spot-sdk-js/bosdyn-client/local_grid.js

Develop applications and payloads for Spot using the unofficial Boston Dynamics Spot Node.js SDK.

const {BaseClient, common_header_errors} = require('../bosdyn-client/common.js');
const local_grid_pb = require('../bosdyn/api/local_grid_pb.js');
const local_grid_service_grpc_pb = require('../bosdyn/api/local_grid_service_grpc_pb.js');

/**
* Client to access local grid local_grids from the robot.
* @class LocalGridClient
* @extends BaseClient
*/
class LocalGridClient extends BaseClient {

	static default_service_name = 'local-grid-service';
	static service_type = 'bosdyn.api.LocalGridService';

	/**
    * Create an instance of LocalGridClient's class.
    * @param {string} [name=null] Name of the Class.
    */
	constructor(name = null){
		super(local_grid_service_grpc_pb.LocalGridServiceClient, name);
	}

	/**
    * Get a list of the local_grid types available from the robot.
    * @param {object} args Extra arguments for controlling RPC details.
    * @return {array} A list of the different types (string names) of local grids.
    * @throws {RpcError} Problem communicating with the robot.
    */
	async get_local_grid_types(args){
		const request = new local_grid_pb.GetLocalGridTypesRequest();
		return await this.call(this._stub.getLocalGridTypes, request, (res) => {res.getLocalGridType()}, common_header_errors, args);
	}

	/**
    * Get a list of the local_grid types available from the robot asynchronously.
    * @param {object} args Extra arguments for controlling RPC details.
    * @return {array} A list of the different types (string names) of local grids.
    * @throws {RpcError} Problem communicating with the robot.
    */
	get_local_grid_types_async(args){
		const request =  new local_grid_pb.GetLocalGridTypesRequest();
		return this.call_async(this._stub.getLocalGridTypes, request, (res) => {res.getLocalGridType()}, common_header_errors, args);
	}

	/**
    * Get a selection of local_grids of specified types.
    * @param {Array<String>} local_grid_type_names List of strings specifying types local_grids to request.
    * Available local_grid types may be requested using get_local_grid_types().
    * @param {object} args Extra arguments for controlling RPC details.
    * @return {Array<LocalGridResponseProtos>} A list of LocalGridResponseProtos, each containing a local_grid or an error status code.
    * @throws {RpcError} Problem communicating with the robot.
    */
	async get_local_grids(local_grid_type_names, args){
		const request = new local_grid_pb.GetLocalGridsRequest();
		for(const local_grid_type_name of local_grid_type_names){
			request.addLocalGridRequests(local_grid_type_name);
		}
		return await this.call(this._stub.getLocalGrids, request, (res) => {res.getLocalGridResponses()}, common_header_errors, args);
	}

	/**
    * Get a selection of local_grids of specified types asynchronously.
    * @param {Array<String>} local_grid_type_names List of strings specifying types local_grids to request.
    * Available local_grid types may be requested using get_local_grid_types().
    * @param {object} args Extra arguments for controlling RPC details.
    * @return {Array<LocalGridResponseProtos>} A list of LocalGridResponseProtos, each containing a local_grid or an error status code.
    * @throws {RpcError} Problem communicating with the robot.
    */
	get_local_grids_async(local_grid_type_names, args){
		const request = new local_grid_pb.GetLocalGridsRequest();
		for(const local_grid_type_name of local_grid_type_names){
			request.addLocalGridRequests(local_grid_type_name);
		}
		return this.call_async(this._stub.getLocalGrids, request, (res) => {res.getLocalGridResponses()}, common_header_errors, args);
	}

};

module.exports = {
	LocalGridClient
};