control_service_pb2_grpc

Client and server classes corresponding to protobuf-defined services.

`func` add_ControlServicer_to_server

Call Type: normal

View Source

def add_ControlServicer_to_server(servicer, server):
    rpc_method_handlers = {'Connect': grpc.unary_unary_rpc_method_handler(servicer.Connect, request_deserializer=services_dot_control__service__pb2.ConnectRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'Disconnect': grpc.unary_unary_rpc_method_handler(servicer.Disconnect, request_deserializer=services_dot_control__service__pb2.DisconnectRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'Arm': grpc.unary_unary_rpc_method_handler(servicer.Arm, request_deserializer=services_dot_control__service__pb2.ArmRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'Disarm': grpc.unary_unary_rpc_method_handler(servicer.Disarm, request_deserializer=services_dot_control__service__pb2.DisarmRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'Joystick': grpc.unary_unary_rpc_method_handler(servicer.Joystick, request_deserializer=services_dot_control__service__pb2.JoystickRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'TakeOff': grpc.unary_stream_rpc_method_handler(servicer.TakeOff, request_deserializer=services_dot_control__service__pb2.TakeOffRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'Land': grpc.unary_stream_rpc_method_handler(servicer.Land, request_deserializer=services_dot_control__service__pb2.LandRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'Hold': grpc.unary_stream_rpc_method_handler(servicer.Hold, request_deserializer=services_dot_control__service__pb2.HoldRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'Kill': grpc.unary_stream_rpc_method_handler(servicer.Kill, request_deserializer=services_dot_control__service__pb2.KillRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'SetHome': grpc.unary_unary_rpc_method_handler(servicer.SetHome, request_deserializer=services_dot_control__service__pb2.SetHomeRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'ReturnToHome': grpc.unary_stream_rpc_method_handler(servicer.ReturnToHome, request_deserializer=services_dot_control__service__pb2.ReturnToHomeRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'SetGlobalPosition': grpc.unary_stream_rpc_method_handler(servicer.SetGlobalPosition, request_deserializer=services_dot_control__service__pb2.SetGlobalPositionRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'SetRelativePosition': grpc.unary_stream_rpc_method_handler(servicer.SetRelativePosition, request_deserializer=services_dot_control__service__pb2.SetRelativePositionRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'SetVelocity': grpc.unary_stream_rpc_method_handler(servicer.SetVelocity, request_deserializer=services_dot_control__service__pb2.SetVelocityRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'SetHeading': grpc.unary_stream_rpc_method_handler(servicer.SetHeading, request_deserializer=services_dot_control__service__pb2.SetHeadingRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'SetGimbalPose': grpc.unary_stream_rpc_method_handler(servicer.SetGimbalPose, request_deserializer=services_dot_control__service__pb2.SetGimbalPoseRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'ConfigureImagingSensorStream': grpc.unary_unary_rpc_method_handler(servicer.ConfigureImagingSensorStream, request_deserializer=services_dot_control__service__pb2.ConfigureImagingSensorStreamRequest.FromString, response_serializer=common__pb2.Response.SerializeToString), 'ConfigureTelemetryStream': grpc.unary_unary_rpc_method_handler(servicer.ConfigureTelemetryStream, request_deserializer=services_dot_control__service__pb2.ConfigureTelemetryStreamRequest.FromString, response_serializer=common__pb2.Response.SerializeToString)}
    generic_handler = grpc.method_handlers_generic_handler('steeleagle.protocol.services.control_service.Control', rpc_method_handlers)
    server.add_generic_rpc_handlers((generic_handler,))
    server.add_registered_method_handlers('steeleagle.protocol.services.control_service.Control', rpc_method_handlers)

`class` ControlStub

Inherits from: object

Used for low-level control of a vehicle.

