import { type ServiceType } from '@bufbuild/protobuf'; import { type CallOptions, type Client } from '@connectrpc/connect'; import { type Credentials } from '../app/viam-transport'; import { EventDispatcher } from '../events'; import type { PoseInFrame, Transform } from '../gen/common/v1/common_pb'; import { GetModelsFromModulesRequest, GetPoseRequest, RestartModuleRequest, TransformPCDRequest, TransformPoseRequest } from '../gen/robot/v1/robot_pb'; import type { Robot } from './robot'; import type { AccessToken, Credential } from '../main'; interface ICEServer { urls: string; username?: string; credential?: string; } /** Options required to dial a robot via WebRTC. */ export interface DialWebRTCConf { host: string; credentials?: Credential | AccessToken; disableSessions?: boolean; noReconnect?: boolean; /** @default 10. */ reconnectMaxAttempts?: number; /** @default Number.POSITIVE_INFINITY */ reconnectMaxWait?: number; reconnectAbortSignal?: { abort: boolean; }; /** * Called when a non-retryable error is encountered during reconnection. * Return true to treat the error as retryable. Does not override * reconnectMaxAttempts — retries are still bounded by that limit. */ shouldRetryOnError?: () => boolean; serviceHost?: string; signalingAddress: string; iceServers?: ICEServer[]; priority?: number; /** * When true, sets ICE transport policy to relay-only so only TURN candidates * are used. Useful for testing relay connectivity through a TURN server. */ forceRelay?: boolean; /** * When true, strips TURN servers from the ICE configuration so only host and * server-reflexive candidates are used. Useful for testing direct * connectivity without relay fallback. */ forceP2P?: boolean; /** * When set, filters the signaling server's TURN list to only the server whose * parsed URI matches (compared by scheme, host, port, and transport — * defaulting transport to UDP if unspecified). Example: * `"turn:turn.viam.com:443"` */ turnUri?: string; /** Overrides the scheme of the matched TURN URI (`"turn"` or `"turns"`). */ turnScheme?: 'turn' | 'turns'; /** Overrides the transport of the matched TURN URI (`"tcp"` or `"udp"`). */ turnTransport?: 'tcp' | 'udp'; /** Overrides the port of the matched TURN URI. */ turnPort?: number; /** * When true, the connection to the signaling server is made over plain HTTP * (no TLS). Use this when connecting to a robot running with `no_tls: true`. */ signalingInsecure?: boolean; /** * Set timeout in milliseconds for dialing. Default is defined by * DIAL_TIMEOUT. A value of 0 disables the timeout. * * @deprecated Use `dialTimeoutMs` instead. */ dialTimeout?: number; /** * Set timeout in milliseconds for dialing. Default is defined by * DIAL_TIMEOUT. A value of 0 disables the timeout. */ dialTimeoutMs?: number; extraHeaders?: Record; } /** Options required to dial a robot via gRPC. */ export interface DialDirectConf { host: string; credentials?: Credential | AccessToken; disableSessions?: boolean; noReconnect?: boolean; reconnectMaxAttempts?: number; reconnectMaxWait?: number; reconnectAbortSignal?: { abort: boolean; }; /** * Called when a non-retryable error is encountered during reconnection. * Return true to treat the error as retryable. Does not override * reconnectMaxAttempts — retries are still bounded by that limit. */ shouldRetryOnError?: () => boolean; /** * Set timeout in milliseconds for dialing. Default is defined by * DIAL_TIMEOUT. A value of 0 disables the timeout. * * @deprecated Use `dialTimeoutMs` instead. */ dialTimeout?: number; /** * Set timeout in milliseconds for dialing. Default is defined by * DIAL_TIMEOUT. A value of 0 disables the timeout. */ dialTimeoutMs?: number; extraHeaders?: Record; } /** Options required to dial a robot. */ export type DialConf = DialDirectConf | DialWebRTCConf; interface WebRTCOptions { enabled: boolean; host: string; signalingAddress: string; rtcConfig: RTCConfiguration; noReconnect?: boolean; reconnectMaxAttempts?: number; reconnectMaxWait?: number; shouldRetryOnError?: () => boolean; forceRelay?: boolean; forceP2P?: boolean; turnUri?: string; turnScheme?: 'turn' | 'turns'; turnTransport?: 'tcp' | 'udp'; turnPort?: number; signalingInsecure?: boolean; } interface DirectOptions { noReconnect?: boolean; reconnectMaxAttempts?: number; reconnectMaxWait?: number; shouldRetryOnError?: () => boolean; } interface SessionOptions { disabled: boolean; } export interface ConnectOptions { creds?: Credentials; priority?: number; /** * Set timeout in milliseconds for dialing. Default is defined by * DIAL_TIMEOUT. A value of 0 disables the timeout. * * @deprecated