From b110c41094cbf23132bd10f0f70da621bac28a61 Mon Sep 17 00:00:00 2001 From: Nick Sanford Date: Wed, 6 Dec 2023 10:34:05 -0500 Subject: [PATCH 1/3] RSDK-4789 - Rename MoveOnGlobeNew to MoveOnGlobe --- proto/viam/service/motion/v1/motion.proto | 33 +++++------------------ 1 file changed, 6 insertions(+), 27 deletions(-) diff --git a/proto/viam/service/motion/v1/motion.proto b/proto/viam/service/motion/v1/motion.proto index faab79fe0..c6044970a 100644 --- a/proto/viam/service/motion/v1/motion.proto +++ b/proto/viam/service/motion/v1/motion.proto @@ -39,11 +39,13 @@ service MotionService { }; } - // Generate a plan and move a component to a specific GPS coordinate. - // May replan to avoid obstacles. - rpc MoveOnGlobeNew(MoveOnGlobeNewRequest) returns (MoveOnGlobeNewResponse) { + // Generate and begin executing an execution to move a component + // to a specific GPS coordinate. + // May replan to avoid obstacles & account for location drift. + // Creates a new plan upon replanning. + rpc MoveOnGlobe(MoveOnGlobeRequest) returns (MoveOnGlobeResponse) { option (google.api.http) = { - get: "/viam/api/v1/service/motion/{name}/move_on_globe_new" + get: "/viam/api/v1/service/motion/{name}/move_on_globe" }; } @@ -192,29 +194,6 @@ message MoveOnGlobeRequest { } message MoveOnGlobeResponse { - bool success = 1; -} - -message MoveOnGlobeNewRequest { - // Name of the motion service - string name = 1; - // Destination, encoded as a GeoPoint - common.v1.GeoPoint destination = 2; - // Optional compass heading to achieve at the destination, in degrees [0-360) - optional double heading = 3; - // Component on the robot to move to the specified destination - common.v1.ResourceName component_name = 4; - // Name of the movement sensor which will be used to check robot location - common.v1.ResourceName movement_sensor_name = 5; - // Obstacles to be considered for motion planning - repeated common.v1.GeoObstacle obstacles = 6; - // Optional set of motion configuration options - optional MotionConfiguration motion_configuration = 7; - // Additional arguments to the method - google.protobuf.Struct extra = 99; -} - -message MoveOnGlobeNewResponse { // The unique ID which identifies the execution. // Multiple plans will share the same execution_id if they were // generated due to replanning. From 8896c156d4e037ba4b0add2b4c4f459a1f175a90 Mon Sep 17 00:00:00 2001 From: Nick Sanford Date: Mon, 11 Dec 2023 10:41:52 -0500 Subject: [PATCH 2/3] typo --- proto/viam/service/motion/v1/motion.proto | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/proto/viam/service/motion/v1/motion.proto b/proto/viam/service/motion/v1/motion.proto index c6044970a..62a651e03 100644 --- a/proto/viam/service/motion/v1/motion.proto +++ b/proto/viam/service/motion/v1/motion.proto @@ -33,19 +33,13 @@ service MotionService { }; } - rpc MoveOnGlobe(MoveOnGlobeRequest) returns (MoveOnGlobeResponse) { - option (google.api.http) = { - post: "/viam/api/v1/service/motion/{name}/move_on_globe" - }; - } - // Generate and begin executing an execution to move a component // to a specific GPS coordinate. // May replan to avoid obstacles & account for location drift. // Creates a new plan upon replanning. rpc MoveOnGlobe(MoveOnGlobeRequest) returns (MoveOnGlobeResponse) { option (google.api.http) = { - get: "/viam/api/v1/service/motion/{name}/move_on_globe" + post: "/viam/api/v1/service/motion/{name}/move_on_globe" }; } From 1b6373b05481c9080f24001889b33dd26b1b8f77 Mon Sep 17 00:00:00 2001 From: github-actions <41898282+github-actions[bot]@users.noreply.github.com> Date: Tue, 12 Dec 2023 20:56:42 +0000 Subject: [PATCH 3/3] Built new protos from 11f669b --- component/arm/v1/arm.pb.gw.go | 14 +- component/audioinput/v1/audioinput.pb.gw.go | 10 +- component/base/v1/base.pb.gw.go | 10 +- component/board/v1/board.pb.gw.go | 10 +- component/camera/v1/camera.pb.gw.go | 10 +- component/gantry/v1/gantry.pb.gw.go | 10 +- component/generic/v1/generic.pb.gw.go | 10 +- component/motor/v1/motor.pb.gw.go | 10 +- .../movementsensor/v1/movementsensor.pb.gw.go | 14 +- component/sensor/v1/sensor.pb.gw.go | 14 +- .../service/motion/v1/motion_grpc_web_pb.js | 61 - gen/js/service/motion/v1/motion_pb.d.ts | 86 +- gen/js/service/motion/v1/motion_pb.js | 691 +--------- .../service/motion/v1/motion_pb_service.d.ts | 19 - gen/js/service/motion/v1/motion_pb_service.js | 40 - service/datamanager/v1/data_manager.pb.gw.go | 6 +- service/motion/v1/motion.pb.go | 1178 +++++++---------- service/motion/v1/motion.pb.gw.go | 127 +- service/motion/v1/motion_grpc.pb.go | 48 +- service/sensors/v1/sensors.pb.gw.go | 6 +- service/slam/v1/slam.pb.gw.go | 6 +- service/vision/v1/vision.pb.gw.go | 6 +- 22 files changed, 562 insertions(+), 1824 deletions(-) diff --git a/component/arm/v1/arm.pb.gw.go b/component/arm/v1/arm.pb.gw.go index 90c742bb6..e9d51a96f 100644 --- a/component/arm/v1/arm.pb.gw.go +++ b/component/arm/v1/arm.pb.gw.go @@ -15,7 +15,7 @@ import ( "github.com/grpc-ecosystem/grpc-gateway/v2/runtime" "github.com/grpc-ecosystem/grpc-gateway/v2/utilities" - v1_0 "go.viam.com/api/common/v1" + "go.viam.com/api/common/v1" "google.golang.org/grpc" "google.golang.org/grpc/codes" "google.golang.org/grpc/grpclog" @@ -439,7 +439,7 @@ var ( ) func request_ArmService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client ArmServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.DoCommandRequest + var protoReq v1.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -472,7 +472,7 @@ func request_ArmService_DoCommand_0(ctx context.Context, marshaler runtime.Marsh } func local_request_ArmService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server ArmServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.DoCommandRequest + var protoReq v1.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -509,7 +509,7 @@ var ( ) func request_ArmService_GetKinematics_0(ctx context.Context, marshaler runtime.Marshaler, client ArmServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.GetKinematicsRequest + var protoReq v1.GetKinematicsRequest var metadata runtime.ServerMetadata var ( @@ -542,7 +542,7 @@ func request_ArmService_GetKinematics_0(ctx context.Context, marshaler runtime.M } func local_request_ArmService_GetKinematics_0(ctx context.Context, marshaler runtime.Marshaler, server ArmServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.GetKinematicsRequest + var protoReq v1.GetKinematicsRequest var metadata runtime.ServerMetadata var ( @@ -579,7 +579,7 @@ var ( ) func request_ArmService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client ArmServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.GetGeometriesRequest + var protoReq v1.GetGeometriesRequest var metadata runtime.ServerMetadata var ( @@ -612,7 +612,7 @@ func request_ArmService_GetGeometries_0(ctx context.Context, marshaler runtime.M } func local_request_ArmService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server ArmServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.GetGeometriesRequest + var protoReq v1.GetGeometriesRequest var metadata runtime.ServerMetadata var ( diff --git a/component/audioinput/v1/audioinput.pb.gw.go b/component/audioinput/v1/audioinput.pb.gw.go index 571f1e11f..97662546a 100644 --- a/component/audioinput/v1/audioinput.pb.gw.go +++ b/component/audioinput/v1/audioinput.pb.gw.go @@ -15,7 +15,7 @@ import ( "github.com/grpc-ecosystem/grpc-gateway/v2/runtime" "github.com/grpc-ecosystem/grpc-gateway/v2/utilities" - v1_0 "go.viam.com/api/common/v1" + "go.viam.com/api/common/v1" "google.golang.org/grpc" "google.golang.org/grpc/codes" "google.golang.org/grpc/grpclog" @@ -184,7 +184,7 @@ var ( ) func request_AudioInputService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client AudioInputServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.DoCommandRequest + var protoReq v1.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -217,7 +217,7 @@ func request_AudioInputService_DoCommand_0(ctx context.Context, marshaler runtim } func local_request_AudioInputService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server AudioInputServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.DoCommandRequest + var protoReq v1.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -254,7 +254,7 @@ var ( ) func request_AudioInputService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client AudioInputServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.GetGeometriesRequest + var protoReq v1.GetGeometriesRequest var metadata runtime.ServerMetadata var ( @@ -287,7 +287,7 @@ func request_AudioInputService_GetGeometries_0(ctx context.Context, marshaler ru } func local_request_AudioInputService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server AudioInputServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.GetGeometriesRequest + var protoReq v1.GetGeometriesRequest var metadata runtime.ServerMetadata var ( diff --git a/component/base/v1/base.pb.gw.go b/component/base/v1/base.pb.gw.go index 185bd31aa..faa48e8b0 100644 --- a/component/base/v1/base.pb.gw.go +++ b/component/base/v1/base.pb.gw.go @@ -15,7 +15,7 @@ import ( "github.com/grpc-ecosystem/grpc-gateway/v2/runtime" "github.com/grpc-ecosystem/grpc-gateway/v2/utilities" - "go.viam.com/api/common/v1" + v1_0 "go.viam.com/api/common/v1" "google.golang.org/grpc" "google.golang.org/grpc/codes" "google.golang.org/grpc/grpclog" @@ -439,7 +439,7 @@ var ( ) func request_BaseService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client BaseServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.DoCommandRequest + var protoReq v1_0.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -472,7 +472,7 @@ func request_BaseService_DoCommand_0(ctx context.Context, marshaler runtime.Mars } func local_request_BaseService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server BaseServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.DoCommandRequest + var protoReq v1_0.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -509,7 +509,7 @@ var ( ) func request_BaseService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client BaseServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.GetGeometriesRequest + var protoReq v1_0.GetGeometriesRequest var metadata runtime.ServerMetadata var ( @@ -542,7 +542,7 @@ func request_BaseService_GetGeometries_0(ctx context.Context, marshaler runtime. } func local_request_BaseService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server BaseServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.GetGeometriesRequest + var protoReq v1_0.GetGeometriesRequest var metadata runtime.ServerMetadata var ( diff --git a/component/board/v1/board.pb.gw.go b/component/board/v1/board.pb.gw.go index 84b5b756d..bbebd2fb5 100644 --- a/component/board/v1/board.pb.gw.go +++ b/component/board/v1/board.pb.gw.go @@ -15,7 +15,7 @@ import ( "github.com/grpc-ecosystem/grpc-gateway/v2/runtime" "github.com/grpc-ecosystem/grpc-gateway/v2/utilities" - v1_0 "go.viam.com/api/common/v1" + "go.viam.com/api/common/v1" "google.golang.org/grpc" "google.golang.org/grpc/codes" "google.golang.org/grpc/grpclog" @@ -527,7 +527,7 @@ var ( ) func request_BoardService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client BoardServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.DoCommandRequest + var protoReq v1.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -560,7 +560,7 @@ func request_BoardService_DoCommand_0(ctx context.Context, marshaler runtime.Mar } func local_request_BoardService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server BoardServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.DoCommandRequest + var protoReq v1.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -917,7 +917,7 @@ var ( ) func request_BoardService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client BoardServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.GetGeometriesRequest + var protoReq v1.GetGeometriesRequest var metadata runtime.ServerMetadata var ( @@ -950,7 +950,7 @@ func request_BoardService_GetGeometries_0(ctx context.Context, marshaler runtime } func local_request_BoardService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server BoardServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.GetGeometriesRequest + var protoReq v1.GetGeometriesRequest var metadata runtime.ServerMetadata var ( diff --git a/component/camera/v1/camera.pb.gw.go b/component/camera/v1/camera.pb.gw.go index b329ca959..b97fe7000 100644 --- a/component/camera/v1/camera.pb.gw.go +++ b/component/camera/v1/camera.pb.gw.go @@ -15,7 +15,7 @@ import ( "github.com/grpc-ecosystem/grpc-gateway/v2/runtime" "github.com/grpc-ecosystem/grpc-gateway/v2/utilities" - "go.viam.com/api/common/v1" + v1_0 "go.viam.com/api/common/v1" "google.golang.org/grpc" "google.golang.org/grpc/codes" "google.golang.org/grpc/grpclog" @@ -351,7 +351,7 @@ var ( ) func request_CameraService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client CameraServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.DoCommandRequest + var protoReq v1_0.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -384,7 +384,7 @@ func request_CameraService_DoCommand_0(ctx context.Context, marshaler runtime.Ma } func local_request_CameraService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server CameraServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.DoCommandRequest + var protoReq v1_0.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -421,7 +421,7 @@ var ( ) func request_CameraService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client CameraServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.GetGeometriesRequest + var protoReq v1_0.GetGeometriesRequest var metadata runtime.ServerMetadata var ( @@ -454,7 +454,7 @@ func request_CameraService_GetGeometries_0(ctx context.Context, marshaler runtim } func local_request_CameraService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server CameraServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.GetGeometriesRequest + var protoReq v1_0.GetGeometriesRequest var metadata runtime.ServerMetadata var ( diff --git a/component/gantry/v1/gantry.pb.gw.go b/component/gantry/v1/gantry.pb.gw.go index e78f11c29..13a62b8f4 100644 --- a/component/gantry/v1/gantry.pb.gw.go +++ b/component/gantry/v1/gantry.pb.gw.go @@ -15,7 +15,7 @@ import ( "github.com/grpc-ecosystem/grpc-gateway/v2/runtime" "github.com/grpc-ecosystem/grpc-gateway/v2/utilities" - v1_0 "go.viam.com/api/common/v1" + "go.viam.com/api/common/v1" "google.golang.org/grpc" "google.golang.org/grpc/codes" "google.golang.org/grpc/grpclog" @@ -439,7 +439,7 @@ var ( ) func request_GantryService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client GantryServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.DoCommandRequest + var protoReq v1.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -472,7 +472,7 @@ func request_GantryService_DoCommand_0(ctx context.Context, marshaler runtime.Ma } func local_request_GantryService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server GantryServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.DoCommandRequest + var protoReq v1.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -509,7 +509,7 @@ var ( ) func request_GantryService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client GantryServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.GetGeometriesRequest + var protoReq v1.GetGeometriesRequest var metadata runtime.ServerMetadata var ( @@ -542,7 +542,7 @@ func request_GantryService_GetGeometries_0(ctx context.Context, marshaler runtim } func local_request_GantryService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server GantryServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.GetGeometriesRequest + var protoReq v1.GetGeometriesRequest var metadata runtime.ServerMetadata var ( diff --git a/component/generic/v1/generic.pb.gw.go b/component/generic/v1/generic.pb.gw.go index 8b95fb2a9..81abf78ba 100644 --- a/component/generic/v1/generic.pb.gw.go +++ b/component/generic/v1/generic.pb.gw.go @@ -15,7 +15,7 @@ import ( "github.com/grpc-ecosystem/grpc-gateway/v2/runtime" "github.com/grpc-ecosystem/grpc-gateway/v2/utilities" - "go.viam.com/api/common/v1" + v1_0 "go.viam.com/api/common/v1" "google.golang.org/grpc" "google.golang.org/grpc/codes" "google.golang.org/grpc/grpclog" @@ -37,7 +37,7 @@ var ( ) func request_GenericService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client GenericServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.DoCommandRequest + var protoReq v1_0.