoses diff --git a/python/reachy2_sdk_api/mujoco_pb2_grpc.py b/python/reachy2_sdk_api/mujoco_pb2_grpc.py index 7062d73..8fc455e 100644 --- a/python/reachy2_sdk_api/mujoco_pb2_grpc.py +++ b/python/reachy2_sdk_api/mujoco_pb2_grpc.py @@ -1,30 +1,10 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import mujoco_pb2 as mujoco__pb2 -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in mujoco_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) - class MujocoServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -39,7 +19,7 @@ def __init__(self, channel): '/reachy.mujoco.MujocoService/GetObjectsPoses', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=mujoco__pb2.MujocoObjectsPoses.FromString, - _registered_method=True) + ) class MujocoServiceServicer(object): @@ -63,7 +43,6 @@ def add_MujocoServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.mujoco.MujocoService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('reachy.mujoco.MujocoService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -81,18 +60,8 @@ def GetObjectsPoses(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.mujoco.MujocoService/GetObjectsPoses', + return grpc.experimental.unary_unary(request, target, '/reachy.mujoco.MujocoService/GetObjectsPoses', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, mujoco__pb2.MujocoObjectsPoses.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/reachy2_sdk_api/mujoco_pb2_grpc.pyi b/python/reachy2_sdk_api/mujoco_pb2_grpc.pyi index 06c41ea..d64dba0 100644 --- a/python/reachy2_sdk_api/mujoco_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/mujoco_pb2_grpc.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import google.protobuf.empty_pb2 @@ -11,11 +10,12 @@ import grpc.aio import mujoco_pb2 import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... class MujocoServiceStub: diff --git a/python/reachy2_sdk_api/orbita2d_pb2.py b/python/reachy2_sdk_api/orbita2d_pb2.py index 64c272a..fe73e4a 100644 --- a/python/reachy2_sdk_api/orbita2d_pb2.py +++ b/python/reachy2_sdk_api/orbita2d_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: orbita2d.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'orbita2d.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -34,8 +23,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'orbita2d_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_ORBITA2DFIELD']._serialized_start=2081 _globals['_ORBITA2DFIELD']._serialized_end=2305 _globals['_AXIS']._serialized_start=2307 diff --git a/python/reachy2_sdk_api/orbita2d_pb2.pyi b/python/reachy2_sdk_api/orbita2d_pb2.pyi index 42b45d5..fedb7a2 100644 --- a/python/reachy2_sdk_api/orbita2d_pb2.pyi +++ b/python/reachy2_sdk_api/orbita2d_pb2.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import builtins import collections.abc import component_pb2 @@ -79,7 +78,7 @@ PITCH: Axis.ValueType # 1 YAW: Axis.ValueType # 2 global___Axis = Axis -@typing.final +@typing_extensions.final class Orbita2dState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -135,12 +134,12 @@ class Orbita2dState(google.protobuf.message.Message): torque_limit: global___Float2d | None = ..., pid: global___PID2d | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> None: ... global___Orbita2dState = Orbita2dState -@typing.final +@typing_extensions.final class Orbita2dStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -156,32 +155,32 @@ class Orbita2dStateRequest(google.protobuf.message.Message): fields: collections.abc.Iterable[global___Orbita2dField.ValueType] | None = ..., id: component_pb2.ComponentId | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["fields", b"fields", "id", b"id"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["fields", b"fields", "id", b"id"]) -> None: ... global___Orbita2dStateRequest = Orbita2dStateRequest -@typing.final +@typing_extensions.final class Orbita2dStreamStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor REQ_FIELD_NUMBER: builtins.int FREQ_FIELD_NUMBER: builtins.int - freq: builtins.float @property def req(self) -> global___Orbita2dStateRequest: ... + freq: builtins.float def __init__( self, *, req: global___Orbita2dStateRequest | None = ..., freq: builtins.float = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["req", b"req"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["freq", b"freq", "req", b"req"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["req", b"req"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["freq", b"freq", "req", b"req"]) -> None: ... global___Orbita2dStreamStateRequest = Orbita2dStreamStateRequest -@typing.final +@typing_extensions.final class PID2d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -197,12 +196,12 @@ class PID2d(google.protobuf.message.Message): motor_1: component_pb2.PIDGains | None = ..., motor_2: component_pb2.PIDGains | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["motor_1", b"motor_1", "motor_2", b"motor_2"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["motor_1", b"motor_1", "motor_2", b"motor_2"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["motor_1", b"motor_1", "motor_2", b"motor_2"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["motor_1", b"motor_1", "motor_2", b"motor_2"]) -> None: ... global___PID2d = PID2d -@typing.final +@typing_extensions.final class Limits2d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -218,12 +217,12 @@ class Limits2d(google.protobuf.message.Message): axis_1: component_pb2.JointLimits | None = ..., axis_2: component_pb2.JointLimits | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["axis_1", b"axis_1", "axis_2", b"axis_2"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["axis_1", b"axis_1", "axis_2", b"axis_2"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["axis_1", b"axis_1", "axis_2", b"axis_2"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["axis_1", b"axis_1", "axis_2", b"axis_2"]) -> None: ... global___Limits2d = Limits2d -@typing.final +@typing_extensions.final class Pose2d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -239,12 +238,12 @@ class Pose2d(google.protobuf.message.Message): axis_1: google.protobuf.wrappers_pb2.FloatValue | None = ..., axis_2: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["axis_1", b"axis_1", "axis_2", b"axis_2"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["axis_1", b"axis_1", "axis_2", b"axis_2"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["axis_1", b"axis_1", "axis_2", b"axis_2"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["axis_1", b"axis_1", "axis_2", b"axis_2"]) -> None: ... global___Pose2d = Pose2d -@typing.final +@typing_extensions.final class Float2d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -260,12 +259,12 @@ class Float2d(google.protobuf.message.Message): motor_1: google.protobuf.wrappers_pb2.FloatValue | None = ..., motor_2: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["motor_1", b"motor_1", "motor_2", b"motor_2"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["motor_1", b"motor_1", "motor_2", b"motor_2"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["motor_1", b"motor_1", "motor_2", b"motor_2"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["motor_1", b"motor_1", "motor_2", b"motor_2"]) -> None: ... global___Float2d = Float2d -@typing.final +@typing_extensions.final class Vector2d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -281,12 +280,12 @@ class Vector2d(google.protobuf.message.Message): x: google.protobuf.wrappers_pb2.FloatValue | None = ..., y: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["x", b"x", "y", b"y"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["x", b"x", "y", b"y"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["x", b"x", "y", b"y"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["x", b"x", "y", b"y"]) -> None: ... global___Vector2d = Vector2d -@typing.final +@typing_extensions.final class Orbita2dCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -318,12 +317,12 @@ class Orbita2dCommand(google.protobuf.message.Message): torque_limit: global___Float2d | None = ..., pid: global___PID2d | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "pid", b"pid", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "pid", b"pid", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "pid", b"pid", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "pid", b"pid", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> None: ... global___Orbita2dCommand = Orbita2dCommand -@typing.final +@typing_extensions.final class Orbita2dsCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -335,11 +334,11 @@ class Orbita2dsCommand(google.protobuf.message.Message): *, cmd: collections.abc.Iterable[global___Orbita2dCommand] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["cmd", b"cmd"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["cmd", b"cmd"]) -> None: ... global___Orbita2dsCommand = Orbita2dsCommand -@typing.final +@typing_extensions.final class Orbita2d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -347,11 +346,11 @@ class Orbita2d(google.protobuf.message.Message): SERIAL_NUMBER_FIELD_NUMBER: builtins.int AXIS_1_FIELD_NUMBER: builtins.int AXIS_2_FIELD_NUMBER: builtins.int + @property + def id(self) -> component_pb2.ComponentId: ... serial_number: builtins.str axis_1: global___Axis.ValueType axis_2: global___Axis.ValueType - @property - def id(self) -> component_pb2.ComponentId: ... def __init__( self, *, @@ -360,12 +359,12 @@ class Orbita2d(google.protobuf.message.Message): axis_1: global___Axis.ValueType = ..., axis_2: global___Axis.ValueType = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["axis_1", b"axis_1", "axis_2", b"axis_2", "id", b"id", "serial_number", b"serial_number"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["axis_1", b"axis_1", "axis_2", b"axis_2", "id", b"id", "serial_number", b"serial_number"]) -> None: ... global___Orbita2d = Orbita2d -@typing.final +@typing_extensions.final class ListOfOrbita2d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -377,11 +376,11 @@ class ListOfOrbita2d(google.protobuf.message.Message): *, orbita2d: collections.abc.Iterable[global___Orbita2d] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["orbita2d", b"orbita2d"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["orbita2d", b"orbita2d"]) -> None: ... global___ListOfOrbita2d = ListOfOrbita2d -@typing.final +@typing_extensions.final class Orbita2dStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -393,6 +392,6 @@ class Orbita2dStatus(google.protobuf.message.Message): *, errors: collections.abc.Iterable[error_pb2.Error] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["errors", b"errors"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["errors", b"errors"]) -> None: ... global___Orbita2dStatus = Orbita2dStatus diff --git a/python/reachy2_sdk_api/orbita2d_pb2_grpc.py b/python/reachy2_sdk_api/orbita2d_pb2_grpc.py index 336ddba..817d41c 100644 --- a/python/reachy2_sdk_api/orbita2d_pb2_grpc.py +++ b/python/reachy2_sdk_api/orbita2d_pb2_grpc.py @@ -1,31 +1,11 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings import component_pb2 as component__pb2 from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import orbita2d_pb2 as orbita2d__pb2 -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in orbita2d_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) - class Orbita2dServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -40,42 +20,42 @@ def __init__(self, channel): '/component.orbita2d.Orbita2dService/GetAllOrbita2d', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=orbita2d__pb2.ListOfOrbita2d.FromString, - _registered_method=True) + ) self.GetState = channel.unary_unary( '/component.orbita2d.Orbita2dService/GetState', request_serializer=orbita2d__pb2.Orbita2dStateRequest.SerializeToString, response_deserializer=orbita2d__pb2.Orbita2dState.FromString, - _registered_method=True) + ) self.StreamState = channel.unary_stream( '/component.orbita2d.Orbita2dService/StreamState', request_serializer=orbita2d__pb2.Orbita2dStreamStateRequest.SerializeToString, response_deserializer=orbita2d__pb2.Orbita2dState.FromString, - _registered_method=True) + ) self.SendCommand = channel.unary_unary( '/component.orbita2d.Orbita2dService/SendCommand', request_serializer=orbita2d__pb2.Orbita2dsCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.StreamCommand = channel.stream_unary( '/component.orbita2d.Orbita2dService/StreamCommand', request_serializer=orbita2d__pb2.Orbita2dsCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.Audit = channel.unary_unary( '/component.orbita2d.Orbita2dService/Audit', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=orbita2d__pb2.Orbita2dStatus.FromString, - _registered_method=True) + ) self.HeartBeat = channel.unary_unary( '/component.orbita2d.Orbita2dService/HeartBeat', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.Restart = channel.unary_unary( '/component.orbita2d.Orbita2dService/Restart', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) class Orbita2dServiceServicer(object): @@ -176,7 +156,6 @@ def add_Orbita2dServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'component.orbita2d.Orbita2dService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('component.orbita2d.Orbita2dService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -194,21 +173,11 @@ def GetAllOrbita2d(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.orbita2d.Orbita2dService/GetAllOrbita2d', + return grpc.experimental.unary_unary(request, target, '/component.orbita2d.Orbita2dService/GetAllOrbita2d', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, orbita2d__pb2.ListOfOrbita2d.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetState(request, @@ -221,21 +190,11 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.orbita2d.Orbita2dService/GetState', + return grpc.experimental.unary_unary(request, target, '/component.orbita2d.Orbita2dService/GetState', orbita2d__pb2.Orbita2dStateRequest.SerializeToString, orbita2d__pb2.Orbita2dState.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def StreamState(request, @@ -248,21 +207,11 @@ def StreamState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_stream( - request, - target, - '/component.orbita2d.Orbita2dService/StreamState', + return grpc.experimental.unary_stream(request, target, '/component.orbita2d.Orbita2dService/StreamState', orbita2d__pb2.Orbita2dStreamStateRequest.SerializeToString, orbita2d__pb2.Orbita2dState.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SendCommand(request, @@ -275,21 +224,11 @@ def SendCommand(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.orbita2d.Orbita2dService/SendCommand', + return grpc.experimental.unary_unary(request, target, '/component.orbita2d.Orbita2dService/SendCommand', orbita2d__pb2.Orbita2dsCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def StreamCommand(request_iterator, @@ -302,21 +241,11 @@ def StreamCommand(request_iterator, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.stream_unary( - request_iterator, - target, - '/component.orbita2d.Orbita2dService/StreamCommand', + return grpc.experimental.stream_unary(request_iterator, target, '/component.orbita2d.Orbita2dService/StreamCommand', orbita2d__pb2.Orbita2dsCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Audit(request, @@ -329,21 +258,11 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.orbita2d.Orbita2dService/Audit', + return grpc.experimental.unary_unary(request, target, '/component.orbita2d.Orbita2dService/Audit', component__pb2.ComponentId.SerializeToString, orbita2d__pb2.Orbita2dStatus.