Use `dialTimeoutMs` instead. */ dialTimeout?: number; /** * Set timeout in milliseconds for dialing. Default is defined by * DIAL_TIMEOUT. A value of 0 disables the timeout. */ dialTimeoutMs?: number; extraHeaders?: Record; } export declare const isDialWebRTCConf: (value: DialConf) => value is DialWebRTCConf; /** * Validates a DialConf passed to createRobotClient. Throws an error for invalid * configs. */ export declare const validateDialConf: (conf: DialConf) => void; /** * A gRPC-web client for a Robot. * * @group Clients */ export declare class RobotClient extends EventDispatcher implements Robot { private serviceHost; private readonly webrtcOptions; private readonly directOptions; private readonly sessionOptions; private gRPCConnectionManager; private sessionManager; private peerConn; private dataChannel; private transport; private connecting; private connectResolve; private dialing; private currentDialAbortSignal; private savedCreds; private closed; private robotServiceClient; private armServiceClient; private baseServiceClient; private boardServiceClient; private encoderServiceClient; private gantryServiceClient; private genericServiceClient; private gripperServiceClient; private mlModelServiceClient; private movementSensorServiceClient; private powerSensorServiceClient; private inputControllerServiceClient; private motorServiceClient; private navigationServiceClient; private discoveryServiceClient; private motionServiceClient; private visionServiceClient; private servoServiceClient; private slamServiceClient; private worldStateStoreServiceClient; private currentRetryAttempt; private isReconnecting; private onICEConnectionStateChange?; private onDataChannelClose?; private onTrack?; constructor(serviceHost?: string, webrtcOptions?: WebRTCOptions, sessionOptions?: SessionOptions, directOptions?: DirectOptions); private cleanupEventListeners; private onDisconnect; private get noReconnect(); private get reconnectMaxAttempts(); private get reconnectMaxWait(); private get shouldRetryOnError(); get sessionId(): string; private static readonly notConnectedYetStr; get robotService(): Client<{ readonly typeName: "viam.robot.v1.RobotService"; readonly methods: { readonly getOperations: { readonly name: "GetOperations"; readonly I: typeof import("../gen/robot/v1/robot_pb").GetOperationsRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").GetOperationsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getSessions: { readonly name: "GetSessions"; readonly I: typeof import("../gen/robot/v1/robot_pb").GetSessionsRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").GetSessionsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly resourceNames: { readonly name: "ResourceNames"; readonly I: typeof import("../gen/robot/v1/robot_pb").ResourceNamesRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").ResourceNamesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly resourceRPCSubtypes: { readonly name: "ResourceRPCSubtypes"; readonly I: typeof import("../gen/robot/v1/robot_pb").ResourceRPCSubtypesRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").ResourceRPCSubtypesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly cancelOperation: { readonly name: "CancelOperation"; readonly I: typeof import("../gen/robot/v1/robot_pb").CancelOperationRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").CancelOperationResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly blockForOperation: { readonly name: "BlockForOperation"; readonly I: typeof import("../gen/robot/v1/robot_pb").BlockForOperationRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").BlockForOperationResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getModelsFromModules: { readonly name: "GetModelsFromModules"; readonly I: typeof GetModelsFromModulesRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").GetModelsFromModulesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/robot/v1/robot_pb").GetStatusRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly streamStatus: { readonly name: "StreamStatus"; readonly I: typeof import("../gen/robot/v1/robot_pb").StreamStatusRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").StreamStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.ServerStreaming; }; readonly stopAll: { readonly name: "StopAll"; readonly I: typeof import("../gen/robot/v1/robot_pb").StopAllRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").StopAllResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly startSession: { readonly name: "StartSession"; readonly I: typeof