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[RSDK-3761] Add and Modify Gantry API to Python SDK #336

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Merged
merged 3 commits into from
Jun 28, 2023
Merged

[RSDK-3761] Add and Modify Gantry API to Python SDK #336

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0f87300
Add my changes
randhid Jun 28, 2023
726c04a
Fix api
randhid Jun 28, 2023
d940d56
Add back example gantry
randhid Jun 28, 2023
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4 changes: 4 additions & 0 deletions examples/server/v1/components.py
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Original file line number Diff line number Diff line change
Expand Up @@ -472,6 +472,7 @@ async def get_position(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -
async def move_to_position(
self,
positions: List[float],
speeds: List[float],
extra: Optional[Dict[str, Any]] = None,
**kwargs,
):
Expand All @@ -481,6 +482,9 @@ async def move_to_position(
async def get_lengths(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[float]:
return self.lengths

async def home(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> bool:
return True

async def stop(self, extra: Optional[Dict[str, Any]] = None, **kwargs):
self.is_stopped = True

Expand Down
16 changes: 15 additions & 1 deletion src/viam/components/gantry/client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,8 @@
GetLengthsResponse,
GetPositionRequest,
GetPositionResponse,
HomeRequest,
HomeResponse,
IsMovingRequest,
IsMovingResponse,
MoveToPositionRequest,
Expand Down Expand Up @@ -40,15 +42,27 @@ async def get_position(self, *, extra: Optional[Dict[str, Any]] = None, timeout:
async def move_to_position(
self,
positions: List[float],
speeds: List[float],
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
):
if extra is None:
extra = {}
request = MoveToPositionRequest(name=self.name, positions_mm=positions, extra=dict_to_struct(extra))
request = MoveToPositionRequest(
name=self.name,
positions_mm=positions,
speeds_mm_per_sec=speeds,
extra=dict_to_struct(extra))
await self.client.MoveToPosition(request, timeout=timeout)

async def home(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> bool:
if extra is None:
extra = {}
request = HomeRequest(name=self.name, extra=dict_to_struct(extra))
response : HomeResponse = await self.client.Home(request, timeout=timeout)
return response.homed

async def get_lengths(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[float]:
if extra is None:
extra = {}
Expand Down
12 changes: 11 additions & 1 deletion src/viam/components/gantry/gantry.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,20 +31,30 @@ async def get_position(self, *, extra: Optional[Dict[str, Any]] = None, timeout:
async def move_to_position(
self,
positions: List[float],
speeds: List[float],
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
**kwargs,
):
"""
Move the gantry to a new position.
Move the gantry to a new position at the requested speeds.

Args:
positions (List[float]): List of positions for the axes to move to,
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@randhid shouldn't speeds have been added here?

in millimeters.
"""
...

@abc.abstractmethod
async def home(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> bool:
"""
Home the gantry to find it's starting and ending positions

Returns:
bool : whether the gantry has run the homing sequence successfully
"""

@abc.abstractmethod
async def get_lengths(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[float]:
"""
Expand Down
18 changes: 17 additions & 1 deletion src/viam/components/gantry/service.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,8 @@
GetLengthsResponse,
GetPositionRequest,
GetPositionResponse,
HomeRequest,
HomeResponse,
IsMovingRequest,
IsMovingResponse,
MoveToPositionRequest,
Expand Down Expand Up @@ -45,11 +47,25 @@ async def MoveToPosition(self, stream: Stream[MoveToPositionRequest, MoveToPosit
gantry = self.get_resource(name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
await gantry.move_to_position(
list(request.positions_mm), extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata
list(request.positions_mm),
list(request.speeds_mm_per_sec),
extra=struct_to_dict(request.extra),
timeout=timeout,
metadata=stream.metadata
)
response = MoveToPositionResponse()
await stream.send_message(response)

