Merge pull request #10 from pollen-robotics/compatibility-mobileSDK

Compatibility mobile sdk

Author: FabienDanieau

Packages/ReachySimulator/Scripts/CameraReachy.cs

@@ -50,6 +50,8 @@ static T __Helper_DeserializeMessage<T>(grpc::DeserializationContext context, gl
     static readonly grpc::Marshaller<global::Reachy.Sdk.Camera.ZoomSpeed> __Marshaller_reachy_sdk_camera_ZoomSpeed = grpc::Marshallers.Create(__Helper_SerializeMessage, context => __Helper_DeserializeMessage(context, global::Reachy.Sdk.Camera.ZoomSpeed.Parser));
     static readonly grpc::Marshaller<global::Reachy.Sdk.Camera.ZoomCommand> __Marshaller_reachy_sdk_camera_ZoomCommand = grpc::Marshallers.Create(__Helper_SerializeMessage, context => __Helper_DeserializeMessage(context, global::Reachy.Sdk.Camera.ZoomCommand.Parser));
     static readonly grpc::Marshaller<global::Reachy.Sdk.Camera.ZoomCommandAck> __Marshaller_reachy_sdk_camera_ZoomCommandAck = grpc::Marshallers.Create(__Helper_SerializeMessage, context => __Helper_DeserializeMessage(context, global::Reachy.Sdk.Camera.ZoomCommandAck.Parser));
+    static readonly grpc::Marshaller<global::Google.Protobuf.WellKnownTypes.Empty> __Marshaller_google_protobuf_Empty = grpc::Marshallers.Create(__Helper_SerializeMessage, context => __Helper_DeserializeMessage(context, global::Google.Protobuf.WellKnownTypes.Empty.Parser));
+    static readonly grpc::Marshaller<global::Reachy.Sdk.Camera.ZoomFocusMessage> __Marshaller_reachy_sdk_camera_ZoomFocusMessage = grpc::Marshallers.Create(__Helper_SerializeMessage, context => __Helper_DeserializeMessage(context, global::Reachy.Sdk.Camera.ZoomFocusMessage.Parser));
 
     static readonly grpc::Method<global::Reachy.Sdk.Camera.ImageRequest, global::Reachy.Sdk.Camera.Image> __Method_GetImage = new grpc::Method<global::Reachy.Sdk.Camera.ImageRequest, global::Reachy.Sdk.Camera.Image>(
         grpc::MethodType.Unary,
@@ -86,6 +88,34 @@ static T __Helper_DeserializeMessage<T>(grpc::DeserializationContext context, gl
         __Marshaller_reachy_sdk_camera_ZoomCommand,
         __Marshaller_reachy_sdk_camera_ZoomCommandAck);
 
+    static readonly grpc::Method<global::Google.Protobuf.WellKnownTypes.Empty, global::Reachy.Sdk.Camera.ZoomFocusMessage> __Method_GetZoomFocus = new grpc::Method<global::Google.Protobuf.WellKnownTypes.Empty, global::Reachy.Sdk.Camera.ZoomFocusMessage>(
+        grpc::MethodType.Unary,
+        __ServiceName,
+        "GetZoomFocus",
+        __Marshaller_google_protobuf_Empty,
+        __Marshaller_reachy_sdk_camera_ZoomFocusMessage);
+
+    static readonly grpc::Method<global::Reachy.Sdk.Camera.ZoomFocusMessage, global::Reachy.Sdk.Camera.ZoomCommandAck> __Method_SetZoomFocus = new grpc::Method<global::Reachy.Sdk.Camera.ZoomFocusMessage, global::Reachy.Sdk.Camera.ZoomCommandAck>(
+        grpc::MethodType.Unary,
+        __ServiceName,
+        "SetZoomFocus",
+        __Marshaller_reachy_sdk_camera_ZoomFocusMessage,
+        __Marshaller_reachy_sdk_camera_ZoomCommandAck);
+
+    static readonly grpc::Method<global::Reachy.Sdk.Camera.Camera, global::Reachy.Sdk.Camera.ZoomCommandAck> __Method_StartAutofocus = new grpc::Method<global::Reachy.Sdk.Camera.Camera, global::Reachy.Sdk.Camera.ZoomCommandAck>(
+        grpc::MethodType.Unary,
+        __ServiceName,
+        "StartAutofocus",
+        __Marshaller_reachy_sdk_camera_Camera,
+        __Marshaller_reachy_sdk_camera_ZoomCommandAck);
+
+    static readonly grpc::Method<global::Reachy.Sdk.Camera.Camera, global::Reachy.Sdk.Camera.ZoomCommandAck> __Method_StopAutofocus = new grpc::Method<global::Reachy.Sdk.Camera.Camera, global::Reachy.Sdk.Camera.ZoomCommandAck>(
+        grpc::MethodType.Unary,
+        __ServiceName,
+        "StopAutofocus",
+        __Marshaller_reachy_sdk_camera_Camera,
+        __Marshaller_reachy_sdk_camera_ZoomCommandAck);
+
     /// <summary>Service descriptor</summary>
     public static global::Google.Protobuf.Reflection.ServiceDescriptor Descriptor
     {
@@ -121,6 +151,26 @@ public abstract partial class CameraServiceBase
         throw new grpc::RpcException(new grpc::Status(grpc::StatusCode.Unimplemented, ""));
       }
 