import("../gen/robot/v1/robot_pb").StartSessionRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").StartSessionResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly sendSessionHeartbeat: { readonly name: "SendSessionHeartbeat"; readonly I: typeof import("../gen/robot/v1/robot_pb").SendSessionHeartbeatRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").SendSessionHeartbeatResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly log: { readonly name: "Log"; readonly I: typeof import("../gen/robot/v1/robot_pb").LogRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").LogResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getCloudMetadata: { readonly name: "GetCloudMetadata"; readonly I: typeof import("../gen/robot/v1/robot_pb").GetCloudMetadataRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").GetCloudMetadataResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly restartModule: { readonly name: "RestartModule"; readonly I: typeof RestartModuleRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").RestartModuleResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly shutdown: { readonly name: "Shutdown"; readonly I: typeof import("../gen/robot/v1/robot_pb").ShutdownRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").ShutdownResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getMachineStatus: { readonly name: "GetMachineStatus"; readonly I: typeof import("../gen/robot/v1/robot_pb").GetMachineStatusRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").GetMachineStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getVersion: { readonly name: "GetVersion"; readonly I: typeof import("../gen/robot/v1/robot_pb").GetVersionRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").GetVersionResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly tunnel: { readonly name: "Tunnel"; readonly I: typeof import("../gen/robot/v1/robot_pb").TunnelRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").TunnelResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.BiDiStreaming; }; readonly listTunnels: { readonly name: "ListTunnels"; readonly I: typeof import("../gen/robot/v1/robot_pb").ListTunnelsRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").ListTunnelsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly frameSystemConfig: { readonly name: "FrameSystemConfig"; readonly I: typeof import("../gen/robot/v1/robot_pb").FrameSystemConfigRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").FrameSystemConfigResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getPose: { readonly name: "GetPose"; readonly I: typeof GetPoseRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").GetPoseResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly transformPose: { readonly name: "TransformPose"; readonly I: typeof TransformPoseRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").TransformPoseResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly transformPCD: { readonly name: "TransformPCD"; readonly I: typeof TransformPCDRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").TransformPCDResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly sendTraces: { readonly name: "SendTraces"; readonly I: typeof import("../gen/robot/v1/robot_pb").SendTracesRequest; readonly O: typeof import("../gen/robot/v1/robot_pb").SendTracesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get armService(): Client<{ readonly typeName: "viam.component.arm.v1.ArmService"; readonly methods: { readonly getEndPosition: { readonly name: "GetEndPosition"; readonly I: typeof import("../gen/component/arm/v1/arm_pb").GetEndPositionRequest; readonly O: typeof import("../gen/component/arm/v1/arm_pb").GetEndPositionResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly moveToPosition: { readonly name: "MoveToPosition"; readonly I: typeof import("../gen/component/arm/v1/arm_pb").MoveToPositionRequest; readonly O: typeof import("../gen/component/arm/v1/arm_pb").MoveToPositionResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getJointPositions: { readonly name: "GetJointPositions"; readonly I: typeof import("../gen/component/arm/v1/arm_pb").GetJointPositionsRequest; readonly O: typeof import("../gen/component/arm/v1/arm_pb").GetJointPositionsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly moveToJointPositions: { readonly name: "MoveToJointPositions"; readonly I: typeof import("../gen/component/arm/v1/arm_pb").MoveToJointPositionsRequest; readonly O: typeof import("../gen/component/arm/v1/arm_pb").MoveToJointPositionsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly moveThroughJointPositions: { readonly name: "MoveThroughJointPositions"; readonly I: typeof import("../gen/component/arm/v1/arm_pb").MoveThroughJointPositionsRequest; readonly O: typeof import("../gen/component/arm/v1/arm_pb").MoveThroughJointPositionsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly stop: { readonly name: "Stop"; readonly I: typeof import("../gen/component/arm/v1/arm_pb").StopRequest; readonly O: typeof import("../gen/component/arm/v1/arm_pb").StopResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly isMoving: { readonly name: "IsMoving"; readonly I: typeof import("../gen/component/arm/v1/arm_pb").IsMovingRequest; readonly O: typeof import("../gen/component/arm/v1/arm_pb").IsMovingResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getKinematics: { readonly name: "GetKinematics"; readonly I: typeof import("../gen/common/v1/common_pb").GetKinematicsRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetKinematicsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getGeometries: { readonly name: "GetGeometries"; readonly I: typeof import("../gen/common/v1/common_pb").GetGeometriesRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetGeometriesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly get3DModels: { readonly name: "Get3DModels"; readonly I: typeof import("../gen/common/v1/common_pb").Get3DModelsRequest; readonly O: typeof import("../gen/common/v1/common_pb").Get3DModelsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get baseService(): Client<{ readonly typeName: "viam.component.base.v1.BaseService"; readonly methods: { readonly moveStraight: { readonly name: "MoveStraight"; readonly I: typeof import("../gen/component/base/v1/base_pb").MoveStraightRequest; readonly O: typeof import("../gen/component/base/v1/base_pb").MoveStraightResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly spin: { readonly name: "Spin"; readonly I: typeof import("../gen/component/base/v1/base_pb").SpinRequest; readonly O: typeof import("../gen/component/base/v1/base_pb").SpinResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly setPower: { readonly name: "SetPower"; readonly I: typeof import("../gen/component/base/v1/base_pb").SetPowerRequest; readonly O: typeof import("../gen/component/base/v1/base_pb").SetPowerResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly setVelocity: { readonly name: "SetVelocity"; readonly I: typeof import("../gen/component/base/v1/base_pb").SetVelocityRequest; readonly O: typeof import("../gen/component/base/v1/base_pb").SetVelocityResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly stop: { readonly name: "Stop"; readonly I: typeof import("../gen/component/base/v1/base_pb").StopRequest; readonly O: typeof import("../gen/component/base/v1/base_pb").StopResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly isMoving: { readonly name: "IsMoving"; readonly I: typeof import("../gen/component/base/v1/base_pb").IsMovingRequest; readonly O: typeof import("../gen/component/base/v1/base_pb").IsMovingResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; /** * When set, filters the signaling server's TURN list to only the server whose * parsed URI matches (compared by scheme, host, port, and transport — * defaulting transport to UDP if unspecified). Example: * `"turn:turn.viam.com:443"` */ readonly getGeometries: { readonly name: "GetGeometries"; readonly I: typeof import("../gen/common/v1/common_pb").GetGeometriesRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetGeometriesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getProperties: { readonly name: "GetProperties"; readonly I: typeof import("../gen/component/base/v1/base_pb").GetPropertiesRequest; readonly O: typeof import("../gen/component/base/v1/base_pb").GetPropertiesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get boardService(): Client<{ readonly typeName: "viam.component.board.v1.BoardService"; readonly methods: { readonly setGPIO: { readonly name: "SetGPIO"; readonly I: typeof import("../gen/component/board/v1/board_pb").SetGPIORequest; readonly O: typeof import("../gen/component/board/v1/board_pb").SetGPIOResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getGPIO: { readonly name: "GetGPIO"; readonly I: typeof import("../gen/component/board/v1/board_pb").GetGPIORequest; readonly O: typeof import("../gen/component/board/v1/board_pb").GetGPIOResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly pWM: { readonly name: "PWM"; readonly I: typeof import("../gen/component/board/v1/board_pb").PWMRequest; readonly O: typeof