# Copyright (c) 2023 Boston Dynamics, Inc. All rights reserved.
#
# Downloading, reproducing, distributing or otherwise using the SDK Software
# is subject to the terms and conditions of the Boston Dynamics Software
# Development Kit License (20191101-BDSDK-SL).
"""A client for the ir-enable-disable service."""
from bosdyn.api import ir_enable_disable_pb2, ir_enable_disable_service_pb2_grpc
from bosdyn.client.common import BaseClient, common_header_errors
[docs]class IREnableDisableServiceClient(BaseClient):
"""Client to enable and/or disable the robot's IR light emitters in the body and hand sensors."""
# Name of the service in the robot's directory listing.
default_service_name = 'ir-enable-disable-service'
# gRPC service proto definition implemented by this service
service_type = 'bosdyn.api.IREnableDisableService'
def __init__(self):
super(IREnableDisableServiceClient,
self).__init__(ir_enable_disable_service_pb2_grpc.IREnableDisableServiceStub)
[docs] def set_ir_enabled(self, enable, **kwargs):
""" Enable and/or disable the robot's IR light emitters.
Args:
enable (bool): Whether or not to enable the emitters.
"""
if enable:
request = ir_enable_disable_pb2.IREnableDisableRequest.REQUEST_ON
else:
request = ir_enable_disable_pb2.IREnableDisableRequest.REQUEST_OFF
return self.call(self._stub.IREnableDisable,
ir_enable_disable_pb2.IREnableDisableRequest(request=request),
error_from_response=common_header_errors, **kwargs)
[docs] def set_ir_enabled_async(self, enable, **kwargs):
"""Async version of set_ir_enabled()"""
if enable:
request = ir_enable_disable_pb2.IREnableDisableRequest.REQUEST_ON
else:
request = ir_enable_disable_pb2.IREnableDisableRequest.REQUEST_OFF
return self.call_async(self._stub.IREnableDisable,
ir_enable_disable_pb2.IREnableDisableRequest(request=request),
error_from_response=common_header_errors, **kwargs)