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<!DOCTYPE html>
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<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/arm_surface_contact.html">Arm Surface Contact</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/async_tasks.html">Async Tasks</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/auth.html">Auth</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/bddf.html">BDDF</a></li>
<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>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/directory_registration.html">Directory Registration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/directory.html">Directory</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/docking.html">Docking</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>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/fault.html">Fault</a></li>
<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/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>
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<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/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/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/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/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>
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</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>
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<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/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>
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<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>
</ul>
</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>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/robot_mounting_rails.html">Robot mounting rails</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/guidelines_for_robust_payload_design.html">Guidelines for robust payload design</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/robot_electrical_interface.html">Robot electrical interface</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/configuring_payload_software.html">Configuring payload software</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/docker_containers.html">Configuring Docker containers in SpotCORE</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/spot_core_cockpit.html">Spot CORE system management tool: Cockpit</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/spot_core_vnc.html">Spot CORE VNC</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../docs/protos/README.html">API Protocol</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/protos/style_guide.html">Style Guide</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../protos/bosdyn/api/README.html">Proto Reference Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html">arm_command.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#arm-surface-contact-proto">arm_surface_contact.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#arm-surface-contact-service-proto">arm_surface_contact_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#auth-proto">auth.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#auth-service-proto">auth_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#basic-command-proto">basic_command.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#bddf-proto">bddf.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-acquisition-proto">data_acquisition.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-acquisition-plugin-service-proto">data_acquisition_plugin_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-acquisition-service-proto">data_acquisition_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-acquisition-store-proto">data_acquisition_store.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-acquisition-store-service-proto">data_acquisition_store_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-buffer-proto">data_buffer.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-buffer-service-proto">data_buffer_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-chunk-proto">data_chunk.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-index-proto">data_index.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-service-proto">data_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#directory-proto">directory.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#directory-registration-proto">directory_registration.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#directory-registration-service-proto">directory_registration_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#directory-service-proto">directory_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#docking-docking-proto">docking/docking.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#docking-docking-service-proto">docking/docking_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#estop-proto">estop.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#estop-service-proto">estop_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#fault-service-proto">fault_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#full-body-command-proto">full_body_command.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#geometry-proto">geometry.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#graph-nav-graph-nav-proto">graph_nav/graph_nav.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#graph-nav-graph-nav-service-proto">graph_nav/graph_nav_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#graph-nav-map-proto">graph_nav/map.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#graph-nav-nav-proto">graph_nav/nav.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#graph-nav-recording-proto">graph_nav/recording.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#graph-nav-recording-service-proto">graph_nav/recording_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#gripper-command-proto">gripper_command.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#header-proto">header.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#image-proto">image.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#image-service-proto">image_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#lease-proto">lease.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#lease-service-proto">lease_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#license-proto">license.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#license-service-proto">license_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#local-grid-proto">local_grid.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#local-grid-service-proto">local_grid_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#log-annotation-proto">log_annotation.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#log-annotation-service-proto">log_annotation_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#manipulation-api-proto">manipulation_api.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#manipulation-api-service-proto">manipulation_api_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#mission-mission-proto">mission/mission.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#mission-mission-service-proto">mission/mission_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#mission-nodes-proto">mission/nodes.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#mission-remote-proto">mission/remote.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#mission-remote-service-proto">mission/remote_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#mission-util-proto">mission/util.proto</a></li>