import("../gen/component/board/v1/board_pb").PWMResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly setPWM: { readonly name: "SetPWM"; readonly I: typeof import("../gen/component/board/v1/board_pb").SetPWMRequest; readonly O: typeof import("../gen/component/board/v1/board_pb").SetPWMResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly pWMFrequency: { readonly name: "PWMFrequency"; readonly I: typeof import("../gen/component/board/v1/board_pb").PWMFrequencyRequest; readonly O: typeof import("../gen/component/board/v1/board_pb").PWMFrequencyResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly setPWMFrequency: { readonly name: "SetPWMFrequency"; readonly I: typeof import("../gen/component/board/v1/board_pb").SetPWMFrequencyRequest; readonly O: typeof import("../gen/component/board/v1/board_pb").SetPWMFrequencyResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly readAnalogReader: { readonly name: "ReadAnalogReader"; readonly I: typeof import("../gen/component/board/v1/board_pb").ReadAnalogReaderRequest; readonly O: typeof import("../gen/component/board/v1/board_pb").ReadAnalogReaderResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly writeAnalog: { readonly name: "WriteAnalog"; readonly I: typeof import("../gen/component/board/v1/board_pb").WriteAnalogRequest; readonly O: typeof import("../gen/component/board/v1/board_pb").WriteAnalogResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getDigitalInterruptValue: { readonly name: "GetDigitalInterruptValue"; readonly I: typeof import("../gen/component/board/v1/board_pb").GetDigitalInterruptValueRequest; readonly O: typeof import("../gen/component/board/v1/board_pb").GetDigitalInterruptValueResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly streamTicks: { readonly name: "StreamTicks"; readonly I: typeof import("../gen/component/board/v1/board_pb").StreamTicksRequest; readonly O: typeof import("../gen/component/board/v1/board_pb").StreamTicksResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.ServerStreaming; }; readonly setPowerMode: { readonly name: "SetPowerMode"; readonly I: typeof import("../gen/component/board/v1/board_pb").SetPowerModeRequest; readonly O: typeof import("../gen/component/board/v1/board_pb").SetPowerModeResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getGeometries: { readonly name: "GetGeometries"; readonly I: typeof import("../gen/common/v1/common_pb").GetGeometriesRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetGeometriesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get encoderService(): Client<{ readonly typeName: "viam.component.encoder.v1.EncoderService"; readonly methods: { readonly getPosition: { readonly name: "GetPosition"; readonly I: typeof import("../gen/component/encoder/v1/encoder_pb").GetPositionRequest; readonly O: typeof import("../gen/component/encoder/v1/encoder_pb").GetPositionResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly resetPosition: { readonly name: "ResetPosition"; readonly I: typeof import("../gen/component/encoder/v1/encoder_pb").ResetPositionRequest; readonly O: typeof import("../gen/component/encoder/v1/encoder_pb").ResetPositionResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getProperties: { readonly name: "GetProperties"; readonly I: typeof import("../gen/component/encoder/v1/encoder_pb").GetPropertiesRequest; readonly O: typeof import("../gen/component/encoder/v1/encoder_pb").GetPropertiesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getGeometries: { readonly name: "GetGeometries"; readonly I: typeof import("../gen/common/v1/common_pb").GetGeometriesRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetGeometriesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get gantryService(): Client<{ readonly typeName: "viam.component.gantry.v1.GantryService"; readonly methods: { readonly getPosition: { readonly name: "GetPosition"; readonly I: typeof import("../gen/component/gantry/v1/gantry_pb").GetPositionRequest; readonly O: typeof import("../gen/component/gantry/v1/gantry_pb").GetPositionResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly moveToPosition: { readonly name: "MoveToPosition"; readonly I: typeof import("../gen/component/gantry/v1/gantry_pb").MoveToPositionRequest; readonly O: typeof import("../gen/component/gantry/v1/gantry_pb").MoveToPositionResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly home: { readonly name: "Home"; readonly I: typeof import("../gen/component/gantry/v1/gantry_pb").HomeRequest; readonly O: typeof import("../gen/component/gantry/v1/gantry_pb").HomeResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getLengths: { readonly name: "GetLengths"; readonly I: typeof import("../gen/component/gantry/v1/gantry_pb").GetLengthsRequest; readonly O: typeof import("../gen/component/gantry/v1/gantry_pb").GetLengthsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly stop: { readonly name: "Stop"; readonly I: typeof import("../gen/component/gantry/v1/gantry_pb").StopRequest; readonly O: typeof import("../gen/component/gantry/v1/gantry_pb").StopResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly isMoving: { readonly name: "IsMoving"; readonly I: typeof import("../gen/component/gantry/v1/gantry_pb").IsMovingRequest; readonly O: typeof import("../gen/component/gantry/v1/gantry_pb").IsMovingResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getKinematics: { readonly name: "GetKinematics"; readonly I: typeof import("../gen/common/v1/common_pb").GetKinematicsRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetKinematicsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getGeometries: { readonly name: "GetGeometries"; readonly I: typeof import("../gen/common/v1/common_pb").GetGeometriesRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetGeometriesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get genericService(): Client<{ readonly typeName: "viam.component.generic.v1.GenericService"; readonly methods: { readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getGeometries: { readonly name: "GetGeometries"; readonly I: typeof import("../gen/common/v1/common_pb").GetGeometriesRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetGeometriesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get gripperService(): Client<{ readonly typeName: "viam.component.gripper.v1.GripperService"; readonly methods: { readonly open: { readonly name: "Open"; readonly I: typeof import("../gen/component/gripper/v1/gripper_pb").OpenRequest; readonly O: typeof import("../gen/component/gripper/v1/gripper_pb").OpenResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly grab: { readonly name: "Grab"; readonly I: typeof import("../gen/component/gripper/v1/gripper_pb").GrabRequest; readonly O: typeof import("../gen/component/gripper/v1/gripper_pb").GrabResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly stop: { readonly name: "Stop"; readonly I: typeof import("../gen/component/gripper/v1/gripper_pb").StopRequest; readonly O: typeof import("../gen/component/gripper/v1/gripper_pb").StopResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly isMoving: { readonly name: "IsMoving"; readonly I: typeof import("../gen/component/gripper/v1/gripper_pb").IsMovingRequest; readonly O: typeof import("../gen/component/gripper/v1/gripper_pb").IsMovingResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly isHoldingSomething: { readonly name: "IsHoldingSomething"; readonly I: typeof import("../gen/component/gripper/v1/gripper_pb").IsHoldingSomethingRequest; readonly O: typeof import("../gen/component/gripper/v1/gripper_pb").IsHoldingSomethingResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; /** @default Number.POSITIVE_INFINITY */ readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getGeometries: { readonly name: "GetGeometries"; readonly I: typeof import("../gen/common/v1/common_pb").GetGeometriesRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetGeometriesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getKinematics: { readonly name: "GetKinematics"; readonly I: typeof import("../gen/common/v1/common_pb").GetKinematicsRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetKinematicsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get mlModelService(): Client<{ readonly typeName: "viam.service.mlmodel.v1.MLModelService"; readonly methods: { readonly infer: { readonly name: "Infer"; readonly I: typeof import("../gen/service/mlmodel/v1/mlmodel_pb").InferRequest; readonly O: typeof import("../gen/service/mlmodel/v1/mlmodel_pb").InferResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly metadata: { readonly name: "Metadata"; readonly I: typeof import("../gen/service/mlmodel/v1/mlmodel_pb").MetadataRequest; readonly O: typeof import("../gen/service/mlmodel/v1/mlmodel_pb").MetadataResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get movementSensorService(): Client<{ readonly typeName: "viam.component.movementsensor.v1.MovementSensorService"; readonly methods: { readonly getLinearVelocity: { readonly name: "GetLinearVelocity"; readonly I: typeof import("../gen/component/movementsensor/v1/movementsensor_pb").GetLinearVelocityRequest; readonly O: typeof