# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
"""Client and server classes corresponding to protobuf-defined services."""
import grpc

from bosdyn.api import robot_state_pb2 as bosdyn_dot_api_dot_robot__state__pb2


class RobotStateServiceStub(object):
    """The robot state service tracks all information about the measured and computed states of the
    robot at the current time.
    """

    def __init__(self, channel):
        """Constructor.

        Args:
            channel: A grpc.Channel.
        """
        self.GetRobotState = channel.unary_unary(
                '/bosdyn.api.RobotStateService/GetRobotState',
                request_serializer=bosdyn_dot_api_dot_robot__state__pb2.RobotStateRequest.SerializeToString,
                response_deserializer=bosdyn_dot_api_dot_robot__state__pb2.RobotStateResponse.FromString,
                )
        self.GetRobotMetrics = channel.unary_unary(
                '/bosdyn.api.RobotStateService/GetRobotMetrics',
                request_serializer=bosdyn_dot_api_dot_robot__state__pb2.RobotMetricsRequest.SerializeToString,
                response_deserializer=bosdyn_dot_api_dot_robot__state__pb2.RobotMetricsResponse.FromString,
                )
        self.GetRobotHardwareConfiguration = channel.unary_unary(
                '/bosdyn.api.RobotStateService/GetRobotHardwareConfiguration',
                request_serializer=bosdyn_dot_api_dot_robot__state__pb2.RobotHardwareConfigurationRequest.SerializeToString,
                response_deserializer=bosdyn_dot_api_dot_robot__state__pb2.RobotHardwareConfigurationResponse.FromString,
                )
        self.GetRobotLinkModel = channel.unary_unary(
                '/bosdyn.api.RobotStateService/GetRobotLinkModel',
                request_serializer=bosdyn_dot_api_dot_robot__state__pb2.RobotLinkModelRequest.SerializeToString,
                response_deserializer=bosdyn_dot_api_dot_robot__state__pb2.RobotLinkModelResponse.FromString,
                )


class RobotStateServiceServicer(object):
    """The robot state service tracks all information about the measured and computed states of the
    robot at the current time.
    """

    def GetRobotState(self, request, context):
        """Get robot state information (such as kinematic state, power state, or faults).
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def GetRobotMetrics(self, request, context):
        """Get different robot metrics and parameters from the robot.
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def GetRobotHardwareConfiguration(self, request, context):
        """Get the hardware configuration of the robot, which describes the robot skeleton and urdf.
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def GetRobotLinkModel(self, request, context):
        """Returns the OBJ file for a specific robot link. Intended to be called after
        GetRobotHardwareConfiguration, using the link names returned by that call.
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')


def add_RobotStateServiceServicer_to_server(servicer, server):
    rpc_method_handlers = {
            'GetRobotState': grpc.unary_unary_rpc_method_handler(
                    servicer.GetRobotState,
                    request_deserializer=bosdyn_dot_api_dot_robot__state__pb2.RobotStateRequest.FromString,
                    response_serializer=bosdyn_dot_api_dot_robot__state__pb2.RobotStateResponse.SerializeToString,
            ),
            'GetRobotMetrics': grpc.unary_unary_rpc_method_handler(
                    servicer.GetRobotMetrics,
                    request_deserializer=bosdyn_dot_api_dot_robot__state__pb2.RobotMetricsRequest.FromString,
                    response_serializer=bosdyn_dot_api_dot_robot__state__pb2.RobotMetricsResponse.SerializeToString,
            ),
            'GetRobotHardwareConfiguration': grpc.unary_unary_rpc_method_handler(
                    servicer.GetRobotHardwareConfiguration,
                    request_deserializer=bosdyn_dot_api_dot_robot__state__pb2.RobotHardwareConfigurationRequest.FromString,
                    response_serializer=bosdyn_dot_api_dot_robot__state__pb2.RobotHardwareConfigurationResponse.SerializeToString,
            ),
            'GetRobotLinkModel': grpc.unary_unary_rpc_method_handler(
                    servicer.GetRobotLinkModel,
                    request_deserializer=bosdyn_dot_api_dot_robot__state__pb2.RobotLinkModelRequest.FromString,
                    response_serializer=bosdyn_dot_api_dot_robot__state__pb2.RobotLinkModelResponse.SerializeToString,
            ),
    }
    generic_handler = grpc.method_handlers_generic_handler(
            'bosdyn.api.RobotStateService', rpc_method_handlers)
    server.add_generic_rpc_handlers((generic_handler,))


 # This class is part of an EXPERIMENTAL API.
class RobotStateService(object):
    """The robot state service tracks all information about the measured and computed states of the
    robot at the current time.
    """

