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<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/spot_tensorflow_detector/README.html">Tensorflow Detector</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/network_compute_bridge/README.html">Machine Learning with the Network Compute Bridge</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/network_compute_bridge/fire_extinguisher_server/README.html">Fire Extinguisher Detector with the Network Compute Bridge</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/logging_examples.html">Logging Examples</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/data_acquisition_examples.html">Data Acquisition Examples</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/ricoh_theta/README.html">Ricoh Theta</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/comms_mapping/README.html#how-to-use">How to use</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/graph_nav_anchoring_optimization/README.html">Graph Nav Anchoring Optimization</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/mission_question_answerer/README.html">Mission Question Answerer</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/mission_recorder/README.html">Mission Recorder</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../python/README.html">Python Reference Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/README.html">Client</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/area_callback.html">Area Callback</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/area_callback_region_handler_base.html">Area Callback Region Handler</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/area_callback_service_runner.html">Area Callback Service Runner</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/area_callback_service_servicer.html">Area Callback Servicer</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/area_callback_service_utils.html">Area Callback Service Utils</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/bddf_download.html">BDDF Download</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/common.html">Common</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_acquisition.html">Data Acquisition</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_acquisition_helpers.html">Data Acquisition Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_acquisition_plugin.html">Data Acquisition Plugin</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_acquisition_plugin_service.html">Data Acquisition Plugin Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_acquisition_store.html">Data Acquisition Store</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_buffer.html">Data Buffer</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_service.html">Data Service</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/estop.html">E-Stop</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/exceptions.html">Exceptions</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html">Frame Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/graph_nav.html">Graph Nav</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/gripper_camera_param.html">Gripper Camera Params</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/image.html">Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/image_service_helpers.html">Image Service Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/ir_enable_disable.html">IR Enable/Disable</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/lease.html">Lease</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/lease_resource_hierarchy.html">Lease Resource Hierarchy</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/lease_validator.html">Lease Validator</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/license.html">License</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/local_grid.html">Local Grid</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/log_annotation.html">Log Annotation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/math_helpers.html">Math Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/manipulation_api_client.html">Manipulation API</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/map_processing.html">Map Processing</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/network_compute_bridge_client.html">Network Compute Bridge</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/payload_registration.html">Payload Registration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/payload.html">Payload</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/point_cloud.html">Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/power.html">Power</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/processors.html">Processors</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/ray_cast.html">Ray casting</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/recording.html">Recording</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot_command.html">Robot Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot_id.html">Robot ID</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot.html">Robot</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot_state.html">Robot State</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/sdk.html">SDK</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/server_util.html">Server Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/README.html">Spot CAM</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/audio.html">Audio</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/compositor.html">Compositor</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/health.html">Health</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/lighting.html">Lighting</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/lights_helper.html">Lights Helper</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/media_log.html">Media Log</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/network.html">Network</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/power.html">Power</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/ptz.html">PTZ</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/streamquality.html">Stream Quality</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/version.html">Version</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_check.html">Spot Check</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html">Time Sync</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/token_cache.html">Token Cache</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/token_manager.html">Token Manager</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/util.html">Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/world_object.html">World Object</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/README.html">Core</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/README.html">BDDF</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/base_data_reader.html">Base Data Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/block_writer.html">Block Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/bosdyn.html">BDDF Conventions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/common.html">Common</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/data_reader.html">Data Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/data_writer.html">Data Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/file_indexer.html">File Indexer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_proto_reader.html">GRPC Proto Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_reader.html">GRPC Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_reader.html">GRPC