import("../gen/component/movementsensor/v1/movementsensor_pb").GetLinearVelocityResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getAngularVelocity: { readonly name: "GetAngularVelocity"; readonly I: typeof import("../gen/component/movementsensor/v1/movementsensor_pb").GetAngularVelocityRequest; readonly O: typeof import("../gen/component/movementsensor/v1/movementsensor_pb").GetAngularVelocityResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getCompassHeading: { readonly name: "GetCompassHeading"; readonly I: typeof import("../gen/component/movementsensor/v1/movementsensor_pb").GetCompassHeadingRequest; readonly O: typeof import("../gen/component/movementsensor/v1/movementsensor_pb").GetCompassHeadingResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getOrientation: { readonly name: "GetOrientation"; readonly I: typeof import("../gen/component/movementsensor/v1/movementsensor_pb").GetOrientationRequest; readonly O: typeof import("../gen/component/movementsensor/v1/movementsensor_pb").GetOrientationResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getPosition: { readonly name: "GetPosition"; readonly I: typeof import("../gen/component/movementsensor/v1/movementsensor_pb").GetPositionRequest; readonly O: typeof import("../gen/component/movementsensor/v1/movementsensor_pb").GetPositionResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getProperties: { readonly name: "GetProperties"; readonly I: typeof import("../gen/component/movementsensor/v1/movementsensor_pb").GetPropertiesRequest; readonly O: typeof import("../gen/component/movementsensor/v1/movementsensor_pb").GetPropertiesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getAccuracy: { readonly name: "GetAccuracy"; readonly I: typeof import("../gen/component/movementsensor/v1/movementsensor_pb").GetAccuracyRequest; readonly O: typeof import("../gen/component/movementsensor/v1/movementsensor_pb").GetAccuracyResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getLinearAcceleration: { readonly name: "GetLinearAcceleration"; readonly I: typeof import("../gen/component/movementsensor/v1/movementsensor_pb").GetLinearAccelerationRequest; readonly O: typeof import("../gen/component/movementsensor/v1/movementsensor_pb").GetLinearAccelerationResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getGeometries: { readonly name: "GetGeometries"; readonly I: typeof import("../gen/common/v1/common_pb").GetGeometriesRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetGeometriesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getReadings: { readonly name: "GetReadings"; readonly I: typeof import("../gen/common/v1/common_pb").GetReadingsRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetReadingsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get powerSensorService(): Client<{ readonly typeName: "viam.component.powersensor.v1.PowerSensorService"; readonly methods: { readonly getVoltage: { readonly name: "GetVoltage"; readonly I: typeof import("../gen/component/powersensor/v1/powersensor_pb").GetVoltageRequest; readonly O: typeof import("../gen/component/powersensor/v1/powersensor_pb").GetVoltageResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getCurrent: { readonly name: "GetCurrent"; readonly I: typeof import("../gen/component/powersensor/v1/powersensor_pb").GetCurrentRequest; readonly O: typeof import("../gen/component/powersensor/v1/powersensor_pb").GetCurrentResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getPower: { readonly name: "GetPower"; readonly I: typeof import("../gen/component/powersensor/v1/powersensor_pb").GetPowerRequest; readonly O: typeof import("../gen/component/powersensor/v1/powersensor_pb").GetPowerResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getReadings: { readonly name: "GetReadings"; readonly I: typeof import("../gen/common/v1/common_pb").GetReadingsRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetReadingsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get inputControllerService(): Client<{ readonly typeName: "viam.component.inputcontroller.v1.InputControllerService"; readonly methods: { readonly getControls: { readonly name: "GetControls"; readonly I: typeof import("../gen/component/inputcontroller/v1/input_controller_pb").GetControlsRequest; readonly O: typeof import("../gen/component/inputcontroller/v1/input_controller_pb").GetControlsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getEvents: { readonly name: "GetEvents"; readonly I: typeof import("../gen/component/inputcontroller/v1/input_controller_pb").GetEventsRequest; readonly O: typeof