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def HeartBeat(request, @@ -356,21 +275,11 @@ def HeartBeat(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.orbita2d.Orbita2dService/HeartBeat', + return grpc.experimental.unary_unary(request, target, '/component.orbita2d.Orbita2dService/HeartBeat', component__pb2.ComponentId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Restart(request, @@ -383,18 +292,8 @@ def Restart(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.orbita2d.Orbita2dService/Restart', + return grpc.experimental.unary_unary(request, target, '/component.orbita2d.Orbita2dService/Restart', component__pb2.ComponentId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/reachy2_sdk_api/orbita2d_pb2_grpc.pyi b/python/reachy2_sdk_api/orbita2d_pb2_grpc.pyi index d9c28af..e453d5b 100644 --- a/python/reachy2_sdk_api/orbita2d_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/orbita2d_pb2_grpc.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import component_pb2 @@ -12,11 +11,12 @@ import grpc.aio import orbita2d_pb2 import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... class Orbita2dServiceStub: @@ -25,37 +25,30 @@ class Orbita2dServiceStub: google.protobuf.empty_pb2.Empty, orbita2d_pb2.ListOfOrbita2d, ] - GetState: grpc.UnaryUnaryMultiCallable[ orbita2d_pb2.Orbita2dStateRequest, orbita2d_pb2.Orbita2dState, ] - StreamState: grpc.UnaryStreamMultiCallable[ orbita2d_pb2.Orbita2dStreamStateRequest, orbita2d_pb2.Orbita2dState, ] - SendCommand: grpc.UnaryUnaryMultiCallable[ orbita2d_pb2.Orbita2dsCommand, google.protobuf.empty_pb2.Empty, ] - StreamCommand: grpc.StreamUnaryMultiCallable[ orbita2d_pb2.Orbita2dsCommand, google.protobuf.empty_pb2.Empty, ] - Audit: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, orbita2d_pb2.Orbita2dStatus, ] - HeartBeat: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, ] - Restart: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, @@ -66,37 +59,30 @@ class Orbita2dServiceAsyncStub: google.protobuf.empty_pb2.Empty, orbita2d_pb2.ListOfOrbita2d, ] - GetState: grpc.aio.UnaryUnaryMultiCallable[ orbita2d_pb2.Orbita2dStateRequest, orbita2d_pb2.Orbita2dState, ] - StreamState: grpc.aio.UnaryStreamMultiCallable[ orbita2d_pb2.Orbita2dStreamStateRequest, orbita2d_pb2.Orbita2dState, ] - SendCommand: grpc.aio.UnaryUnaryMultiCallable[ orbita2d_pb2.Orbita2dsCommand, google.protobuf.empty_pb2.Empty, ] - StreamCommand: grpc.aio.StreamUnaryMultiCallable[ orbita2d_pb2.Orbita2dsCommand, google.protobuf.empty_pb2.Empty, ] - Audit: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, orbita2d_pb2.Orbita2dStatus, ] - HeartBeat: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, ] - Restart: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, @@ -109,49 +95,42 @@ class Orbita2dServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[orbita2d_pb2.ListOfOrbita2d, collections.abc.Awaitable[orbita2d_pb2.ListOfOrbita2d]]: ... - @abc.abstractmethod def GetState( self, request: orbita2d_pb2.Orbita2dStateRequest, context: _ServicerContext, ) -> typing.Union[orbita2d_pb2.Orbita2dState, collections.abc.Awaitable[orbita2d_pb2.Orbita2dState]]: ... - @abc.abstractmethod def StreamState( self, request: orbita2d_pb2.Orbita2dStreamStateRequest, context: _ServicerContext, ) -> typing.Union[collections.abc.Iterator[orbita2d_pb2.Orbita2dState], collections.abc.AsyncIterator[orbita2d_pb2.Orbita2dState]]: ... - @abc.abstractmethod def SendCommand( self, request: orbita2d_pb2.Orbita2dsCommand, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def StreamCommand( self, request_iterator: _MaybeAsyncIterator[orbita2d_pb2.Orbita2dsCommand], context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def Audit( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[orbita2d_pb2.Orbita2dStatus, collections.abc.Awaitable[orbita2d_pb2.Orbita2dStatus]]: ... - @abc.abstractmethod def HeartBeat( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def Restart( self, diff --git a/python/reachy2_sdk_api/orbita3d_pb2.py b/python/reachy2_sdk_api/orbita3d_pb2.py index 6f1d8fa..aede339 100644 --- a/python/reachy2_sdk_api/orbita3d_pb2.py +++ b/python/reachy2_sdk_api/orbita3d_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: orbita3d.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'orbita3d.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -35,8 +24,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'orbita3d_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_ORBITA3DFIELD']._serialized_start=2228 _globals['_ORBITA3DFIELD']._serialized_end=2452 _globals['_ORBITA3DSTATE']._serialized_start=181 diff --git a/python/reachy2_sdk_api/orbita3d_pb2.pyi b/python/reachy2_sdk_api/orbita3d_pb2.pyi index e55872e..5a27cc3 100644 --- a/python/reachy2_sdk_api/orbita3d_pb2.pyi +++ b/python/reachy2_sdk_api/orbita3d_pb2.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import builtins import collections.abc import component_pb2 @@ -63,7 +62,7 @@ PID: Orbita3dField.ValueType # 12 ALL: Orbita3dField.ValueType # 15 global___Orbita3dField = Orbita3dField -@typing.final +@typing_extensions.final class Orbita3dState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -119,12 +118,12 @@ class Orbita3dState(google.protobuf.message.Message): torque_limit: global___Float3d | None = ..., pid: global___PID3d | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "joint_limits", b"joint_limits", "pid", b"pid", "present_load", b"present_load", "present_position", b"present_position", "present_speed", b"present_speed", "speed_limit", b"speed_limit", "temperature", b"temperature", "timestamp", b"timestamp", "torque_limit", b"torque_limit"]) -> None: ... global___Orbita3dState = Orbita3dState -@typing.final +@typing_extensions.final class Orbita3dStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -140,32 +139,32 @@ class Orbita3dStateRequest(google.protobuf.message.Message): fields: collections.abc.Iterable[global___Orbita3dField.ValueType] | None = ..., id: component_pb2.ComponentId | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["fields", b"fields", "id", b"id"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["fields", b"fields", "id", b"id"]) -> None: ... global___Orbita3dStateRequest = Orbita3dStateRequest -@typing.final +@typing_extensions.final class Orbita3dStreamStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor REQ_FIELD_NUMBER: builtins.int FREQ_FIELD_NUMBER: builtins.int - freq: builtins.float @property def req(self) -> global___Orbita3dStateRequest: ... + freq: builtins.float def __init__( self, *, req: global___Orbita3dStateRequest | None = ..., freq: builtins.float = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["req", b"req"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["freq", b"freq", "req", b"req"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["req", b"req"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["freq", b"freq", "req", b"req"]) -> None: ... global___Orbita3dStreamStateRequest = Orbita3dStreamStateRequest -@typing.final +@typing_extensions.final class PID3d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -185,12 +184,12 @@ class PID3d(google.protobuf.message.Message): motor_2: component_pb2.PIDGains | None = ..., motor_3: component_pb2.PIDGains | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["motor_1", b"motor_1", "motor_2", b"motor_2", "motor_3", b"motor_3"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["motor_1", b"motor_1", "motor_2", b"motor_2", "motor_3", b"motor_3"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["motor_1", b"motor_1", "motor_2", b"motor_2", "motor_3", b"motor_3"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["motor_1", b"motor_1", "motor_2", b"motor_2", "motor_3", b"motor_3"]) -> None: ... global___PID3d = PID3d -@typing.final +@typing_extensions.final class Limits3d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -210,12 +209,12 @@ class Limits3d(google.protobuf.message.Message): pitch: component_pb2.JointLimits | None = ..., yaw: component_pb2.JointLimits | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["pitch", b"pitch", "roll", b"roll", "yaw", b"yaw"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["pitch", b"pitch", "roll", b"roll", "yaw", b"yaw"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["pitch", b"pitch", "roll", b"roll", "yaw", b"yaw"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["pitch", b"pitch", "roll", b"roll", "yaw", b"yaw"]) -> None: ... global___Limits3d = Limits3d -@typing.final +@typing_extensions.final class Float3d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -235,12 +234,12 @@ class Float3d(google.protobuf.message.Message): motor_2: google.protobuf.wrappers_pb2.FloatValue | None = ..., motor_3: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["motor_1", b"motor_1", "motor_2", b"motor_2", "motor_3", b"motor_3"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["motor_1", b"motor_1", "motor_2", b"motor_2", "motor_3", b"motor_3"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["motor_1", b"motor_1", "motor_2", b"motor_2", "motor_3", b"motor_3"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["motor_1", b"motor_1", "motor_2", b"motor_2", "motor_3", b"motor_3"]) -> None: ... global___Float3d = Float3d -@typing.final +@typing_extensions.final class Vector3d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -260,12 +259,12 @@ class Vector3d(google.protobuf.message.Message): y: google.protobuf.wrappers_pb2.FloatValue | None = ..., z: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["x", b"x", "y", b"y", "z", b"z"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["x", b"x", "y", b"y", "z", b"z"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["x", b"x", "y", b"y", "z", b"z"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["x", b"x", "y", b"y", "z", b"z"]) -> None: ... global___Vector3d = Vector3d -@typing.final +@typing_extensions.final class Orbita3dCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -297,12 +296,12 @@ class Orbita3dCommand(google.protobuf.message.Message): torque_limit: global___Float3d | None = ..., pid: global___PID3d | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "pid", b"pid", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "pid", b"pid", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "pid", b"pid", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["compliant", b"compliant", "goal_position", b"goal_position", "id", b"id", "pid", b"pid", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit"]) -> None: ... global___Orbita3dCommand = Orbita3dCommand -@typing.final +@typing_extensions.final class Orbita3dsCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -314,11 +313,11 @@ class Orbita3dsCommand(google.protobuf.message.Message): *, cmd: collections.abc.Iterable[global___Orbita3dCommand] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["cmd", b"cmd"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["cmd", b"cmd"]) -> None: ... global___Orbita3dsCommand = Orbita3dsCommand -@typing.final +@typing_extensions.final class Orbita3dGoal(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -338,32 +337,32 @@ class Orbita3dGoal(google.protobuf.message.Message): rotation: kinematics_pb2.Rotation3d | None = ..., duration: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "rotation", b"rotation"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["duration", b"duration", "id", b"id", "rotation", b"rotation"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "rotation", b"rotation"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["duration", b"duration", "id", b"id", "rotation", b"rotation"]) -> None: ... global___Orbita3dGoal = Orbita3dGoal -@typing.final +@typing_extensions.final class Orbita3d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int SERIAL_NUMBER_FIELD_NUMBER: builtins.int - serial_number: builtins.str @property def id(self) -> component_pb2.ComponentId: ... + serial_number: builtins.str def __init__( self, *, id: component_pb2.ComponentId | None = ..., serial_number: builtins.str = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "serial_number", b"serial_number"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "serial_number", b"serial_number"]) -> None: ... global___Orbita3d = Orbita3d -@typing.final +@typing_extensions.final class ListOfOrbita3d(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -375,11 +374,11 @@ class ListOfOrbita3d(google.protobuf.message.Message): *, info: collections.abc.Iterable[global___Orbita3d] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["info", b"info"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["info", b"info"]) -> None: ... global___ListOfOrbita3d = ListOfOrbita3d -@typing.final +@typing_extensions.final class Orbita3dStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -391,6 +390,6 @@ class Orbita3dStatus(google.protobuf.message.Message): *, errors: collections.abc.Iterable[error_pb2.Error] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["errors", b"errors"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["errors", b"errors"]) -> None: ... global___Orbita3dStatus = Orbita3dStatus diff --git a/python/reachy2_sdk_api/orbita3d_pb2_grpc.py b/python/reachy2_sdk_api/orbita3d_pb2_grpc.py index 85ba706..5153456 100644 --- a/python/reachy2_sdk_api/orbita3d_pb2_grpc.py +++ b/python/reachy2_sdk_api/orbita3d_pb2_grpc.py @@ -1,31 +1,11 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings import component_pb2 as component__pb2 from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import orbita3d_pb2 as orbita3d__pb2 -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in orbita3d_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) - class Orbita3dServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -40,47 +20,47 @@ def __init__(self, channel): '/component.orbita3d.Orbita3dService/GetAllOrbita3d', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=orbita3d__pb2.ListOfOrbita3d.FromString, - _registered_method=True) + ) self.GetState = channel.unary_unary( '/component.orbita3d.Orbita3dService/GetState', request_serializer=orbita3d__pb2.Orbita3dStateRequest.SerializeToString, response_deserializer=orbita3d__pb2.Orbita3dState.FromString, - _registered_method=True) + ) self.StreamState = channel.unary_stream( '/component.orbita3d.Orbita3dService/StreamState', request_serializer=orbita3d__pb2.Orbita3dStreamStateRequest.SerializeToString, response_deserializer=orbita3d__pb2.Orbita3dState.FromString, - _registered_method=True) + ) self.GoToOrientation = channel.unary_unary( '/component.orbita3d.Orbita3dService/GoToOrientation', request_serializer=orbita3d__pb2.Orbita3dGoal.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.SendCommand = channel.unary_unary( '/component.orbita3d.Orbita3dService/SendCommand', request_serializer=orbita3d__pb2.Orbita3dsCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.StreamCommand = channel.stream_unary( '/component.orbita3d.Orbita3dService/StreamCommand', request_serializer=orbita3d__pb2.Orbita3dsCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.Audit = channel.unary_unary( '/component.orbita3d.Orbita3dService/Audit', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=orbita3d__pb2.Orbita3dStatus.FromString, - _registered_method=True) + ) self.HeartBeat = channel.unary_unary( '/component.orbita3d.Orbita3dService/HeartBeat', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.Restart = channel.unary_unary( '/component.orbita3d.Orbita3dService/Restart', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) class Orbita3dServiceServicer(object): @@ -192,7 +172,6 @@ def add_Orbita3dServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'component.orbita3d.Orbita3dService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('component.orbita3d.Orbita3dService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -210,21 +189,11 @@ def GetAllOrbita3d(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.orbita3d.Orbita3dService/GetAllOrbita3d', + return grpc.experimental.unary_unary(request, target, '/component.orbita3d.Orbita3dService/GetAllOrbita3d', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, orbita3d__pb2.ListOfOrbita3d.