This service is hosted by the driver module and represents the global control interface for the vehicle. Most methods called here will result in actuation of the vehicle if it is armed (be careful!). Some methods, like TakeOff, may take some time to complete. For this reason, it is not advisable to set a timeout/deadline on the RPC call. However, to ensure that the service is progressing, a client can either check telemetry or listen for IN_PROGRESS response heartbeats which are streamed back from the RPC while executing an operation.

View Source

class ControlStub(object):
    """
    Used for low-level control of a vehicle.

    This service is hosted by the driver module and represents the global
    control interface for the vehicle. Most methods called here will result
    in actuation of the vehicle if it is armed (be careful!). Some methods,
    like TakeOff, may take some time to complete. For this reason, it is
    not advisable to set a timeout/deadline on the RPC call. However, to
    ensure that the service is progressing, a client can either check
    telemetry or listen for `IN_PROGRESS` response heartbeats which are
    streamed back from the RPC while executing an operation.
    """

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

        Args:
            channel: A grpc.Channel.
        """
        self.Connect = channel.unary_unary('/steeleagle.protocol.services.control_service.Control/Connect', request_serializer=services_dot_control__service__pb2.ConnectRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.Disconnect = channel.unary_unary('/steeleagle.protocol.services.control_service.Control/Disconnect', request_serializer=services_dot_control__service__pb2.DisconnectRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.Arm = channel.unary_unary('/steeleagle.protocol.services.control_service.Control/Arm', request_serializer=services_dot_control__service__pb2.ArmRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.Disarm = channel.unary_unary('/steeleagle.protocol.services.control_service.Control/Disarm', request_serializer=services_dot_control__service__pb2.DisarmRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.Joystick = channel.unary_unary('/steeleagle.protocol.services.control_service.Control/Joystick', request_serializer=services_dot_control__service__pb2.JoystickRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.TakeOff = channel.unary_stream('/steeleagle.protocol.services.control_service.Control/TakeOff', request_serializer=services_dot_control__service__pb2.TakeOffRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.Land = channel.unary_stream('/steeleagle.protocol.services.control_service.Control/Land', request_serializer=services_dot_control__service__pb2.LandRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.Hold = channel.unary_stream('/steeleagle.protocol.services.control_service.Control/Hold', request_serializer=services_dot_control__service__pb2.HoldRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.Kill = channel.unary_stream('/steeleagle.protocol.services.control_service.Control/Kill', request_serializer=services_dot_control__service__pb2.KillRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.SetHome = channel.unary_unary('/steeleagle.protocol.services.control_service.Control/SetHome', request_serializer=services_dot_control__service__pb2.SetHomeRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.ReturnToHome = channel.unary_stream('/steeleagle.protocol.services.control_service.Control/ReturnToHome', request_serializer=services_dot_control__service__pb2.ReturnToHomeRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.SetGlobalPosition = channel.unary_stream('/steeleagle.protocol.services.control_service.Control/SetGlobalPosition', request_serializer=services_dot_control__service__pb2.SetGlobalPositionRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.SetRelativePosition = channel.unary_stream('/steeleagle.protocol.services.control_service.Control/SetRelativePosition', request_serializer=services_dot_control__service__pb2.SetRelativePositionRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.SetVelocity = channel.unary_stream('/steeleagle.protocol.services.control_service.Control/SetVelocity', request_serializer=services_dot_control__service__pb2.SetVelocityRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.SetHeading = channel.unary_stream('/steeleagle.protocol.services.control_service.Control/SetHeading', request_serializer=services_dot_control__service__pb2.SetHeadingRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.SetGimbalPose = channel.unary_stream('/steeleagle.protocol.services.control_service.Control/SetGimbalPose', request_serializer=services_dot_control__service__pb2.SetGimbalPoseRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.ConfigureImagingSensorStream = channel.unary_unary('/steeleagle.protocol.services.control_service.Control/ConfigureImagingSensorStream', request_serializer=services_dot_control__service__pb2.ConfigureImagingSensorStreamRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)
        self.ConfigureTelemetryStream = channel.unary_unary('/steeleagle.protocol.services.control_service.Control/ConfigureTelemetryStream', request_serializer=services_dot_control__service__pb2.ConfigureTelemetryStreamRequest.SerializeToString, response_deserializer=common__pb2.Response.FromString, _registered_method=True)

`class` ControlServicer

Inherits from: object

Used for low-level control of a vehicle.