+      public virtual global::System.Threading.Tasks.Task<global::Reachy.Sdk.Camera.ZoomFocusMessage> GetZoomFocus(global::Google.Protobuf.WellKnownTypes.Empty request, grpc::ServerCallContext context)
+      {
+        throw new grpc::RpcException(new grpc::Status(grpc::StatusCode.Unimplemented, ""));
+      }
+
+      public virtual global::System.Threading.Tasks.Task<global::Reachy.Sdk.Camera.ZoomCommandAck> SetZoomFocus(global::Reachy.Sdk.Camera.ZoomFocusMessage request, grpc::ServerCallContext context)
+      {
+        throw new grpc::RpcException(new grpc::Status(grpc::StatusCode.Unimplemented, ""));
+      }
+
+      public virtual global::System.Threading.Tasks.Task<global::Reachy.Sdk.Camera.ZoomCommandAck> StartAutofocus(global::Reachy.Sdk.Camera.Camera request, grpc::ServerCallContext context)
+      {
+        throw new grpc::RpcException(new grpc::Status(grpc::StatusCode.Unimplemented, ""));
+      }
+
+      public virtual global::System.Threading.Tasks.Task<global::Reachy.Sdk.Camera.ZoomCommandAck> StopAutofocus(global::Reachy.Sdk.Camera.Camera request, grpc::ServerCallContext context)
+      {
+        throw new grpc::RpcException(new grpc::Status(grpc::StatusCode.Unimplemented, ""));
+      }
+
     }
 