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -70,7 +70,7 @@ func request_GenericService_DoCommand_0(ctx context.Context, marshaler runtime.M } func local_request_GenericService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server GenericServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.DoCommandRequest + var protoReq v1_0.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -107,7 +107,7 @@ var ( ) func request_GenericService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client GenericServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.GetGeometriesRequest + var protoReq v1_0.GetGeometriesRequest var metadata runtime.ServerMetadata var ( @@ -140,7 +140,7 @@ func request_GenericService_GetGeometries_0(ctx context.Context, marshaler runti } func local_request_GenericService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server GenericServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.GetGeometriesRequest + var protoReq v1_0.GetGeometriesRequest var metadata runtime.ServerMetadata var ( diff --git a/component/motor/v1/motor.pb.gw.go b/component/motor/v1/motor.pb.gw.go index 09b3358c0..6a3de9c6a 100644 --- a/component/motor/v1/motor.pb.gw.go +++ b/component/motor/v1/motor.pb.gw.go @@ -15,7 +15,7 @@ import ( "github.com/grpc-ecosystem/grpc-gateway/v2/runtime" "github.com/grpc-ecosystem/grpc-gateway/v2/utilities" - v1_0 "go.viam.com/api/common/v1" + "go.viam.com/api/common/v1" "google.golang.org/grpc" "google.golang.org/grpc/codes" "google.golang.org/grpc/grpclog" @@ -649,7 +649,7 @@ var ( ) func request_MotorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client MotorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.DoCommandRequest + var protoReq v1.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -682,7 +682,7 @@ func request_MotorService_DoCommand_0(ctx context.Context, marshaler runtime.Mar } func local_request_MotorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server MotorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.DoCommandRequest + var protoReq v1.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -719,7 +719,7 @@ var ( ) func request_MotorService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client MotorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.GetGeometriesRequest + var protoReq v1.GetGeometriesRequest var metadata runtime.ServerMetadata var ( @@ -752,7 +752,7 @@ func request_MotorService_GetGeometries_0(ctx context.Context, marshaler runtime } func local_request_MotorService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server MotorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.GetGeometriesRequest + var protoReq v1.GetGeometriesRequest var metadata runtime.ServerMetadata var ( diff --git a/component/movementsensor/v1/movementsensor.pb.gw.go b/component/movementsensor/v1/movementsensor.pb.gw.go index a2cd12d55..8530c6d94 100644 --- a/component/movementsensor/v1/movementsensor.pb.gw.go +++ b/component/movementsensor/v1/movementsensor.pb.gw.go @@ -15,7 +15,7 @@ import ( "github.com/grpc-ecosystem/grpc-gateway/v2/runtime" "github.com/grpc-ecosystem/grpc-gateway/v2/utilities" - v1_0 "go.viam.com/api/common/v1" + "go.viam.com/api/common/v1" "google.golang.org/grpc" "google.golang.org/grpc/codes" "google.golang.org/grpc/grpclog" @@ -597,7 +597,7 @@ var ( ) func request_MovementSensorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client MovementSensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.DoCommandRequest + var protoReq v1.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -630,7 +630,7 @@ func request_MovementSensorService_DoCommand_0(ctx context.Context, marshaler ru } func local_request_MovementSensorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server MovementSensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.DoCommandRequest + var protoReq v1.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -667,7 +667,7 @@ var ( ) func request_MovementSensorService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client MovementSensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.GetGeometriesRequest + var protoReq v1.GetGeometriesRequest var metadata runtime.ServerMetadata var ( @@ -700,7 +700,7 @@ func request_MovementSensorService_GetGeometries_0(ctx context.Context, marshale } func local_request_MovementSensorService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server MovementSensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.GetGeometriesRequest + var protoReq v1.GetGeometriesRequest var metadata runtime.ServerMetadata var ( @@ -737,7 +737,7 @@ var ( ) func request_MovementSensorService_GetReadings_0(ctx context.Context, marshaler runtime.Marshaler, client MovementSensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.GetReadingsRequest + var protoReq v1.GetReadingsRequest var metadata runtime.ServerMetadata var ( @@ -770,7 +770,7 @@ func request_MovementSensorService_GetReadings_0(ctx context.Context, marshaler } func local_request_MovementSensorService_GetReadings_0(ctx context.Context, marshaler runtime.Marshaler, server MovementSensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.GetReadingsRequest + var protoReq v1.GetReadingsRequest var metadata runtime.ServerMetadata var ( diff --git a/component/sensor/v1/sensor.pb.gw.go b/component/sensor/v1/sensor.pb.gw.go index 66681c369..b45747050 100644 --- a/component/sensor/v1/sensor.pb.gw.go +++ b/component/sensor/v1/sensor.pb.gw.go @@ -15,7 +15,7 @@ import ( "github.com/grpc-ecosystem/grpc-gateway/v2/runtime" "github.com/grpc-ecosystem/grpc-gateway/v2/utilities" - "go.viam.com/api/common/v1" + v1_0 "go.viam.com/api/common/v1" "google.golang.org/grpc" "google.golang.org/grpc/codes" "google.golang.org/grpc/grpclog" @@ -37,7 +37,7 @@ var ( ) func request_SensorService_GetReadings_0(ctx context.Context, marshaler runtime.Marshaler, client SensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.GetReadingsRequest + var protoReq v1_0.GetReadingsRequest var metadata runtime.ServerMetadata var ( @@ -70,7 +70,7 @@ func request_SensorService_GetReadings_0(ctx context.Context, marshaler runtime. } func local_request_SensorService_GetReadings_0(ctx context.Context, marshaler runtime.Marshaler, server SensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.GetReadingsRequest + var protoReq v1_0.GetReadingsRequest var metadata runtime.ServerMetadata var ( @@ -107,7 +107,7 @@ var ( ) func request_SensorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client SensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.DoCommandRequest + var protoReq v1_0.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -140,7 +140,7 @@ func request_SensorService_DoCommand_0(ctx context.Context, marshaler runtime.Ma } func local_request_SensorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server SensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.DoCommandRequest + var protoReq v1_0.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -177,7 +177,7 @@ var ( ) func request_SensorService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client SensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.GetGeometriesRequest + var protoReq v1_0.GetGeometriesRequest var metadata runtime.ServerMetadata var ( @@ -210,7 +210,7 @@ func request_SensorService_GetGeometries_0(ctx context.Context, marshaler runtim } func local_request_SensorService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server SensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.GetGeometriesRequest + var protoReq v1_0.GetGeometriesRequest var metadata runtime.ServerMetadata var ( diff --git a/gen/js/service/motion/v1/motion_grpc_web_pb.js b/gen/js/service/motion/v1/motion_grpc_web_pb.js index f7f5da43e..7dafd5639 100644 --- a/gen/js/service/motion/v1/motion_grpc_web_pb.js +++ b/gen/js/service/motion/v1/motion_grpc_web_pb.js @@ -329,67 +329,6 @@ proto.viam.service.motion.v1.MotionServicePromiseClient.prototype.moveOnGlobe = }; -/** - * @const - * @type {!grpc.web.MethodDescriptor< - * !proto.viam.service.motion.v1.MoveOnGlobeNewRequest, - * !proto.viam.service.motion.v1.MoveOnGlobeNewResponse>} - */ -const methodDescriptor_MotionService_MoveOnGlobeNew = new grpc.web.MethodDescriptor( - '/viam.service.motion.v1.MotionService/MoveOnGlobeNew', - grpc.web.MethodType.UNARY, - proto.viam.service.motion.v1.MoveOnGlobeNewRequest, - proto.viam.service.motion.v1.MoveOnGlobeNewResponse, - /** - * @param {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} request - * @return {!Uint8Array} - */ - function(request) { - return request.serializeBinary(); - }, - proto.viam.service.motion.v1.MoveOnGlobeNewResponse.deserializeBinary -); - - -/** - * @param {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} request The - * request proto - * @param {?Object} metadata User defined - * call metadata - * @param {function(?grpc.web.RpcError, ?proto.viam.service.motion.v1.MoveOnGlobeNewResponse)} - * callback The callback function(error, response) - * @return {!grpc.web.ClientReadableStream|undefined} - * The XHR Node Readable Stream - */ -proto.viam.service.motion.v1.MotionServiceClient.prototype.moveOnGlobeNew = - function(request, metadata, callback) { - return this.client_.rpcCall(this.hostname_ + - '/viam.service.motion.v1.MotionService/MoveOnGlobeNew', - request, - metadata || {}, - methodDescriptor_MotionService_MoveOnGlobeNew, - callback); -}; - - -/** - * @param {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} request The - * request proto - * @param {?Object=} metadata User defined - * call metadata - * @return {!Promise} - * Promise that resolves to the response - */ -proto.viam.service.motion.v1.MotionServicePromiseClient.prototype.moveOnGlobeNew = - function(request, metadata) { - return this.client_.unaryCall(this.hostname_ + - '/viam.service.motion.v1.MotionService/MoveOnGlobeNew', - request, - metadata || {}, - methodDescriptor_MotionService_MoveOnGlobeNew); -}; - - /** * @const * @type {!grpc.web.MethodDescriptor< diff --git a/gen/js/service/motion/v1/motion_pb.d.ts b/gen/js/service/motion/v1/motion_pb.d.ts index c57053238..69c125b1c 100644 --- a/gen/js/service/motion/v1/motion_pb.d.ts +++ b/gen/js/service/motion/v1/motion_pb.d.ts @@ -354,8 +354,8 @@ export namespace MoveOnGlobeRequest { } export class MoveOnGlobeResponse extends jspb.Message { - getSuccess(): boolean; - setSuccess(value: boolean): void; + getExecutionId(): string; + setExecutionId(value: string): void; serializeBinary(): Uint8Array; toObject(includeInstance?: boolean): MoveOnGlobeResponse.AsObject; @@ -368,88 +368,6 @@ export class MoveOnGlobeResponse extends jspb.Message { } export namespace MoveOnGlobeResponse { - export type AsObject = { - success: boolean, - } -} - -export class MoveOnGlobeNewRequest extends jspb.Message { - getName(): string; - setName(value: string): void; - - hasDestination(): boolean; - clearDestination(): void; - getDestination(): common_v1_common_pb.GeoPoint | undefined; - setDestination(value?: common_v1_common_pb.GeoPoint): void; - - hasHeading(): boolean; - clearHeading(): void; - getHeading(): number; - setHeading(value: number): void; - - hasComponentName(): boolean; - clearComponentName(): void; - getComponentName(): common_v1_common_pb.ResourceName | undefined; - setComponentName(value?: common_v1_common_pb.ResourceName): void; - - hasMovementSensorName(): boolean; - clearMovementSensorName(): void; - getMovementSensorName(): common_v1_common_pb.ResourceName | undefined; - setMovementSensorName(value?: common_v1_common_pb.ResourceName): void; - - clearObstaclesList(): void; - getObstaclesList(): Array; - setObstaclesList(value: Array): void; - addObstacles(value?: common_v1_common_pb.GeoObstacle, index?: number): common_v1_common_pb.GeoObstacle; - - hasMotionConfiguration(): boolean; - clearMotionConfiguration(): void; - getMotionConfiguration(): MotionConfiguration | undefined; - setMotionConfiguration(value?: MotionConfiguration): void; - - hasExtra(): boolean; - clearExtra(): void; - getExtra(): google_protobuf_struct_pb.Struct | undefined; - setExtra(value?: google_protobuf_struct_pb.Struct): void; - - serializeBinary(): Uint8Array; - toObject(includeInstance?: boolean): MoveOnGlobeNewRequest.AsObject; - static toObject(includeInstance: boolean, msg: MoveOnGlobeNewRequest): MoveOnGlobeNewRequest.AsObject; - static extensions: {[key: number]: jspb.ExtensionFieldInfo}; - static extensionsBinary: {[key: number]: jspb.ExtensionFieldBinaryInfo}; - static serializeBinaryToWriter(message: MoveOnGlobeNewRequest, writer: jspb.BinaryWriter): void; - static deserializeBinary(bytes: Uint8Array): MoveOnGlobeNewRequest; - static deserializeBinaryFromReader(message: MoveOnGlobeNewRequest, reader: jspb.BinaryReader): MoveOnGlobeNewRequest; -} - -export namespace MoveOnGlobeNewRequest { - export type AsObject = { - name: string, - destination?: common_v1_common_pb.GeoPoint.AsObject, - heading: number, - componentName?: common_v1_common_pb.ResourceName.AsObject, - movementSensorName?: common_v1_common_pb.ResourceName.AsObject, - obstaclesList: Array, - motionConfiguration?: MotionConfiguration.AsObject, - extra?: google_protobuf_struct_pb.Struct.AsObject, - } -} - -export class MoveOnGlobeNewResponse extends jspb.Message { - getExecutionId(): string; - setExecutionId(value: string): void; - - serializeBinary(): Uint8Array; - toObject(includeInstance?: boolean): MoveOnGlobeNewResponse.AsObject; - static toObject(includeInstance: boolean, msg: MoveOnGlobeNewResponse): MoveOnGlobeNewResponse.AsObject; - static extensions: {[key: number]: jspb.ExtensionFieldInfo}; - static extensionsBinary: {[key: number]: jspb.ExtensionFieldBinaryInfo}; - static serializeBinaryToWriter(message: MoveOnGlobeNewResponse, writer: jspb.BinaryWriter): void; - static deserializeBinary(bytes: Uint8Array): MoveOnGlobeNewResponse; - static deserializeBinaryFromReader(message: MoveOnGlobeNewResponse, reader: jspb.BinaryReader): MoveOnGlobeNewResponse; -} - -export namespace MoveOnGlobeNewResponse { export type AsObject = { executionId: string, } diff --git a/gen/js/service/motion/v1/motion_pb.js b/gen/js/service/motion/v1/motion_pb.js index 469e8e70c..8870c3cf1 100644 --- a/gen/js/service/motion/v1/motion_pb.js +++ b/gen/js/service/motion/v1/motion_pb.js @@ -35,8 +35,6 @@ goog.exportSymbol('proto.viam.service.motion.v1.LinearConstraint', null, global) goog.exportSymbol('proto.viam.service.motion.v1.ListPlanStatusesRequest', null, global); goog.exportSymbol('proto.viam.service.motion.v1.ListPlanStatusesResponse', null, global); goog.exportSymbol('proto.viam.service.motion.v1.MotionConfiguration', null, global); -goog.exportSymbol('proto.viam.service.motion.v1.MoveOnGlobeNewRequest', null, global); -goog.exportSymbol('proto.viam.service.motion.v1.MoveOnGlobeNewResponse', null, global); goog.exportSymbol('proto.viam.service.motion.v1.MoveOnGlobeRequest', null, global); goog.exportSymbol('proto.viam.service.motion.v1.MoveOnGlobeResponse', null, global); goog.exportSymbol('proto.viam.service.motion.v1.MoveOnMapNewRequest', null, global); @@ -265,48 +263,6 @@ if (goog.DEBUG && !COMPILED) { */ proto.viam.service.motion.v1.MoveOnGlobeResponse.displayName = 'proto.viam.service.motion.v1.MoveOnGlobeResponse'; } -/** - * Generated by JsPbCodeGenerator. - * @param {Array=} opt_data Optional initial data array, typically from a - * server response, or constructed directly in Javascript. The array is used - * in place and becomes part of the constructed object. It is not cloned. - * If no data is provided, the constructed object will be empty, but still - * valid. - * @extends {jspb.Message} - * @constructor - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest = function(opt_data) { - jspb.Message.initialize(this, opt_data, 0, -1, proto.viam.service.motion.v1.MoveOnGlobeNewRequest.repeatedFields_, null); -}; -goog.inherits(proto.viam.service.motion.v1.MoveOnGlobeNewRequest, jspb.Message); -if (goog.DEBUG && !COMPILED) { - /** - * @public - * @override - */ - proto.viam.service.motion.v1.MoveOnGlobeNewRequest.displayName = 'proto.viam.service.motion.v1.MoveOnGlobeNewRequest'; -} -/** - * Generated by JsPbCodeGenerator. - * @param {Array=} opt_data Optional initial data array, typically from a - * server response, or constructed directly in Javascript. The array is used - * in place and becomes part of the constructed object. It is not cloned. - * If no data is provided, the constructed object will be empty, but still - * valid. - * @extends {jspb.Message} - * @constructor - */ -proto.viam.service.motion.v1.MoveOnGlobeNewResponse = function(opt_data) { - jspb.Message.initialize(this, opt_data, 0, -1, null, null); -}; -goog.inherits(proto.viam.service.motion.v1.MoveOnGlobeNewResponse, jspb.Message); -if (goog.DEBUG && !COMPILED) { - /** - * @public - * @override - */ - proto.viam.service.motion.v1.MoveOnGlobeNewResponse.displayName = 'proto.viam.service.motion.v1.MoveOnGlobeNewResponse'; -} /** * Generated by JsPbCodeGenerator. * @param {Array=} opt_data Optional initial data array, typically from a @@ -3327,7 +3283,7 @@ proto.viam.service.motion.v1.MoveOnGlobeResponse.prototype.toObject = function(o */ proto.viam.service.motion.v1.MoveOnGlobeResponse.toObject = function(includeInstance, msg) { var f, obj = { - success: jspb.Message.getBooleanFieldWithDefault(msg, 1, false) + executionId: jspb.Message.getFieldWithDefault(msg, 1, "") }; if (includeInstance) { @@ -3365,8 +3321,8 @@ proto.viam.service.motion.v1.MoveOnGlobeResponse.deserializeBinaryFromReader = f var field = reader.getFieldNumber(); switch (field) { case 1: - var value = /** @type {boolean} */ (reader.readBool()); - msg.setSuccess(value); + var value = /** @type {string} */ (reader.readString()); + msg.setExecutionId(value); break; default: reader.skipField(); @@ -3397,9 +3353,9 @@ proto.viam.service.motion.v1.MoveOnGlobeResponse.prototype.serializeBinary = fun */ proto.viam.service.motion.v1.MoveOnGlobeResponse.serializeBinaryToWriter = function(message, writer) { var f = undefined; - f = message.getSuccess(); - if (f) { - writer.writeBool( + f = message.getExecutionId(); + if (f.length > 0) { + writer.writeString( 1, f ); @@ -3408,642 +3364,19 @@ proto.viam.service.motion.v1.MoveOnGlobeResponse.serializeBinaryToWriter = funct /** - * optional bool success = 1; - * @return {boolean} + * optional string execution_id = 1; + * @return {string} */ -proto.viam.service.motion.v1.MoveOnGlobeResponse.prototype.getSuccess = function() { - return /** @type {boolean} */ (jspb.Message.getBooleanFieldWithDefault(this, 1, false)); +proto.viam.service.motion.v1.MoveOnGlobeResponse.prototype.getExecutionId = function() { + return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 1, "")); }; /** - * @param {boolean} value + * @param {string} value * @return {!proto.viam.service.motion.v1.MoveOnGlobeResponse} returns this */ -proto.viam.service.motion.v1.MoveOnGlobeResponse.prototype.setSuccess = function(value) { - return jspb.Message.setProto3BooleanField(this, 1, value); -}; - - - -/** - * List of repeated fields within this message type. - * @private {!Array} - * @const - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.repeatedFields_ = [6]; - - - -if (jspb.Message.GENERATE_TO_OBJECT) { -/** - * Creates an object representation of this proto. - * Field names that are reserved in JavaScript and will be renamed to pb_name. - * Optional fields that are not set will be set to undefined. - * To access a reserved field use, foo.pb_, eg, foo.pb_default. - * For the list of reserved names please see: - * net/proto2/compiler/js/internal/generator.cc#kKeyword. - * @param {boolean=} opt_includeInstance Deprecated. whether to include the - * JSPB instance for transitional soy proto support: - * http://goto/soy-param-migration - * @return {!Object} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.toObject = function(opt_includeInstance) { - return proto.viam.service.motion.v1.MoveOnGlobeNewRequest.toObject(opt_includeInstance, this); -}; - - -/** - * Static version of the {@see toObject} method. - * @param {boolean|undefined} includeInstance Deprecated. Whether to include - * the JSPB instance for transitional soy proto support: - * http://goto/soy-param-migration - * @param {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} msg The msg instance to transform. - * @return {!Object} - * @suppress {unusedLocalVariables} f is only used for nested messages - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.toObject = function(includeInstance, msg) { - var f, obj = { - name: jspb.Message.getFieldWithDefault(msg, 1, ""), - destination: (f = msg.getDestination()) && common_v1_common_pb.GeoPoint.toObject(includeInstance, f), - heading: jspb.Message.getFloatingPointFieldWithDefault(msg, 3, 0.0), - componentName: (f = msg.getComponentName()) && common_v1_common_pb.ResourceName.toObject(includeInstance, f), - movementSensorName: (f = msg.getMovementSensorName()) && common_v1_common_pb.ResourceName.toObject(includeInstance, f), - obstaclesList: jspb.Message.toObjectList(msg.getObstaclesList(), - common_v1_common_pb.GeoObstacle.toObject, includeInstance), - motionConfiguration: (f = msg.getMotionConfiguration()) && proto.viam.service.motion.v1.MotionConfiguration.toObject(includeInstance, f), - extra: (f = msg.getExtra()) && google_protobuf_struct_pb.Struct.toObject(includeInstance, f) - }; - - if (includeInstance) { - obj.$jspbMessageInstance = msg; - } - return obj; -}; -} - - -/** - * Deserializes binary data (in protobuf wire format). - * @param {jspb.ByteSource} bytes The bytes to deserialize. - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.deserializeBinary = function(bytes) { - var reader = new jspb.BinaryReader(bytes); - var msg = new proto.viam.service.motion.v1.MoveOnGlobeNewRequest; - return proto.viam.service.motion.v1.MoveOnGlobeNewRequest.deserializeBinaryFromReader(msg, reader); -}; - - -/** - * Deserializes binary data (in protobuf wire format) from the - * given reader into the given message object. - * @param {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} msg The message object to deserialize into. - * @param {!jspb.BinaryReader} reader The BinaryReader to use. - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.deserializeBinaryFromReader = function(msg, reader) { - while (reader.nextField()) { - if (reader.isEndGroup()) { - break; - } - var field = reader.getFieldNumber(); - switch (field) { - case 1: - var value = /** @type {string} */ (reader.readString()); - msg.setName(value); - break; - case 2: - var value = new common_v1_common_pb.GeoPoint; - reader.readMessage(value,common_v1_common_pb.GeoPoint.deserializeBinaryFromReader); - msg.setDestination(value); - break; - case 3: - var value = /** @type {number} */ (reader.readDouble()); - msg.setHeading(value); - break; - case 4: - var value = new common_v1_common_pb.ResourceName; - reader.readMessage(value,common_v1_common_pb.ResourceName.deserializeBinaryFromReader); - msg.setComponentName(value); - break; - case 5: - var value = new common_v1_common_pb.ResourceName; - reader.readMessage(value,common_v1_common_pb.ResourceName.deserializeBinaryFromReader); - msg.setMovementSensorName(value); - break; - case 6: - var value = new common_v1_common_pb.GeoObstacle; - reader.readMessage(value,common_v1_common_pb.GeoObstacle.deserializeBinaryFromReader); - msg.addObstacles(value); - break; - case 7: - var value = new proto.viam.service.motion.v1.MotionConfiguration; - reader.readMessage(value,proto.viam.service.motion.v1.MotionConfiguration.deserializeBinaryFromReader); - msg.setMotionConfiguration(value); - break; - case 99: - var value = new google_protobuf_struct_pb.Struct; - reader.readMessage(value,google_protobuf_struct_pb.Struct.deserializeBinaryFromReader); - msg.setExtra(value); - break; - default: - reader.skipField(); - break; - } - } - return msg; -}; - - -/** - * Serializes the message to binary data (in protobuf wire format). - * @return {!Uint8Array} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.serializeBinary = function() { - var writer = new jspb.BinaryWriter(); - proto.viam.service.motion.v1.MoveOnGlobeNewRequest.serializeBinaryToWriter(this, writer); - return writer.getResultBuffer(); -}; - - -/** - * Serializes the given message to binary data (in protobuf wire - * format), writing to the given BinaryWriter. - * @param {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} message - * @param {!jspb.BinaryWriter} writer - * @suppress {unusedLocalVariables} f is only used for nested messages - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.serializeBinaryToWriter = function(message, writer) { - var f = undefined; - f = message.getName(); - if (f.length > 0) { - writer.writeString( - 1, - f - ); - } - f = message.getDestination(); - if (f != null) { - writer.writeMessage( - 2, - f, - common_v1_common_pb.GeoPoint.serializeBinaryToWriter - ); - } - f = /** @type {number} */ (jspb.Message.getField(message, 3)); - if (f != null) { - writer.writeDouble( - 3, - f - ); - } - f = message.getComponentName(); - if (f != null) { - writer.writeMessage( - 4, - f, - common_v1_common_pb.ResourceName.serializeBinaryToWriter - ); - } - f = message.getMovementSensorName(); - if (f != null) { - writer.writeMessage( - 5, - f, - common_v1_common_pb.ResourceName.serializeBinaryToWriter - ); - } - f = message.getObstaclesList(); - if (f.length > 0) { - writer.writeRepeatedMessage( - 6, - f, - common_v1_common_pb.GeoObstacle.serializeBinaryToWriter - ); - } - f = message.getMotionConfiguration(); - if (f != null) { - writer.writeMessage( - 7, - f, - proto.viam.service.motion.v1.MotionConfiguration.serializeBinaryToWriter - ); - } - f = message.getExtra(); - if (f != null) { - writer.writeMessage( - 99, - f, - google_protobuf_struct_pb.Struct.serializeBinaryToWriter - ); - } -}; - - -/** - * optional string name = 1; - * @return {string} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.getName = function() { - return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 1, "")); -}; - - -/** - * @param {string} value - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} returns this - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.setName = function(value) { - return jspb.Message.setProto3StringField(this, 1, value); -}; - - -/** - * optional viam.common.v1.GeoPoint destination = 2; - * @return {?proto.viam.common.v1.GeoPoint} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.getDestination = function() { - return /** @type{?proto.viam.common.v1.GeoPoint} */ ( - jspb.Message.getWrapperField(this, common_v1_common_pb.GeoPoint, 2)); -}; - - -/** - * @param {?proto.viam.common.v1.GeoPoint|undefined} value - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} returns this -*/ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.setDestination = function(value) { - return jspb.Message.setWrapperField(this, 2, value); -}; - - -/** - * Clears the message field making it undefined. - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} returns this - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.clearDestination = function() { - return this.setDestination(undefined); -}; - - -/** - * Returns whether this field is set. - * @return {boolean} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.hasDestination = function() { - return jspb.Message.getField(this, 2) != null; -}; - - -/** - * optional double heading = 3; - * @return {number} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.getHeading = function() { - return /** @type {number} */ (jspb.Message.getFloatingPointFieldWithDefault(this, 3, 0.0)); -}; - - -/** - * @param {number} value - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} returns this - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.setHeading = function(value) { - return jspb.Message.setField(this, 3, value); -}; - - -/** - * Clears the field making it undefined. - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} returns this - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.clearHeading = function() { - return jspb.Message.setField(this, 3, undefined); -}; - - -/** - * Returns whether this field is set. - * @return {boolean} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.hasHeading = function() { - return jspb.Message.getField(this, 3) != null; -}; - - -/** - * optional viam.common.v1.ResourceName component_name = 4; - * @return {?proto.viam.common.v1.ResourceName} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.getComponentName = function() { - return /** @type{?proto.viam.common.v1.ResourceName} */ ( - jspb.Message.getWrapperField(this, common_v1_common_pb.ResourceName, 4)); -}; - - -/** - * @param {?proto.viam.common.v1.ResourceName|undefined} value - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} returns this -*/ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.setComponentName = function(value) { - return jspb.Message.setWrapperField(this, 4, value); -}; - - -/** - * Clears the message field making it undefined. - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} returns this - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.clearComponentName = function() { - return this.setComponentName(undefined); -}; - - -/** - * Returns whether this field is set. - * @return {boolean} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.hasComponentName = function() { - return jspb.Message.getField(this, 4) != null; -}; - - -/** - * optional viam.common.v1.ResourceName movement_sensor_name = 5; - * @return {?proto.viam.common.v1.ResourceName} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.getMovementSensorName = function() { - return /** @type{?proto.viam.common.v1.ResourceName} */ ( - jspb.Message.getWrapperField(this, common_v1_common_pb.ResourceName, 5)); -}; - - -/** - * @param {?proto.viam.common.v1.ResourceName|undefined} value - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} returns this -*/ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.setMovementSensorName = function(value) { - return jspb.Message.setWrapperField(this, 5, value); -}; - - -/** - * Clears the message field making it undefined. - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} returns this - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.clearMovementSensorName = function() { - return this.setMovementSensorName(undefined); -}; - - -/** - * Returns whether this field is set. - * @return {boolean} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.hasMovementSensorName = function() { - return jspb.Message.getField(this, 5) != null; -}; - - -/** - * repeated viam.common.v1.GeoObstacle obstacles = 6; - * @return {!Array} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.getObstaclesList = function() { - return /** @type{!Array} */ ( - jspb.Message.getRepeatedWrapperField(this, common_v1_common_pb.GeoObstacle, 6)); -}; - - -/** - * @param {!Array} value - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} returns this -*/ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.setObstaclesList = function(value) { - return jspb.Message.setRepeatedWrapperField(this, 6, value); -}; - - -/** - * @param {!proto.viam.common.v1.GeoObstacle=} opt_value - * @param {number=} opt_index - * @return {!proto.viam.common.v1.GeoObstacle} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.addObstacles = function(opt_value, opt_index) { - return jspb.Message.addToRepeatedWrapperField(this, 6, opt_value, proto.viam.common.v1.GeoObstacle, opt_index); -}; - - -/** - * Clears the list making it empty but non-null. - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} returns this - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.clearObstaclesList = function() { - return this.setObstaclesList([]); -}; - - -/** - * optional MotionConfiguration motion_configuration = 7; - * @return {?proto.viam.service.motion.v1.MotionConfiguration} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.getMotionConfiguration = function() { - return /** @type{?proto.viam.service.motion.v1.MotionConfiguration} */ ( - jspb.Message.getWrapperField(this, proto.viam.service.motion.v1.MotionConfiguration, 7)); -}; - - -/** - * @param {?proto.viam.service.motion.v1.MotionConfiguration|undefined} value - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} returns this -*/ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.setMotionConfiguration = function(value) { - return jspb.Message.setWrapperField(this, 7, value); -}; - - -/** - * Clears the message field making it undefined. - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} returns this - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.clearMotionConfiguration = function() { - return this.setMotionConfiguration(undefined); -}; - - -/** - * Returns whether this field is set. - * @return {boolean} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.hasMotionConfiguration = function() { - return jspb.Message.getField(this, 7) != null; -}; - - -/** - * optional google.protobuf.Struct extra = 99; - * @return {?proto.google.protobuf.Struct} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.getExtra = function() { - return /** @type{?proto.google.protobuf.Struct} */ ( - jspb.Message.getWrapperField(this, google_protobuf_struct_pb.Struct, 99)); -}; - - -/** - * @param {?proto.google.protobuf.Struct|undefined} value - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} returns this -*/ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.setExtra = function(value) { - return jspb.Message.setWrapperField(this, 99, value); -}; - - -/** - * Clears the message field making it undefined. - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewRequest} returns this - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.clearExtra = function() { - return this.setExtra(undefined); -}; - - -/** - * Returns whether this field is set. - * @return {boolean} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewRequest.prototype.hasExtra = function() { - return jspb.Message.getField(this, 99) != null; -}; - - - - - -if (jspb.Message.GENERATE_TO_OBJECT) { -/** - * Creates an object representation of this proto. - * Field names that are reserved in JavaScript and will be renamed to pb_name. - * Optional fields that are not set will be set to undefined. - * To access a reserved field use, foo.pb_, eg, foo.pb_default. - * For the list of reserved names please see: - * net/proto2/compiler/js/internal/generator.cc#kKeyword. - * @param {boolean=} opt_includeInstance Deprecated. whether to include the - * JSPB instance for transitional soy proto support: - * http://goto/soy-param-migration - * @return {!Object} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewResponse.prototype.toObject = function(opt_includeInstance) { - return proto.viam.service.motion.v1.MoveOnGlobeNewResponse.toObject(opt_includeInstance, this); -}; - - -/** - * Static version of the {@see toObject} method. - * @param {boolean|undefined} includeInstance Deprecated. Whether to include - * the JSPB instance for transitional soy proto support: - * http://goto/soy-param-migration - * @param {!proto.viam.service.motion.v1.MoveOnGlobeNewResponse} msg The msg instance to transform. - * @return {!Object} - * @suppress {unusedLocalVariables} f is only used for nested messages - */ -proto.viam.service.motion.v1.MoveOnGlobeNewResponse.toObject = function(includeInstance, msg) { - var f, obj = { - executionId: jspb.Message.getFieldWithDefault(msg, 1, "") - }; - - if (includeInstance) { - obj.$jspbMessageInstance = msg; - } - return obj; -}; -} - - -/** - * Deserializes binary data (in protobuf wire format). - * @param {jspb.ByteSource} bytes The bytes to deserialize. - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewResponse} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewResponse.deserializeBinary = function(bytes) { - var reader = new jspb.BinaryReader(bytes); - var msg = new proto.viam.service.motion.v1.MoveOnGlobeNewResponse; - return proto.viam.service.motion.v1.MoveOnGlobeNewResponse.deserializeBinaryFromReader(msg, reader); -}; - - -/** - * Deserializes binary data (in protobuf wire format) from the - * given reader into the given message object. - * @param {!proto.viam.service.motion.v1.MoveOnGlobeNewResponse} msg The message object to deserialize into. - * @param {!jspb.BinaryReader} reader The BinaryReader to use. - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewResponse} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewResponse.deserializeBinaryFromReader = function(msg, reader) { - while (reader.nextField()) { - if (reader.isEndGroup()) { - break; - } - var field = reader.getFieldNumber(); - switch (field) { - case 1: - var value = /** @type {string} */ (reader.readString()); - msg.setExecutionId(value); - break; - default: - reader.skipField(); - break; - } - } - return msg; -}; - - -/** - * Serializes the message to binary data (in protobuf wire format). - * @return {!Uint8Array} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewResponse.prototype.serializeBinary = function() { - var writer = new jspb.BinaryWriter(); - proto.viam.service.motion.v1.MoveOnGlobeNewResponse.serializeBinaryToWriter(this, writer); - return writer.getResultBuffer(); -}; - - -/** - * Serializes the given message to binary data (in protobuf wire - * format), writing to the given BinaryWriter. - * @param {!proto.viam.service.motion.v1.MoveOnGlobeNewResponse} message - * @param {!jspb.BinaryWriter} writer - * @suppress {unusedLocalVariables} f is only used for nested messages - */ -proto.viam.service.motion.v1.MoveOnGlobeNewResponse.serializeBinaryToWriter = function(message, writer) { - var f = undefined; - f = message.getExecutionId(); - if (f.length > 0) { - writer.writeString( - 1, - f - ); - } -}; - - -/** - * optional string execution_id = 1; - * @return {string} - */ -proto.viam.service.motion.v1.MoveOnGlobeNewResponse.prototype.getExecutionId = function() { - return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 1, "")); -}; - - -/** - * @param {string} value - * @return {!proto.viam.service.motion.v1.MoveOnGlobeNewResponse} returns this - */ -proto.viam.service.motion.v1.MoveOnGlobeNewResponse.prototype.setExecutionId = function(value) { +proto.viam.service.motion.v1.MoveOnGlobeResponse.prototype.setExecutionId = function(value) { return jspb.Message.setProto3StringField(this, 1, value); }; diff --git a/gen/js/service/motion/v1/motion_pb_service.d.ts b/gen/js/service/motion/v1/motion_pb_service.d.ts index 85ba9d652..a5e776225 100644 --- a/gen/js/service/motion/v1/motion_pb_service.d.ts +++ b/gen/js/service/motion/v1/motion_pb_service.d.ts @@ -41,15 +41,6 @@ type MotionServiceMoveOnGlobe = { readonly responseType: typeof service_motion_v1_motion_pb.MoveOnGlobeResponse; }; -type MotionServiceMoveOnGlobeNew = { - readonly methodName: string; - readonly service: typeof MotionService; - readonly requestStream: false; - readonly responseStream: false; - readonly requestType: typeof service_motion_v1_motion_pb.MoveOnGlobeNewRequest; - readonly responseType: typeof service_motion_v1_motion_pb.MoveOnGlobeNewResponse; -}; - type MotionServiceGetPose = { readonly methodName: string; readonly service: typeof MotionService; @@ -101,7 +92,6 @@ export class MotionService { static readonly MoveOnMap: MotionServiceMoveOnMap; static readonly MoveOnMapNew: MotionServiceMoveOnMapNew; static readonly MoveOnGlobe: MotionServiceMoveOnGlobe; - static readonly MoveOnGlobeNew: MotionServiceMoveOnGlobeNew; static readonly GetPose: MotionServiceGetPose; static readonly StopPlan: MotionServiceStopPlan; static readonly ListPlanStatuses: MotionServiceListPlanStatuses; @@ -177,15 +167,6 @@ export class MotionServiceClient { requestMessage: service_motion_v1_motion_pb.MoveOnGlobeRequest, callback: (error: ServiceError|null, responseMessage: service_motion_v1_motion_pb.MoveOnGlobeResponse|null) => void ): UnaryResponse; - moveOnGlobeNew( - requestMessage: service_motion_v1_motion_pb.MoveOnGlobeNewRequest, - metadata: grpc.Metadata, - callback: (error: ServiceError|null, responseMessage: service_motion_v1_motion_pb.MoveOnGlobeNewResponse|null) => void - ): UnaryResponse; - moveOnGlobeNew( - requestMessage: service_motion_v1_motion_pb.MoveOnGlobeNewRequest, - callback: (error: ServiceError|null, responseMessage: service_motion_v1_motion_pb.MoveOnGlobeNewResponse|null) => void - ): UnaryResponse; getPose( requestMessage: service_motion_v1_motion_pb.GetPoseRequest, metadata: grpc.Metadata, diff --git a/gen/js/service/motion/v1/motion_pb_service.js b/gen/js/service/motion/v1/motion_pb_service.js index 14f60a0e8..393da72b1 100644 --- a/gen/js/service/motion/v1/motion_pb_service.js +++ b/gen/js/service/motion/v1/motion_pb_service.js @@ -47,15 +47,6 @@ MotionService.MoveOnGlobe = { responseType: service_motion_v1_motion_pb.MoveOnGlobeResponse }; -MotionService.MoveOnGlobeNew = { - methodName: "MoveOnGlobeNew", - service: MotionService, - requestStream: false, - responseStream: false, - requestType: service_motion_v1_motion_pb.MoveOnGlobeNewRequest, - responseType: service_motion_v1_motion_pb.MoveOnGlobeNewResponse -}; - MotionService.GetPose = { methodName: "GetPose", service: MotionService, @@ -232,37 +223,6 @@ MotionServiceClient.prototype.moveOnGlobe = function moveOnGlobe(requestMessage, }; }; -MotionServiceClient.prototype.moveOnGlobeNew = function moveOnGlobeNew(requestMessage, metadata, callback) { - if (arguments.length === 2) { - callback = arguments[1]; - } - var client = grpc.unary(MotionService.MoveOnGlobeNew, { - request: requestMessage, - host: this.serviceHost, - metadata: metadata, - transport: this.options.transport, - debug: this.options.debug, - onEnd: function (response) { - if (callback) { - if (response.status !== grpc.Code.OK) { - var err = new Error(response.statusMessage); - err.code = response.status; - err.metadata = response.trailers; - callback(err, null); - } else { - callback(null, response.message); - } - } - } - }); - return { - cancel: function () { - callback = null; - client.close(); - } - }; -}; - MotionServiceClient.prototype.getPose = function getPose(requestMessage, metadata, callback) { if (arguments.length === 2) { callback = arguments[1]; diff --git a/service/datamanager/v1/data_manager.pb.gw.go b/service/datamanager/v1/data_manager.pb.gw.go index 5f497f653..5a7e61ab2 100644 --- a/service/datamanager/v1/data_manager.pb.gw.go +++ b/service/datamanager/v1/data_manager.pb.gw.go @@ -15,7 +15,7 @@ import ( "github.com/grpc-ecosystem/grpc-gateway/v2/runtime" "github.com/grpc-ecosystem/grpc-gateway/v2/utilities" - "go.viam.com/api/common/v1" + v1_0 "go.viam.com/api/common/v1" "google.golang.org/grpc" "google.golang.org/grpc/codes" "google.golang.org/grpc/grpclog" @@ -107,7 +107,7 @@ var ( ) func request_DataManagerService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client DataManagerServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.DoCommandRequest + var protoReq v1_0.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -140,7 +140,7 @@ func request_DataManagerService_DoCommand_0(ctx context.Context, marshaler runti } func local_request_DataManagerService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server DataManagerServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.DoCommandRequest + var protoReq v1_0.DoCommandRequest var metadata runtime.ServerMetadata var ( diff --git a/service/motion/v1/motion.pb.go b/service/motion/v1/motion.pb.go index 621bd87f6..0e935cdf9 100644 --- a/service/motion/v1/motion.pb.go +++ b/service/motion/v1/motion.pb.go @@ -765,7 +765,10 @@ type MoveOnGlobeResponse struct { sizeCache protoimpl.SizeCache unknownFields protoimpl.UnknownFields - Success bool `protobuf:"varint,1,opt,name=success,proto3" json:"success,omitempty"` + // The unique ID which identifies the execution. + // Multiple plans will share the same execution_id if they were + // generated due to replanning. + ExecutionId string `protobuf:"bytes,1,opt,name=execution_id,json=executionId,proto3" json:"execution_id,omitempty"` } func (x *MoveOnGlobeResponse) Reset() { @@ -800,168 +803,7 @@ func (*MoveOnGlobeResponse) Descriptor() ([]byte, []int) { return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{9} } -func (x *MoveOnGlobeResponse) GetSuccess() bool { - if x != nil { - return x.Success - } - return false -} - -type MoveOnGlobeNewRequest struct { - state protoimpl.MessageState - sizeCache protoimpl.SizeCache - unknownFields protoimpl.UnknownFields - - // Name of the motion service - Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"` - // Destination, encoded as a GeoPoint - Destination *v1.GeoPoint `protobuf:"bytes,2,opt,name=destination,proto3" json:"destination,omitempty"` - // Optional compass heading to achieve at the destination, in degrees [0-360) - Heading *float64 `protobuf:"fixed64,3,opt,name=heading,proto3,oneof" json:"heading,omitempty"` - // Component on the robot to move to the specified destination - ComponentName *v1.ResourceName `protobuf:"bytes,4,opt,name=component_name,json=componentName,proto3" json:"component_name,omitempty"` - // Name of the movement sensor which will be used to check robot location - MovementSensorName *v1.ResourceName `protobuf:"bytes,5,opt,name=movement_sensor_name,json=movementSensorName,proto3" json:"movement_sensor_name,omitempty"` - // Obstacles to be considered for motion planning - Obstacles []*v1.GeoObstacle `protobuf:"bytes,6,rep,name=obstacles,proto3" json:"obstacles,omitempty"` - // Optional set of motion configuration options - MotionConfiguration *MotionConfiguration `protobuf:"bytes,7,opt,name=motion_configuration,json=motionConfiguration,proto3,oneof" json:"motion_configuration,omitempty"` - // Additional arguments to the method - Extra *structpb.Struct `protobuf:"bytes,99,opt,name=extra,proto3" json:"extra,omitempty"` -} - -func (x *MoveOnGlobeNewRequest) Reset() { - *x = MoveOnGlobeNewRequest{} - if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[10] - ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) - ms.StoreMessageInfo(mi) - } -} - -func (x *MoveOnGlobeNewRequest) String() string { - return protoimpl.X.MessageStringOf(x) -} - -func (*MoveOnGlobeNewRequest) ProtoMessage() {} - -func (x *MoveOnGlobeNewRequest) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[10] - if protoimpl.UnsafeEnabled && x != nil { - ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) - if ms.LoadMessageInfo() == nil { - ms.StoreMessageInfo(mi) - } - return ms - } - return mi.MessageOf(x) -} - -// Deprecated: Use MoveOnGlobeNewRequest.ProtoReflect.Descriptor instead. -func (*MoveOnGlobeNewRequest) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{10} -} - -func (x *MoveOnGlobeNewRequest) GetName() string { - if x != nil { - return x.Name - } - return "" -} - -func (x *MoveOnGlobeNewRequest) GetDestination() *v1.GeoPoint { - if x != nil { - return