v1

type GetInternalStateRequest struct {

	// Name of slam service
	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	// contains filtered or unexported fields
}

type GetInternalStateResponse struct {

	// Chunk of the internal state of the SLAM algorithm required to continue
	// mapping/localization
	InternalStateChunk []byte `protobuf:"bytes,1,opt,name=internal_state_chunk,json=internalStateChunk,proto3" json:"internal_state_chunk,omitempty"`
	// contains filtered or unexported fields
}

type GetPointCloudMapRequest struct {

	// Name of slam service
	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	// For SLAM services that implement handling an edited map, this boolean
	// should indicate whether to return that edited map. If the SLAM service
	// does not handle edited maps, the unedited map will be returned instead.
	ReturnEditedMap *bool `protobuf:"varint,2,opt,name=return_edited_map,json=returnEditedMap,proto3,oneof" json:"return_edited_map,omitempty"`
	// contains filtered or unexported fields
}

type GetPointCloudMapResponse struct {

	// One chunk of the PointCloud.
	// For a given GetPointCloudMap request, concatenating all
	// GetPointCloudMapResponse.point_cloud_pcd_chunk values in the
	// order received result in the complete pointcloud in standard PCD
	// format where XY is the ground plane and positive Z is up, following
	// the Right Hand Rule.
	//
	// Read more about the pointcloud format here:
	// https://pointclouds.org/documentation/tutorials/pcd_file_format.html
	//
	// Viam expects pointcloud data with fields "x y z" or "x y z rgb", and for
	// this to be specified in the pointcloud header in the FIELDS entry. If color
	// data is included in the pointcloud, Viam's services assume that the color
	// value encodes a confidence score for that data point. Viam expects the
	// confidence score to be encoded in the blue parameter of the RGB value, on a
	// scale from 1-100.
	//
	// Pointclouds are little endian encoded.
	PointCloudPcdChunk []byte `protobuf:"bytes,1,opt,name=point_cloud_pcd_chunk,json=pointCloudPcdChunk,proto3" json:"point_cloud_pcd_chunk,omitempty"`
	// contains filtered or unexported fields
}

type GetPositionRequest struct {

	// Name of slam service
	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	// contains filtered or unexported fields
}

type GetPositionResponse struct {

	// Current position of the specified component in the SLAM Map
	Pose *v1.Pose `protobuf:"bytes,1,opt,name=pose,proto3" json:"pose,omitempty"`
	// This is usually the name of the camera that is in the SLAM config
	ComponentReference string `protobuf:"bytes,2,opt,name=component_reference,json=componentReference,proto3" json:"component_reference,omitempty"`
	// Additional information in the response
	Extra *structpb.Struct `protobuf:"bytes,99,opt,name=extra,proto3" json:"extra,omitempty"`
	// contains filtered or unexported fields
}

type GetPropertiesRequest struct {

	// Name of the slam service
	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	// contains filtered or unexported fields
}

type GetPropertiesResponse struct {
	CloudSlam             bool          `protobuf:"varint,1,opt,name=cloud_slam,json=cloudSlam,proto3" json:"cloud_slam,omitempty"`
	MappingMode           MappingMode   `` /* 133-byte string literal not displayed */
	InternalStateFileType *string       `` /* 134-byte string literal not displayed */
	SensorInfo            []*SensorInfo `protobuf:"bytes,4,rep,name=sensor_info,json=sensorInfo,proto3" json:"sensor_info,omitempty"`
	// contains filtered or unexported fields
}

type MappingMode int32

type SLAMServiceClient interface {
	// GetPosition returns the current estimated position of the robot with
	// respect to a returned component reference.
	GetPosition(ctx context.Context, in *GetPositionRequest, opts ...grpc.CallOption) (*GetPositionResponse, error)
	// GetPointCloudMap returns the latest pointcloud map available where XY is the ground
	// plane and positive Z is up, following the Right Hand Rule.
	GetPointCloudMap(ctx context.Context, in *GetPointCloudMapRequest, opts ...grpc.CallOption) (SLAMService_GetPointCloudMapClient, error)
	// GetInternalState returns the internal map as defined by the specified slam
	// algorithm required to continue mapping/localizing.
	// This endpoint is not intended for end users.
	GetInternalState(ctx context.Context, in *GetInternalStateRequest, opts ...grpc.CallOption) (SLAMService_GetInternalStateClient, error)
	// GetProperties returns properties of the current slam service including mapping_mode
	// and cloud_slam, where mapping_mode is the type of mapping/localizing being performed
	// and cloud_slam is a boolean representing if this SLAM service is being run in the cloud.
	GetProperties(ctx context.Context, in *GetPropertiesRequest, opts ...grpc.CallOption) (*GetPropertiesResponse, error)
	// DoCommand sends/receives arbitrary commands.
	DoCommand(ctx context.Context, in *v1.DoCommandRequest, opts ...grpc.CallOption) (*v1.DoCommandResponse, error)
}

type SLAMServiceServer interface {
	// GetPosition returns the current estimated position of the robot with
	// respect to a returned component reference.
	GetPosition(context.Context, *GetPositionRequest) (*GetPositionResponse, error)
	// GetPointCloudMap returns the latest pointcloud map available where XY is the ground
	// plane and positive Z is up, following the Right Hand Rule.
	GetPointCloudMap(*GetPointCloudMapRequest, SLAMService_GetPointCloudMapServer) error
	// GetInternalState returns the internal map as defined by the specified slam
	// algorithm required to continue mapping/localizing.
	// This endpoint is not intended for end users.
	GetInternalState(*GetInternalStateRequest, SLAMService_GetInternalStateServer) error
	// GetProperties returns properties of the current slam service including mapping_mode
	// and cloud_slam, where mapping_mode is the type of mapping/localizing being performed
	// and cloud_slam is a boolean representing if this SLAM service is being run in the cloud.
	GetProperties(context.Context, *GetPropertiesRequest) (*GetPropertiesResponse, error)
	// DoCommand sends/receives arbitrary commands.
	DoCommand(context.Context, *v1.DoCommandRequest) (*v1.DoCommandResponse, error)
	// contains filtered or unexported methods
}

type SLAMService_GetInternalStateClient interface {
	Recv() (*GetInternalStateResponse, error)
	grpc.ClientStream
}

type SLAMService_GetInternalStateServer interface {
	Send(*GetInternalStateResponse) error
	grpc.ServerStream
}

type SLAMService_GetPointCloudMapClient interface {
	Recv() (*GetPointCloudMapResponse, error)
	grpc.ClientStream
}

type SLAMService_GetPointCloudMapServer interface {
	Send(*GetPointCloudMapResponse) error
	grpc.ServerStream
}

type SensorInfo struct {
	Name string     `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
	Type SensorType `protobuf:"varint,2,opt,name=type,proto3,enum=viam.service.slam.v1.SensorType" json:"type,omitempty"`
	// contains filtered or unexported fields
}

type SensorType int32

type UnimplementedSLAMServiceServer struct {
}

type UnsafeSLAMServiceServer interface {
	// contains filtered or unexported methods
}