async def Home(self, stream: Stream[HomeRequest, HomeResponse]) -> None:
request = await stream.recv_message()
assert request is not None
name = request.name
gantry = self.get_resource(name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
homed = await gantry.home(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
response = HomeResponse(homed=homed)
await stream.send_message(response)

async def GetLengths(self, stream: Stream[GetLengthsRequest, GetLengthsResponse]) -> None:
request = await stream.recv_message()
assert request is not None
Expand Down
7 changes: 6 additions & 1 deletion src/viam/gen/component/gantry/v1/gantry_grpc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,10 @@ async def GetPosition(self, stream: 'grpclib.server.Stream[component.gantry.v1.g
async def MoveToPosition(self, stream: 'grpclib.server.Stream[component.gantry.v1.gantry_pb2.MoveToPositionRequest, component.gantry.v1.gantry_pb2.MoveToPositionResponse]') -> None:
pass

@abc.abstractmethod
async def Home(self, stream: 'grpclib.server.Stream[component.gantry.v1.gantry_pb2.HomeRequest, component.gantry.v1.gantry_pb2.HomeResponse]') -> None:
pass

@abc.abstractmethod
async def GetLengths(self, stream: 'grpclib.server.Stream[component.gantry.v1.gantry_pb2.GetLengthsRequest, component.gantry.v1.gantry_pb2.GetLengthsResponse]') -> None:
pass
Expand All @@ -40,13 +44,14 @@ async def GetGeometries(self, stream: 'grpclib.server.Stream[common.v1.common_pb
pass

def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
return {'/viam.component.gantry.v1.GantryService/GetPosition': grpclib.const.Handler(self.GetPosition, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.GetPositionRequest, component.gantry.v1.gantry_pb2.GetPositionResponse), '/viam.component.gantry.v1.GantryService/MoveToPosition': grpclib.const.Handler(self.MoveToPosition, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.MoveToPositionRequest, component.gantry.v1.gantry_pb2.MoveToPositionResponse), '/viam.component.gantry.v1.GantryService/GetLengths': grpclib.const.Handler(self.GetLengths, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.GetLengthsRequest, component.gantry.v1.gantry_pb2.GetLengthsResponse), '/viam.component.gantry.v1.GantryService/Stop': grpclib.const.Handler(self.Stop, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.StopRequest, component.gantry.v1.gantry_pb2.StopResponse), '/viam.component.gantry.v1.GantryService/IsMoving': grpclib.const.Handler(self.IsMoving, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.IsMovingRequest, component.gantry.v1.gantry_pb2.IsMovingResponse), '/viam.component.gantry.v1.GantryService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.gantry.v1.GantryService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)}
return {'/viam.component.gantry.v1.GantryService/GetPosition': grpclib.const.Handler(self.GetPosition, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.GetPositionRequest, component.gantry.v1.gantry_pb2.GetPositionResponse), '/viam.component.gantry.v1.GantryService/MoveToPosition': grpclib.const.Handler(self.MoveToPosition, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.MoveToPositionRequest, component.gantry.v1.gantry_pb2.MoveToPositionResponse), '/viam.component.gantry.v1.GantryService/Home': grpclib.const.Handler(self.Home, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.HomeRequest, component.gantry.v1.gantry_pb2.HomeResponse), '/viam.component.gantry.v1.GantryService/GetLengths': grpclib.const.Handler(self.GetLengths, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.GetLengthsRequest, component.gantry.v1.gantry_pb2.GetLengthsResponse), '/viam.component.gantry.v1.GantryService/Stop': grpclib.const.Handler(self.Stop, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.StopRequest, component.gantry.v1.gantry_pb2.StopResponse), '/viam.component.gantry.v1.GantryService/IsMoving': grpclib.const.Handler(self.IsMoving, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.IsMovingRequest, component.gantry.v1.gantry_pb2.IsMovingResponse), '/viam.component.gantry.v1.GantryService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.gantry.v1.GantryService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)}

class GantryServiceStub:

def __init__(self, channel: grpclib.client.Channel) -> None:
self.GetPosition = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/GetPosition', component.gantry.v1.gantry_pb2.GetPositionRequest, component.gantry.v1.gantry_pb2.GetPositionResponse)
self.MoveToPosition = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/MoveToPosition', component.gantry.v1.gantry_pb2.MoveToPositionRequest, component.gantry.v1.gantry_pb2.MoveToPositionResponse)
self.Home = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/Home', component.gantry.v1.gantry_pb2.HomeRequest, component.gantry.v1.gantry_pb2.HomeResponse)
self.GetLengths = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/GetLengths', component.gantry.v1.gantry_pb2.GetLengthsRequest, component.gantry.v1.gantry_pb2.GetLengthsResponse)
self.Stop = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/Stop', component.gantry.v1.gantry_pb2.StopRequest, component.gantry.v1.gantry_pb2.StopResponse)
self.IsMoving = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/IsMoving', component.gantry.v1.gantry_pb2.IsMovingRequest, component.gantry.v1.gantry_pb2.IsMovingResponse)
Expand Down
48 changes: 27 additions & 21 deletions src/viam/gen/component/gantry/v1/gantry_pb2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
from ....common.v1 import common_pb2 as common_dot_v1_dot_common__pb2
from google.api import annotations_pb2 as google_dot_api_dot_annotations__pb2
from google.protobuf import struct_pb2 as google_dot_protobuf_dot_struct__pb2
DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n component/gantry/v1/gantry.proto\x12\x18viam.component.gantry.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"W\n\x12GetPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"8\n\x13GetPositionResponse\x12!\n\x0cpositions_mm\x18\x01 \x03(\x01R\x0bpositionsMm"}\n\x15MoveToPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12!\n\x0cpositions_mm\x18\x02 \x03(\x01R\x0bpositionsMm\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x18\n\x16MoveToPositionResponse"V\n\x11GetLengthsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"3\n\x12GetLengthsResponse\x12\x1d\n\nlengths_mm\x18\x01 \x03(\x01R\tlengthsMm"P\n\x0bStopRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x0e\n\x0cStopResponse"g\n\x06Status\x12!\n\x0cpositions_mm\x18\x01 \x03(\x01R\x0bpositionsMm\x12\x1d\n\nlengths_mm\x18\x02 \x03(\x01R\tlengthsMm\x12\x1b\n\tis_moving\x18\x03 \x01(\x08R\x08isMoving"%\n\x0fIsMovingRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"/\n\x10IsMovingResponse\x12\x1b\n\tis_moving\x18\x01 \x01(\x08R\x08isMoving2\xcf\x08\n\rGantryService\x12\xa1\x01\n\x0bGetPosition\x12,.viam.component.gantry.v1.GetPositionRequest\x1a-.viam.component.gantry.v1.GetPositionResponse"5\x82\xd3\xe4\x93\x02/\x12-/viam/api/v1/component/gantry/{name}/position\x12\xae\x01\n\x0eMoveToPosition\x12/.viam.component.gantry.v1.MoveToPositionRequest\x1a0.viam.component.gantry.v1.MoveToPositionResponse"9\xa0\x92)\x01\x82\xd3\xe4\x93\x02/\x1a-/viam/api/v1/component/gantry/{name}/position\x12\x9d\x01\n\nGetLengths\x12+.viam.component.gantry.v1.GetLengthsRequest\x1a,.viam.component.gantry.v1.GetLengthsResponse"4\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/gantry/{name}/lengths\x12\x88\x01\n\x04Stop