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetState(request, @@ -237,21 +206,11 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.orbita3d.Orbita3dService/GetState', + return grpc.experimental.unary_unary(request, target, '/component.orbita3d.Orbita3dService/GetState', orbita3d__pb2.Orbita3dStateRequest.SerializeToString, orbita3d__pb2.Orbita3dState.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def StreamState(request, @@ -264,21 +223,11 @@ def StreamState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_stream( - request, - target, - '/component.orbita3d.Orbita3dService/StreamState', + return grpc.experimental.unary_stream(request, target, '/component.orbita3d.Orbita3dService/StreamState', orbita3d__pb2.Orbita3dStreamStateRequest.SerializeToString, orbita3d__pb2.Orbita3dState.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GoToOrientation(request, @@ -291,21 +240,11 @@ def GoToOrientation(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.orbita3d.Orbita3dService/GoToOrientation', + return grpc.experimental.unary_unary(request, target, '/component.orbita3d.Orbita3dService/GoToOrientation', orbita3d__pb2.Orbita3dGoal.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SendCommand(request, @@ -318,21 +257,11 @@ def SendCommand(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.orbita3d.Orbita3dService/SendCommand', + return grpc.experimental.unary_unary(request, target, '/component.orbita3d.Orbita3dService/SendCommand', orbita3d__pb2.Orbita3dsCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def StreamCommand(request_iterator, @@ -345,21 +274,11 @@ def StreamCommand(request_iterator, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.stream_unary( - request_iterator, - target, - '/component.orbita3d.Orbita3dService/StreamCommand', + return grpc.experimental.stream_unary(request_iterator, target, '/component.orbita3d.Orbita3dService/StreamCommand', orbita3d__pb2.Orbita3dsCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Audit(request, @@ -372,21 +291,11 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.orbita3d.Orbita3dService/Audit', + return grpc.experimental.unary_unary(request, target, '/component.orbita3d.Orbita3dService/Audit', component__pb2.ComponentId.SerializeToString, orbita3d__pb2.Orbita3dStatus.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def HeartBeat(request, @@ -399,21 +308,11 @@ def HeartBeat(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.orbita3d.Orbita3dService/HeartBeat', + return grpc.experimental.unary_unary(request, target, '/component.orbita3d.Orbita3dService/HeartBeat', component__pb2.ComponentId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Restart(request, @@ -426,18 +325,8 @@ def Restart(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.orbita3d.Orbita3dService/Restart', + return grpc.experimental.unary_unary(request, target, '/component.orbita3d.Orbita3dService/Restart', component__pb2.ComponentId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/reachy2_sdk_api/orbita3d_pb2_grpc.pyi b/python/reachy2_sdk_api/orbita3d_pb2_grpc.pyi index 404f681..057cb0b 100644 --- a/python/reachy2_sdk_api/orbita3d_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/orbita3d_pb2_grpc.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import component_pb2 @@ -12,11 +11,12 @@ import grpc.aio import orbita3d_pb2 import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... class Orbita3dServiceStub: @@ -25,42 +25,34 @@ class Orbita3dServiceStub: google.protobuf.empty_pb2.Empty, orbita3d_pb2.ListOfOrbita3d, ] - GetState: grpc.UnaryUnaryMultiCallable[ orbita3d_pb2.Orbita3dStateRequest, orbita3d_pb2.Orbita3dState, ] - StreamState: grpc.UnaryStreamMultiCallable[ orbita3d_pb2.Orbita3dStreamStateRequest, orbita3d_pb2.Orbita3dState, ] - GoToOrientation: grpc.UnaryUnaryMultiCallable[ orbita3d_pb2.Orbita3dGoal, google.protobuf.empty_pb2.Empty, ] - SendCommand: grpc.UnaryUnaryMultiCallable[ orbita3d_pb2.Orbita3dsCommand, google.protobuf.empty_pb2.Empty, ] - StreamCommand: grpc.StreamUnaryMultiCallable[ orbita3d_pb2.Orbita3dsCommand, google.protobuf.empty_pb2.Empty, ] - Audit: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, orbita3d_pb2.Orbita3dStatus, ] - HeartBeat: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, ] - Restart: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, @@ -71,42 +63,34 @@ class Orbita3dServiceAsyncStub: google.protobuf.empty_pb2.Empty, orbita3d_pb2.ListOfOrbita3d, ] - GetState: grpc.aio.UnaryUnaryMultiCallable[ orbita3d_pb2.Orbita3dStateRequest, orbita3d_pb2.Orbita3dState, ] - StreamState: grpc.aio.UnaryStreamMultiCallable[ orbita3d_pb2.Orbita3dStreamStateRequest, orbita3d_pb2.Orbita3dState, ] - GoToOrientation: grpc.aio.UnaryUnaryMultiCallable[ orbita3d_pb2.Orbita3dGoal, google.protobuf.empty_pb2.Empty, ] - SendCommand: grpc.aio.UnaryUnaryMultiCallable[ orbita3d_pb2.Orbita3dsCommand, google.protobuf.empty_pb2.Empty, ] - StreamCommand: grpc.aio.StreamUnaryMultiCallable[ orbita3d_pb2.Orbita3dsCommand, google.protobuf.empty_pb2.Empty, ] - Audit: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, orbita3d_pb2.Orbita3dStatus, ] - HeartBeat: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, ] - Restart: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, @@ -119,56 +103,48 @@ class Orbita3dServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[orbita3d_pb2.ListOfOrbita3d, collections.abc.Awaitable[orbita3d_pb2.ListOfOrbita3d]]: ... - @abc.abstractmethod def GetState( self, request: orbita3d_pb2.Orbita3dStateRequest, context: _ServicerContext, ) -> typing.Union[orbita3d_pb2.Orbita3dState, collections.abc.Awaitable[orbita3d_pb2.Orbita3dState]]: ... - @abc.abstractmethod def StreamState( self, request: orbita3d_pb2.Orbita3dStreamStateRequest, context: _ServicerContext, ) -> typing.Union[collections.abc.Iterator[orbita3d_pb2.Orbita3dState], collections.abc.AsyncIterator[orbita3d_pb2.Orbita3dState]]: ... - @abc.abstractmethod def GoToOrientation( self, request: orbita3d_pb2.Orbita3dGoal, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def SendCommand( self, request: orbita3d_pb2.Orbita3dsCommand, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def StreamCommand( self, request_iterator: _MaybeAsyncIterator[orbita3d_pb2.Orbita3dsCommand], context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def Audit( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[orbita3d_pb2.Orbita3dStatus, collections.abc.Awaitable[orbita3d_pb2.Orbita3dStatus]]: ... - @abc.abstractmethod def HeartBeat( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def Restart( self, diff --git a/python/reachy2_sdk_api/parallel_gripper_pb2.py b/python/reachy2_sdk_api/parallel_gripper_pb2.py index 126cd6e..7866eda 100644 --- a/python/reachy2_sdk_api/parallel_gripper_pb2.py +++ b/python/reachy2_sdk_api/parallel_gripper_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: parallel_gripper.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'parallel_gripper.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -33,8 +22,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'parallel_gripper_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_PARALLELGRIPPERFIELD']._serialized_start=745 _globals['_PARALLELGRIPPERFIELD']._serialized_end=976 _globals['_PARALLELGRIPPERSTATE']._serialized_start=146 diff --git a/python/reachy2_sdk_api/parallel_gripper_pb2.pyi b/python/reachy2_sdk_api/parallel_gripper_pb2.pyi index 34eb7b7..b5cdaa4 100644 --- a/python/reachy2_sdk_api/parallel_gripper_pb2.pyi +++ b/python/reachy2_sdk_api/parallel_gripper_pb2.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import builtins import collections.abc import component_pb2 @@ -61,7 +60,7 @@ PID: ParallelGripperField.ValueType # 12 ALL: ParallelGripperField.ValueType # 15 global___ParallelGripperField = ParallelGripperField -@typing.final +@typing_extensions.final class ParallelGripperState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -73,12 +72,12 @@ class ParallelGripperState(google.protobuf.message.Message): *, timestamp: google.protobuf.timestamp_pb2.Timestamp | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["timestamp", b"timestamp"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["timestamp", b"timestamp"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["timestamp", b"timestamp"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["timestamp", b"timestamp"]) -> None: ... global___ParallelGripperState = ParallelGripperState -@typing.final +@typing_extensions.final class ParallelGripperStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -94,32 +93,32 @@ class ParallelGripperStateRequest(google.protobuf.message.Message): fields: collections.abc.Iterable[global___ParallelGripperField.ValueType] | None = ..., id: component_pb2.ComponentId | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["fields", b"fields", "id", b"id"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["fields", b"fields", "id", b"id"]) -> None: ... global___ParallelGripperStateRequest = ParallelGripperStateRequest -@typing.final +@typing_extensions.final class ParallelGripperStreamStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor REQ_FIELD_NUMBER: builtins.int FREQ_FIELD_NUMBER: builtins.int - freq: builtins.float @property def req(self) -> global___ParallelGripperStateRequest: ... + freq: builtins.float def __init__( self, *, req: global___ParallelGripperStateRequest | None = ..., freq: builtins.float = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["req", b"req"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["freq", b"freq", "req", b"req"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["req", b"req"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["freq", b"freq", "req", b"req"]) -> None: ... global___ParallelGripperStreamStateRequest = ParallelGripperStreamStateRequest -@typing.final +@typing_extensions.final class ParallelGripperCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -129,27 +128,27 @@ class ParallelGripperCommand(google.protobuf.message.Message): global___ParallelGripperCommand = ParallelGripperCommand -@typing.final +@typing_extensions.final class ParallelGripperInfo(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int SERIAL_NUMBER_FIELD_NUMBER: builtins.int - serial_number: builtins.str @property def id(self) -> component_pb2.ComponentId: ... + serial_number: builtins.str def __init__( self, *, id: component_pb2.ComponentId | None = ..., serial_number: builtins.str = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "serial_number", b"serial_number"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "serial_number", b"serial_number"]) -> None: ... global___ParallelGripperInfo = ParallelGripperInfo -@typing.final +@typing_extensions.final class ListOfParallelGripperInfo(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -161,11 +160,11 @@ class ListOfParallelGripperInfo(google.protobuf.message.Message): *, parallel_gripper_info: collections.abc.Iterable[global___ParallelGripperInfo] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["parallel_gripper_info", b"parallel_gripper_info"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["parallel_gripper_info", b"parallel_gripper_info"]) -> None: ... global___ListOfParallelGripperInfo = ListOfParallelGripperInfo -@typing.final +@typing_extensions.final class ParallelGripperStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -177,6 +176,6 @@ class ParallelGripperStatus(google.protobuf.message.Message): *, errors: collections.abc.Iterable[error_pb2.Error] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["errors", b"errors"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["errors", b"errors"]) -> None: ... global___ParallelGripperStatus = ParallelGripperStatus diff --git a/python/reachy2_sdk_api/parallel_gripper_pb2_grpc.py b/python/reachy2_sdk_api/parallel_gripper_pb2_grpc.py index af8dd19..6e7a6b4 100644 --- a/python/reachy2_sdk_api/parallel_gripper_pb2_grpc.py +++ b/python/reachy2_sdk_api/parallel_gripper_pb2_grpc.py @@ -1,31 +1,11 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings import component_pb2 as component__pb2 from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import parallel_gripper_pb2 as parallel__gripper__pb2 -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in parallel_gripper_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) - class GripperServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -40,42 +20,42 @@ def __init__(self, channel): '/component.parallel_gripper.GripperService/GetAllParallelGripper', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=parallel__gripper__pb2.ListOfParallelGripperInfo.FromString, - _registered_method=True) + ) self.GetState = channel.unary_unary( '/component.parallel_gripper.GripperService/GetState', request_serializer=parallel__gripper__pb2.ParallelGripperStateRequest.SerializeToString, response_deserializer=parallel__gripper__pb2.ParallelGripperState.FromString, - _registered_method=True) + ) self.StreamState = channel.unary_stream( '/component.parallel_gripper.GripperService/StreamState', request_serializer=parallel__gripper__pb2.ParallelGripperStreamStateRequest.SerializeToString, response_deserializer=parallel__gripper__pb2.ParallelGripperState.FromString, - _registered_method=True) + ) self.SendCommand = channel.unary_unary( '/component.parallel_gripper.GripperService/SendCommand', request_serializer=parallel__gripper__pb2.ParallelGripperCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.StreamCommand = channel.stream_unary( '/component.parallel_gripper.GripperService/StreamCommand', request_serializer=parallel__gripper__pb2.ParallelGripperCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.Audit = channel.unary_unary( '/component.parallel_gripper.GripperService/Audit', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=parallel__gripper__pb2.ParallelGripperStatus.FromString, - _registered_method=True) + ) self.HeartBeat = channel.unary_unary( '/component.parallel_gripper.GripperService/HeartBeat', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.Restart = channel.unary_unary( '/component.parallel_gripper.GripperService/Restart', request_serializer=component__pb2.ComponentId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) class GripperServiceServicer(object): @@ -176,7 +156,6 @@ def add_GripperServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'component.parallel_gripper.GripperService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('component.parallel_gripper.GripperService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -194,21 +173,11 @@ def GetAllParallelGripper(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.parallel_gripper.GripperService/GetAllParallelGripper', + return grpc.experimental.unary_unary(request, target, '/component.parallel_gripper.GripperService/GetAllParallelGripper', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, parallel__gripper__pb2.ListOfParallelGripperInfo.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetState(request, @@ -221,21 +190,11 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.parallel_gripper.GripperService/GetState', + return grpc.experimental.unary_unary(request, target, '/component.parallel_gripper.GripperService/GetState', parallel__gripper__pb2.ParallelGripperStateRequest.SerializeToString, parallel__gripper__pb2.ParallelGripperState.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def StreamState(request, @@ -248,21 +207,11 @@ def StreamState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_stream( - request, - target, - '/component.parallel_gripper.GripperService/StreamState', + return grpc.experimental.unary_stream(request, target, '/component.parallel_gripper.GripperService/StreamState', parallel__gripper__pb2.ParallelGripperStreamStateRequest.SerializeToString, parallel__gripper__pb2.ParallelGripperState.