`method` Connect

Call Type: normal

Connect to the vehicle.

Connects to the underlying vehicle hardware. Generally, this method is called by the law authority on startup and is not called by user code.

`method` Disconnect

Call Type: normal

Disconnect from the vehicle.

Disconnects from the underlying vehicle hardware. Generally, this method is called by the law authority when it attempts a driver restart and is not called by user code.

`method` Arm

Call Type: normal

Order the vehicle to arm.

Arms the vehicle. This is required before any other commands are run, otherwise the methods will return FAILED_PRECONDITION. Once the vehicle is armed, all subsequent actuation methods will move the vehicle. Make sure to go over the manufacturer recommended vehicle-specific pre-operation checklist before arming.

`method` Disarm

Call Type: normal

Order the vehicle to disarm.

Disarms the vehicle. Prevents any further actuation methods from executing, unless the vehicle is re-armed.

`method` Joystick

Call Type: normal

Send a joystick command to the vehicle.

Causes the vehicle to accelerate towards a provided velocity setpoint over a provided duration. This is useful for fine-grained control based on streamed datasink results or for tele-operating the vehicle from a remote commander.

`method` TakeOff

Call Type: normal

Order the vehicle to take off.

Causes the vehicle to take off to a specified take off altitude. If the vehicle is not a UAV, this method will be unimplemented.

`method` Land

Call Type: normal

Order the vehicle to land.

Causes the vehicle to land at its current location. If the vehicle is not a UAV, this method will be unimplemented.

`method` Hold

Call Type: normal

Order the vehicle to hold/loiter.

Causes the vehicle to hold at its current location and to cancel any ongoing movement commands (ReturnToHome e.g.).

`method` Kill

Call Type: normal

Orders an emergency shutdown of the vehicle motors.

Causes the vehicle to immediately turn off its motors. If the vehicle is a UAV, this will result in a freefall. Use this method only in emergency situations.

`method` SetHome

Call Type: normal

Set the home location of the vehicle.

Changes the home location of the vehicle. Future ReturnToHome commands will move the vehicle to the provided location instead of its starting position.

`method` ReturnToHome

Call Type: normal

Order the vehicle to return to its home position.

Causes the vehicle to return to its home position. If the home position has not been explicitly set, this will be its start position (defined as its takeoff position for UAVs). If the home position has been explicitly set, by SetHome, the vehicle will return to that position instead.

`method` SetGlobalPosition

Call Type: normal

Order the vehicle to move to a global position.

Causes the vehicle to transit to the provided global position. The vehicle will interpret the heading of travel according to heading_mode:

TO_TARGET -> turn to face the target position bearing
HEADING_START -> turn to face the provided heading in the global position object.

This will be the heading the vehicle maintains for the duration of transit. Generally only UAVs will support HEADING_START.

The vehicle will move towards the target at the specified maximum velocity until the vehicle has reached its destination. Error tolerance is determined by the driver. Maximum velocity is interpreted from max_velocity as follows:

x_vel -> maximum horizontal velocity
y_vel -> ignored
z_vel -> maximum vertical velocity (UAV only)

If no maximum velocity is provided, the driver will use a preset speed usually determined by the manufacturer or hardware settings.

(UAV only) During motion, the vehicle will also ascend or descend towards the target altitude, linearly interpolating this movement over the duration of travel. The vehicle will interpret altitude from altitude_mode as follows:

ABSOLUTE -> altitude is relative to MSL (Mean Sea Level)
RELATIVE -> altitude is relative to take off position

`method` SetRelativePosition

Call Type: normal

Order the vehicle to move to a relative position.