\x12%.viam.component.gantry.v1.StopRequest\x1a&.viam.component.gantry.v1.StopResponse"1\x82\xd3\xe4\x93\x02+")/viam/api/v1/component/gantry/{name}/stop\x12\x99\x01\n\x08IsMoving\x12).viam.component.gantry.v1.IsMovingRequest\x1a*.viam.component.gantry.v1.IsMovingResponse"6\x82\xd3\xe4\x93\x020\x12./viam/api/v1/component/gantry/{name}/is_moving\x12\x89\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"7\x82\xd3\xe4\x93\x021"//viam/api/v1/component/gantry/{name}/do_command\x12\x95\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"7\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gantry/{name}/geometriesBC\n\x1ccom.viam.component.gantry.v1Z#go.viam.com/api/component/gantry/v1b\x06proto3')
DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n component/gantry/v1/gantry.proto\x12\x18viam.component.gantry.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"W\n\x12GetPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"8\n\x13GetPositionResponse\x12!\n\x0cpositions_mm\x18\x01 \x03(\x01R\x0bpositionsMm"\xa8\x01\n\x15MoveToPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12!\n\x0cpositions_mm\x18\x02 \x03(\x01R\x0bpositionsMm\x12)\n\x11speeds_mm_per_sec\x18\x03 \x03(\x01R\x0espeedsMmPerSec\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x18\n\x16MoveToPositionResponse"P\n\x0bHomeRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"$\n\x0cHomeResponse\x12\x14\n\x05homed\x18\x01 \x01(\x08R\x05homed"V\n\x11GetLengthsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"3\n\x12GetLengthsResponse\x12\x1d\n\nlengths_mm\x18\x01 \x03(\x01R\tlengthsMm"P\n\x0bStopRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x0e\n\x0cStopResponse"g\n\x06Status\x12!\n\x0cpositions_mm\x18\x01 \x03(\x01R\x0bpositionsMm\x12\x1d\n\nlengths_mm\x18\x02 \x03(\x01R\tlengthsMm\x12\x1b\n\tis_moving\x18\x03 \x01(\x08R\x08isMoving"%\n\x0fIsMovingRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"/\n\x10IsMovingResponse\x12\x1b\n\tis_moving\x18\x01 \x01(\x08R\x08isMoving2\xda\t\n\rGantryService\x12\xa1\x01\n\x0bGetPosition\x12,.viam.component.gantry.v1.GetPositionRequest\x1a-.viam.component.gantry.v1.GetPositionResponse"5\x82\xd3\xe4\x93\x02/\x12-/viam/api/v1/component/gantry/{name}/position\x12\xae\x01\n\x0eMoveToPosition\x12/.viam.component.gantry.v1.MoveToPositionRequest\x1a0.viam.component.gantry.v1.MoveToPositionResponse"9\xa0\x92)\x01\x82\xd3\xe4\x93\x02/\x1a-/viam/api/v1/component/gantry/{name}/position\x12\x88\x01\n\x04Home\x12%.viam.component.gantry.v1.HomeRequest\x1a&.viam.component.gantry.v1.HomeResponse"1\x82\xd3\xe4\x93\x02+\x1a)/viam/api/v1/component/gantry/{name}/home\x12\x9d\x01\n\nGetLengths\x12+.viam.component.gantry.v1.GetLengthsRequest\x1a,.viam.component.gantry.v1.GetLengthsResponse"4\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/gantry/{name}/lengths\x12\x88\x01\n\x04Stop\x12%.viam.component.gantry.v1.StopRequest\x1a&.viam.component.gantry.v1.StopResponse"1\x82\xd3\xe4\x93\x02+")/viam/api/v1/component/gantry/{name}/stop\x12\x99\x01\n\x08IsMoving\x12).viam.component.gantry.v1.IsMovingRequest\x1a*.viam.component.gantry.v1.IsMovingResponse"6\x82\xd3\xe4\x93\x020\x12./viam/api/v1/component/gantry/{name}/is_moving\x12\x89\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"7\x82\xd3\xe4\x93\x021"//viam/api/v1/component/gantry/{name}/do_command\x12\x95\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"7\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gantry/{name}/geometriesBC\n\x1ccom.viam.component.gantry.v1Z#go.viam.com/api/component/gantry/v1b\x06proto3')
