def _do_add_text_messages(self, func, text_messages, **kwargs):
request = log_annotation_protos.AddLogAnnotationRequest()
for in_text_msg in text_messages:
request.annotations.text_messages.add().CopyFrom(in_text_msg)
return func(self._stub.AddLogAnnotation, request, value_from_response=None,
error_from_response=common_header_errors, **kwargs)
def add_log_blob(self,
data,
type_id,
channel=None,
robot_timestamp=None,
**kw_args):
"""Log blob messages to the robot.
Args:
data: Binary data of one blob.
type_id: Type of binary data of blob.
robot_timestamp: Time (google.protobuf.Timestamp) of messages, in *robot time*.
If not set, timestamp will be when the robot receives the message.
kw_args: Extra arguments to pass to grpc call invocation.
"""
request = log_annotation_protos.AddLogAnnotationRequest()
if not channel:
channel = type_id
request.annotations.blob_data.add(timestamp=robot_timestamp,
channel=channel,
type_id=type_id,
data=data)
return self.call(self._stub.AddLogAnnotation,
request,
value_from_response=None,
error_from_response=common_header_errors,
**kw_args)
def _do_add_log_blob(self, func, data, type_id, channel, robot_timestamp, **kwargs):
request = log_annotation_protos.AddLogAnnotationRequest()
if not channel:
channel = type_id
robot_timestamp = robot_timestamp or self._now_in_robot_basis(msg_type=type_id)
request.annotations.blob_data.add(timestamp=robot_timestamp, channel=channel,
type_id=type_id, data=data)
return func(self._stub.AddLogAnnotation, request, value_from_response=None,
error_from_response=common_header_errors, **kwargs)
def _do_add_operator_comment(self,
func,
msg,
robot_timestamp=None,
**kwargs):
request = log_annotation_protos.AddLogAnnotationRequest()
robot_timestamp = robot_timestamp or self._now_in_robot_basis(
msg_type="Operator Comment")
request.annotations.operator_messages.add(message=msg,
timestamp=robot_timestamp)
return func(self._stub.AddLogAnnotation,
request,
value_from_response=None,
error_from_response=common_header_errors,
**kwargs)
def add_operator_comment(self, msg, robot_timestamp=None, **kw_args):
"""Add an operator comment to the robot log
Args:
msg: Text of user comment to log.
robot_timestamp: Time (google.protobuf.Timestamp) of messages, in *robot time*.
If not set, timestamp will be when the robot receives the message.
kw_args: Extra arguments to pass to grpc call invocation.
"""
request = log_annotation_protos.AddLogAnnotationRequest()
request.annotations.operator_messages.add(message=msg,
timestamp=robot_timestamp)
return self.call(self._stub.AddLogAnnotation,
request,
value_from_response=None,
error_from_response=common_header_errors,
**kw_args)
def add_text_messages(self, text_messages, **kw_args):
"""Log text messages to the robot.
Args:
text_messages: Sequence of LogAnnotationTextMessage protos.
kw_args: Extra arguments to pass to grpc call invocation.
"""
request = log_annotation_protos.AddLogAnnotationRequest()
for in_text_msg in text_messages:
request.annotations.text_messages.add().CopyFrom(in_text_msg)
return self.call(self._stub.AddLogAnnotation,
request,
value_from_response=None,
error_from_response=common_header_errors,
**kw_args)