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SendCommand(request, @@ -275,21 +224,11 @@ def SendCommand(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.parallel_gripper.GripperService/SendCommand', + return grpc.experimental.unary_unary(request, target, '/component.parallel_gripper.GripperService/SendCommand', parallel__gripper__pb2.ParallelGripperCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def StreamCommand(request_iterator, @@ -302,21 +241,11 @@ def StreamCommand(request_iterator, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.stream_unary( - request_iterator, - target, - '/component.parallel_gripper.GripperService/StreamCommand', + return grpc.experimental.stream_unary(request_iterator, target, '/component.parallel_gripper.GripperService/StreamCommand', parallel__gripper__pb2.ParallelGripperCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Audit(request, @@ -329,21 +258,11 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.parallel_gripper.GripperService/Audit', + return grpc.experimental.unary_unary(request, target, '/component.parallel_gripper.GripperService/Audit', component__pb2.ComponentId.SerializeToString, parallel__gripper__pb2.ParallelGripperStatus.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def HeartBeat(request, @@ -356,21 +275,11 @@ def HeartBeat(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.parallel_gripper.GripperService/HeartBeat', + return grpc.experimental.unary_unary(request, target, '/component.parallel_gripper.GripperService/HeartBeat', component__pb2.ComponentId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Restart(request, @@ -383,18 +292,8 @@ def Restart(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.parallel_gripper.GripperService/Restart', + return grpc.experimental.unary_unary(request, target, '/component.parallel_gripper.GripperService/Restart', component__pb2.ComponentId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/reachy2_sdk_api/parallel_gripper_pb2_grpc.pyi b/python/reachy2_sdk_api/parallel_gripper_pb2_grpc.pyi index cc8929b..de751b9 100644 --- a/python/reachy2_sdk_api/parallel_gripper_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/parallel_gripper_pb2_grpc.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import component_pb2 @@ -12,11 +11,12 @@ import grpc.aio import parallel_gripper_pb2 import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... class GripperServiceStub: @@ -25,37 +25,30 @@ class GripperServiceStub: google.protobuf.empty_pb2.Empty, parallel_gripper_pb2.ListOfParallelGripperInfo, ] - GetState: grpc.UnaryUnaryMultiCallable[ parallel_gripper_pb2.ParallelGripperStateRequest, parallel_gripper_pb2.ParallelGripperState, ] - StreamState: grpc.UnaryStreamMultiCallable[ parallel_gripper_pb2.ParallelGripperStreamStateRequest, parallel_gripper_pb2.ParallelGripperState, ] - SendCommand: grpc.UnaryUnaryMultiCallable[ parallel_gripper_pb2.ParallelGripperCommand, google.protobuf.empty_pb2.Empty, ] - StreamCommand: grpc.StreamUnaryMultiCallable[ parallel_gripper_pb2.ParallelGripperCommand, google.protobuf.empty_pb2.Empty, ] - Audit: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, parallel_gripper_pb2.ParallelGripperStatus, ] - HeartBeat: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, ] - Restart: grpc.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, @@ -66,37 +59,30 @@ class GripperServiceAsyncStub: google.protobuf.empty_pb2.Empty, parallel_gripper_pb2.ListOfParallelGripperInfo, ] - GetState: grpc.aio.UnaryUnaryMultiCallable[ parallel_gripper_pb2.ParallelGripperStateRequest, parallel_gripper_pb2.ParallelGripperState, ] - StreamState: grpc.aio.UnaryStreamMultiCallable[ parallel_gripper_pb2.ParallelGripperStreamStateRequest, parallel_gripper_pb2.ParallelGripperState, ] - SendCommand: grpc.aio.UnaryUnaryMultiCallable[ parallel_gripper_pb2.ParallelGripperCommand, google.protobuf.empty_pb2.Empty, ] - StreamCommand: grpc.aio.StreamUnaryMultiCallable[ parallel_gripper_pb2.ParallelGripperCommand, google.protobuf.empty_pb2.Empty, ] - Audit: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, parallel_gripper_pb2.ParallelGripperStatus, ] - HeartBeat: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, ] - Restart: grpc.aio.UnaryUnaryMultiCallable[ component_pb2.ComponentId, google.protobuf.empty_pb2.Empty, @@ -109,49 +95,42 @@ class GripperServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[parallel_gripper_pb2.ListOfParallelGripperInfo, collections.abc.Awaitable[parallel_gripper_pb2.ListOfParallelGripperInfo]]: ... - @abc.abstractmethod def GetState( self, request: parallel_gripper_pb2.ParallelGripperStateRequest, context: _ServicerContext, ) -> typing.Union[parallel_gripper_pb2.ParallelGripperState, collections.abc.Awaitable[parallel_gripper_pb2.ParallelGripperState]]: ... - @abc.abstractmethod def StreamState( self, request: parallel_gripper_pb2.ParallelGripperStreamStateRequest, context: _ServicerContext, ) -> typing.Union[collections.abc.Iterator[parallel_gripper_pb2.ParallelGripperState], collections.abc.AsyncIterator[parallel_gripper_pb2.ParallelGripperState]]: ... - @abc.abstractmethod def SendCommand( self, request: parallel_gripper_pb2.ParallelGripperCommand, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def StreamCommand( self, request_iterator: _MaybeAsyncIterator[parallel_gripper_pb2.ParallelGripperCommand], context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def Audit( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[parallel_gripper_pb2.ParallelGripperStatus, collections.abc.Awaitable[parallel_gripper_pb2.ParallelGripperStatus]]: ... - @abc.abstractmethod def HeartBeat( self, request: component_pb2.ComponentId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def Restart( self, diff --git a/python/reachy2_sdk_api/part_pb2.py b/python/reachy2_sdk_api/part_pb2.py index 8f3402d..40b1579 100644 --- a/python/reachy2_sdk_api/part_pb2.py +++ b/python/reachy2_sdk_api/part_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: part.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'part.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -29,8 +18,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'part_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_PARTID']._serialized_start=27 _globals['_PARTID']._serialized_end=61 _globals['_PARTINFO']._serialized_start=63 diff --git a/python/reachy2_sdk_api/part_pb2.pyi b/python/reachy2_sdk_api/part_pb2.pyi index fa4bb94..7a025cb 100644 --- a/python/reachy2_sdk_api/part_pb2.pyi +++ b/python/reachy2_sdk_api/part_pb2.pyi @@ -2,15 +2,19 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import builtins import google.protobuf.descriptor import google.protobuf.message -import typing +import sys + +if sys.version_info >= (3, 8): + import typing as typing_extensions +else: + import typing_extensions DESCRIPTOR: google.protobuf.descriptor.FileDescriptor -@typing.final +@typing_extensions.final class PartId(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -24,11 +28,11 @@ class PartId(google.protobuf.message.Message): id: builtins.int = ..., name: builtins.str = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "name", b"name"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "name", b"name"]) -> None: ... global___PartId = PartId -@typing.final +@typing_extensions.final class PartInfo(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -45,6 +49,6 @@ class PartInfo(google.protobuf.message.Message): version_hard: builtins.str = ..., version_soft: builtins.str = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["serial_number", b"serial_number", "version_hard", b"version_hard", "version_soft", b"version_soft"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["serial_number", b"serial_number", "version_hard", b"version_hard", "version_soft", b"version_soft"]) -> None: ... global___PartInfo = PartInfo diff --git a/python/reachy2_sdk_api/part_pb2_grpc.py b/python/reachy2_sdk_api/part_pb2_grpc.py index 5a2ab5d..2daafff 100644 --- a/python/reachy2_sdk_api/part_pb2_grpc.py +++ b/python/reachy2_sdk_api/part_pb2_grpc.py @@ -1,24 +1,4 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings - -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in part_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) diff --git a/python/reachy2_sdk_api/part_pb2_grpc.pyi b/python/reachy2_sdk_api/part_pb2_grpc.pyi index a6a9cff..b13382f 100644 --- a/python/reachy2_sdk_api/part_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/part_pb2_grpc.pyi @@ -2,16 +2,16 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import grpc import grpc.aio import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... diff --git a/python/reachy2_sdk_api/reachy_pb2.py b/python/reachy2_sdk_api/reachy_pb2.py index 26e1f4e..1612b39 100644 --- a/python/reachy2_sdk_api/reachy_pb2.py +++ b/python/reachy2_sdk_api/reachy_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: reachy.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'reachy.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -36,8 +25,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'reachy_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_REACHYCOREMODE']._serialized_start=2202 _globals['_REACHYCOREMODE']._serialized_end=2272 _globals['_REACHY']._serialized_start=163 diff --git a/python/reachy2_sdk_api/reachy_pb2.pyi b/python/reachy2_sdk_api/reachy_pb2.pyi index 41d39a5..af7052b 100644 --- a/python/reachy2_sdk_api/reachy_pb2.pyi +++ b/python/reachy2_sdk_api/reachy_pb2.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import arm_pb2 import builtins import google.protobuf.descriptor @@ -44,7 +43,7 @@ GAZEBO: ReachyCoreMode.ValueType # 3 MUJOCO: ReachyCoreMode.ValueType # 4 global___ReachyCoreMode = ReachyCoreMode -@typing.final +@typing_extensions.final class Reachy(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -88,12 +87,12 @@ class Reachy(google.protobuf.message.Message): tripod: tripod_pb2.Tripod | None = ..., info: global___ReachyInfo | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["head", b"head", "id", b"id", "info", b"info", "l_arm", b"l_arm", "l_hand", b"l_hand", "mobile_base", b"mobile_base", "r_arm", b"r_arm", "r_hand", b"r_hand", "tripod", b"tripod"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["head", b"head", "id", b"id", "info", b"info", "l_arm", b"l_arm", "l_hand", b"l_hand", "mobile_base", b"mobile_base", "r_arm", b"r_arm", "r_hand", b"r_hand", "tripod", b"tripod"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["head", b"head", "id", b"id", "info", b"info", "l_arm", b"l_arm", "l_hand", b"l_hand", "mobile_base", b"mobile_base", "r_arm", b"r_arm", "r_hand", b"r_hand", "tripod", b"tripod"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["head", b"head", "id", b"id", "info", b"info", "l_arm", b"l_arm", "l_hand", b"l_hand", "mobile_base", b"mobile_base", "r_arm", b"r_arm", "r_hand", b"r_hand", "tripod", b"tripod"]) -> None: ... global___Reachy = Reachy -@typing.final +@typing_extensions.final class ReachyId(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -107,11 +106,11 @@ class ReachyId(google.protobuf.message.Message): id: builtins.int = ..., name: builtins.str = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "name", b"name"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "name", b"name"]) -> None: ... global___ReachyId = ReachyId -@typing.final +@typing_extensions.final class ReachyInfo(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -134,11 +133,11 @@ class ReachyInfo(google.protobuf.message.Message): api_version: builtins.str = ..., core_mode: global___ReachyCoreMode.ValueType = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["api_version", b"api_version", "core_mode", b"core_mode", "serial_number", b"serial_number", "version_hard", b"version_hard", "version_soft", b"version_soft"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["api_version", b"api_version", "core_mode", b"core_mode", "serial_number", b"serial_number", "version_hard", b"version_hard", "version_soft", b"version_soft"]) -> None: ... global___ReachyInfo = ReachyInfo -@typing.final +@typing_extensions.final class ReachyState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -182,12 +181,12 @@ class ReachyState(google.protobuf.message.Message): mobile_base_state: mobile_base_utility_pb2.MobileBaseState | None = ..., tripod_state: tripod_pb2.TripodState | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["head_state", b"head_state", "id", b"id", "l_arm_state", b"l_arm_state", "l_hand_state", b"l_hand_state", "mobile_base_state", b"mobile_base_state", "r_arm_state", b"r_arm_state", "r_hand_state", b"r_hand_state", "timestamp", b"timestamp", "tripod_state", b"tripod_state"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["head_state", b"head_state", "id", b"id", "l_arm_state", b"l_arm_state", "l_hand_state", b"l_hand_state", "mobile_base_state", b"mobile_base_state", "r_arm_state", b"r_arm_state", "r_hand_state", b"r_hand_state", "timestamp", b"timestamp", "tripod_state", b"tripod_state"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["head_state", b"head_state", "id", b"id", "l_arm_state", b"l_arm_state", "l_hand_state", b"l_hand_state", "mobile_base_state", b"mobile_base_state", "r_arm_state", b"r_arm_state", "r_hand_state", b"r_hand_state", "timestamp", b"timestamp", "tripod_state", b"tripod_state"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["head_state", b"head_state", "id", b"id", "l_arm_state", b"l_arm_state", "l_hand_state", b"l_hand_state", "mobile_base_state", b"mobile_base_state", "r_arm_state", b"r_arm_state", "r_hand_state", b"r_hand_state", "timestamp", b"timestamp", "tripod_state", b"tripod_state"]) -> None: ... global___ReachyState = ReachyState -@typing.final +@typing_extensions.final class ReachyStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -231,52 +230,52 @@ class ReachyStatus(google.protobuf.message.Message): mobile_base_status: mobile_base_utility_pb2.MobileBaseStatus | None = ..., tripod_status: tripod_pb2.TripodStatus | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["head_status", b"head_status", "id", b"id", "l_arm_status", b"l_arm_status", "l_hand_status", b"l_hand_status", "mobile_base_status", b"mobile_base_status", "r_arm_status", b"r_arm_status", "r_hand_status", b"r_hand_status", "timestamp", b"timestamp", "tripod_status", b"tripod_status"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["head_status", b"head_status", "id", b"id", "l_arm_status", b"l_arm_status", "l_hand_status", b"l_hand_status", "mobile_base_status", b"mobile_base_status", "r_arm_status", b"r_arm_status", "r_hand_status", b"r_hand_status", "timestamp", b"timestamp", "tripod_status", b"tripod_status"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["head_status", b"head_status", "id", b"id", "l_arm_status", b"l_arm_status", "l_hand_status", b"l_hand_status", "mobile_base_status", b"mobile_base_status", "r_arm_status", b"r_arm_status", "r_hand_status", b"r_hand_status", "timestamp", b"timestamp", "tripod_status", b"tripod_status"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["head_status", b"head_status", "id", b"id", "l_arm_status", b"l_arm_status", "l_hand_status", b"l_hand_status", "mobile_base_status", b"mobile_base_status", "r_arm_status", b"r_arm_status", "r_hand_status", b"r_hand_status", "timestamp", b"timestamp", "tripod_status", b"tripod_status"]) -> None: ... global___ReachyStatus = ReachyStatus -@typing.final +@typing_extensions.final class ReachyStreamStateRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int PUBLISH_FREQUENCY_FIELD_NUMBER: builtins.int - publish_frequency: builtins.float @property def id(self) -> global___ReachyId: ... + publish_frequency: builtins.float def __init__( self, *, id: global___ReachyId | None = ..., publish_frequency: builtins.float = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "publish_frequency", b"publish_frequency"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "publish_frequency", b"publish_frequency"]) -> None: ... global___ReachyStreamStateRequest = ReachyStreamStateRequest -@typing.final +@typing_extensions.final class ReachyStreamAuditRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor ID_FIELD_NUMBER: builtins.int PUBLISH_FREQUENCY_FIELD_NUMBER: builtins.int - publish_frequency: builtins.float @property def id(self) -> global___ReachyId: ... + publish_frequency: builtins.float def __init__( self, *, id: global___ReachyId | None = ..., publish_frequency: builtins.float = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["id", b"id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["id", b"id", "publish_frequency", b"publish_frequency"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["id", b"id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["id", b"id", "publish_frequency", b"publish_frequency"]) -> None: ... global___ReachyStreamAuditRequest = ReachyStreamAuditRequest -@typing.final +@typing_extensions.final class ReachyComponentsCommands(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -304,7 +303,7 @@ class ReachyComponentsCommands(google.protobuf.message.Message): l_hand_commands: hand_pb2.HandPositionRequest | None = ..., r_hand_commands: hand_pb2.HandPositionRequest | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["head_commands", b"head_commands", "l_arm_commands", b"l_arm_commands", "l_hand_commands", b"l_hand_commands", "r_arm_commands", b"r_arm_commands", "r_hand_commands", b"r_hand_commands"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["head_commands", b"head_commands", "l_arm_commands", b"l_arm_commands", "l_hand_commands", b"l_hand_commands", "r_arm_commands", b"r_arm_commands", "r_hand_commands", b"r_hand_commands"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["head_commands", b"head_commands", "l_arm_commands", b"l_arm_commands", "l_hand_commands", b"l_hand_commands", "r_arm_commands", b"r_arm_commands", "r_hand_commands", b"r_hand_commands"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["head_commands", b"head_commands", "l_arm_commands", b"l_arm_commands", "l_hand_commands", b"l_hand_commands", "r_arm_commands", b"r_arm_commands", "r_hand_commands", b"r_hand_commands"]) -> None: ... global___ReachyComponentsCommands = ReachyComponentsCommands diff --git a/python/reachy2_sdk_api/reachy_pb2_grpc.py b/python/reachy2_sdk_api/reachy_pb2_grpc.py index 1f7b3c6..dca5c43 100644 --- a/python/reachy2_sdk_api/reachy_pb2_grpc.py +++ b/python/reachy2_sdk_api/reachy_pb2_grpc.py @@ -1,30 +1,10 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import reachy_pb2 as reachy__pb2 -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in reachy_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) - class ReachyServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -39,32 +19,32 @@ def __init__(self, channel): '/reachy.ReachyService/GetReachy', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=reachy__pb2.Reachy.FromString, - _registered_method=True) + ) self.GetReachyState = channel.unary_unary( '/reachy.ReachyService/GetReachyState', request_serializer=reachy__pb2.ReachyId.SerializeToString, response_deserializer=reachy__pb2.ReachyState.FromString, - _registered_method=True) + ) self.StreamReachyState = channel.unary_stream( '/reachy.ReachyService/StreamReachyState', request_serializer=reachy__pb2.ReachyStreamStateRequest.SerializeToString, response_deserializer=reachy__pb2.ReachyState.FromString, - _registered_method=True) + ) self.SendComponentsCommands = channel.unary_unary( '/reachy.ReachyService/SendComponentsCommands', request_serializer=reachy__pb2.ReachyComponentsCommands.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.Audit = channel.unary_unary( '/reachy.ReachyService/Audit', request_serializer=reachy__pb2.ReachyId.SerializeToString, response_deserializer=reachy__pb2.ReachyStatus.FromString, - _registered_method=True) + ) self.StreamAudit = channel.unary_stream( '/reachy.ReachyService/StreamAudit', request_serializer=reachy__pb2.ReachyStreamAuditRequest.SerializeToString, response_deserializer=reachy__pb2.ReachyStatus.FromString, - _registered_method=True) + ) class ReachyServiceServicer(object): @@ -143,7 +123,6 @@ def add_ReachyServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.ReachyService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('reachy.ReachyService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -161,21 +140,11 @@ def GetReachy(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.ReachyService/GetReachy', + return grpc.experimental.unary_unary(request, target, '/reachy.ReachyService/GetReachy', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, reachy__pb2.Reachy.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetReachyState(request, @@ -188,21 +157,11 @@ def GetReachyState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.ReachyService/GetReachyState', + return grpc.experimental.unary_unary(request, target, '/reachy.ReachyService/GetReachyState', reachy__pb2.ReachyId.SerializeToString, reachy__pb2.ReachyState.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def StreamReachyState(request, @@ -215,21 +174,11 @@ def StreamReachyState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_stream( - request, - target, - '/reachy.ReachyService/StreamReachyState', + return grpc.experimental.unary_stream(request, target, '/reachy.ReachyService/StreamReachyState', reachy__pb2.ReachyStreamStateRequest.SerializeToString, reachy__pb2.ReachyState.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SendComponentsCommands(request, @@ -242,21 +191,11 @@ def SendComponentsCommands(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.ReachyService/SendComponentsCommands', + return grpc.experimental.unary_unary(request, target, '/reachy.ReachyService/SendComponentsCommands', reachy__pb2.ReachyComponentsCommands.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def Audit(request, @@ -269,21 +208,11 @@ def Audit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.ReachyService/Audit', + return grpc.experimental.unary_unary(request, target, '/reachy.ReachyService/Audit', reachy__pb2.ReachyId.SerializeToString, reachy__pb2.ReachyStatus.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def StreamAudit(request, @@ -296,18 +225,8 @@ def StreamAudit(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_stream( - request, - target, - '/reachy.ReachyService/StreamAudit', + return grpc.experimental.unary_stream(request, target, '/reachy.ReachyService/StreamAudit', reachy__pb2.ReachyStreamAuditRequest.SerializeToString, reachy__pb2.ReachyStatus.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/reachy2_sdk_api/reachy_pb2_grpc.pyi b/python/reachy2_sdk_api/reachy_pb2_grpc.pyi index 6c61977..6b48016 100644 --- a/python/reachy2_sdk_api/reachy_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/reachy_pb2_grpc.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import google.protobuf.empty_pb2 @@ -11,11 +10,12 @@ import grpc.aio import reachy_pb2 import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... class ReachyServiceStub: @@ -24,27 +24,22 @@ class ReachyServiceStub: google.protobuf.empty_pb2.Empty, reachy_pb2.Reachy, ] - GetReachyState: grpc.UnaryUnaryMultiCallable[ reachy_pb2.ReachyId, reachy_pb2.ReachyState, ] - StreamReachyState: grpc.UnaryStreamMultiCallable[ reachy_pb2.ReachyStreamStateRequest, reachy_pb2.ReachyState, ] - SendComponentsCommands: grpc.UnaryUnaryMultiCallable[ reachy_pb2.ReachyComponentsCommands, google.protobuf.empty_pb2.Empty, ] - Audit: grpc.UnaryUnaryMultiCallable[ reachy_pb2.ReachyId, reachy_pb2.ReachyStatus, ] - StreamAudit: grpc.UnaryStreamMultiCallable[ reachy_pb2.ReachyStreamAuditRequest, reachy_pb2.ReachyStatus, @@ -55,27 +50,22 @@ class ReachyServiceAsyncStub: google.protobuf.empty_pb2.Empty, reachy_pb2.Reachy, ] - GetReachyState: grpc.aio.UnaryUnaryMultiCallable[ reachy_pb2.ReachyId, reachy_pb2.ReachyState, ] - StreamReachyState: grpc.aio.UnaryStreamMultiCallable[ reachy_pb2.ReachyStreamStateRequest, reachy_pb2.ReachyState, ] - SendComponentsCommands: grpc.aio.UnaryUnaryMultiCallable[ reachy_pb2.ReachyComponentsCommands, google.protobuf.empty_pb2.Empty, ] - Audit: grpc.aio.UnaryUnaryMultiCallable[ reachy_pb2.ReachyId, reachy_pb2.ReachyStatus, ] - StreamAudit: grpc.aio.UnaryStreamMultiCallable[ reachy_pb2.ReachyStreamAuditRequest, reachy_pb2.ReachyStatus, @@ -88,35 +78,30 @@ class ReachyServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[reachy_pb2.Reachy, collections.abc.Awaitable[reachy_pb2.Reachy]]: ... - @abc.abstractmethod def GetReachyState( self, request: reachy_pb2.ReachyId, context: _ServicerContext, ) -> typing.Union[reachy_pb2.ReachyState, collections.abc.Awaitable[reachy_pb2.ReachyState]]: ... - @abc.abstractmethod def StreamReachyState( self, request: reachy_pb2.ReachyStreamStateRequest, context: _ServicerContext, ) -> typing.Union[collections.abc.Iterator[reachy_pb2.ReachyState], collections.abc.AsyncIterator[reachy_pb2.ReachyState]]: ... - @abc.abstractmethod def SendComponentsCommands( self, request: reachy_pb2.ReachyComponentsCommands, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def Audit( self, request: reachy_pb2.ReachyId, context: _ServicerContext, ) -> typing.Union[reachy_pb2.ReachyStatus, collections.abc.Awaitable[reachy_pb2.ReachyStatus]]: ... - @abc.abstractmethod def StreamAudit( self, diff --git a/python/reachy2_sdk_api/tripod_pb2.py b/python/reachy2_sdk_api/tripod_pb2.py index fbf3d8d..aeb34d9 100644 --- a/python/reachy2_sdk_api/tripod_pb2.py +++ b/python/reachy2_sdk_api/tripod_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: tripod.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'tripod.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -34,8 +23,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'tripod_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_TRIPODAXIS']._serialized_start=966 _globals['_TRIPODAXIS']._serialized_end=990 _globals['_TRIPOD']._serialized_start=140 diff --git a/python/reachy2_sdk_api/tripod_pb2.pyi b/python/reachy2_sdk_api/tripod_pb2.pyi index 98cb978..a604d0e 100644 --- a/python/reachy2_sdk_api/tripod_pb2.pyi +++ b/python/reachy2_sdk_api/tripod_pb2.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import builtins import collections.abc import component_pb2 @@ -36,7 +35,7 @@ class TripodAxis(_TripodAxis, metaclass=_TripodAxisEnumTypeWrapper): ... HEIGHT: TripodAxis.ValueType # 0 global___TripodAxis = TripodAxis -@typing.final +@typing_extensions.final class Tripod(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -56,12 +55,12 @@ class Tripod(google.protobuf.message.Message): description: global___TripodDescription | None = ..., info: part_pb2.PartInfo | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["description", b"description", "info", b"info", "part_id", b"part_id"]) -> None: ... global___Tripod = Tripod -@typing.final +@typing_extensions.final class TripodDescription(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -73,12 +72,12 @@ class TripodDescription(google.protobuf.message.Message): *, height_joint: global___TripodJoint | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["height_joint", b"height_joint"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["height_joint", b"height_joint"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["height_joint", b"height_joint"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["height_joint", b"height_joint"]) -> None: ... global___TripodDescription = TripodDescription -@typing.final +@typing_extensions.final class TripodJoint(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -89,11 +88,11 @@ class TripodJoint(google.protobuf.message.Message): *, axis: global___TripodAxis.ValueType = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["axis", b"axis"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["axis", b"axis"]) -> None: ... global___TripodJoint = TripodJoint -@typing.final +@typing_extensions.final class TripodJointState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -113,12 +112,12 @@ class TripodJointState(google.protobuf.message.Message): present_position: google.protobuf.wrappers_pb2.FloatValue | None = ..., goal_position: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["goal_position", b"goal_position", "joint", b"joint", "present_position", b"present_position"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["goal_position", b"goal_position", "joint", b"joint", "present_position", b"present_position"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["goal_position", b"goal_position", "joint", b"joint", "present_position", b"present_position"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["goal_position", b"goal_position", "joint", b"joint", "present_position", b"present_position"]) -> None: ... global___TripodJointState = TripodJointState -@typing.final +@typing_extensions.final class TripodState(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -134,12 +133,12 @@ class TripodState(google.protobuf.message.Message): part_id: part_pb2.PartId | None = ..., height: global___TripodJointState | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["height", b"height", "part_id", b"part_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["height", b"height", "part_id", b"part_id"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["height", b"height", "part_id", b"part_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["height", b"height", "part_id", b"part_id"]) -> None: ... global___TripodState = TripodState -@typing.final +@typing_extensions.final class TripodStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -155,12 +154,12 @@ class TripodStatus(google.protobuf.message.Message): part_id: part_pb2.PartId | None = ..., errors: collections.abc.Iterable[error_pb2.Error] | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["part_id", b"part_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["errors", b"errors", "part_id", b"part_id"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["part_id", b"part_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["errors", b"errors", "part_id", b"part_id"]) -> None: ... global___TripodStatus = TripodStatus -@typing.final +@typing_extensions.final class TripodCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -176,12 +175,12 @@ class TripodCommand(google.protobuf.message.Message): part_id: part_pb2.PartId | None = ..., height_position: google.protobuf.wrappers_pb2.FloatValue | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["height_position", b"height_position", "part_id", b"part_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["height_position", b"height_position", "part_id", b"part_id"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["height_position", b"height_position", "part_id", b"part_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["height_position", b"height_position", "part_id", b"part_id"]) -> None: ... global___TripodCommand = TripodCommand -@typing.final +@typing_extensions.final class TripodJointsLimits(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -193,7 +192,7 @@ class TripodJointsLimits(google.protobuf.message.Message): *, height_limit: component_pb2.JointLimits | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["height_limit", b"height_limit"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["height_limit", b"height_limit"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["height_limit", b"height_limit"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["height_limit", b"height_limit"]) -> None: ... global___TripodJointsLimits = TripodJointsLimits diff --git a/python/reachy2_sdk_api/tripod_pb2_grpc.py b/python/reachy2_sdk_api/tripod_pb2_grpc.py index c4f6337..97e5b35 100644 --- a/python/reachy2_sdk_api/tripod_pb2_grpc.py +++ b/python/reachy2_sdk_api/tripod_pb2_grpc.py @@ -1,31 +1,11 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import part_pb2 as part__pb2 import tripod_pb2 as tripod__pb2 -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in tripod_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) - class TripodServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -40,27 +20,27 @@ def __init__(self, channel): '/reachy.part.tripod.TripodService/GetTripod', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=tripod__pb2.Tripod.FromString, - _registered_method=True) + ) self.GetState = channel.unary_unary( '/reachy.part.tripod.TripodService/GetState', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=tripod__pb2.TripodState.FromString, - _registered_method=True) + ) self.SendCommand = channel.unary_unary( '/reachy.part.tripod.TripodService/SendCommand', request_serializer=tripod__pb2.TripodCommand.