_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.gantry.v1.gantry_pb2', globals())
if _descriptor._USE_C_DESCRIPTORS == False:
Expand All @@ -17,6 +17,8 @@
_GANTRYSERVICE.methods_by_name['GetPosition']._serialized_options = b'\x82\xd3\xe4\x93\x02/\x12-/viam/api/v1/component/gantry/{name}/position'
_GANTRYSERVICE.methods_by_name['MoveToPosition']._options = None
_GANTRYSERVICE.methods_by_name['MoveToPosition']._serialized_options = b'\xa0\x92)\x01\x82\xd3\xe4\x93\x02/\x1a-/viam/api/v1/component/gantry/{name}/position'
_GANTRYSERVICE.methods_by_name['Home']._options = None
_GANTRYSERVICE.methods_by_name['Home']._serialized_options = b'\x82\xd3\xe4\x93\x02+\x1a)/viam/api/v1/component/gantry/{name}/home'
_GANTRYSERVICE.methods_by_name['GetLengths']._options = None
_GANTRYSERVICE.methods_by_name['GetLengths']._serialized_options = b'\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/gantry/{name}/lengths'
_GANTRYSERVICE.methods_by_name['Stop']._options = None
Expand All @@ -31,23 +33,27 @@
_GETPOSITIONREQUEST._serialized_end = 233
_GETPOSITIONRESPONSE._serialized_start = 235
_GETPOSITIONRESPONSE._serialized_end = 291
_MOVETOPOSITIONREQUEST._serialized_start = 293
_MOVETOPOSITIONREQUEST._serialized_end = 418
_MOVETOPOSITIONRESPONSE._serialized_start = 420
_MOVETOPOSITIONRESPONSE._serialized_end = 444
_GETLENGTHSREQUEST._serialized_start = 446
_GETLENGTHSREQUEST._serialized_end = 532
_GETLENGTHSRESPONSE._serialized_start = 534
_GETLENGTHSRESPONSE._serialized_end = 585
_STOPREQUEST._serialized_start = 587
_STOPREQUEST._serialized_end = 667
_STOPRESPONSE._serialized_start = 669
_STOPRESPONSE._serialized_end = 683
_STATUS._serialized_start = 685
_STATUS._serialized_end = 788
_ISMOVINGREQUEST._serialized_start = 790
_ISMOVINGREQUEST._serialized_end = 827
_ISMOVINGRESPONSE._serialized_start = 829
_ISMOVINGRESPONSE._serialized_end = 876
_GANTRYSERVICE._serialized_start = 879
_GANTRYSERVICE._serialized_end = 1982
_MOVETOPOSITIONREQUEST._serialized_start = 294
_MOVETOPOSITIONREQUEST._serialized_end = 462
_MOVETOPOSITIONRESPONSE._serialized_start = 464
_MOVETOPOSITIONRESPONSE._serialized_end = 488
_HOMEREQUEST._serialized_start = 490
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_HOMERESPONSE._serialized_start = 572
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_GETLENGTHSREQUEST._serialized_start = 610
_GETLENGTHSREQUEST._serialized_end = 696
_GETLENGTHSRESPONSE._serialized_start = 698
_GETLENGTHSRESPONSE._serialized_end = 749
_STOPREQUEST._serialized_start = 751
_STOPREQUEST._serialized_end = 831
_STOPRESPONSE._serialized_start = 833
_STOPRESPONSE._serialized_end = 847
_STATUS._serialized_start = 849
_STATUS._serialized_end = 952
_ISMOVINGREQUEST._serialized_start = 954
_ISMOVINGREQUEST._serialized_end = 991
_ISMOVINGRESPONSE._serialized_start = 993
_ISMOVINGRESPONSE._serialized_end = 1040
_GANTRYSERVICE._serialized_start = 1043
_GANTRYSERVICE._serialized_end = 2285
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