_robo_server_impl

Module Contents

Classes

RoboServerImpl

Implements the Cap'n Proto interface, run on the physical modular robot.

Attributes

Pin

Pin

class RoboServerImpl(debug: bool, hardware_type: modular_robot_physical._hardware_type.HardwareType, physical_interface: modular_robot_physical.physical_interfaces.PhysicalInterface)

Bases: modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp.RoboServer.Server

Implements the Cap’n Proto interface, run on the physical modular robot.

cleanup() → None

Stop the server and sets everything to low power.

async setup(args: modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp.SetupArgs, _context: Any) → modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp.SetupResponse

Handle a setup command.

Parameters:

args – Arguments to the setup process.

Returns:

Whether the setup was successful.

async control(args: modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp.ControlArgsReader, _context: Any) → None

Handle control commands.

Parameters:

args – Args to the function.

async readSensors(args: modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp.ReadSensorsArgsReader, _context: Any) → modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp.SensorReadings

Handle readSensors.

Stub that currently does reads nothing.

Parameters:

args – Args to the function.

Returns:

The readings.

async controlAndReadSensors(args: modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp.ControlAndReadSensorsArgsReader, _context: Any) → modular_robot_physical.robot_daemon_api.robot_daemon_protocol_capnp.SensorReadings

Handle controlAndReadSensors.

Parameters:

args – Args to the function.

Returns:

The readings.