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.ResetDefaultValues = channel.unary_unary( '/reachy.part.tripod.TripodService/ResetDefaultValues', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=google_dot_protobuf_dot_empty__pb2.Empty.FromString, - _registered_method=True) + ) self.GetJointsLimits = channel.unary_unary( '/reachy.part.tripod.TripodService/GetJointsLimits', request_serializer=part__pb2.PartId.SerializeToString, response_deserializer=tripod__pb2.TripodJointsLimits.FromString, - _registered_method=True) + ) class TripodServiceServicer(object): @@ -128,7 +108,6 @@ def add_TripodServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'reachy.part.tripod.TripodService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('reachy.part.tripod.TripodService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -146,21 +125,11 @@ def GetTripod(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.tripod.TripodService/GetTripod', + return grpc.experimental.unary_unary(request, target, '/reachy.part.tripod.TripodService/GetTripod', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, tripod__pb2.Tripod.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetState(request, @@ -173,21 +142,11 @@ def GetState(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.tripod.TripodService/GetState', + return grpc.experimental.unary_unary(request, target, '/reachy.part.tripod.TripodService/GetState', part__pb2.PartId.SerializeToString, tripod__pb2.TripodState.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SendCommand(request, @@ -200,21 +159,11 @@ def SendCommand(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.tripod.TripodService/SendCommand', + return grpc.experimental.unary_unary(request, target, '/reachy.part.tripod.TripodService/SendCommand', tripod__pb2.TripodCommand.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def ResetDefaultValues(request, @@ -227,21 +176,11 @@ def ResetDefaultValues(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.tripod.TripodService/ResetDefaultValues', + return grpc.experimental.unary_unary(request, target, '/reachy.part.tripod.TripodService/ResetDefaultValues', part__pb2.PartId.SerializeToString, google_dot_protobuf_dot_empty__pb2.Empty.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetJointsLimits(request, @@ -254,18 +193,8 @@ def GetJointsLimits(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/reachy.part.tripod.TripodService/GetJointsLimits', + return grpc.experimental.unary_unary(request, target, '/reachy.part.tripod.TripodService/GetJointsLimits', part__pb2.PartId.SerializeToString, tripod__pb2.TripodJointsLimits.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/reachy2_sdk_api/tripod_pb2_grpc.pyi b/python/reachy2_sdk_api/tripod_pb2_grpc.pyi index d6a5b2d..054cab4 100644 --- a/python/reachy2_sdk_api/tripod_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/tripod_pb2_grpc.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import google.protobuf.empty_pb2 @@ -12,11 +11,12 @@ import part_pb2 import tripod_pb2 import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... class TripodServiceStub: @@ -25,22 +25,18 @@ class TripodServiceStub: google.protobuf.empty_pb2.Empty, tripod_pb2.Tripod, ] - GetState: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, tripod_pb2.TripodState, ] - SendCommand: grpc.UnaryUnaryMultiCallable[ tripod_pb2.TripodCommand, google.protobuf.empty_pb2.Empty, ] - ResetDefaultValues: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - GetJointsLimits: grpc.UnaryUnaryMultiCallable[ part_pb2.PartId, tripod_pb2.TripodJointsLimits, @@ -51,22 +47,18 @@ class TripodServiceAsyncStub: google.protobuf.empty_pb2.Empty, tripod_pb2.Tripod, ] - GetState: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, tripod_pb2.TripodState, ] - SendCommand: grpc.aio.UnaryUnaryMultiCallable[ tripod_pb2.TripodCommand, google.protobuf.empty_pb2.Empty, ] - ResetDefaultValues: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, google.protobuf.empty_pb2.Empty, ] - GetJointsLimits: grpc.aio.UnaryUnaryMultiCallable[ part_pb2.PartId, tripod_pb2.TripodJointsLimits, @@ -79,28 +71,24 @@ class TripodServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[tripod_pb2.Tripod, collections.abc.Awaitable[tripod_pb2.Tripod]]: ... - @abc.abstractmethod def GetState( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[tripod_pb2.TripodState, collections.abc.Awaitable[tripod_pb2.TripodState]]: ... - @abc.abstractmethod def SendCommand( self, request: tripod_pb2.TripodCommand, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def ResetDefaultValues( self, request: part_pb2.PartId, context: _ServicerContext, ) -> typing.Union[google.protobuf.empty_pb2.Empty, collections.abc.Awaitable[google.protobuf.empty_pb2.Empty]]: ... - @abc.abstractmethod def GetJointsLimits( self, diff --git a/python/reachy2_sdk_api/video_pb2.py b/python/reachy2_sdk_api/video_pb2.py index 3927b81..deeae06 100644 --- a/python/reachy2_sdk_api/video_pb2.py +++ b/python/reachy2_sdk_api/video_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: video.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'video.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -34,8 +23,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'video_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_VIEW']._serialized_start=923 _globals['_VIEW']._serialized_end=961 _globals['_VIDEOACK']._serialized_start=157 diff --git a/python/reachy2_sdk_api/video_pb2.pyi b/python/reachy2_sdk_api/video_pb2.pyi index 6d5b9b0..981ccd1 100644 --- a/python/reachy2_sdk_api/video_pb2.pyi +++ b/python/reachy2_sdk_api/video_pb2.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import builtins import collections.abc import error_pb2 @@ -40,7 +39,7 @@ RIGHT: View.ValueType # 1 DEPTH: View.ValueType # 2 global___View = View -@typing.final +@typing_extensions.final class VideoAck(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -56,12 +55,12 @@ class VideoAck(google.protobuf.message.Message): success: google.protobuf.wrappers_pb2.BoolValue | None = ..., error: error_pb2.Error | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["error", b"error", "success", b"success"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["error", b"error", "success", b"success"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["error", b"error", "success", b"success"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["error", b"error", "success", b"success"]) -> None: ... global___VideoAck = VideoAck -@typing.final +@typing_extensions.final class CameraFeatures(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -78,11 +77,11 @@ class CameraFeatures(google.protobuf.message.Message): stereo: builtins.bool = ..., depth: builtins.bool = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["depth", b"depth", "name", b"name", "stereo", b"stereo"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["depth", b"depth", "name", b"name", "stereo", b"stereo"]) -> None: ... global___CameraFeatures = CameraFeatures -@typing.final +@typing_extensions.final class CameraParameters(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -115,11 +114,11 @@ class CameraParameters(google.protobuf.message.Message): R: collections.abc.Iterable[builtins.float] | None = ..., P: collections.abc.Iterable[builtins.float] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["D", b"D", "K", b"K", "P", b"P", "R", b"R", "distortion_model", b"distortion_model", "height", b"height", "width", b"width"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["D", b"D", "K", b"K", "P", b"P", "R", b"R", "distortion_model", b"distortion_model", "height", b"height", "width", b"width"]) -> None: ... global___CameraParameters = CameraParameters -@typing.final +@typing_extensions.final class CameraExtrinsics(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -131,12 +130,12 @@ class CameraExtrinsics(google.protobuf.message.Message): *, extrinsics: kinematics_pb2.Matrix4x4 | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["extrinsics", b"extrinsics"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["extrinsics", b"extrinsics"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["extrinsics", b"extrinsics"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["extrinsics", b"extrinsics"]) -> None: ... global___CameraExtrinsics = CameraExtrinsics -@typing.final +@typing_extensions.final class ListOfCameraFeatures(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -148,31 +147,31 @@ class ListOfCameraFeatures(google.protobuf.message.Message): *, camera_feat: collections.abc.Iterable[global___CameraFeatures] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["camera_feat", b"camera_feat"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["camera_feat", b"camera_feat"]) -> None: ... global___ListOfCameraFeatures = ListOfCameraFeatures -@typing.final +@typing_extensions.final class Frame(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor TIMESTAMP_FIELD_NUMBER: builtins.int DATA_FIELD_NUMBER: builtins.int - data: builtins.bytes @property def timestamp(self) -> google.protobuf.timestamp_pb2.Timestamp: ... + data: builtins.bytes def __init__( self, *, timestamp: google.protobuf.timestamp_pb2.Timestamp | None = ..., data: builtins.bytes = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["timestamp", b"timestamp"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["data", b"data", "timestamp", b"timestamp"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["timestamp", b"timestamp"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["data", b"data", "timestamp", b"timestamp"]) -> None: ... global___Frame = Frame -@typing.final +@typing_extensions.final class FrameRaw(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -183,14 +182,14 @@ class FrameRaw(google.protobuf.message.Message): ENCODING_FIELD_NUMBER: builtins.int STEP_FIELD_NUMBER: builtins.int ISBIGENDIAN_FIELD_NUMBER: builtins.int + @property + def timestamp(self) -> google.protobuf.timestamp_pb2.Timestamp: ... data: builtins.bytes height: builtins.int width: builtins.int encoding: builtins.str step: builtins.int isbigendian: builtins.bool - @property - def timestamp(self) -> google.protobuf.timestamp_pb2.Timestamp: ... def __init__( self, *, @@ -202,28 +201,28 @@ class FrameRaw(google.protobuf.message.Message): step: builtins.int = ..., isbigendian: builtins.bool = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["timestamp", b"timestamp"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["data", b"data", "encoding", b"encoding", "height", b"height", "isbigendian", b"isbigendian", "step", b"step", "timestamp", b"timestamp", "width", b"width"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["timestamp", b"timestamp"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["data", b"data", "encoding", b"encoding", "height", b"height", "isbigendian", b"isbigendian", "step", b"step", "timestamp", b"timestamp", "width", b"width"]) -> None: ... global___FrameRaw = FrameRaw -@typing.final +@typing_extensions.final class ViewRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor CAMERA_FEAT_FIELD_NUMBER: builtins.int VIEW_FIELD_NUMBER: builtins.int - view: global___View.ValueType @property def camera_feat(self) -> global___CameraFeatures: ... + view: global___View.ValueType def __init__( self, *, camera_feat: global___CameraFeatures | None = ..., view: global___View.ValueType | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["_view", b"_view", "camera_feat", b"camera_feat", "view", b"view"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["_view", b"_view", "camera_feat", b"camera_feat", "view", b"view"]) -> None: ... - def WhichOneof(self, oneof_group: typing.Literal["_view", b"_view"]) -> typing.Literal["view"] | None: ... + def HasField(self, field_name: typing_extensions.Literal["_view", b"_view", "camera_feat", b"camera_feat", "view", b"view"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["_view", b"_view", "camera_feat", b"camera_feat", "view", b"view"]) -> None: ... + def WhichOneof(self, oneof_group: typing_extensions.Literal["_view", b"_view"]) -> typing_extensions.Literal["view"] | None: ... global___ViewRequest = ViewRequest diff --git a/python/reachy2_sdk_api/video_pb2_grpc.py b/python/reachy2_sdk_api/video_pb2_grpc.py index 17574cf..f302805 100644 --- a/python/reachy2_sdk_api/video_pb2_grpc.py +++ b/python/reachy2_sdk_api/video_pb2_grpc.py @@ -1,30 +1,10 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings from google.protobuf import empty_pb2 as google_dot_protobuf_dot_empty__pb2 import video_pb2 as video__pb2 -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in video_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) - class VideoServiceStub(object): """Missing associated documentation comment in .proto file.""" @@ -39,27 +19,27 @@ def __init__(self, channel): '/component.video.VideoService/GetAvailableCameras', request_serializer=google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, response_deserializer=video__pb2.ListOfCameraFeatures.FromString, - _registered_method=True) + ) self.GetFrame = channel.unary_unary( '/component.video.VideoService/GetFrame', request_serializer=video__pb2.ViewRequest.SerializeToString, response_deserializer=video__pb2.Frame.FromString, - _registered_method=True) + ) self.GetParameters = channel.unary_unary( '/component.video.VideoService/GetParameters', request_serializer=video__pb2.ViewRequest.SerializeToString, response_deserializer=video__pb2.CameraParameters.FromString, - _registered_method=True) + ) self.GetDepth = channel.unary_unary( '/component.video.VideoService/GetDepth', request_serializer=video__pb2.ViewRequest.SerializeToString, response_deserializer=video__pb2.FrameRaw.FromString, - _registered_method=True) + ) self.GetExtrinsics = channel.unary_unary( '/component.video.VideoService/GetExtrinsics', request_serializer=video__pb2.ViewRequest.SerializeToString, response_deserializer=video__pb2.CameraExtrinsics.FromString, - _registered_method=True) + ) class VideoServiceServicer(object): @@ -127,7 +107,6 @@ def add_VideoServiceServicer_to_server(servicer, server): generic_handler = grpc.method_handlers_generic_handler( 'component.video.VideoService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) - server.add_registered_method_handlers('component.video.VideoService', rpc_method_handlers) # This class is part of an EXPERIMENTAL API. @@ -145,21 +124,11 @@ def GetAvailableCameras(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.video.VideoService/GetAvailableCameras', + return grpc.experimental.unary_unary(request, target, '/component.video.VideoService/GetAvailableCameras', google_dot_protobuf_dot_empty__pb2.Empty.SerializeToString, video__pb2.ListOfCameraFeatures.