x.Destination - } - return nil -} - -func (x *MoveOnGlobeNewRequest) GetHeading() float64 { - if x != nil && x.Heading != nil { - return *x.Heading - } - return 0 -} - -func (x *MoveOnGlobeNewRequest) GetComponentName() *v1.ResourceName { - if x != nil { - return x.ComponentName - } - return nil -} - -func (x *MoveOnGlobeNewRequest) GetMovementSensorName() *v1.ResourceName { - if x != nil { - return x.MovementSensorName - } - return nil -} - -func (x *MoveOnGlobeNewRequest) GetObstacles() []*v1.GeoObstacle { - if x != nil { - return x.Obstacles - } - return nil -} - -func (x *MoveOnGlobeNewRequest) GetMotionConfiguration() *MotionConfiguration { - if x != nil { - return x.MotionConfiguration - } - return nil -} - -func (x *MoveOnGlobeNewRequest) GetExtra() *structpb.Struct { - if x != nil { - return x.Extra - } - return nil -} - -type MoveOnGlobeNewResponse struct { - state protoimpl.MessageState - sizeCache protoimpl.SizeCache - unknownFields protoimpl.UnknownFields - - // The unique ID which identifies the execution. - // Multiple plans will share the same execution_id if they were - // generated due to replanning. - ExecutionId string `protobuf:"bytes,1,opt,name=execution_id,json=executionId,proto3" json:"execution_id,omitempty"` -} - -func (x *MoveOnGlobeNewResponse) Reset() { - *x = MoveOnGlobeNewResponse{} - if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[11] - ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) - ms.StoreMessageInfo(mi) - } -} - -func (x *MoveOnGlobeNewResponse) String() string { - return protoimpl.X.MessageStringOf(x) -} - -func (*MoveOnGlobeNewResponse) ProtoMessage() {} - -func (x *MoveOnGlobeNewResponse) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[11] - if protoimpl.UnsafeEnabled && x != nil { - ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) - if ms.LoadMessageInfo() == nil { - ms.StoreMessageInfo(mi) - } - return ms - } - return mi.MessageOf(x) -} - -// Deprecated: Use MoveOnGlobeNewResponse.ProtoReflect.Descriptor instead. -func (*MoveOnGlobeNewResponse) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{11} -} - -func (x *MoveOnGlobeNewResponse) GetExecutionId() string { +func (x *MoveOnGlobeResponse) GetExecutionId() string { if x != nil { return x.ExecutionId } @@ -990,7 +832,7 @@ type GetPoseRequest struct { func (x *GetPoseRequest) Reset() { *x = GetPoseRequest{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[12] + mi := &file_service_motion_v1_motion_proto_msgTypes[10] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -1003,7 +845,7 @@ func (x *GetPoseRequest) String() string { func (*GetPoseRequest) ProtoMessage() {} func (x *GetPoseRequest) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[12] + mi := &file_service_motion_v1_motion_proto_msgTypes[10] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -1016,7 +858,7 @@ func (x *GetPoseRequest) ProtoReflect() protoreflect.Message { // Deprecated: Use GetPoseRequest.ProtoReflect.Descriptor instead. func (*GetPoseRequest) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{12} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{10} } func (x *GetPoseRequest) GetName() string { @@ -1065,7 +907,7 @@ type GetPoseResponse struct { func (x *GetPoseResponse) Reset() { *x = GetPoseResponse{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[13] + mi := &file_service_motion_v1_motion_proto_msgTypes[11] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -1078,7 +920,7 @@ func (x *GetPoseResponse) String() string { func (*GetPoseResponse) ProtoMessage() {} func (x *GetPoseResponse) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[13] + mi := &file_service_motion_v1_motion_proto_msgTypes[11] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -1091,7 +933,7 @@ func (x *GetPoseResponse) ProtoReflect() protoreflect.Message { // Deprecated: Use GetPoseResponse.ProtoReflect.Descriptor instead. func (*GetPoseResponse) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{13} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{11} } func (x *GetPoseResponse) GetPose() *v1.PoseInFrame { @@ -1117,7 +959,7 @@ type StopPlanRequest struct { func (x *StopPlanRequest) Reset() { *x = StopPlanRequest{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[14] + mi := &file_service_motion_v1_motion_proto_msgTypes[12] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -1130,7 +972,7 @@ func (x *StopPlanRequest) String() string { func (*StopPlanRequest) ProtoMessage() {} func (x *StopPlanRequest) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[14] + mi := &file_service_motion_v1_motion_proto_msgTypes[12] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -1143,7 +985,7 @@ func (x *StopPlanRequest) ProtoReflect() protoreflect.Message { // Deprecated: Use StopPlanRequest.ProtoReflect.Descriptor instead. func (*StopPlanRequest) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{14} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{12} } func (x *StopPlanRequest) GetName() string { @@ -1176,7 +1018,7 @@ type StopPlanResponse struct { func (x *StopPlanResponse) Reset() { *x = StopPlanResponse{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[15] + mi := &file_service_motion_v1_motion_proto_msgTypes[13] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -1189,7 +1031,7 @@ func (x *StopPlanResponse) String() string { func (*StopPlanResponse) ProtoMessage() {} func (x *StopPlanResponse) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[15] + mi := &file_service_motion_v1_motion_proto_msgTypes[13] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -1202,7 +1044,7 @@ func (x *StopPlanResponse) ProtoReflect() protoreflect.Message { // Deprecated: Use StopPlanResponse.ProtoReflect.Descriptor instead. func (*StopPlanResponse) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{15} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{13} } type ListPlanStatusesRequest struct { @@ -1222,7 +1064,7 @@ type ListPlanStatusesRequest struct { func (x *ListPlanStatusesRequest) Reset() { *x = ListPlanStatusesRequest{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[16] + mi := &file_service_motion_v1_motion_proto_msgTypes[14] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -1235,7 +1077,7 @@ func (x *ListPlanStatusesRequest) String() string { func (*ListPlanStatusesRequest) ProtoMessage() {} func (x *ListPlanStatusesRequest) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[16] + mi := &file_service_motion_v1_motion_proto_msgTypes[14] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -1248,7 +1090,7 @@ func (x *ListPlanStatusesRequest) ProtoReflect() protoreflect.Message { // Deprecated: Use ListPlanStatusesRequest.ProtoReflect.Descriptor instead. func (*ListPlanStatusesRequest) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{16} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{14} } func (x *ListPlanStatusesRequest) GetName() string { @@ -1286,7 +1128,7 @@ type ListPlanStatusesResponse struct { func (x *ListPlanStatusesResponse) Reset() { *x = ListPlanStatusesResponse{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[17] + mi := &file_service_motion_v1_motion_proto_msgTypes[15] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -1299,7 +1141,7 @@ func (x *ListPlanStatusesResponse) String() string { func (*ListPlanStatusesResponse) ProtoMessage() {} func (x *ListPlanStatusesResponse) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[17] + mi := &file_service_motion_v1_motion_proto_msgTypes[15] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -1312,7 +1154,7 @@ func (x *ListPlanStatusesResponse) ProtoReflect() protoreflect.Message { // Deprecated: Use ListPlanStatusesResponse.ProtoReflect.Descriptor instead. func (*ListPlanStatusesResponse) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{17} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{15} } func (x *ListPlanStatusesResponse) GetPlanStatusesWithIds() []*PlanStatusWithID { @@ -1343,7 +1185,7 @@ type GetPlanRequest struct { func (x *GetPlanRequest) Reset() { *x = GetPlanRequest{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[18] + mi := &file_service_motion_v1_motion_proto_msgTypes[16] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -1356,7 +1198,7 @@ func (x *GetPlanRequest) String() string { func (*GetPlanRequest) ProtoMessage() {} func (x *GetPlanRequest) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[18] + mi := &file_service_motion_v1_motion_proto_msgTypes[16] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -1369,7 +1211,7 @@ func (x *GetPlanRequest) ProtoReflect() protoreflect.Message { // Deprecated: Use GetPlanRequest.ProtoReflect.Descriptor instead. func (*GetPlanRequest) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{18} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{16} } func (x *GetPlanRequest) GetName() string { @@ -1424,7 +1266,7 @@ type GetPlanResponse struct { func (x *GetPlanResponse) Reset() { *x = GetPlanResponse{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[19] + mi := &file_service_motion_v1_motion_proto_msgTypes[17] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -1437,7 +1279,7 @@ func (x *GetPlanResponse) String() string { func (*GetPlanResponse) ProtoMessage() {} func (x *GetPlanResponse) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[19] + mi := &file_service_motion_v1_motion_proto_msgTypes[17] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -1450,7 +1292,7 @@ func (x *GetPlanResponse) ProtoReflect() protoreflect.Message { // Deprecated: Use GetPlanResponse.ProtoReflect.Descriptor instead. func (*GetPlanResponse) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{19} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{17} } func (x *GetPlanResponse) GetCurrentPlanWithStatus() *PlanWithStatus { @@ -1482,7 +1324,7 @@ type Constraints struct { func (x *Constraints) Reset() { *x = Constraints{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[20] + mi := &file_service_motion_v1_motion_proto_msgTypes[18] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -1495,7 +1337,7 @@ func (x *Constraints) String() string { func (*Constraints) ProtoMessage() {} func (x *Constraints) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[20] + mi := &file_service_motion_v1_motion_proto_msgTypes[18] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -1508,7 +1350,7 @@ func (x *Constraints) ProtoReflect() protoreflect.Message { // Deprecated: Use Constraints.ProtoReflect.Descriptor instead. func (*Constraints) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{20} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{18} } func (x *Constraints) GetLinearConstraint() []*LinearConstraint { @@ -1547,7 +1389,7 @@ type LinearConstraint struct { func (x *LinearConstraint) Reset() { *x = LinearConstraint{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[21] + mi := &file_service_motion_v1_motion_proto_msgTypes[19] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -1560,7 +1402,7 @@ func (x *LinearConstraint) String() string { func (*LinearConstraint) ProtoMessage() {} func (x *LinearConstraint) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[21] + mi := &file_service_motion_v1_motion_proto_msgTypes[19] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -1573,7 +1415,7 @@ func (x *LinearConstraint) ProtoReflect() protoreflect.Message { // Deprecated: Use LinearConstraint.ProtoReflect.Descriptor instead. func (*LinearConstraint) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{21} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{19} } func (x *LinearConstraint) GetLineToleranceMm() float32 { @@ -1604,7 +1446,7 @@ type OrientationConstraint struct { func (x *OrientationConstraint) Reset() { *x = OrientationConstraint{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[22] + mi := &file_service_motion_v1_motion_proto_msgTypes[20] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -1617,7 +1459,7 @@ func (x *OrientationConstraint) String() string { func (*OrientationConstraint) ProtoMessage() {} func (x *OrientationConstraint) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[22] + mi := &file_service_motion_v1_motion_proto_msgTypes[20] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -1630,7 +1472,7 @@ func (x *OrientationConstraint) ProtoReflect() protoreflect.Message { // Deprecated: Use OrientationConstraint.ProtoReflect.Descriptor instead. func (*OrientationConstraint) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{22} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{20} } func (x *OrientationConstraint) GetOrientationToleranceDegs() float32 { @@ -1653,7 +1495,7 @@ type CollisionSpecification struct { func (x *CollisionSpecification) Reset() { *x = CollisionSpecification{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[23] + mi := &file_service_motion_v1_motion_proto_msgTypes[21] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -1666,7 +1508,7 @@ func (x *CollisionSpecification) String() string { func (*CollisionSpecification) ProtoMessage() {} func (x *CollisionSpecification) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[23] + mi := &file_service_motion_v1_motion_proto_msgTypes[21] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -1679,7 +1521,7 @@ func (x *CollisionSpecification) ProtoReflect() protoreflect.Message { // Deprecated: Use CollisionSpecification.ProtoReflect.Descriptor instead. func (*CollisionSpecification) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{23} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{21} } func (x *CollisionSpecification) GetAllows() []*CollisionSpecification_AllowedFrameCollisions { @@ -1707,7 +1549,7 @@ type PlanWithStatus struct { func (x *PlanWithStatus) Reset() { *x = PlanWithStatus{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[24] + mi := &file_service_motion_v1_motion_proto_msgTypes[22] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -1720,7 +1562,7 @@ func (x *PlanWithStatus) String() string { func (*PlanWithStatus) ProtoMessage() {} func (x *PlanWithStatus) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[24] + mi := &file_service_motion_v1_motion_proto_msgTypes[22] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -1733,7 +1575,7 @@ func (x *PlanWithStatus) ProtoReflect() protoreflect.Message { // Deprecated: Use PlanWithStatus.ProtoReflect.Descriptor instead. func (*PlanWithStatus) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{24} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{22} } func (x *PlanWithStatus) GetPlan() *Plan { @@ -1782,7 +1624,7 @@ type PlanStatusWithID struct { func (x *PlanStatusWithID) Reset() { *x = PlanStatusWithID{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[25] + mi := &file_service_motion_v1_motion_proto_msgTypes[23] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -1795,7 +1637,7 @@ func (x *PlanStatusWithID) String() string { func (*PlanStatusWithID) ProtoMessage() {} func (x *PlanStatusWithID) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[25] + mi := &file_service_motion_v1_motion_proto_msgTypes[23] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -1808,7 +1650,7 @@ func (x *PlanStatusWithID) ProtoReflect() protoreflect.Message { // Deprecated: Use PlanStatusWithID.ProtoReflect.Descriptor instead. func (*PlanStatusWithID) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{25} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{23} } func (x *PlanStatusWithID) GetPlanId() string { @@ -1860,7 +1702,7 @@ type PlanStatus struct { func (x *PlanStatus) Reset() { *x = PlanStatus{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[26] + mi := &file_service_motion_v1_motion_proto_msgTypes[24] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -1873,7 +1715,7 @@ func (x *PlanStatus) String() string { func (*PlanStatus) ProtoMessage() {} func (x *PlanStatus) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[26] + mi := &file_service_motion_v1_motion_proto_msgTypes[24] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -1886,7 +1728,7 @@ func (x *PlanStatus) ProtoReflect() protoreflect.Message { // Deprecated: Use PlanStatus.ProtoReflect.Descriptor instead. func (*PlanStatus) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{26} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{24} } func (x *PlanStatus) GetState() PlanState { @@ -1934,7 +1776,7 @@ type Plan struct { func (x *Plan) Reset() { *x = Plan{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[27] + mi := &file_service_motion_v1_motion_proto_msgTypes[25] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -1947,7 +1789,7 @@ func (x *Plan) String() string { func (*Plan) ProtoMessage() {} func (x *Plan) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[27] + mi := &file_service_motion_v1_motion_proto_msgTypes[25] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -1960,7 +1802,7 @@ func (x *Plan) ProtoReflect() protoreflect.Message { // Deprecated: Use Plan.ProtoReflect.Descriptor instead. func (*Plan) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{27} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{25} } func (x *Plan) GetId() string { @@ -2006,7 +1848,7 @@ type PlanStep struct { func (x *PlanStep) Reset() { *x = PlanStep{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[28] + mi := &file_service_motion_v1_motion_proto_msgTypes[26] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -2019,7 +1861,7 @@ func (x *PlanStep) String() string { func (*PlanStep) ProtoMessage() {} func (x *PlanStep) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[28] + mi := &file_service_motion_v1_motion_proto_msgTypes[26] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -2032,7 +1874,7 @@ func (x *PlanStep) ProtoReflect() protoreflect.Message { // Deprecated: Use PlanStep.ProtoReflect.Descriptor instead. func (*PlanStep) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{28} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{26} } func (x *PlanStep) GetStep() map[string]*ComponentState { @@ -2054,7 +1896,7 @@ type ComponentState struct { func (x *ComponentState) Reset() { *x = ComponentState{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[29] + mi := &file_service_motion_v1_motion_proto_msgTypes[27] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -2067,7 +1909,7 @@ func (x *ComponentState) String() string { func (*ComponentState) ProtoMessage() {} func (x *ComponentState) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[29] + mi := &file_service_motion_v1_motion_proto_msgTypes[27] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -2080,7 +1922,7 @@ func (x *ComponentState) ProtoReflect() protoreflect.Message { // Deprecated: Use ComponentState.ProtoReflect.Descriptor instead. func (*ComponentState) Descriptor() ([]byte, []int) { - return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{29} + return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{27} } func (x *ComponentState) GetPose() *v1.Pose { @@ -2102,7 +1944,7 @@ type CollisionSpecification_AllowedFrameCollisions struct { func (x *CollisionSpecification_AllowedFrameCollisions) Reset() { *x = CollisionSpecification_AllowedFrameCollisions{} if protoimpl.UnsafeEnabled { - mi := &file_service_motion_v1_motion_proto_msgTypes[30] + mi := &file_service_motion_v1_motion_proto_msgTypes[28] ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) ms.StoreMessageInfo(mi) } @@ -2115,7 +1957,7 @@ func (x *CollisionSpecification_AllowedFrameCollisions) String() string { func (*CollisionSpecification_AllowedFrameCollisions) ProtoMessage() {} func (x *CollisionSpecification_AllowedFrameCollisions) ProtoReflect() protoreflect.Message { - mi := &file_service_motion_v1_motion_proto_msgTypes[30] + mi := &file_service_motion_v1_motion_proto_msgTypes[28] if protoimpl.UnsafeEnabled && x != nil { ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) if ms.LoadMessageInfo() == nil { @@ -2128,7 +1970,7 @@ func (x *CollisionSpecification_AllowedFrameCollisions) ProtoReflect() protorefl // Deprecated: Use CollisionSpecification_AllowedFrameCollisions.ProtoReflect.Descriptor instead. func (*CollisionSpecification_AllowedFrameCollisions) Descriptor() ([]byte, []int) { - return 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make([]protoimpl.MessageInfo, 32) +var file_service_motion_v1_motion_proto_msgTypes = make([]protoimpl.MessageInfo, 30) var file_service_motion_v1_motion_proto_goTypes = []interface{}{ (PlanState)(0), // 0: viam.service.motion.v1.PlanState (*MoveRequest)(nil), // 1: viam.service.motion.v1.MoveRequest @@ -2683,123 +2478,113 @@ var file_service_motion_v1_motion_proto_goTypes = []interface{}{ (*MotionConfiguration)(nil), // 8: viam.service.motion.v1.MotionConfiguration (*MoveOnGlobeRequest)(nil), // 9: viam.service.motion.v1.MoveOnGlobeRequest (*MoveOnGlobeResponse)(nil), // 10: viam.service.motion.v1.MoveOnGlobeResponse - (*MoveOnGlobeNewRequest)(nil), // 11: viam.service.motion.v1.MoveOnGlobeNewRequest - (*MoveOnGlobeNewResponse)(nil), // 12: viam.service.motion.v1.MoveOnGlobeNewResponse - (*GetPoseRequest)(nil), // 13: viam.service.motion.v1.GetPoseRequest - (*GetPoseResponse)(nil), // 14: viam.service.motion.v1.GetPoseResponse - (*StopPlanRequest)(nil), // 15: viam.service.motion.v1.StopPlanRequest - (*StopPlanResponse)(nil), // 16: viam.service.motion.v1.StopPlanResponse - (*ListPlanStatusesRequest)(nil), // 17: viam.service.motion.v1.ListPlanStatusesRequest - (*ListPlanStatusesResponse)(nil), // 18: viam.service.motion.v1.ListPlanStatusesResponse - (*GetPlanRequest)(nil), // 19: viam.service.motion.v1.GetPlanRequest - (*GetPlanResponse)(nil), // 20: viam.service.motion.v1.GetPlanResponse - (*Constraints)(nil), // 21: viam.service.motion.v1.Constraints - (*LinearConstraint)(nil), // 22: viam.service.motion.v1.LinearConstraint - (*OrientationConstraint)(nil), // 23: viam.service.motion.v1.OrientationConstraint - (*CollisionSpecification)(nil), // 24: viam.service.motion.v1.CollisionSpecification - (*PlanWithStatus)(nil), // 25: viam.service.motion.v1.PlanWithStatus - (*PlanStatusWithID)(nil), // 26: viam.service.motion.v1.PlanStatusWithID - (*PlanStatus)(nil), // 27: viam.service.motion.v1.PlanStatus - (*Plan)(nil), // 28: viam.service.motion.v1.Plan - (*PlanStep)(nil), // 29: viam.service.motion.v1.PlanStep - (*ComponentState)(nil), // 30: viam.service.motion.v1.ComponentState - (*CollisionSpecification_AllowedFrameCollisions)(nil), // 31: viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions - nil, // 32: viam.service.motion.v1.PlanStep.StepEntry - (*v1.PoseInFrame)(nil), // 33: viam.common.v1.PoseInFrame - (*v1.ResourceName)(nil), // 34: viam.common.v1.ResourceName - (*v1.WorldState)(nil), // 35: viam.common.v1.WorldState - (*structpb.Struct)(nil), // 36: google.protobuf.Struct - (*v1.Pose)(nil), // 37: viam.common.v1.Pose - (*v1.GeoPoint)(nil), // 38: viam.common.v1.GeoPoint - (*v1.GeoObstacle)(nil), // 39: viam.common.v1.GeoObstacle - (*v1.Transform)(nil), // 40: viam.common.v1.Transform - (*timestamppb.Timestamp)(nil), // 41: google.protobuf.Timestamp - (*v1.DoCommandRequest)(nil), // 42: viam.common.v1.DoCommandRequest - (*v1.DoCommandResponse)(nil), // 43: viam.common.v1.DoCommandResponse + (*GetPoseRequest)(nil), // 11: viam.service.motion.v1.GetPoseRequest + (*GetPoseResponse)(nil), // 12: viam.service.motion.v1.GetPoseResponse + (*StopPlanRequest)(nil), // 13: viam.service.motion.v1.StopPlanRequest + (*StopPlanResponse)(nil), // 14: viam.service.motion.v1.StopPlanResponse + (*ListPlanStatusesRequest)(nil), // 15: viam.service.motion.v1.ListPlanStatusesRequest + (*ListPlanStatusesResponse)(nil), // 16: viam.service.motion.v1.ListPlanStatusesResponse + (*GetPlanRequest)(nil), // 17: viam.service.motion.v1.GetPlanRequest + (*GetPlanResponse)(nil), // 18: viam.service.motion.v1.GetPlanResponse + (*Constraints)(nil), // 19: viam.service.motion.v1.Constraints + (*LinearConstraint)(nil), // 20: viam.service.motion.v1.LinearConstraint + (*OrientationConstraint)(nil), // 21: viam.service.motion.v1.OrientationConstraint + (*CollisionSpecification)(nil), // 22: viam.service.motion.v1.CollisionSpecification + (*PlanWithStatus)(nil), // 23: viam.service.motion.v1.PlanWithStatus + (*PlanStatusWithID)(nil), // 24: viam.service.motion.v1.PlanStatusWithID + (*PlanStatus)(nil), // 25: viam.service.motion.v1.PlanStatus + (*Plan)(nil), // 26: viam.service.motion.v1.Plan + (*PlanStep)(nil), // 27: viam.service.motion.v1.PlanStep + (*ComponentState)(nil), // 28: viam.service.motion.v1.ComponentState + (*CollisionSpecification_AllowedFrameCollisions)(nil), // 29: viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions + nil, // 30: viam.service.motion.v1.PlanStep.StepEntry + (*v1.PoseInFrame)(nil), // 31: viam.common.v1.PoseInFrame + (*v1.ResourceName)(nil), // 32: viam.common.v1.ResourceName + (*v1.WorldState)(nil), // 33: viam.common.v1.WorldState + (*structpb.Struct)(nil), // 34: google.protobuf.Struct + (*v1.Pose)(nil), // 35: viam.common.v1.Pose + (*v1.GeoPoint)(nil), // 36: viam.common.v1.GeoPoint + (*v1.GeoObstacle)(nil), // 37: viam.common.v1.GeoObstacle + (*v1.Transform)(nil), // 38: viam.common.v1.Transform + (*timestamppb.Timestamp)(nil), // 39: google.protobuf.Timestamp + (*v1.DoCommandRequest)(nil), // 40: viam.common.v1.DoCommandRequest + (*v1.DoCommandResponse)(nil), // 41: viam.common.v1.DoCommandResponse } var file_service_motion_v1_motion_proto_depIdxs = []int32{ - 33, // 0: viam.service.motion.v1.MoveRequest.destination:type_name -> viam.common.v1.PoseInFrame - 34, // 1: viam.service.motion.v1.MoveRequest.component_name:type_name -> viam.common.v1.ResourceName - 35, // 2: viam.service.motion.v1.MoveRequest.world_state:type_name -> viam.common.v1.WorldState - 21, // 3: viam.service.motion.v1.MoveRequest.constraints:type_name -> viam.service.motion.v1.Constraints - 36, // 4: viam.service.motion.v1.MoveRequest.extra:type_name -> google.protobuf.Struct - 37, // 5: viam.service.motion.v1.MoveOnMapNewRequest.destination:type_name -> viam.common.v1.Pose - 34, // 6: viam.service.motion.v1.MoveOnMapNewRequest.component_name:type_name -> viam.common.v1.ResourceName - 34, // 7: viam.service.motion.v1.MoveOnMapNewRequest.slam_service_name:type_name -> viam.common.v1.ResourceName + 31, // 0: viam.service.motion.v1.MoveRequest.destination:type_name -> viam.common.v1.PoseInFrame + 32, // 1: viam.service.motion.v1.MoveRequest.component_name:type_name -> viam.common.v1.ResourceName + 33, // 2: viam.service.motion.v1.MoveRequest.world_state:type_name -> viam.common.v1.WorldState + 19, // 3: viam.service.motion.v1.MoveRequest.constraints:type_name -> viam.service.motion.v1.Constraints + 34, // 4: viam.service.motion.v1.MoveRequest.extra:type_name -> google.protobuf.Struct + 35, // 5: viam.service.motion.v1.MoveOnMapNewRequest.destination:type_name -> viam.common.v1.Pose + 32, // 6: viam.service.motion.v1.MoveOnMapNewRequest.component_name:type_name -> viam.common.v1.ResourceName + 32, // 7: viam.service.motion.v1.MoveOnMapNewRequest.slam_service_name:type_name -> viam.common.v1.ResourceName 8, // 8: viam.service.motion.v1.MoveOnMapNewRequest.motion_configuration:type_name -> viam.service.motion.v1.MotionConfiguration - 36, // 9: viam.service.motion.v1.MoveOnMapNewRequest.extra:type_name -> google.protobuf.Struct - 37, // 10: viam.service.motion.v1.MoveOnMapRequest.destination:type_name -> viam.common.v1.Pose - 34, // 11: viam.service.motion.v1.MoveOnMapRequest.component_name:type_name -> viam.common.v1.ResourceName - 34, // 12: viam.service.motion.v1.MoveOnMapRequest.slam_service_name:type_name -> viam.common.v1.ResourceName - 36, // 13: viam.service.motion.v1.MoveOnMapRequest.extra:type_name -> google.protobuf.Struct - 34, // 14: viam.service.motion.v1.ObstacleDetector.vision_service:type_name -> viam.common.v1.ResourceName - 34, // 15: viam.service.motion.v1.ObstacleDetector.camera:type_name -> viam.common.v1.ResourceName + 34, // 9: viam.service.motion.v1.MoveOnMapNewRequest.extra:type_name -> google.protobuf.Struct + 35, // 10: viam.service.motion.v1.MoveOnMapRequest.destination:type_name -> viam.common.v1.Pose + 32, // 11: viam.service.motion.v1.MoveOnMapRequest.component_name:type_name -> viam.common.v1.ResourceName + 32, // 12: viam.service.motion.v1.MoveOnMapRequest.slam_service_name:type_name -> viam.common.v1.ResourceName + 34, // 13: viam.service.motion.v1.MoveOnMapRequest.extra:type_name -> google.protobuf.Struct + 32, // 14: viam.service.motion.v1.ObstacleDetector.vision_service:type_name -> viam.common.v1.ResourceName + 32, // 15: viam.service.motion.v1.ObstacleDetector.camera:type_name -> viam.common.v1.ResourceName 7, // 16: viam.service.motion.v1.MotionConfiguration.obstacle_detectors:type_name -> viam.service.motion.v1.ObstacleDetector - 38, // 17: viam.service.motion.v1.MoveOnGlobeRequest.destination:type_name -> viam.common.v1.GeoPoint - 34, // 18: viam.service.motion.v1.MoveOnGlobeRequest.component_name:type_name -> viam.common.v1.ResourceName - 34, // 19: viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name:type_name -> viam.common.v1.ResourceName - 39, // 20: viam.service.motion.v1.MoveOnGlobeRequest.obstacles:type_name -> viam.common.v1.GeoObstacle + 36, // 17: viam.service.motion.v1.MoveOnGlobeRequest.destination:type_name -> viam.common.v1.GeoPoint + 32, // 18: viam.service.motion.v1.MoveOnGlobeRequest.component_name:type_name -> viam.common.v1.ResourceName + 32, // 19: viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name:type_name -> viam.common.v1.ResourceName + 37, // 20: viam.service.motion.v1.MoveOnGlobeRequest.obstacles:type_name -> viam.common.v1.GeoObstacle 8, // 21: viam.service.motion.v1.MoveOnGlobeRequest.motion_configuration:type_name -> viam.service.motion.v1.MotionConfiguration - 36, // 22: viam.service.motion.v1.MoveOnGlobeRequest.extra:type_name -> google.protobuf.Struct - 38, // 23: viam.service.motion.v1.MoveOnGlobeNewRequest.destination:type_name -> viam.common.v1.GeoPoint - 34, // 24: viam.service.motion.v1.MoveOnGlobeNewRequest.component_name:type_name -> viam.common.v1.ResourceName - 34, // 25: viam.service.motion.v1.MoveOnGlobeNewRequest.movement_sensor_name:type_name -> viam.common.v1.ResourceName - 39, // 26: viam.service.motion.v1.MoveOnGlobeNewRequest.obstacles:type_name -> viam.common.v1.GeoObstacle - 8, // 27: viam.service.motion.v1.MoveOnGlobeNewRequest.motion_configuration:type_name -> viam.service.motion.v1.MotionConfiguration - 36, // 28: viam.service.motion.v1.MoveOnGlobeNewRequest.extra:type_name -> google.protobuf.Struct - 34, // 29: viam.service.motion.v1.GetPoseRequest.component_name:type_name -> viam.common.v1.ResourceName - 40, // 30: viam.service.motion.v1.GetPoseRequest.supplemental_transforms:type_name -> viam.common.v1.Transform - 36, // 31: viam.service.motion.v1.GetPoseRequest.extra:type_name -> google.protobuf.Struct - 33, // 32: viam.service.motion.v1.GetPoseResponse.pose:type_name -> viam.common.v1.PoseInFrame - 34, // 33: viam.service.motion.v1.StopPlanRequest.component_name:type_name -> viam.common.v1.ResourceName - 36, // 34: viam.service.motion.v1.StopPlanRequest.extra:type_name -> google.protobuf.Struct - 36, // 35: viam.service.motion.v1.ListPlanStatusesRequest.extra:type_name -> google.protobuf.Struct - 26, // 36: viam.service.motion.v1.ListPlanStatusesResponse.plan_statuses_with_ids:type_name -> viam.service.motion.v1.PlanStatusWithID - 34, // 37: viam.service.motion.v1.GetPlanRequest.component_name:type_name -> viam.common.v1.ResourceName - 36, // 38: viam.service.motion.v1.GetPlanRequest.extra:type_name -> google.protobuf.Struct - 25, // 39: viam.service.motion.v1.GetPlanResponse.current_plan_with_status:type_name -> viam.service.motion.v1.PlanWithStatus - 25, // 40: viam.service.motion.v1.GetPlanResponse.replan_history:type_name -> viam.service.motion.v1.PlanWithStatus - 22, // 41: viam.service.motion.v1.Constraints.linear_constraint:type_name -> viam.service.motion.v1.LinearConstraint - 23, // 42: viam.service.motion.v1.Constraints.orientation_constraint:type_name -> viam.service.motion.v1.OrientationConstraint - 24, // 43: viam.service.motion.v1.Constraints.collision_specification:type_name -> viam.service.motion.v1.CollisionSpecification - 31, // 44: viam.service.motion.v1.CollisionSpecification.allows:type_name -> viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions - 28, // 45: viam.service.motion.v1.PlanWithStatus.plan:type_name -> viam.service.motion.v1.Plan - 27, // 46: viam.service.motion.v1.PlanWithStatus.status:type_name -> viam.service.motion.v1.PlanStatus - 27, // 47: viam.service.motion.v1.PlanWithStatus.status_history:type_name -> viam.service.motion.v1.PlanStatus - 34, // 48: viam.service.motion.v1.PlanStatusWithID.component_name:type_name -> viam.common.v1.ResourceName - 27, // 49: viam.service.motion.v1.PlanStatusWithID.status:type_name -> viam.service.motion.v1.PlanStatus - 0, // 50: viam.service.motion.v1.PlanStatus.state:type_name -> viam.service.motion.v1.PlanState - 41, // 51: viam.service.motion.v1.PlanStatus.timestamp:type_name -> google.protobuf.Timestamp - 34, // 52: viam.service.motion.v1.Plan.component_name:type_name -> viam.common.v1.ResourceName - 29, // 53: viam.service.motion.v1.Plan.steps:type_name -> viam.service.motion.v1.PlanStep - 32, // 54: viam.service.motion.v1.PlanStep.step:type_name -> viam.service.motion.v1.PlanStep.StepEntry - 37, // 55: viam.service.motion.v1.ComponentState.pose:type_name -> viam.common.v1.Pose - 30, // 56: viam.service.motion.v1.PlanStep.StepEntry.value:type_name -> viam.service.motion.v1.ComponentState - 1, // 57: viam.service.motion.v1.MotionService.Move:input_type -> viam.service.motion.v1.MoveRequest - 5, // 58: viam.service.motion.v1.MotionService.MoveOnMap:input_type -> viam.service.motion.v1.MoveOnMapRequest - 3, // 59: viam.service.motion.v1.MotionService.MoveOnMapNew:input_type -> viam.service.motion.v1.MoveOnMapNewRequest - 9, // 60: viam.service.motion.v1.MotionService.MoveOnGlobe:input_type -> viam.service.motion.v1.MoveOnGlobeRequest - 11, // 61: viam.service.motion.v1.MotionService.MoveOnGlobeNew:input_type -> viam.service.motion.v1.MoveOnGlobeNewRequest - 13, // 62: viam.service.motion.v1.MotionService.GetPose:input_type -> viam.service.motion.v1.GetPoseRequest - 15, // 63: viam.service.motion.v1.MotionService.StopPlan:input_type -> viam.service.motion.v1.StopPlanRequest - 17, // 64: viam.service.motion.v1.MotionService.ListPlanStatuses:input_type -> viam.service.motion.v1.ListPlanStatusesRequest - 19, // 65: viam.service.motion.v1.MotionService.GetPlan:input_type -> viam.service.motion.v1.GetPlanRequest - 42, // 66: viam.service.motion.v1.MotionService.DoCommand:input_type -> viam.common.v1.DoCommandRequest - 2, // 67: viam.service.motion.v1.MotionService.Move:output_type -> viam.service.motion.v1.MoveResponse - 6, // 68: viam.service.motion.v1.MotionService.MoveOnMap:output_type -> viam.service.motion.v1.MoveOnMapResponse - 4, // 69: viam.service.motion.v1.MotionService.MoveOnMapNew:output_type -> viam.service.motion.v1.MoveOnMapNewResponse - 10, // 70: viam.service.motion.v1.MotionService.MoveOnGlobe:output_type -> viam.service.motion.v1.MoveOnGlobeResponse - 12, // 71: viam.service.motion.v1.MotionService.MoveOnGlobeNew:output_type -> viam.service.motion.v1.MoveOnGlobeNewResponse - 14, // 72: viam.service.motion.v1.MotionService.GetPose:output_type -> viam.service.motion.v1.GetPoseResponse - 16, // 73: viam.service.motion.v1.MotionService.StopPlan:output_type -> viam.service.motion.v1.StopPlanResponse - 18, // 74: viam.service.motion.v1.MotionService.ListPlanStatuses:output_type -> viam.service.motion.v1.ListPlanStatusesResponse - 20, // 75: viam.service.motion.v1.MotionService.GetPlan:output_type -> viam.service.motion.v1.GetPlanResponse - 43, // 76: viam.service.motion.v1.MotionService.DoCommand:output_type -> viam.common.v1.DoCommandResponse - 67, // [67:77] is the sub-list for method output_type - 57, // [57:67] is the sub-list for method input_type - 57, // [57:57] is the sub-list for extension type_name - 57, // [57:57] is the sub-list for extension extendee - 0, // [0:57] is the sub-list for field type_name + 34, // 22: viam.service.motion.v1.MoveOnGlobeRequest.extra:type_name -> google.protobuf.Struct + 32, // 23: viam.service.motion.v1.GetPoseRequest.component_name:type_name -> viam.common.v1.ResourceName + 38, // 24: viam.service.motion.v1.GetPoseRequest.supplemental_transforms:type_name -> viam.common.v1.Transform + 34, // 25: viam.service.motion.v1.GetPoseRequest.extra:type_name -> google.protobuf.Struct + 31, // 26: viam.service.motion.v1.GetPoseResponse.pose:type_name -> viam.common.v1.PoseInFrame + 32, // 27: viam.service.motion.v1.StopPlanRequest.component_name:type_name -> viam.common.v1.ResourceName + 34, // 28: viam.service.motion.v1.StopPlanRequest.extra:type_name -> google.protobuf.Struct + 34, // 29: viam.service.motion.v1.ListPlanStatusesRequest.extra:type_name -> google.protobuf.Struct + 24, // 30: viam.service.motion.v1.ListPlanStatusesResponse.plan_statuses_with_ids:type_name -> viam.service.motion.v1.PlanStatusWithID + 32, // 31: viam.service.motion.v1.GetPlanRequest.component_name:type_name -> viam.common.v1.ResourceName + 34, // 32: viam.service.motion.v1.GetPlanRequest.extra:type_name -> google.protobuf.Struct + 23, // 33: viam.service.motion.v1.GetPlanResponse.current_plan_with_status:type_name -> viam.service.motion.v1.PlanWithStatus + 23, // 34: viam.service.motion.v1.GetPlanResponse.replan_history:type_name -> viam.service.motion.v1.PlanWithStatus + 20, // 35: viam.service.motion.v1.Constraints.linear_constraint:type_name -> viam.service.motion.v1.LinearConstraint + 21, // 36: viam.service.motion.v1.Constraints.orientation_constraint:type_name -> viam.service.motion.v1.OrientationConstraint + 22, // 37: viam.service.motion.v1.Constraints.collision_specification:type_name -> viam.service.motion.v1.CollisionSpecification + 29, // 38: viam.service.motion.v1.CollisionSpecification.allows:type_name -> viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions + 26, // 39: viam.service.motion.v1.PlanWithStatus.plan:type_name -> viam.service.motion.v1.Plan + 25, // 40: viam.service.motion.v1.PlanWithStatus.status:type_name -> viam.service.motion.v1.PlanStatus + 25, // 41: viam.service.motion.v1.PlanWithStatus.status_history:type_name -> viam.service.motion.v1.PlanStatus + 32, // 42: viam.service.motion.v1.PlanStatusWithID.component_name:type_name -> viam.common.v1.ResourceName + 25, // 43: viam.service.motion.v1.PlanStatusWithID.status:type_name -> viam.service.motion.v1.PlanStatus + 0, // 44: viam.service.motion.v1.PlanStatus.state:type_name -> viam.service.motion.v1.PlanState + 39, // 45: viam.service.motion.v1.PlanStatus.timestamp:type_name -> google.protobuf.Timestamp + 32, // 46: viam.service.motion.v1.Plan.component_name:type_name -> viam.common.v1.ResourceName + 27, // 47: viam.service.motion.v1.Plan.steps:type_name -> viam.service.motion.v1.PlanStep + 30, // 48: viam.service.motion.v1.PlanStep.step:type_name -> viam.service.motion.v1.PlanStep.StepEntry + 35, // 49: viam.service.motion.v1.ComponentState.pose:type_name -> viam.common.v1.Pose + 28, // 50: viam.service.motion.v1.PlanStep.StepEntry.value:type_name -> viam.service.motion.v1.ComponentState + 1, // 51: viam.service.motion.v1.MotionService.Move:input_type -> viam.service.motion.v1.MoveRequest + 5, // 52: viam.service.motion.v1.MotionService.MoveOnMap:input_type -> viam.service.motion.v1.MoveOnMapRequest + 3, // 53: viam.service.motion.v1.MotionService.MoveOnMapNew:input_type -> viam.service.motion.v1.MoveOnMapNewRequest + 9, // 54: viam.service.motion.v1.MotionService.MoveOnGlobe:input_type -> viam.service.motion.v1.MoveOnGlobeRequest + 11, // 55: viam.service.motion.v1.MotionService.GetPose:input_type -> viam.service.motion.v1.GetPoseRequest + 13, // 56: viam.service.motion.v1.MotionService.StopPlan:input_type -> viam.service.motion.v1.StopPlanRequest + 15, // 57: viam.service.motion.v1.MotionService.ListPlanStatuses:input_type -> viam.service.motion.v1.ListPlanStatusesRequest + 17, // 58: viam.service.motion.v1.MotionService.GetPlan:input_type -> viam.service.motion.v1.GetPlanRequest + 40, // 59: viam.service.motion.v1.MotionService.DoCommand:input_type -> viam.common.v1.DoCommandRequest + 2, // 60: viam.service.motion.v1.MotionService.Move:output_type -> viam.service.motion.v1.MoveResponse + 6, // 61: viam.service.motion.v1.MotionService.MoveOnMap:output_type -> viam.service.motion.v1.MoveOnMapResponse + 4, // 62: viam.service.motion.v1.MotionService.MoveOnMapNew:output_type -> viam.service.motion.v1.MoveOnMapNewResponse + 10, // 63: viam.service.motion.v1.MotionService.MoveOnGlobe:output_type -> viam.service.motion.v1.MoveOnGlobeResponse + 12, // 64: viam.service.motion.v1.MotionService.GetPose:output_type -> viam.service.motion.v1.GetPoseResponse + 14, // 65: viam.service.motion.v1.MotionService.StopPlan:output_type -> viam.service.motion.v1.StopPlanResponse + 16, // 66: viam.service.motion.v1.MotionService.ListPlanStatuses:output_type -> viam.service.motion.v1.ListPlanStatusesResponse + 18, // 67: viam.service.motion.v1.MotionService.GetPlan:output_type -> viam.service.motion.v1.GetPlanResponse + 41, // 68: viam.service.motion.v1.MotionService.DoCommand:output_type -> viam.common.v1.DoCommandResponse + 60, // [60:69] is the sub-list for method output_type + 51, // [51:60] is the sub-list for method input_type + 51, // [51:51] is the sub-list for extension type_name + 51, // [51:51] is the sub-list for extension extendee + 0, // [0:51] is the sub-list for field type_name } func init() { file_service_motion_v1_motion_proto_init() } @@ -2929,30 +2714,6 @@ func file_service_motion_v1_motion_proto_init() { } } file_service_motion_v1_motion_proto_msgTypes[10].Exporter = func(v interface{}, i int) interface{} { - switch v := v.(*MoveOnGlobeNewRequest); i { - case 0: - return &v.state - case 1: - return &v.sizeCache - case 2: - return &v.unknownFields - default: - return nil - } - } - file_service_motion_v1_motion_proto_msgTypes[11].Exporter = func(v interface{}, i int) interface{} { - switch v := v.(*MoveOnGlobeNewResponse); i { - case 0: - return &v.state - case 1: - return &v.sizeCache - case 2: - return &v.unknownFields - default: - return nil - } - } - file_service_motion_v1_motion_proto_msgTypes[12].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*GetPoseRequest); i { case 0: return &v.state @@ -2964,7 +2725,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[13].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[11].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*GetPoseResponse); i { case 0: return &v.state @@ -2976,7 +2737,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[14].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[12].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*StopPlanRequest); i { case 0: return &v.state @@ -2988,7 +2749,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[15].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[13].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*StopPlanResponse); i { case 0: return &v.state @@ -3000,7 +2761,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[16].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[14].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*ListPlanStatusesRequest); i { case 0: return &v.state @@ -3012,7 +2773,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[17].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[15].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*ListPlanStatusesResponse); i { case 0: return &v.state @@ -3024,7 +2785,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[18].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[16].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*GetPlanRequest); i { case 0: return &v.state @@ -3036,7 +2797,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[19].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[17].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*GetPlanResponse); i { case 0: return &v.state @@ -3048,7 +2809,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[20].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[18].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*Constraints); i { case 0: return &v.state @@ -3060,7 +2821,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[21].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[19].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*LinearConstraint); i { case 0: return &v.state @@ -3072,7 +2833,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[22].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[20].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*OrientationConstraint); i { case 0: return &v.state @@ -3084,7 +2845,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[23].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[21].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*CollisionSpecification); i { case 0: return &v.state @@ -3096,7 +2857,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[24].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[22].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*PlanWithStatus); i { case 0: return &v.state @@ -3108,7 +2869,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[25].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[23].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*PlanStatusWithID); i { case 0: return &v.state @@ -3120,7 +2881,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[26].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[24].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*PlanStatus); i { case 0: return &v.state @@ -3132,7 +2893,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[27].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[25].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*Plan); i { case 0: return &v.state @@ -3144,7 +2905,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[28].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[26].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*PlanStep); i { case 0: return &v.state @@ -3156,7 +2917,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[29].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[27].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*ComponentState); i { case 0: return &v.state @@ -3168,7 +2929,7 @@ func file_service_motion_v1_motion_proto_init() { return nil } } - file_service_motion_v1_motion_proto_msgTypes[30].Exporter = func(v interface{}, i int) interface{} { + file_service_motion_v1_motion_proto_msgTypes[28].Exporter = func(v interface{}, i int) interface{} { switch v := v.