Causes the vehicle to transit to the provided relative position. The vehicle will interpret the input position according to frame as follows:

BODY -> (x, y, z) = (forward offset, right offset, up offset) from current position
NEU -> (x, y, z) = (north offset, east offset, up offset) from start position

x_vel -> maximum horizontal velocity
y_vel -> ignored
z_vel -> maximum vertical velocity (UAV only)

If no maximum velocity is provided, the driver will use a preset speed usually determined by the manufacturer or hardware settings.

`method` SetVelocity

Call Type: normal

Order the vehicle to accelerate to a velocity.

Causes the vehicle to accelerate until it reaches a provided velocity. Error tolerance is determined by the driver. The vehicle will interpret the input velocity according to frame as follows:

BODY -> (x_vel, y_vel, z_vel) = (forward velocity, right velocity, up velocity)
NEU -> (x_vel, y_vel, z_vel) = (north velocity, east velocity, up velocity)

`method` SetHeading

Call Type: normal

Order the vehicle to set a new heading.

Causes the vehicle to turn to face the provided global position. The vehicle will interpret the final heading according to heading_mode:

TO_TARGET -> turn to face the target position bearing
HEADING_START -> turn to face the provided heading in the global position object.

`method` SetGimbalPose

Call Type: normal

Order the vehicle to set the pose of a gimbal.

Causes the vehicle to actuate a gimbal to a new pose. The vehicle will interpret the new pose type from pose_mode as follows:

ABSOLUTE -> absolute angle
RELATIVE -> angle relative to current position
VELOCITY -> angular velocities

The vehicle will interpret the new pose angles according to frame as follows:

BODY -> (pitch, roll, yaw) = (body pitch, body roll, body yaw)
NEU -> (pitch, roll, yaw) = (body pitch, body roll, global yaw)

`method` ConfigureImagingSensorStream

Call Type: normal

Configure the vehicle imaging stream.

Sets which imaging sensors are streaming and sets their target frame rates.

`method` ConfigureTelemetryStream

Call Type: normal

Configure the vehicle telemetry stream.

Sets the frequency of the telemetry stream.

View Source

class ControlServicer(object):
    """
    Used for low-level control of a vehicle.

    This service is hosted by the driver module and represents the global
    control interface for the vehicle. Most methods called here will result
    in actuation of the vehicle if it is armed (be careful!). Some methods,
    like TakeOff, may take some time to complete. For this reason, it is
    not advisable to set a timeout/deadline on the RPC call. However, to
    ensure that the service is progressing, a client can either check
    telemetry or listen for `IN_PROGRESS` response heartbeats which are
    streamed back from the RPC while executing an operation.
    """

    def Connect(self, request, context):
        """
        Connect to the vehicle.

        Connects to the underlying vehicle hardware. Generally, this 
        method is called by the law authority on startup and is not
        called by user code.
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def Disconnect(self, request, context):
        """
        Disconnect from the vehicle.

        Disconnects from the underlying vehicle hardware. Generally,
        this method is called by the law authority when it attempts
        a driver restart and is not called by user code.
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def Arm(self, request, context):
        """
        Order the vehicle to arm.

        Arms the vehicle. This is required before any other commands
        are run, otherwise the methods will return `FAILED_PRECONDITION`.
        Once the vehicle is armed, all subsequent actuation methods
        _will move the vehicle_. Make sure to go over the manufacturer
        recommended vehicle-specific pre-operation checklist before arming.
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def Disarm(self, request, context):
        """
        Order the vehicle to disarm.

        Disarms the vehicle. Prevents any further actuation methods
        from executing, unless the vehicle is re-armed.
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def Joystick(self, request, context):
        """
        Send a joystick command to the vehicle.

        Causes the vehicle to accelerate towards a provided velocity
        setpoint over a provided duration. This is useful for fine-grained 
        control based on streamed datasink results or for tele-operating 
        the vehicle from a remote commander.
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def TakeOff(self, request, context):
        """
        Order the vehicle to take off.

