def upload_graph_async(self, lease=None, graph=None, **kwargs):
"""Async version of upload_graph()."""
request = self._build_upload_graph_request(lease, graph)
return self.call_async(self._stub.UploadGraph,
request,
value_from_response=_get_response,
error_from_response=handle_common_header_errors(
common_lease_errors),
**kwargs)
def clear_graph_async(self, lease=None, **kwargs):
"""Async version of clear_graph()."""
request = self._build_clear_graph_request(lease)
return self.call_async(self._stub.ClearGraph,
request,
value_from_response=None,
error_from_response=handle_common_header_errors(
common_lease_errors),
**kwargs)
def clear_graph(self, lease=None, **kwargs):
"""Clears the local graph structure. Also erases any snapshots currently in RAM.
Args:
leases: Leases to show ownership of necessary resources. Will use the client's leases by default.
Raises:
RpcError: Problem communicating with the robot.
LeaseUseError: Error using provided lease.
"""
request = self._build_clear_graph_request(lease)
return self.call(self._stub.ClearGraph, request, value_from_response=None,
error_from_response=handle_common_header_errors(common_lease_errors), **kwargs)
def upload_graph(self, lease=None, graph=None, **kwargs):
"""Uploads a graph to the server and appends to the existing graph.
Args:
leases: Leases to show ownership of necessary resources. Will use the client's leases by default.
graph: Graph protobuf that represents the map with waypoints and edges.
Returns:
The response, which includes waypoint and edge id's sorted by whether it was cached.
Raises:
RpcError: Problem communicating with the robot.
LeaseUseError: Error using provided lease.
"""
request = self._build_upload_graph_request(lease, graph)
return self.call(self._stub.UploadGraph, request, value_from_response=_get_response,
error_from_response=handle_common_header_errors(common_lease_errors), **kwargs)
def upload_edge_snapshot(self, edge_snapshot, lease=None, **kwargs):
"""Uploads large edge snapshot as a stream for a particular edge.
Args:
leases: Leases to show ownership of necessary resources. Will use the client's leases by default.
edge_snapshot: EdgeSnapshot protobuf that will be stream uploaded to the robot.
Returns:
The status of the upload request.
Raises:
RpcError: Problem communicating with the robot.
LeaseUseError: Error using provided leases.
"""
serialized = edge_snapshot.SerializeToString()
self.call(self._stub.UploadEdgeSnapshot,
GraphNavClient._data_chunk_iterator_upload_edge_snapshot(
serialized, lease, self._data_chunk_size), value_from_response=None,
error_from_response=handle_common_header_errors(common_lease_errors), **kwargs)