(*CollisionSpecification_AllowedFrameCollisions); i { case 0: return &v.state @@ -3185,18 +2946,17 @@ func file_service_motion_v1_motion_proto_init() { file_service_motion_v1_motion_proto_msgTypes[2].OneofWrappers = []interface{}{} file_service_motion_v1_motion_proto_msgTypes[7].OneofWrappers = []interface{}{} file_service_motion_v1_motion_proto_msgTypes[8].OneofWrappers = []interface{}{} - file_service_motion_v1_motion_proto_msgTypes[10].OneofWrappers = []interface{}{} - file_service_motion_v1_motion_proto_msgTypes[18].OneofWrappers = []interface{}{} - file_service_motion_v1_motion_proto_msgTypes[21].OneofWrappers = []interface{}{} - file_service_motion_v1_motion_proto_msgTypes[22].OneofWrappers = []interface{}{} - file_service_motion_v1_motion_proto_msgTypes[26].OneofWrappers = []interface{}{} + file_service_motion_v1_motion_proto_msgTypes[16].OneofWrappers = []interface{}{} + file_service_motion_v1_motion_proto_msgTypes[19].OneofWrappers = []interface{}{} + file_service_motion_v1_motion_proto_msgTypes[20].OneofWrappers = []interface{}{} + file_service_motion_v1_motion_proto_msgTypes[24].OneofWrappers = []interface{}{} type x struct{} out := protoimpl.TypeBuilder{ File: protoimpl.DescBuilder{ GoPackagePath: reflect.TypeOf(x{}).PkgPath(), RawDescriptor: file_service_motion_v1_motion_proto_rawDesc, NumEnums: 1, - NumMessages: 32, + NumMessages: 30, NumExtensions: 0, NumServices: 1, }, diff --git a/service/motion/v1/motion.pb.gw.go b/service/motion/v1/motion.pb.gw.go index 672c48356..6fa5ecc02 100644 --- a/service/motion/v1/motion.pb.gw.go +++ b/service/motion/v1/motion.pb.gw.go @@ -15,7 +15,7 @@ import ( "github.com/grpc-ecosystem/grpc-gateway/v2/runtime" "github.com/grpc-ecosystem/grpc-gateway/v2/utilities" - v1_0 "go.viam.com/api/common/v1" + "go.viam.com/api/common/v1" "google.golang.org/grpc" "google.golang.org/grpc/codes" "google.golang.org/grpc/grpclog" @@ -312,76 +312,6 @@ func local_request_MotionService_MoveOnGlobe_0(ctx context.Context, marshaler ru } -var ( - filter_MotionService_MoveOnGlobeNew_0 = &utilities.DoubleArray{Encoding: map[string]int{"name": 0}, Base: []int{1, 1, 0}, Check: []int{0, 1, 2}} -) - -func request_MotionService_MoveOnGlobeNew_0(ctx context.Context, marshaler runtime.Marshaler, client MotionServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq MoveOnGlobeNewRequest - var metadata runtime.ServerMetadata - - var ( - val string - ok bool - err error - _ = err - ) - - val, ok = pathParams["name"] - if !ok { - return nil, metadata, status.Errorf(codes.InvalidArgument, "missing parameter %s", "name") - } - - protoReq.Name, err = runtime.String(val) - if err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "type mismatch, parameter: %s, error: %v", "name", err) - } - - if err := req.ParseForm(); err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) - } - if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_MotionService_MoveOnGlobeNew_0); err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) - } - - msg, err := client.MoveOnGlobeNew(ctx, &protoReq, grpc.Header(&metadata.HeaderMD), grpc.Trailer(&metadata.TrailerMD)) - return msg, metadata, err - -} - -func local_request_MotionService_MoveOnGlobeNew_0(ctx context.Context, marshaler runtime.Marshaler, server MotionServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq MoveOnGlobeNewRequest - var metadata runtime.ServerMetadata - - var ( - val string - ok bool - err error - _ = err - ) - - val, ok = pathParams["name"] - if !ok { - return nil, metadata, status.Errorf(codes.InvalidArgument, "missing parameter %s", "name") - } - - protoReq.Name, err = runtime.String(val) - if err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "type mismatch, parameter: %s, error: %v", "name", err) - } - - if err := req.ParseForm(); err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) - } - if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_MotionService_MoveOnGlobeNew_0); err != nil { - return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err) - } - - msg, err := server.MoveOnGlobeNew(ctx, &protoReq) - return msg, metadata, err - -} - var ( filter_MotionService_GetPose_0 = &utilities.DoubleArray{Encoding: map[string]int{"name": 0}, Base: []int{1, 1, 0}, Check: []int{0, 1, 2}} ) @@ -667,7 +597,7 @@ var ( ) func request_MotionService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client MotionServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.DoCommandRequest + var protoReq v1.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -700,7 +630,7 @@ func request_MotionService_DoCommand_0(ctx context.Context, marshaler runtime.Ma } func local_request_MotionService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server MotionServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.DoCommandRequest + var protoReq v1.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -838,31 +768,6 @@ func RegisterMotionServiceHandlerServer(ctx context.Context, mux *runtime.ServeM }) - mux.Handle("GET", pattern_MotionService_MoveOnGlobeNew_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { - ctx, cancel := context.WithCancel(req.Context()) - defer cancel() - var stream runtime.ServerTransportStream - ctx = grpc.NewContextWithServerTransportStream(ctx, &stream) - inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) - var err error - var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.service.motion.v1.MotionService/MoveOnGlobeNew", runtime.WithHTTPPathPattern("/viam/api/v1/service/motion/{name}/move_on_globe_new")) - if err != nil { - runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) - return - } - resp, md, err := local_request_MotionService_MoveOnGlobeNew_0(annotatedContext, inboundMarshaler, server, req, pathParams) - md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer()) - annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) - if err != nil { - runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) - return - } - - forward_MotionService_MoveOnGlobeNew_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) - - }) - mux.Handle("GET", pattern_MotionService_GetPose_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() @@ -1117,28 +1022,6 @@ func RegisterMotionServiceHandlerClient(ctx context.Context, mux *runtime.ServeM }) - mux.Handle("GET", pattern_MotionService_MoveOnGlobeNew_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { - ctx, cancel := context.WithCancel(req.Context()) - defer cancel() - inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req) - var err error - var annotatedContext context.Context - annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.service.motion.v1.MotionService/MoveOnGlobeNew", runtime.WithHTTPPathPattern("/viam/api/v1/service/motion/{name}/move_on_globe_new")) - if err != nil { - runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err) - return - } - resp, md, err := request_MotionService_MoveOnGlobeNew_0(annotatedContext, inboundMarshaler, client, req, pathParams) - annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md) - if err != nil { - runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err) - return - } - - forward_MotionService_MoveOnGlobeNew_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...) - - }) - mux.Handle("GET", pattern_MotionService_GetPose_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) { ctx, cancel := context.WithCancel(req.Context()) defer cancel() @@ -1261,8 +1144,6 @@ var ( pattern_MotionService_MoveOnGlobe_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 1, 0, 4, 1, 5, 5, 2, 6}, []string{"viam", "api", "v1", "service", "motion", "name", "move_on_globe"}, "")) - pattern_MotionService_MoveOnGlobeNew_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 1, 0, 4, 1, 5, 5, 2, 6}, []string{"viam", "api", "v1", "service", "motion", "name", "move_on_globe_new"}, "")) - pattern_MotionService_GetPose_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 1, 0, 4, 1, 5, 5, 2, 6}, []string{"viam", "api", "v1", "service", "motion", "name", "pose"}, "")) pattern_MotionService_StopPlan_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 1, 0, 4, 1, 5, 5, 2, 6}, []string{"viam", "api", "v1", "service", "motion", "name", "stop_plan"}, "")) @@ -1283,8 +1164,6 @@ var ( forward_MotionService_MoveOnGlobe_0 = runtime.ForwardResponseMessage - forward_MotionService_MoveOnGlobeNew_0 = runtime.ForwardResponseMessage - forward_MotionService_GetPose_0 = runtime.ForwardResponseMessage forward_MotionService_StopPlan_0 = runtime.ForwardResponseMessage diff --git a/service/motion/v1/motion_grpc.pb.go b/service/motion/v1/motion_grpc.pb.go index 7f0a03854..89ebb4ccb 100644 --- a/service/motion/v1/motion_grpc.pb.go +++ b/service/motion/v1/motion_grpc.pb.go @@ -29,10 +29,11 @@ type MotionServiceClient interface { // with respect to the SLAM map's origin. // May replan to avoid obstacles MoveOnMapNew(ctx context.Context, in *MoveOnMapNewRequest, opts ...grpc.CallOption) (*MoveOnMapNewResponse, error) + // Generate and begin executing an execution to move a component + // to a specific GPS coordinate. + // May replan to avoid obstacles & account for location drift. + // Creates a new plan upon replanning. MoveOnGlobe(ctx context.Context, in *MoveOnGlobeRequest, opts ...grpc.CallOption) (*MoveOnGlobeResponse, error) - // Generate a plan and move a component to a specific GPS coordinate. - // May replan to avoid obstacles. - MoveOnGlobeNew(ctx context.Context, in *MoveOnGlobeNewRequest, opts ...grpc.CallOption) (*MoveOnGlobeNewResponse, error) GetPose(ctx context.Context, in *GetPoseRequest, opts ...grpc.CallOption) (*GetPoseResponse, error) // Stops a Plan StopPlan(ctx context.Context, in *StopPlanRequest, opts ...grpc.CallOption) (*StopPlanResponse, error) @@ -97,15 +98,6 @@ func (c *motionServiceClient) MoveOnGlobe(ctx context.Context, in *MoveOnGlobeRe return out, nil } -func (c *motionServiceClient) MoveOnGlobeNew(ctx context.Context, in *MoveOnGlobeNewRequest, opts ...grpc.CallOption) (*MoveOnGlobeNewResponse, error) { - out := new(MoveOnGlobeNewResponse) - err := c.cc.Invoke(ctx, "/viam.service.motion.v1.MotionService/MoveOnGlobeNew", in, out, opts...) - if err != nil { - return nil, err - } - return out, nil -} - func (c *motionServiceClient) GetPose(ctx context.Context, in *GetPoseRequest, opts ...grpc.CallOption) (*GetPoseResponse, error) { out := new(GetPoseResponse) err := c.cc.Invoke(ctx, "/viam.service.motion.v1.MotionService/GetPose", in, out, opts...) @@ -161,10 +153,11 @@ type MotionServiceServer interface { // with respect to the SLAM map's origin. // May replan to avoid obstacles MoveOnMapNew(context.Context, *MoveOnMapNewRequest) (*MoveOnMapNewResponse, error) + // Generate and begin executing an execution to move a component + // to a specific GPS coordinate. + // May replan to avoid obstacles & account for location drift. + // Creates a new plan upon replanning. MoveOnGlobe(context.Context, *MoveOnGlobeRequest) (*MoveOnGlobeResponse, error) - // Generate a plan and move a component to a specific GPS coordinate. - // May replan to avoid obstacles. - MoveOnGlobeNew(context.Context, *MoveOnGlobeNewRequest) (*MoveOnGlobeNewResponse, error) GetPose(context.Context, *GetPoseRequest) (*GetPoseResponse, error) // Stops a Plan StopPlan(context.Context, *StopPlanRequest) (*StopPlanResponse, error) @@ -202,9 +195,6 @@ func (UnimplementedMotionServiceServer) MoveOnMapNew(context.Context, *MoveOnMap func (UnimplementedMotionServiceServer) MoveOnGlobe(context.Context, *MoveOnGlobeRequest) (*MoveOnGlobeResponse, error) { return nil, status.Errorf(codes.Unimplemented, "method MoveOnGlobe not implemented") } -func (UnimplementedMotionServiceServer) MoveOnGlobeNew(context.Context, *MoveOnGlobeNewRequest) (*MoveOnGlobeNewResponse, error) { - return nil, status.Errorf(codes.Unimplemented, "method MoveOnGlobeNew not implemented") -} func (UnimplementedMotionServiceServer) GetPose(context.Context, *GetPoseRequest) (*GetPoseResponse, error) { return nil, status.Errorf(codes.Unimplemented, "method GetPose not implemented") } @@ -305,24 +295,6 @@ func _MotionService_MoveOnGlobe_Handler(srv interface{}, ctx context.Context, de return interceptor(ctx, in, info, handler) } -func _MotionService_MoveOnGlobeNew_Handler(srv interface{}, ctx context.Context, dec func(interface{}) error, interceptor grpc.UnaryServerInterceptor) (interface{}, error) { - in := new(MoveOnGlobeNewRequest) - if err := dec(in); err != nil { - return nil, err - } - if interceptor == nil { - return srv.(MotionServiceServer).MoveOnGlobeNew(ctx, in) - } - info := &grpc.UnaryServerInfo{ - Server: srv, - FullMethod: "/viam.service.motion.v1.MotionService/MoveOnGlobeNew", - } - handler := func(ctx context.Context, req interface{}) (interface{}, error) { - return srv.(MotionServiceServer).MoveOnGlobeNew(ctx, req.(*MoveOnGlobeNewRequest)) - } - return interceptor(ctx, in, info, handler) -} - func _MotionService_GetPose_Handler(srv interface{}, ctx context.Context, dec func(interface{}) error, interceptor grpc.UnaryServerInterceptor) (interface{}, error) { in := new(GetPoseRequest) if err := dec(in); err != nil { @@ -436,10 +408,6 @@ var MotionService_ServiceDesc = grpc.ServiceDesc{ MethodName: "MoveOnGlobe", Handler: _MotionService_MoveOnGlobe_Handler, }, - { - MethodName: "MoveOnGlobeNew", - Handler: _MotionService_MoveOnGlobeNew_Handler, - }, { MethodName: "GetPose", Handler: _MotionService_GetPose_Handler, diff --git a/service/sensors/v1/sensors.pb.gw.go b/service/sensors/v1/sensors.pb.gw.go index b0c69d02f..9fc2a2808 100644 --- a/service/sensors/v1/sensors.pb.gw.go +++ b/service/sensors/v1/sensors.pb.gw.go @@ -15,7 +15,7 @@ import ( "github.com/grpc-ecosystem/grpc-gateway/v2/runtime" "github.com/grpc-ecosystem/grpc-gateway/v2/utilities" - "go.viam.com/api/common/v1" + v1_0 "go.viam.com/api/common/v1" "google.golang.org/grpc" "google.golang.org/grpc/codes" "google.golang.org/grpc/grpclog" @@ -177,7 +177,7 @@ var ( ) func request_SensorsService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client SensorsServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.DoCommandRequest + var protoReq v1_0.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -210,7 +210,7 @@ func request_SensorsService_DoCommand_0(ctx context.Context, marshaler runtime.M } func local_request_SensorsService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server SensorsServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.DoCommandRequest + var protoReq v1_0.DoCommandRequest var metadata runtime.ServerMetadata var ( diff --git a/service/slam/v1/slam.pb.gw.go b/service/slam/v1/slam.pb.gw.go index 7803f2636..a26deb244 100644 --- a/service/slam/v1/slam.pb.gw.go +++ b/service/slam/v1/slam.pb.gw.go @@ -15,7 +15,7 @@ import ( "github.com/grpc-ecosystem/grpc-gateway/v2/runtime" "github.com/grpc-ecosystem/grpc-gateway/v2/utilities" - v1_0 "go.viam.com/api/common/v1" + "go.viam.com/api/common/v1" "google.golang.org/grpc" "google.golang.org/grpc/codes" "google.golang.org/grpc/grpclog" @@ -209,7 +209,7 @@ var ( ) func request_SLAMService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client SLAMServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.DoCommandRequest + var protoReq v1.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -242,7 +242,7 @@ func request_SLAMService_DoCommand_0(ctx context.Context, marshaler runtime.Mars } func local_request_SLAMService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server SLAMServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1_0.DoCommandRequest + var protoReq v1.DoCommandRequest var metadata runtime.ServerMetadata var ( diff --git a/service/vision/v1/vision.pb.gw.go b/service/vision/v1/vision.pb.gw.go index bb8aa90da..174735d0a 100644 --- a/service/vision/v1/vision.pb.gw.go +++ b/service/vision/v1/vision.pb.gw.go @@ -15,7 +15,7 @@ import ( "github.com/grpc-ecosystem/grpc-gateway/v2/runtime" "github.com/grpc-ecosystem/grpc-gateway/v2/utilities" - "go.viam.com/api/common/v1" + v1_0 "go.viam.com/api/common/v1" "google.golang.org/grpc" "google.golang.org/grpc/codes" "google.golang.org/grpc/grpclog" @@ -387,7 +387,7 @@ var ( ) func request_VisionService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client VisionServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.DoCommandRequest + var protoReq v1_0.DoCommandRequest var metadata runtime.ServerMetadata var ( @@ -420,7 +420,7 @@ func request_VisionService_DoCommand_0(ctx context.Context, marshaler runtime.Ma } func local_request_VisionService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server VisionServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) { - var protoReq v1.DoCommandRequest + var protoReq v1_0.DoCommandRequest var metadata runtime.ServerMetadata var (