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<h1>Source code for bosdyn.bddf.grpc_service_writer</h1><div class="highlight"><pre>
<span></span><span class="c1"># Copyright (c) 2021 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">"""GrpcSeriesWriter is a class for registering a series which stores GRPC request/response pairs."""</span>
<span class="kn">from</span> <span class="nn">bosdyn.util</span> <span class="kn">import</span> <span class="n">timestamp_to_nsec</span>
<span class="kn">from</span> <span class="nn">.bosdyn</span> <span class="kn">import</span> <span class="n">GrpcRequests</span><span class="p">,</span> <span class="n">GrpcResponses</span>
<span class="kn">from</span> <span class="nn">.common</span> <span class="kn">import</span> <span class="n">PROTOBUF_CONTENT_TYPE</span>
<div class="viewcode-block" id="GrpcServiceWriter"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_writer.html#bosdyn.bddf.grpc_service_writer.GrpcServiceWriter">[docs]</a><span class="k">class</span> <span class="nc">GrpcServiceWriter</span><span class="p">:</span> <span class="c1"># pylint: disable=too-many-instance-attributes</span>
<span class="sd">"""A class for logging GRPC request and response messages."""</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">data_writer</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">_data_writer</span> <span class="o">=</span> <span class="n">data_writer</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">_request_types</span> <span class="o">=</span> <span class="p">{}</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_response_types</span> <span class="o">=</span> <span class="p">{}</span>
<div class="viewcode-block" id="GrpcServiceWriter.log_request"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_writer.html#bosdyn.bddf.grpc_service_writer.GrpcServiceWriter.log_request">[docs]</a> <span class="k">def</span> <span class="nf">log_request</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">protobuf</span><span class="p">):</span>
<span class="sd">"""Store request protobuf in the file.</span>
<span class="sd"> Args</span>
<span class="sd"> protobuf: a protobuf request message, not serialized.</span>
<span class="sd"> """</span>
<span class="n">series_index</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_series_index</span><span class="p">(</span><span class="n">protobuf</span><span class="p">,</span> <span class="n">is_request</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_data_writer</span><span class="o">.</span><span class="n">write_data</span><span class="p">(</span>
<span class="n">series_index</span><span class="p">,</span>
<span class="c1"># clock correction??? -- what does C++ do?</span>
<span class="n">timestamp_to_nsec</span><span class="p">(</span><span class="n">protobuf</span><span class="o">.</span><span class="n">header</span><span class="o">.</span><span class="n">request_timestamp</span><span class="p">),</span>
<span class="n">protobuf</span><span class="o">.</span><span class="n">SerializeToString</span><span class="p">())</span></div>
<div class="viewcode-block" id="GrpcServiceWriter.log_response"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_writer.html#bosdyn.bddf.grpc_service_writer.GrpcServiceWriter.log_response">[docs]</a> <span class="k">def</span> <span class="nf">log_response</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">protobuf</span><span class="p">):</span>
<span class="sd">"""Store response protobuf in the file.</span>
<span class="sd"> Args</span>
<span class="sd"> protobuf: a protobuf response message, not serialized.</span>
<span class="sd"> """</span>
<span class="n">series_index</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_series_index</span><span class="p">(</span><span class="n">protobuf</span><span class="p">,</span> <span class="n">is_request</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_data_writer</span><span class="o">.</span><span class="n">write_data</span><span class="p">(</span><span class="n">series_index</span><span class="p">,</span>
<span class="n">timestamp_to_nsec</span><span class="p">(</span><span class="n">protobuf</span><span class="o">.</span><span class="n">header</span><span class="o">.</span><span class="n">response_timestamp</span><span class="p">),</span>
<span class="n">protobuf</span><span class="o">.</span><span class="n">SerializeToString</span><span class="p">())</span></div>
<span class="k">def</span> <span class="nf">_get_series_index</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">protobuf</span><span class="p">,</span> <span class="n">is_request</span><span class="p">):</span>
<span class="n">message_name</span> <span class="o">=</span> <span class="n">protobuf</span><span class="o">.</span><span class="n">DESCRIPTOR</span><span class="o">.</span><span class="n">full_name</span> <span class="c1"># pylint: disable=no-member</span>
<span class="k">if</span> <span class="n">is_request</span><span class="p">:</span>
<span class="n">name_to_index</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_request_types</span>
<span class="n">series_type</span> <span class="o">=</span> <span class="n">GrpcRequests</span>
<span class="k">else</span><span class="p">:</span>
<span class="n">name_to_index</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_response_types</span>
<span class="n">series_type</span> <span class="o">=</span> <span class="n">GrpcResponses</span>
<span class="k">try</span><span class="p">:</span>
<span class="k">return</span> <span class="n">name_to_index</span><span class="p">[</span><span class="n">message_name</span><span class="p">]</span>
<span class="k">except</span> <span class="ne">KeyError</span><span class="p">:</span>
<span class="k">pass</span>
<span class="n">series_spec</span> <span class="o">=</span> <span class="p">{</span>
<span class="n">series_type</span><span class="o">.</span><span class="n">SERVICE_NAME</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">_service_name</span><span class="p">,</span>
<span class="n">series_type</span><span class="o">.</span><span class="n">MESSAGE_TYPE</span><span class="p">:</span> <span class="n">message_name</span>
<span class="p">}</span>
<span class="n">series_index</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data_writer</span><span class="o">.</span><span class="n">add_message_series</span><span class="p">(</span><span class="n">series_type</span><span class="o">.</span><span class="n">SERIES_TYPE</span><span class="p">,</span> <span class="n">series_spec</span><span class="p">,</span>
<span class="n">content_type</span><span class="o">=</span><span class="n">PROTOBUF_CONTENT_TYPE</span><span class="p">,</span>
<span class="n">type_name</span><span class="o">=</span><span class="n">message_name</span><span class="p">)</span>
<span class="n">name_to_index</span><span class="p">[</span><span class="n">message_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">series_index</span>
<span class="k">return</span> <span class="n">series_index</span></div>
</pre></div>
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