        Causes the vehicle to take off to a specified take off altitude.
        If the vehicle is not a UAV, this method will be unimplemented.
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def Land(self, request, context):
        """
        Order the vehicle to land.

        Causes the vehicle to land at its current location. If the 
        vehicle is not a UAV, this method will be unimplemented.
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def Hold(self, request, context):
        """
        Order the vehicle to hold/loiter.

        Causes the vehicle to hold at its current location and to
        cancel any ongoing movement commands (`ReturnToHome` e.g.).
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def Kill(self, request, context):
        """
        Orders an emergency shutdown of the vehicle motors.

        Causes the vehicle to immediately turn off its motors. _If the 
        vehicle is a UAV, this will result in a freefall_. Use this
        method only in emergency situations.
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def SetHome(self, request, context):
        """
        Set the home location of the vehicle.

        Changes the home location of the vehicle. Future `ReturnToHome`
        commands will move the vehicle to the provided location instead
        of its starting position.
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def ReturnToHome(self, request, context):
        """
        Order the vehicle to return to its home position.

        Causes the vehicle to return to its home position. If the home position 
        has not been explicitly set, this will be its start position (defined 
        as its takeoff position for UAVs). If the home position has been 
        explicitly set, by `SetHome`, the vehicle will return to that 
        position instead.
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def SetGlobalPosition(self, request, context):
        """
        Order the vehicle to move to a global position.

        Causes the vehicle to transit to the provided global position. The vehicle
        will interpret the heading of travel according to `heading_mode`:
        - `TO_TARGET` -> turn to face the target position bearing
        - `HEADING_START` -> turn to face the provided heading in the global position object. 

        This will be the heading the vehicle maintains for the duration of transit. 
        Generally only UAVs will support `HEADING_START`.

        The vehicle will move towards the target at the specified maximum velocity 
        until the vehicle has reached its destination. Error tolerance is determined 
        by the driver. Maximum velocity is interpreted from `max_velocity` as follows:
        - `x_vel` -> maximum _horizontal_ velocity
        - `y_vel` -> ignored
        - `z_vel` -> maximum _vertical_ velocity _(UAV only)_

        If no maximum velocity is provided, the driver will use a preset speed usually 
        determined by the manufacturer or hardware settings.

        _(UAV only)_ During motion, the vehicle will also ascend or descend towards the 
        target altitude, linearly interpolating this movement over the duration of
        travel. The vehicle will interpret altitude from `altitude_mode` as follows:
        - `ABSOLUTE` -> altitude is relative to MSL (Mean Sea Level)
        - `RELATIVE` -> altitude is relative to take off position
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def SetRelativePosition(self, request, context):
        """
        Order the vehicle to move to a relative position.

        Causes the vehicle to transit to the provided relative position. The vehicle
        will interpret the input position according to `frame` as follows:
        - `BODY` -> (`x`, `y`, `z`) = (forward offset, right offset, up offset) _from current position_
        - `NEU` -> (`x`, `y`, `z`) = (north offset, east offset, up offset) _from start position_

        The vehicle will move towards the target at the specified maximum velocity 
        until the vehicle has reached its destination. Error tolerance is determined 
        by the driver. Maximum velocity is interpreted from `max_velocity` as follows:
        - `x_vel` -> maximum _horizontal_ velocity
        - `y_vel` -> ignored
        - `z_vel` -> maximum _vertical_ velocity _(UAV only)_

        If no maximum velocity is provided, the driver will use a preset speed usually 
        determined by the manufacturer or hardware settings.
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def SetVelocity(self, request, context):
        """
        Order the vehicle to accelerate to a velocity.