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetFrame(request, @@ -172,21 +141,11 @@ def GetFrame(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.video.VideoService/GetFrame', + return grpc.experimental.unary_unary(request, target, '/component.video.VideoService/GetFrame', video__pb2.ViewRequest.SerializeToString, video__pb2.Frame.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetParameters(request, @@ -199,21 +158,11 @@ def GetParameters(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.video.VideoService/GetParameters', + return grpc.experimental.unary_unary(request, target, '/component.video.VideoService/GetParameters', video__pb2.ViewRequest.SerializeToString, video__pb2.CameraParameters.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetDepth(request, @@ -226,21 +175,11 @@ def GetDepth(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.video.VideoService/GetDepth', + return grpc.experimental.unary_unary(request, target, '/component.video.VideoService/GetDepth', video__pb2.ViewRequest.SerializeToString, video__pb2.FrameRaw.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetExtrinsics(request, @@ -253,18 +192,8 @@ def GetExtrinsics(request, wait_for_ready=None, timeout=None, metadata=None): - return grpc.experimental.unary_unary( - request, - target, - '/component.video.VideoService/GetExtrinsics', + return grpc.experimental.unary_unary(request, target, '/component.video.VideoService/GetExtrinsics', video__pb2.ViewRequest.SerializeToString, video__pb2.CameraExtrinsics.FromString, - options, - channel_credentials, - insecure, - call_credentials, - compression, - wait_for_ready, - timeout, - metadata, - _registered_method=True) + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/python/reachy2_sdk_api/video_pb2_grpc.pyi b/python/reachy2_sdk_api/video_pb2_grpc.pyi index 7bffa32..8fc3111 100644 --- a/python/reachy2_sdk_api/video_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/video_pb2_grpc.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import google.protobuf.empty_pb2 @@ -11,11 +10,12 @@ import grpc.aio import typing import video_pb2 -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... class VideoServiceStub: @@ -24,22 +24,18 @@ class VideoServiceStub: google.protobuf.empty_pb2.Empty, video_pb2.ListOfCameraFeatures, ] - GetFrame: grpc.UnaryUnaryMultiCallable[ video_pb2.ViewRequest, video_pb2.Frame, ] - GetParameters: grpc.UnaryUnaryMultiCallable[ video_pb2.ViewRequest, video_pb2.CameraParameters, ] - GetDepth: grpc.UnaryUnaryMultiCallable[ video_pb2.ViewRequest, video_pb2.FrameRaw, ] - GetExtrinsics: grpc.UnaryUnaryMultiCallable[ video_pb2.ViewRequest, video_pb2.CameraExtrinsics, @@ -50,22 +46,18 @@ class VideoServiceAsyncStub: google.protobuf.empty_pb2.Empty, video_pb2.ListOfCameraFeatures, ] - GetFrame: grpc.aio.UnaryUnaryMultiCallable[ video_pb2.ViewRequest, video_pb2.Frame, ] - GetParameters: grpc.aio.UnaryUnaryMultiCallable[ video_pb2.ViewRequest, video_pb2.CameraParameters, ] - GetDepth: grpc.aio.UnaryUnaryMultiCallable[ video_pb2.ViewRequest, video_pb2.FrameRaw, ] - GetExtrinsics: grpc.aio.UnaryUnaryMultiCallable[ video_pb2.ViewRequest, video_pb2.CameraExtrinsics, @@ -78,28 +70,24 @@ class VideoServiceServicer(metaclass=abc.ABCMeta): request: google.protobuf.empty_pb2.Empty, context: _ServicerContext, ) -> typing.Union[video_pb2.ListOfCameraFeatures, collections.abc.Awaitable[video_pb2.ListOfCameraFeatures]]: ... - @abc.abstractmethod def GetFrame( self, request: video_pb2.ViewRequest, context: _ServicerContext, ) -> typing.Union[video_pb2.Frame, collections.abc.Awaitable[video_pb2.Frame]]: ... - @abc.abstractmethod def GetParameters( self, request: video_pb2.ViewRequest, context: _ServicerContext, ) -> typing.Union[video_pb2.CameraParameters, collections.abc.Awaitable[video_pb2.CameraParameters]]: ... - @abc.abstractmethod def GetDepth( self, request: video_pb2.ViewRequest, context: _ServicerContext, ) -> typing.Union[video_pb2.FrameRaw, collections.abc.Awaitable[video_pb2.FrameRaw]]: ... - @abc.abstractmethod def GetExtrinsics( self, diff --git a/python/reachy2_sdk_api/webrtc_bridge_pb2.py b/python/reachy2_sdk_api/webrtc_bridge_pb2.py index 01916db..05ed651 100644 --- a/python/reachy2_sdk_api/webrtc_bridge_pb2.py +++ b/python/reachy2_sdk_api/webrtc_bridge_pb2.py @@ -1,22 +1,11 @@ # -*- coding: utf-8 -*- # Generated by the protocol buffer compiler. DO NOT EDIT! -# NO CHECKED-IN PROTOBUF GENCODE # source: webrtc_bridge.proto -# Protobuf Python Version: 5.29.0 """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, - 0, - '', - 'webrtc_bridge.proto' -) # @@protoc_insertion_point(imports) _sym_db = _symbol_database.Default() @@ -38,8 +27,8 @@ _globals = globals() _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'webrtc_bridge_pb2', _globals) -if not _descriptor._USE_C_DESCRIPTORS: - DESCRIPTOR._loaded_options = None +if _descriptor._USE_C_DESCRIPTORS == False: + DESCRIPTOR._options = None _globals['_GETREACHY']._serialized_start=183 _globals['_GETREACHY']._serialized_end=194 _globals['_CONNECT']._serialized_start=196 diff --git a/python/reachy2_sdk_api/webrtc_bridge_pb2.pyi b/python/reachy2_sdk_api/webrtc_bridge_pb2.pyi index 99f99d8..c26ddfc 100644 --- a/python/reachy2_sdk_api/webrtc_bridge_pb2.pyi +++ b/python/reachy2_sdk_api/webrtc_bridge_pb2.pyi @@ -2,7 +2,6 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import arm_pb2 import builtins import collections.abc @@ -17,11 +16,16 @@ import mobile_base_mobility_pb2 import mobile_base_utility_pb2 import part_pb2 import reachy_pb2 -import typing +import sys + +if sys.version_info >= (3, 8): + import typing as typing_extensions +else: + import typing_extensions DESCRIPTOR: google.protobuf.descriptor.FileDescriptor -@typing.final +@typing_extensions.final class GetReachy(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -31,17 +35,17 @@ class GetReachy(google.protobuf.message.Message): global___GetReachy = GetReachy -@typing.final +@typing_extensions.final class Connect(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor REACHY_ID_FIELD_NUMBER: builtins.int UPDATE_FREQUENCY_FIELD_NUMBER: builtins.int AUDIT_FREQUENCY_FIELD_NUMBER: builtins.int - update_frequency: builtins.float - audit_frequency: builtins.float @property def reachy_id(self) -> reachy_pb2.ReachyId: ... + update_frequency: builtins.float + audit_frequency: builtins.float def __init__( self, *, @@ -49,12 +53,12 @@ class Connect(google.protobuf.message.Message): update_frequency: builtins.float = ..., audit_frequency: builtins.float = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["reachy_id", b"reachy_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["audit_frequency", b"audit_frequency", "reachy_id", b"reachy_id", "update_frequency", b"update_frequency"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["reachy_id", b"reachy_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["audit_frequency", b"audit_frequency", "reachy_id", b"reachy_id", "update_frequency", b"update_frequency"]) -> None: ... global___Connect = Connect -@typing.final +@typing_extensions.final class Disconnect(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -66,12 +70,12 @@ class Disconnect(google.protobuf.message.Message): *, reachy_id: reachy_pb2.ReachyId | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["reachy_id", b"reachy_id"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["reachy_id", b"reachy_id"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["reachy_id", b"reachy_id"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["reachy_id", b"reachy_id"]) -> None: ... global___Disconnect = Disconnect -@typing.final +@typing_extensions.final class ServiceRequest(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -91,13 +95,13 @@ class ServiceRequest(google.protobuf.message.Message): connect: global___Connect | None = ..., disconnect: global___Disconnect | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["connect", b"connect", "disconnect", b"disconnect", "get_reachy", b"get_reachy", "request", b"request"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["connect", b"connect", "disconnect", b"disconnect", "get_reachy", b"get_reachy", "request", b"request"]) -> None: ... - def WhichOneof(self, oneof_group: typing.Literal["request", b"request"]) -> typing.Literal["get_reachy", "connect", "disconnect"] | None: ... + def HasField(self, field_name: typing_extensions.Literal["connect", b"connect", "disconnect", b"disconnect", "get_reachy", b"get_reachy", "request", b"request"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["connect", b"connect", "disconnect", b"disconnect", "get_reachy", b"get_reachy", "request", b"request"]) -> None: ... + def WhichOneof(self, oneof_group: typing_extensions.Literal["request", b"request"]) -> typing_extensions.Literal["get_reachy", "connect", "disconnect"] | None: ... global___ServiceRequest = ServiceRequest -@typing.final +@typing_extensions.final class ConnectionStatus(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -118,12 +122,12 @@ class ConnectionStatus(google.protobuf.message.Message): command_channel: builtins.str = ..., reachy: reachy_pb2.Reachy | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["reachy", b"reachy"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["command_channel", b"command_channel", "connected", b"connected", "reachy", b"reachy", "state_channel", b"state_channel"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["reachy", b"reachy"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["command_channel", b"command_channel", "connected", b"connected", "reachy", b"reachy", "state_channel", b"state_channel"]) -> None: ... global___ConnectionStatus = ConnectionStatus -@typing.final +@typing_extensions.final class ServiceResponse(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -139,13 +143,13 @@ class ServiceResponse(google.protobuf.message.Message): connection_status: global___ConnectionStatus | None = ..., error: error_pb2.Error | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["connection_status", b"connection_status", "error", b"error", "response", b"response"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["connection_status", b"connection_status", "error", b"error", "response", b"response"]) -> None: ... - def WhichOneof(self, oneof_group: typing.Literal["response", b"response"]) -> typing.Literal["connection_status", "error"] | None: ... + def HasField(self, field_name: typing_extensions.Literal["connection_status", b"connection_status", "error", b"error", "response", b"response"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["connection_status", b"connection_status", "error", b"error", "response", b"response"]) -> None: ... + def WhichOneof(self, oneof_group: typing_extensions.Literal["response", b"response"]) -> typing_extensions.Literal["connection_status", "error"] | None: ... global___ServiceResponse = ServiceResponse -@typing.final +@typing_extensions.final class AnyCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -173,13 +177,13 @@ class AnyCommand(google.protobuf.message.Message): mobile_base_command: global___MobileBaseCommand | None = ..., antennas_command: dynamixel_motor_pb2.DynamixelMotorsCommand | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["antennas_command", b"antennas_command", "arm_command", b"arm_command", "command", b"command", "hand_command", b"hand_command", "mobile_base_command", b"mobile_base_command", "neck_command", b"neck_command"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["antennas_command", b"antennas_command", "arm_command", b"arm_command", "command", b"command", "hand_command", b"hand_command", "mobile_base_command", b"mobile_base_command", "neck_command", b"neck_command"]) -> None: ... - def WhichOneof(self, oneof_group: typing.Literal["command", b"command"]) -> typing.Literal["arm_command", "hand_command", "neck_command", "mobile_base_command", "antennas_command"] | None: ... + def HasField(self, field_name: typing_extensions.Literal["antennas_command", b"antennas_command", "arm_command", b"arm_command", "command", b"command", "hand_command", b"hand_command", "mobile_base_command", b"mobile_base_command", "neck_command", b"neck_command"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["antennas_command", b"antennas_command", "arm_command", b"arm_command", "command", b"command", "hand_command", b"hand_command", "mobile_base_command", b"mobile_base_command", "neck_command", b"neck_command"]) -> None: ... + def WhichOneof(self, oneof_group: typing_extensions.Literal["command", b"command"]) -> typing_extensions.Literal["arm_command", "hand_command", "neck_command", "mobile_base_command", "antennas_command"] | None: ... global___AnyCommand = AnyCommand -@typing.final +@typing_extensions.final class ArmCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -207,12 +211,12 @@ class ArmCommand(google.protobuf.message.Message): speed_limit: arm_pb2.SpeedLimitRequest | None = ..., torque_limit: arm_pb2.TorqueLimitRequest | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["arm_cartesian_goal", b"arm_cartesian_goal", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["arm_cartesian_goal", b"arm_cartesian_goal", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["arm_cartesian_goal", b"arm_cartesian_goal", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["arm_cartesian_goal", b"arm_cartesian_goal", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> None: ... global___ArmCommand = ArmCommand -@typing.final +@typing_extensions.final class HandCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -232,12 +236,12 @@ class HandCommand(google.protobuf.message.Message): turn_on: part_pb2.PartId | None = ..., turn_off: part_pb2.PartId | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["hand_goal", b"hand_goal", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["hand_goal", b"hand_goal", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["hand_goal", b"hand_goal", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["hand_goal", b"hand_goal", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> None: ... global___HandCommand = HandCommand -@typing.final +@typing_extensions.final class NeckCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -265,12 +269,12 @@ class NeckCommand(google.protobuf.message.Message): speed_limit: head_pb2.SpeedLimitRequest | None = ..., torque_limit: head_pb2.TorqueLimitRequest | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["neck_goal", b"neck_goal", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["neck_goal", b"neck_goal", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["neck_goal", b"neck_goal", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["neck_goal", b"neck_goal", "speed_limit", b"speed_limit", "torque_limit", b"torque_limit", "turn_off", b"turn_off", "turn_on", b"turn_on"]) -> None: ... global___NeckCommand = NeckCommand -@typing.final +@typing_extensions.final class MobileBaseCommand(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -286,12 +290,12 @@ class MobileBaseCommand(google.protobuf.message.Message): target_direction: mobile_base_mobility_pb2.TargetDirectionCommand | None = ..., mobile_base_mode: mobile_base_utility_pb2.ZuuuModeCommand | None = ..., ) -> None: ... - def HasField(self, field_name: typing.Literal["mobile_base_mode", b"mobile_base_mode", "target_direction", b"target_direction"]) -> builtins.bool: ... - def ClearField(self, field_name: typing.Literal["mobile_base_mode", b"mobile_base_mode", "target_direction", b"target_direction"]) -> None: ... + def HasField(self, field_name: typing_extensions.Literal["mobile_base_mode", b"mobile_base_mode", "target_direction", b"target_direction"]) -> builtins.bool: ... + def ClearField(self, field_name: typing_extensions.Literal["mobile_base_mode", b"mobile_base_mode", "target_direction", b"target_direction"]) -> None: ... global___MobileBaseCommand = MobileBaseCommand -@typing.final +@typing_extensions.final class AnyCommands(google.protobuf.message.Message): DESCRIPTOR: google.protobuf.descriptor.Descriptor @@ -303,6 +307,6 @@ class AnyCommands(google.protobuf.message.Message): *, commands: collections.abc.Iterable[global___AnyCommand] | None = ..., ) -> None: ... - def ClearField(self, field_name: typing.Literal["commands", b"commands"]) -> None: ... + def ClearField(self, field_name: typing_extensions.Literal["commands", b"commands"]) -> None: ... global___AnyCommands = AnyCommands diff --git a/python/reachy2_sdk_api/webrtc_bridge_pb2_grpc.py b/python/reachy2_sdk_api/webrtc_bridge_pb2_grpc.py index 28629da..2daafff 100644 --- a/python/reachy2_sdk_api/webrtc_bridge_pb2_grpc.py +++ b/python/reachy2_sdk_api/webrtc_bridge_pb2_grpc.py @@ -1,24 +1,4 @@ # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc -import warnings - -GRPC_GENERATED_VERSION = '1.70.0' -GRPC_VERSION = grpc.