     /// <summary>Client for CameraService</summary>
@@ -218,6 +268,70 @@ protected CameraServiceClient(ClientBaseConfiguration configuration) : base(conf
       {
         return CallInvoker.AsyncUnaryCall(__Method_SendZoomCommand, null, options, request);
       }
+      public virtual global::Reachy.Sdk.Camera.ZoomFocusMessage GetZoomFocus(global::Google.Protobuf.WellKnownTypes.Empty request, grpc::Metadata headers = null, global::System.DateTime? deadline = null, global::System.Threading.CancellationToken cancellationToken = default(global::System.Threading.CancellationToken))
+      {
+        return GetZoomFocus(request, new grpc::CallOptions(headers, deadline, cancellationToken));
+      }
+      public virtual global::Reachy.Sdk.Camera.ZoomFocusMessage GetZoomFocus(global::Google.Protobuf.WellKnownTypes.Empty request, grpc::CallOptions options)
+      {
+        return CallInvoker.BlockingUnaryCall(__Method_GetZoomFocus, null, options, request);
+      }
+      public virtual grpc::AsyncUnaryCall<global::Reachy.Sdk.Camera.ZoomFocusMessage> GetZoomFocusAsync(global::Google.Protobuf.WellKnownTypes.Empty request, grpc::Metadata headers = null, global::System.DateTime? deadline = null, global::System.Threading.CancellationToken cancellationToken = default(global::System.Threading.CancellationToken))
+      {
+        return GetZoomFocusAsync(request, new grpc::CallOptions(headers, deadline, cancellationToken));
+      }
+      public virtual grpc::AsyncUnaryCall<global::Reachy.Sdk.Camera.ZoomFocusMessage> GetZoomFocusAsync(global::Google.Protobuf.WellKnownTypes.Empty request, grpc::CallOptions options)
+      {
+        return CallInvoker.AsyncUnaryCall(__Method_GetZoomFocus, null, options, request);
+      }
+      public virtual global::Reachy.Sdk.Camera.ZoomCommandAck SetZoomFocus(global::Reachy.Sdk.Camera.ZoomFocusMessage request, grpc::Metadata headers = null, global::System.DateTime? deadline = null, global::System.Threading.CancellationToken cancellationToken = default(global::System.Threading.CancellationToken))
+      {
+        return SetZoomFocus(request, new grpc::CallOptions(headers, deadline, cancellationToken));
+      }
+      public virtual global::Reachy.Sdk.Camera.ZoomCommandAck SetZoomFocus(global::Reachy.Sdk.Camera.ZoomFocusMessage request, grpc::CallOptions options)
+      {
+        return CallInvoker.BlockingUnaryCall(__Method_SetZoomFocus, null, options, request);
+      }
+      public virtual grpc::AsyncUnaryCall<global::Reachy.Sdk.Camera.ZoomCommandAck> SetZoomFocusAsync(global::Reachy.Sdk.Camera.ZoomFocusMessage request, grpc::Metadata headers = null, global::System.DateTime? deadline = null, global::System.Threading.CancellationToken cancellationToken = default(global::System.Threading.CancellationToken))
+      {
+        return SetZoomFocusAsync(request, new grpc::CallOptions(headers, deadline, cancellationToken));
+      }
+      public virtual grpc::AsyncUnaryCall<global::Reachy.Sdk.Camera.ZoomCommandAck> SetZoomFocusAsync(global::Reachy.Sdk.Camera.ZoomFocusMessage request, grpc::CallOptions options)
+      {
+        return CallInvoker.AsyncUnaryCall(__Method_SetZoomFocus, null, options, request);
+      }
+      public virtual global::Reachy.Sdk.Camera.ZoomCommandAck StartAutofocus(global::Reachy.Sdk.Camera.Camera request, grpc::Metadata headers = null, global::System.DateTime? deadline = null, global::System.Threading.CancellationToken cancellationToken = default(global::System.Threading.CancellationToken))
+      {
+        return StartAutofocus(request, new grpc::CallOptions(headers, deadline, cancellationToken));
+      }
+      public virtual global::Reachy.Sdk.Camera.ZoomCommandAck StartAutofocus(global::Reachy.Sdk.Camera.Camera request, grpc::CallOptions options)
+      {
+        return CallInvoker.BlockingUnaryCall(__Method_StartAutofocus, null, options, request);
+      }
+      public virtual grpc::AsyncUnaryCall<global::Reachy.Sdk.Camera.ZoomCommandAck> StartAutofocusAsync(global::Reachy.Sdk.Camera.Camera request, grpc::Metadata headers = null, global::System.DateTime? deadline = null, global::System.Threading.CancellationToken cancellationToken = default(global::System.Threading.CancellationToken))
+      {
+        return StartAutofocusAsync(request, new grpc::CallOptions(headers, deadline, cancellationToken));
+      }
+      public virtual grpc::AsyncUnaryCall<global::Reachy.Sdk.Camera.ZoomCommandAck> StartAutofocusAsync(global::Reachy.Sdk.Camera.Camera request, grpc::CallOptions options)
+      {
+        return CallInvoker.AsyncUnaryCall(__Method_StartAutofocus, null, options, request);
+      }
+      public virtual global::Reachy.Sdk.Camera.ZoomCommandAck StopAutofocus(global::Reachy.Sdk.Camera.Camera request, grpc::Metadata headers = null, global::System.DateTime? deadline = null, global::System.Threading.CancellationToken cancellationToken = default(global::System.Threading.CancellationToken))
+      {
+        return StopAutofocus(request, new grpc::CallOptions(headers, deadline, cancellationToken));
+      }
+      public virtual global::Reachy.Sdk.Camera.ZoomCommandAck StopAutofocus(global::Reachy.Sdk.Camera.Camera request, grpc::CallOptions options)
+      {
+        return CallInvoker.BlockingUnaryCall(__Method_StopAutofocus, null, options, request);
+      }
+      public virtual grpc::AsyncUnaryCall<global::Reachy.Sdk.Camera.ZoomCommandAck> StopAutofocusAsync(global::Reachy.Sdk.Camera.Camera request, grpc::Metadata headers = null, global::System.DateTime? deadline = null, global::System.Threading.CancellationToken cancellationToken = default(global::System.Threading.CancellationToken))
+      {
+        return StopAutofocusAsync(request, new grpc::CallOptions(headers, deadline, cancellationToken));
+      }
+      public virtual grpc::AsyncUnaryCall<global::Reachy.Sdk.Camera.ZoomCommandAck> StopAutofocusAsync(global::Reachy.Sdk.Camera.Camera request, grpc::CallOptions options)
+      {
+        return CallInvoker.AsyncUnaryCall(__Method_StopAutofocus, null, options, request);
+      }
       /// <summary>Creates a new instance of client from given <c>ClientBaseConfiguration</c>.</summary>
       protected override CameraServiceClient NewInstance(ClientBaseConfiguration configuration)
       {
@@ -234,7 +348,11 @@ protected override CameraServiceClient NewInstance(ClientBaseConfiguration confi
           .AddMethod(__Method_StreamImage, serviceImpl.StreamImage)
           .AddMethod(__Method_GetZoomLevel, serviceImpl.GetZoomLevel)
           .AddMethod(__Method_GetZoomSpeed, serviceImpl.GetZoomSpeed)
-          .AddMethod(__Method_SendZoomCommand, serviceImpl.SendZoomCommand).Build();
+          .AddMethod(__Method_SendZoomCommand, serviceImpl.SendZoomCommand)
+          .AddMethod(__Method_GetZoomFocus, serviceImpl.GetZoomFocus)
+          .AddMethod(__Method_SetZoomFocus, serviceImpl.SetZoomFocus)
+          .AddMethod(__Method_StartAutofocus, serviceImpl.StartAutofocus)
+          .AddMethod(__Method_StopAutofocus, serviceImpl.StopAutofocus).Build();
     }
 