        Causes the vehicle to accelerate until it reaches a provided velocity.
        Error tolerance is determined by the driver. The vehicle will interpret 
        the input velocity according to `frame` as follows:
        - `BODY` -> (`x_vel`, `y_vel`, `z_vel`) = (forward velocity, right velocity, up velocity)
        - `NEU` -> (`x_vel`, `y_vel`, `z_vel`) = (north velocity, east velocity, up velocity)
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def SetHeading(self, request, context):
        """
        Order the vehicle to set a new heading.

        Causes the vehicle to turn to face the provided global position. The vehicle
        will interpret the final heading according to `heading_mode`:
        - `TO_TARGET` -> turn to face the target position bearing
        - `HEADING_START` -> turn to face the provided heading in the global position object. 
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def SetGimbalPose(self, request, context):
        """
        Order the vehicle to set the pose of a gimbal.

        Causes the vehicle to actuate a gimbal to a new pose. The vehicle
        will interpret the new pose type from `pose_mode` as follows: 
        - `ABSOLUTE` -> absolute angle
        - `RELATIVE` -> angle relative to current position
        - `VELOCITY` -> angular velocities

        The vehicle will interpret the new pose angles according to `frame` 
        as follows:
        - `BODY` -> (`pitch`, `roll`, `yaw`) = (body pitch, body roll, body yaw)
        - `NEU` -> (`pitch`, `roll`, `yaw`) = (body pitch, body roll, global yaw)
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def ConfigureImagingSensorStream(self, request, context):
        """
        Configure the vehicle imaging stream.

        Sets which imaging sensors are streaming and sets their target
        frame rates.
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

    def ConfigureTelemetryStream(self, request, context):
        """
        Configure the vehicle telemetry stream.

        Sets the frequency of the telemetry stream.
        """
        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
        context.set_details('Method not implemented!')
        raise NotImplementedError('Method not implemented!')

`class` Control

Inherits from: object

Used for low-level control of a vehicle.

`method` Connect

Call Type: normal

`method` Disconnect

Call Type: normal

`method` Arm

Call Type: normal

`method` Disarm

Call Type: normal

`method` Joystick

Call Type: normal

`method` TakeOff

Call Type: normal

`method` Land

Call Type: normal

`method` Hold

Call Type: normal

`method` Kill

Call Type: normal

`method` SetHome

Call Type: normal

`method` ReturnToHome

Call Type: normal

`method` SetGlobalPosition

Call Type: normal

`method` SetRelativePosition

Call Type: normal

`method` SetVelocity

Call Type: normal

`method` SetHeading

Call Type: normal

`method` SetGimbalPose

Call Type: normal

`method` ConfigureImagingSensorStream

Call Type: normal

`method` ConfigureTelemetryStream

Call Type: normal

View Source

class Control(object):
    """
    Used for low-level control of a vehicle.

    This service is hosted by the driver module and represents the global
    control interface for the vehicle. Most methods called here will result
    in actuation of the vehicle if it is armed (be careful!). Some methods,
    like TakeOff, may take some time to complete. For this reason, it is
    not advisable to set a timeout/deadline on the RPC call. However, to
    ensure that the service is progressing, a client can either check
    telemetry or listen for `IN_PROGRESS` response heartbeats which are
    streamed back from the RPC while executing an operation.
    """