    @staticmethod
    def GetRobotState(request,
            target,
            options=(),
            channel_credentials=None,
            call_credentials=None,
            insecure=False,
            compression=None,
            wait_for_ready=None,
            timeout=None,
            metadata=None):
        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.RobotStateService/GetRobotState',
            bosdyn_dot_api_dot_robot__state__pb2.RobotStateRequest.SerializeToString,
            bosdyn_dot_api_dot_robot__state__pb2.RobotStateResponse.FromString,
            options, channel_credentials,
            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)

    @staticmethod
    def GetRobotMetrics(request,
            target,
            options=(),
            channel_credentials=None,
            call_credentials=None,
            insecure=False,
            compression=None,
            wait_for_ready=None,
            timeout=None,
            metadata=None):
        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.RobotStateService/GetRobotMetrics',
            bosdyn_dot_api_dot_robot__state__pb2.RobotMetricsRequest.SerializeToString,
            bosdyn_dot_api_dot_robot__state__pb2.RobotMetricsResponse.FromString,
            options, channel_credentials,
            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)

    @staticmethod
    def GetRobotHardwareConfiguration(request,
            target,
            options=(),
            channel_credentials=None,
            call_credentials=None,
            insecure=False,
            compression=None,
            wait_for_ready=None,
            timeout=None,
            metadata=None):
        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.RobotStateService/GetRobotHardwareConfiguration',
            bosdyn_dot_api_dot_robot__state__pb2.RobotHardwareConfigurationRequest.SerializeToString,
            bosdyn_dot_api_dot_robot__state__pb2.RobotHardwareConfigurationResponse.FromString,
            options, channel_credentials,
            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)

    @staticmethod
    def GetRobotLinkModel(request,
            target,
            options=(),
            channel_credentials=None,
            call_credentials=None,
            insecure=False,
            compression=None,
            wait_for_ready=None,
            timeout=None,
            metadata=None):
        return grpc.experimental.unary_unary(request, target, '/bosdyn.api.RobotStateService/GetRobotLinkModel',
            bosdyn_dot_api_dot_robot__state__pb2.RobotLinkModelRequest.SerializeToString,
            bosdyn_dot_api_dot_robot__state__pb2.RobotLinkModelResponse.FromString,
            options, channel_credentials,
            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)


class RobotStateStreamingServiceStub(object):
    """This service is in BETA and may undergo changes in future releases.
    """

    def __init__(self, channel):
        """Constructor.

        Args:
            channel: A grpc.Channel.
        """
        self.GetRobotStateStream = channel.unary_stream(
                '/bosdyn.api.RobotStateStreamingService/GetRobotStateStream',
                request_serializer=bosdyn_dot_api_dot_robot__state__pb2.RobotStateStreamRequest.SerializeToString,
                response_deserializer=bosdyn_dot_api_dot_robot__state__pb2.RobotStateStreamResponse.FromString,
                )


class RobotStateStreamingServiceServicer(object):
    """This service is in BETA and may undergo changes in future releases.
    """

    def GetRobotStateStream(self, request, context):
        """Lightweight Streaming version of RobotState
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')


def add_RobotStateStreamingServiceServicer_to_server(servicer, server):
    rpc_method_handlers = {
            'GetRobotStateStream': grpc.unary_stream_rpc_method_handler(
                    servicer.GetRobotStateStream,
                    request_deserializer=bosdyn_dot_api_dot_robot__state__pb2.RobotStateStreamRequest.FromString,
                    response_serializer=bosdyn_dot_api_dot_robot__state__pb2.RobotStateStreamResponse.SerializeToString,
            ),
    }
    generic_handler = grpc.method_handlers_generic_handler(
            'bosdyn.api.RobotStateStreamingService', rpc_method_handlers)
    server.add_generic_rpc_handlers((generic_handler,))


 # This class is part of an EXPERIMENTAL API.
class RobotStateStreamingService(object):
    """This service is in BETA and may undergo changes in future releases.
    """

    @staticmethod
    def GetRobotStateStream(request,
            target,
            options=(),
            channel_credentials=None,
            call_credentials=None,
            insecure=False,
            compression=None,
            wait_for_ready=None,
            timeout=None,
            metadata=None):
        return grpc.experimental.unary_stream(request, target, '/bosdyn.api.RobotStateStreamingService/GetRobotStateStream',
            bosdyn_dot_api_dot_robot__state__pb2.RobotStateStreamRequest.SerializeToString,
            bosdyn_dot_api_dot_robot__state__pb2.RobotStateStreamResponse.FromString,
            options, channel_credentials,
            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)