Service Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_writer.html">GRPC Service Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/message_reader.html">Message Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/pod_series_reader.html">POD Series Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/pod_series_writer.html">POD Series Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/protobuf_channel_reader.html">Protobuf Channel Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/protobuf_reader.html">Protobuf Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/protobuf_series_writer.html">Protobuf Series Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/stream_data_reader.html">Stream Data Reader</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/geometry.html">Geometry</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/util.html">Util</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/README.html">Mission</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/client.html">Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/constants.html">Constants</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/exceptions.html">Exceptions</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/remote_client.html">Remote Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/server_util.html">Server Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/util.html">Util</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-choreography-client/src/bosdyn/choreography/client/README.html">Choreography</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-choreography-client/src/bosdyn/choreography/client/choreography.html">Choreography</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-choreography-client/src/bosdyn/choreography/client/animation_file_to_proto.html">Animation File to Proto</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-choreography-client/src/bosdyn/choreography/client/animation_file_conversion_helpers.html">Animation File to Proto Helpers</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch1.html">Fetch Tutorial</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch2.html">Part 2: Training the Model</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch3.html">Part 3: Evaluating the Model</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch4.html">Part 4: Autonomous Pick Up</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch5.html">Part 5: Detecting People and Playing Fetch</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch6.html">Part 6: Running the model on Core IO</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq1.html">Data Collection Tutorial</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq2.html">Part 2: Capturing images</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq3.html">Part 3: Capturing other data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq4.html">Part 4: Deploying to the CORE I/O</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq5.html">Part 5: Collecting data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq6.html">Part 6: Processing collected data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../docs/payload/README.html">Payloads</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/payload_configuration_requirements.html">Payload configuration requirements</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/mechanical_interfaces.html">Mechanical interfaces</a></li>
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<h1>Source code for bosdyn.bddf.grpc_service_reader</h1><div class="highlight"><pre>
<span></span><span class="c1"># Copyright (c) 2022 Boston Dynamics, Inc. All rights reserved.</span>
<span class="c1">#</span>
<span class="c1"># Downloading, reproducing, distributing or otherwise using the SDK Software</span>
<span class="c1"># is subject to the terms and conditions of the Boston Dynamics Software</span>
<span class="c1"># Development Kit License (20191101-BDSDK-SL).</span>
<span class="sd">"""A container for the GrpcProtoReaders associated with a given service in a bddf file."""</span>
<span class="kn">from</span> <span class="nn">.grpc_proto_reader</span> <span class="kn">import</span> <span class="n">GrpcProtoReader</span>
<div class="viewcode-block" id="GrpcServiceReader"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_reader.html#bosdyn.bddf.grpc_service_reader.GrpcServiceReader">[docs]</a><span class="k">class</span> <span class="nc">GrpcServiceReader</span><span class="p">:</span>
<span class="sd">"""A container for the GrpcProtoReaders associated with a given service in a bddf file."""</span>
<span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">grpc_reader</span><span class="p">,</span> <span class="n">service_name</span><span class="p">):</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_grpc_reader</span> <span class="o">=</span> <span class="n">grpc_reader</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_service_name</span> <span class="o">=</span> <span class="n">service_name</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_type_name_to_reader</span> <span class="o">=</span> <span class="p">{}</span>
<span class="nd">@property</span>
<span class="k">def</span> <span class="nf">data_reader</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="sd">"""Accessor for the DataReader used by this object."""</span>
<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_grpc_reader</span><span class="o">.</span><span class="n">data_reader</span>
<div class="viewcode-block" id="GrpcServiceReader.get_proto_reader"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_reader.html#bosdyn.bddf.grpc_service_reader.GrpcServiceReader.get_proto_reader">[docs]</a> <span class="k">def</span> <span class="nf">get_proto_reader</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">type_name</span><span class="p">):</span>
<span class="sd">"""Returns a GrpcProtoReader for messages with the specified protobuf type name."""</span>
<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_type_name_to_reader</span><span class="p">[</span><span class="n">type_name</span><span class="p">]</span></div>
<div class="viewcode-block" id="GrpcServiceReader.add_proto_reader"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_reader.html#bosdyn.bddf.grpc_service_reader.GrpcServiceReader.add_proto_reader">[docs]</a> <span class="k">def</span> <span class="nf">add_proto_reader</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">series_index</span><span class="p">,</span> <span class="n">proto_type</span><span class="p">,</span> <span class="n">series_type</span><span class="p">,</span> <span class="n">series_descriptor</span><span class="p">):</span>
<span class="sd">"""Create and return a GrpcProtoReader for the given series in the bddf file."""</span>
<span class="n">reader</span> <span class="o">=</span> <span class="n">GrpcProtoReader</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">series_index</span><span class="p">,</span> <span class="n">series_type</span><span class="p">,</span> <span class="n">proto_type</span><span class="p">,</span> <span class="n">series_descriptor</span><span class="p">)</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_type_name_to_reader</span><span class="p">[</span><span class="n">proto_type</span><span class="o">.</span><span class="n">DESCRIPTOR</span><span class="o">.</span><span class="n">full_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">reader</span>
<span class="k">return</span> <span class="n">reader</span></div></div>
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