    @staticmethod
    def Connect(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, '/steeleagle.protocol.services.control_service.Control/Connect', services_dot_control__service__pb2.ConnectRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def Disconnect(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, '/steeleagle.protocol.services.control_service.Control/Disconnect', services_dot_control__service__pb2.DisconnectRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def Arm(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, '/steeleagle.protocol.services.control_service.Control/Arm', services_dot_control__service__pb2.ArmRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def Disarm(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, '/steeleagle.protocol.services.control_service.Control/Disarm', services_dot_control__service__pb2.DisarmRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def Joystick(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, '/steeleagle.protocol.services.control_service.Control/Joystick', services_dot_control__service__pb2.JoystickRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def TakeOff(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, '/steeleagle.protocol.services.control_service.Control/TakeOff', services_dot_control__service__pb2.TakeOffRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def Land(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, '/steeleagle.protocol.services.control_service.Control/Land', services_dot_control__service__pb2.LandRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def Hold(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, '/steeleagle.protocol.services.control_service.Control/Hold', services_dot_control__service__pb2.HoldRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def Kill(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, '/steeleagle.protocol.services.control_service.Control/Kill', services_dot_control__service__pb2.KillRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def SetHome(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, '/steeleagle.protocol.services.control_service.Control/SetHome', services_dot_control__service__pb2.SetHomeRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def ReturnToHome(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, '/steeleagle.protocol.services.control_service.Control/ReturnToHome', services_dot_control__service__pb2.ReturnToHomeRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def SetGlobalPosition(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, '/steeleagle.protocol.services.control_service.Control/SetGlobalPosition', services_dot_control__service__pb2.SetGlobalPositionRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def SetRelativePosition(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, '/steeleagle.protocol.services.control_service.Control/SetRelativePosition', services_dot_control__service__pb2.SetRelativePositionRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def SetVelocity(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, '/steeleagle.protocol.services.control_service.Control/SetVelocity', services_dot_control__service__pb2.SetVelocityRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def SetHeading(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, '/steeleagle.protocol.services.control_service.Control/SetHeading', services_dot_control__service__pb2.SetHeadingRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def SetGimbalPose(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, '/steeleagle.protocol.services.control_service.Control/SetGimbalPose', services_dot_control__service__pb2.SetGimbalPoseRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def ConfigureImagingSensorStream(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, '/steeleagle.protocol.services.control_service.Control/ConfigureImagingSensorStream', services_dot_control__service__pb2.ConfigureImagingSensorStreamRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

    @staticmethod
    def ConfigureTelemetryStream(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, '/steeleagle.protocol.services.control_service.Control/ConfigureTelemetryStream', services_dot_control__service__pb2.ConfigureTelemetryStreamRequest.SerializeToString, common__pb2.Response.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata, _registered_method=True)

func add_ControlServicer_to_server​

class ControlStub​

class ControlServicer​

method Connect​

method Disconnect​

method Arm​

method Disarm​

method Joystick​

method TakeOff​

method Land​

method Hold​

method Kill​

method SetHome​

method ReturnToHome​

method SetGlobalPosition​

method SetRelativePosition​

method SetVelocity​

method SetHeading​

method SetGimbalPose​

method ConfigureImagingSensorStream​

method ConfigureTelemetryStream​

class Control​

method Connect​

method Disconnect​

method Arm​

method Disarm​

method Joystick​

method TakeOff​

method Land​

method Hold​

method Kill​

method SetHome​

method ReturnToHome​

method SetGlobalPosition​

method SetRelativePosition​

method SetVelocity​

method SetHeading​

method SetGimbalPose​

method ConfigureImagingSensorStream​

method ConfigureTelemetryStream​

`func` add_ControlServicer_to_server

`class` ControlStub

`class` ControlServicer

`method` Connect

`method` Disconnect

`method` Arm

`method` Disarm

`method` Joystick

`method` TakeOff

`method` Land

`method` Hold

`method` Kill

`method` SetHome

`method` ReturnToHome

`method` SetGlobalPosition

`method` SetRelativePosition

`method` SetVelocity

`method` SetHeading

`method` SetGimbalPose

`method` ConfigureImagingSensorStream

`method` ConfigureTelemetryStream

`class` Control

`method` Connect

`method` Disconnect

`method` Arm

`method` Disarm

`method` Joystick

`method` TakeOff

`method` Land

`method` Hold

`method` Kill

`method` SetHome

`method` ReturnToHome

`method` SetGlobalPosition

`method` SetRelativePosition

`method` SetVelocity

`method` SetHeading

`method` SetGimbalPose

`method` ConfigureImagingSensorStream

`method` ConfigureTelemetryStream