     /// <summary>Register service method with a service binder with or without implementation. Useful when customizing the  service binding logic.
@@ -248,6 +366,10 @@ public static void BindService(grpc::ServiceBinderBase serviceBinder, CameraServ
       serviceBinder.AddMethod(__Method_GetZoomLevel, serviceImpl == null ? null : new grpc::UnaryServerMethod<global::Reachy.Sdk.Camera.Camera, global::Reachy.Sdk.Camera.ZoomLevel>(serviceImpl.GetZoomLevel));
       serviceBinder.AddMethod(__Method_GetZoomSpeed, serviceImpl == null ? null : new grpc::UnaryServerMethod<global::Reachy.Sdk.Camera.Camera, global::Reachy.Sdk.Camera.ZoomSpeed>(serviceImpl.GetZoomSpeed));
       serviceBinder.AddMethod(__Method_SendZoomCommand, serviceImpl == null ? null : new grpc::UnaryServerMethod<global::Reachy.Sdk.Camera.ZoomCommand, global::Reachy.Sdk.Camera.ZoomCommandAck>(serviceImpl.SendZoomCommand));
+      serviceBinder.AddMethod(__Method_GetZoomFocus, serviceImpl == null ? null : new grpc::UnaryServerMethod<global::Google.Protobuf.WellKnownTypes.Empty, global::Reachy.Sdk.Camera.ZoomFocusMessage>(serviceImpl.GetZoomFocus));
+      serviceBinder.AddMethod(__Method_SetZoomFocus, serviceImpl == null ? null : new grpc::UnaryServerMethod<global::Reachy.Sdk.Camera.ZoomFocusMessage, global::Reachy.Sdk.Camera.ZoomCommandAck>(serviceImpl.SetZoomFocus));
+      serviceBinder.AddMethod(__Method_StartAutofocus, serviceImpl == null ? null : new grpc::UnaryServerMethod<global::Reachy.Sdk.Camera.Camera, global::Reachy.Sdk.Camera.ZoomCommandAck>(serviceImpl.StartAutofocus));
+      serviceBinder.AddMethod(__Method_StopAutofocus, serviceImpl == null ? null : new grpc::UnaryServerMethod<global::Reachy.Sdk.Camera.Camera, global::Reachy.Sdk.Camera.ZoomCommandAck>(serviceImpl.StopAutofocus));
     }
 
   }

Packages/ReachySimulator/Scripts/CameraReachyGrpc.cs

@@ -9,6 +9,7 @@
 using Reachy.Sdk.Joint;
 using Reachy.Sdk.Fan;
 using Reachy.Sdk.Kinematics;
+using Reachy.Sdk.Mobility;
 using System.Collections;
 using System.Collections.Generic;
 using System;
@@ -67,6 +68,7 @@ public static void gRPCServer()
                 SensorService.BindService(new SensorServiceImpl()),
                 FanControllerService.BindService(new FanControllerServiceImpl()), 
                 ArmKinematics.BindService(new ArmKinematicsImpl()),
+                MobileBasePresenceService.BindService(new MobileBasePresenceServiceImpl()),
                 },
             Ports = { new ServerPort("0.0.0.0", PortJoint, ServerCredentials.Insecure) },
         };
@@ -683,4 +685,16 @@ public override Task<FansCommandAck> SendFansCommands(FansCommand fansCommand, S
             }
         }
     }
+
+    public class MobileBasePresenceServiceImpl : MobileBasePresenceService.MobileBasePresenceServiceBase
+    {
+        public override Task<MobileBasePresence> GetMobileBasePresence(Google.Protobuf.WellKnownTypes.Empty empty, ServerCallContext context)
+        {
+            MobileBasePresence mobility = new MobileBasePresence {
+                Presence = false,
+            };
+
+            return Task.FromResult(mobility);
+        }
+    }
 }