__version__ -_version_not_supported = False - -try: - from grpc._utilities import first_version_is_lower - _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION) -except ImportError: - _version_not_supported = True - -if _version_not_supported: - raise RuntimeError( - f'The grpc package installed is at version {GRPC_VERSION},' - + f' but the generated code in webrtc_bridge_pb2_grpc.py depends on' - + f' grpcio>={GRPC_GENERATED_VERSION}.' - + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}' - + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.' - ) diff --git a/python/reachy2_sdk_api/webrtc_bridge_pb2_grpc.pyi b/python/reachy2_sdk_api/webrtc_bridge_pb2_grpc.pyi index a6a9cff..b13382f 100644 --- a/python/reachy2_sdk_api/webrtc_bridge_pb2_grpc.pyi +++ b/python/reachy2_sdk_api/webrtc_bridge_pb2_grpc.pyi @@ -2,16 +2,16 @@ @generated by mypy-protobuf. Do not edit manually! isort:skip_file """ - import abc import collections.abc import grpc import grpc.aio import typing -_T = typing.TypeVar("_T") +_T = typing.TypeVar('_T') -class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): ... +class _MaybeAsyncIterator(collections.abc.AsyncIterator[_T], collections.abc.Iterator[_T], metaclass=abc.ABCMeta): + ... -class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore[misc, type-arg] +class _ServicerContext(grpc.ServicerContext, grpc.aio.ServicerContext): # type: ignore ... From f735fc52579db8fb71a5c3b56bdfc3aa6197db6a Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" Date: Thu, 18 Sep 2025 15:58:14 +0000 Subject: [PATCH 3/4] Generated Protobuf C# Code --- csharp/Mujoco.cs | 463 +++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 463 insertions(+) create mode 100644 csharp/Mujoco.cs diff --git a/csharp/Mujoco.cs b/csharp/Mujoco.cs new file mode 100644 index 0000000..fad3ad3 --- /dev/null +++ b/csharp/Mujoco.cs @@ -0,0 +1,463 @@ +// +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: mujoco.proto +// +#pragma warning disable 1591, 0612, 3021, 8981 +#region Designer generated code + +using pb = global::Google.Protobuf; +using pbc = global::Google.Protobuf.Collections; +using pbr = global::Google.Protobuf.Reflection; +using scg = global::System.Collections.Generic; +namespace Reachy.Mujoco { + + /// Holder for reflection information generated from mujoco.proto + public static partial class MujocoReflection { + + #region Descriptor + /// File descriptor for mujoco.proto + public static pbr::FileDescriptor Descriptor { + get { return descriptor; } + } + private static pbr::FileDescriptor descriptor; + + static MujocoReflection() { + byte[] descriptorData = global::System.Convert.FromBase64String( + string.Concat( + "CgxtdWpvY28ucHJvdG8SDXJlYWNoeS5tdWpvY28aG2dvb2dsZS9wcm90b2J1", + "Zi9lbXB0eS5wcm90bxoQa2luZW1hdGljcy5wcm90byJMChBNdWpvY29PYmpl", + "Y3RQb3NlEgwKBG5hbWUYASABKAkSKgoEcG9zZRgCIAEoCzIcLnJlYWNoeS5r", + "aW5lbWF0aWNzLk1hdHJpeDR4NCJEChJNdWpvY29PYmplY3RzUG9zZXMSLgoF", + "cG9zZXMYASADKAsyHy5yZWFjaHkubXVqb2NvLk11am9jb09iamVjdFBvc2Uy", + "XQoNTXVqb2NvU2VydmljZRJMCg9HZXRPYmplY3RzUG9zZXMSFi5nb29nbGUu", + "cHJvdG9idWYuRW1wdHkaIS5yZWFjaHkubXVqb2NvLk11am9jb09iamVjdHNQ", + "b3Nlc2IGcHJvdG8z")); + descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData, + new pbr::FileDescriptor[] { global::Google.Protobuf.WellKnownTypes.EmptyReflection.Descriptor, global::Reachy.Kinematics.KinematicsReflection.Descriptor, }, + new pbr::GeneratedClrTypeInfo(null, null, new pbr::GeneratedClrTypeInfo[] { + new pbr::GeneratedClrTypeInfo(typeof(global::Reachy.Mujoco.MujocoObjectPose), global::Reachy.Mujoco.MujocoObjectPose.Parser, new[]{ "Name", "Pose" }, null, null, null, null), + new pbr::GeneratedClrTypeInfo(typeof(global::Reachy.Mujoco.MujocoObjectsPoses), global::Reachy.Mujoco.MujocoObjectsPoses.Parser, new[]{ "Poses" }, null, null, null, null) + })); + } + #endregion + + } + #region Messages + public sealed partial class MujocoObjectPose : pb::IMessage + #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE + , pb::IBufferMessage + #endif + { + private static readonly pb::MessageParser _parser = new pb::MessageParser(() => new MujocoObjectPose()); + private pb::UnknownFieldSet _unknownFields; + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public static pb::MessageParser Parser { get { return _parser; } } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public static pbr::MessageDescriptor Descriptor { + get { return global::Reachy.Mujoco.MujocoReflection.Descriptor.MessageTypes[0]; } + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + pbr::MessageDescriptor pb::IMessage.Descriptor { + get { return Descriptor; } + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public MujocoObjectPose() { + OnConstruction(); + } + + partial void OnConstruction(); + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public MujocoObjectPose(MujocoObjectPose other) : this() { + name_ = other.name_; + pose_ = other.pose_ != null ? other.pose_.Clone() : null; + _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields); + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public MujocoObjectPose Clone() { + return new MujocoObjectPose(this); + } + + /// Field number for the "name" field. + public const int NameFieldNumber = 1; + private string name_ = ""; + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public string Name { + get { return name_; } + set { + name_ = pb::ProtoPreconditions.CheckNotNull(value, "value"); + } + } + + /// Field number for the "pose" field. + public const int PoseFieldNumber = 2; + private global::Reachy.Kinematics.Matrix4x4 pose_; + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public global::Reachy.Kinematics.Matrix4x4 Pose { + get { return pose_; } + set { + pose_ = value; + } + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public override bool Equals(object other) { + return Equals(other as MujocoObjectPose); + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public bool Equals(MujocoObjectPose other) { + if (ReferenceEquals(other, null)) { + return false; + } + if (ReferenceEquals(other, this)) { + return true; + } + if (Name != other.Name) return false; + if (!object.Equals(Pose, other.Pose)) return false; + return Equals(_unknownFields, other._unknownFields); + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public override int GetHashCode() { + int hash = 1; + if (Name.Length != 0) hash ^= Name.GetHashCode(); + if (pose_ != null) hash ^= Pose.GetHashCode(); + if (_unknownFields != null) { + hash ^= _unknownFields.GetHashCode(); + } + return hash; + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public override string ToString() { + return pb::JsonFormatter.ToDiagnosticString(this); + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public void WriteTo(pb::CodedOutputStream output) { + #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE + output.WriteRawMessage(this); + #else + if (Name.Length != 0) { + output.WriteRawTag(10); + output.WriteString(Name); + } + if (pose_ != null) { + output.WriteRawTag(18); + output.WriteMessage(Pose); + } + if (_unknownFields != null) { + _unknownFields.WriteTo(output); + } + #endif + } + + #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + void pb::IBufferMessage.InternalWriteTo(ref pb::WriteContext output) { + if (Name.Length != 0) { + output.WriteRawTag(10); + output.WriteString(Name); + } + if (pose_ != null) { + output.WriteRawTag(18); + output.WriteMessage(Pose); + } + if (_unknownFields != null) { + _unknownFields.WriteTo(ref output); + } + } + #endif + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public int CalculateSize() { + int size = 0; + if (Name.Length != 0) { + size += 1 + pb::CodedOutputStream.ComputeStringSize(Name); + } + if (pose_ != null) { + size += 1 + pb::CodedOutputStream.ComputeMessageSize(Pose); + } + if (_unknownFields != null) { + size += _unknownFields.CalculateSize(); + } + return size; + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public void MergeFrom(MujocoObjectPose other) { + if (other == null) { + return; + } + if (other.Name.Length != 0) { + Name = other.Name; + } + if (other.pose_ != null) { + if (pose_ == null) { + Pose = new global::Reachy.Kinematics.Matrix4x4(); + } + Pose.MergeFrom(other.Pose); + } + _unknownFields = pb::UnknownFieldSet.MergeFrom(_unknownFields, other._unknownFields); + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public void MergeFrom(pb::CodedInputStream input) { + #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE + input.ReadRawMessage(this); + #else + uint tag; + while ((tag = input.ReadTag()) != 0) { + switch(tag) { + default: + _unknownFields = pb::UnknownFieldSet.MergeFieldFrom(_unknownFields, input); + break; + case 10: { + Name = input.ReadString(); + break; + } + case 18: { + if (pose_ == null) { + Pose = new global::Reachy.Kinematics.Matrix4x4(); + } + input.ReadMessage(Pose); + break; + } + } + } + #endif + } + + #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + void pb::IBufferMessage.InternalMergeFrom(ref pb::ParseContext input) { + uint tag; + while ((tag = input.ReadTag()) != 0) { + switch(tag) { + default: + _unknownFields = pb::UnknownFieldSet.MergeFieldFrom(_unknownFields, ref input); + break; + case 10: { + Name = input.ReadString(); + break; + } + case 18: { + if (pose_ == null) { + Pose = new global::Reachy.Kinematics.Matrix4x4(); + } + input.ReadMessage(Pose); + break; + } + } + } + } + #endif + + } + + public sealed partial class MujocoObjectsPoses : pb::IMessage + #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE + , pb::IBufferMessage + #endif + { + private static readonly pb::MessageParser _parser = new pb::MessageParser(() => new MujocoObjectsPoses()); + private pb::UnknownFieldSet _unknownFields; + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public static pb::MessageParser Parser { get { return _parser; } } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public static pbr::MessageDescriptor Descriptor { + get { return global::Reachy.Mujoco.MujocoReflection.Descriptor.MessageTypes[1]; } + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + pbr::MessageDescriptor pb::IMessage.Descriptor { + get { return Descriptor; } + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public MujocoObjectsPoses() { + OnConstruction(); + } + + partial void OnConstruction(); + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public MujocoObjectsPoses(MujocoObjectsPoses other) : this() { + poses_ = other.poses_.Clone(); + _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields); + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public MujocoObjectsPoses Clone() { + return new MujocoObjectsPoses(this); + } + + /// Field number for the "poses" field. + public const int PosesFieldNumber = 1; + private static readonly pb::FieldCodec _repeated_poses_codec + = pb::FieldCodec.ForMessage(10, global::Reachy.Mujoco.MujocoObjectPose.Parser); + private readonly pbc::RepeatedField poses_ = new pbc::RepeatedField(); + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public pbc::RepeatedField Poses { + get { return poses_; } + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public override bool Equals(object other) { + return Equals(other as MujocoObjectsPoses); + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public bool Equals(MujocoObjectsPoses other) { + if (ReferenceEquals(other, null)) { + return false; + } + if (ReferenceEquals(other, this)) { + return true; + } + if(!poses_.Equals(other.poses_)) return false; + return Equals(_unknownFields, other._unknownFields); + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public override int GetHashCode() { + int hash = 1; + hash ^= poses_.GetHashCode(); + if (_unknownFields != null) { + hash ^= _unknownFields.GetHashCode(); + } + return hash; + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public override string ToString() { + return pb::JsonFormatter.ToDiagnosticString(this); + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public void WriteTo(pb::CodedOutputStream output) { + #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE + output.WriteRawMessage(this); + #else + poses_.WriteTo(output, _repeated_poses_codec); + if (_unknownFields != null) { + _unknownFields.WriteTo(output); + } + #endif + } + + #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + void pb::IBufferMessage.InternalWriteTo(ref pb::WriteContext output) { + poses_.WriteTo(ref output, _repeated_poses_codec); + if (_unknownFields != null) { + _unknownFields.WriteTo(ref output); + } + } + #endif + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public int CalculateSize() { + int size = 0; + size += poses_.CalculateSize(_repeated_poses_codec); + if (_unknownFields != null) { + size += _unknownFields.CalculateSize(); + } + return size; + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public void MergeFrom(MujocoObjectsPoses other) { + if (other == null) { + return; + } + poses_.Add(other.poses_); + _unknownFields = pb::UnknownFieldSet.MergeFrom(_unknownFields, other._unknownFields); + } + + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + public void MergeFrom(pb::CodedInputStream input) { + #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE + input.ReadRawMessage(this); + #else + uint tag; + while ((tag = input.ReadTag()) != 0) { + switch(tag) { + default: + _unknownFields = pb::UnknownFieldSet.MergeFieldFrom(_unknownFields, input); + break; + case 10: { + poses_.AddEntriesFrom(input, _repeated_poses_codec); + break; + } + } + } + #endif + } + + #if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + [global::System.CodeDom.Compiler.GeneratedCode("protoc", null)] + void pb::IBufferMessage.InternalMergeFrom(ref pb::ParseContext input) { + uint tag; + while ((tag = input.ReadTag()) != 0) { + switch(tag) { + default: + _unknownFields = pb::UnknownFieldSet.MergeFieldFrom(_unknownFields, ref input); + break; + case 10: { + poses_.AddEntriesFrom(ref input, _repeated_poses_codec); + break; + } + } + } + } + #endif + + } + + #endregion + +} + +#endregion Designer generated code From c10d83169d2a40b70676746493b30b06d64e3bde Mon Sep 17 00:00:00 2001 From: ClaireHzl <126695207+ClaireHzl@users.noreply.github.com> Date: Tue, 14 Oct 2025 16:47:20 +0200 Subject: [PATCH 4/4] Change version. --- python/reachy2_sdk_api/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/python/reachy2_sdk_api/__init__.py b/python/reachy2_sdk_api/__init__.py index efbb7db..a52553c 100644 --- a/python/reachy2_sdk_api/__init__.py +++ b/python/reachy2_sdk_api/__init__.py @@ -4,4 +4,4 @@ sys.path.append(str(Path(__file__).parent)) -__version__ = "1.0.20" +__version__ = "1.0.21"