import("../gen/component/inputcontroller/v1/input_controller_pb").GetEventsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly streamEvents: { readonly name: "StreamEvents"; readonly I: typeof import("../gen/component/inputcontroller/v1/input_controller_pb").StreamEventsRequest; readonly O: typeof import("../gen/component/inputcontroller/v1/input_controller_pb").StreamEventsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.ServerStreaming; }; readonly triggerEvent: { readonly name: "TriggerEvent"; readonly I: typeof import("../gen/component/inputcontroller/v1/input_controller_pb").TriggerEventRequest; readonly O: typeof import("../gen/component/inputcontroller/v1/input_controller_pb").TriggerEventResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getGeometries: { readonly name: "GetGeometries"; readonly I: typeof import("../gen/common/v1/common_pb").GetGeometriesRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetGeometriesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get motorService(): Client<{ readonly typeName: "viam.component.motor.v1.MotorService"; readonly methods: { readonly setPower: { readonly name: "SetPower"; readonly I: typeof import("../gen/component/motor/v1/motor_pb").SetPowerRequest; readonly O: typeof import("../gen/component/motor/v1/motor_pb").SetPowerResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly goFor: { readonly name: "GoFor"; readonly I: typeof import("../gen/component/motor/v1/motor_pb").GoForRequest; readonly O: typeof import("../gen/component/motor/v1/motor_pb").GoForResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly goTo: { readonly name: "GoTo"; readonly I: typeof import("../gen/component/motor/v1/motor_pb").GoToRequest; readonly O: typeof import("../gen/component/motor/v1/motor_pb").GoToResponse; /** Options required to dial a robot via WebRTC. */ readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly setRPM: { readonly name: "SetRPM"; readonly I: typeof import("../gen/component/motor/v1/motor_pb").SetRPMRequest; readonly O: typeof import("../gen/component/motor/v1/motor_pb").SetRPMResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly resetZeroPosition: { readonly name: "ResetZeroPosition"; /** * When true, sets ICE transport policy to relay-only so only TURN candidates * are used. Useful for testing relay connectivity through a TURN server. */ readonly I: typeof import("../gen/component/motor/v1/motor_pb").ResetZeroPositionRequest; readonly O: typeof import("../gen/component/motor/v1/motor_pb").ResetZeroPositionResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getPosition: { readonly name: "GetPosition"; readonly I: typeof import("../gen/component/motor/v1/motor_pb").GetPositionRequest; readonly O: typeof import("../gen/component/motor/v1/motor_pb").GetPositionResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getProperties: { readonly name: "GetProperties"; readonly I: typeof import("../gen/component/motor/v1/motor_pb").GetPropertiesRequest; readonly O: typeof import("../gen/component/motor/v1/motor_pb").GetPropertiesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly stop: { readonly name: "Stop"; readonly I: typeof import("../gen/component/motor/v1/motor_pb").StopRequest; readonly O: typeof import("../gen/component/motor/v1/motor_pb").StopResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly isPowered: { readonly name: "IsPowered"; readonly I: typeof import("../gen/component/motor/v1/motor_pb").IsPoweredRequest; readonly O: typeof import("../gen/component/motor/v1/motor_pb").IsPoweredResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly isMoving: { readonly name: "IsMoving"; readonly I: typeof import("../gen/component/motor/v1/motor_pb").IsMovingRequest; readonly O: typeof import("../gen/component/motor/v1/motor_pb").IsMovingResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getGeometries: { readonly name: "GetGeometries"; readonly I: typeof import("../gen/common/v1/common_pb").GetGeometriesRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetGeometriesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get navigationService(): Client<{ readonly typeName: "viam.service.navigation.v1.NavigationService"; readonly methods: { readonly getMode: { readonly name: "GetMode"; readonly I: typeof import("../gen/service/navigation/v1/navigation_pb").GetModeRequest; readonly O: typeof import("../gen/service/navigation/v1/navigation_pb").GetModeResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly setMode: { readonly name: "SetMode"; readonly I: typeof import("../gen/service/navigation/v1/navigation_pb").SetModeRequest; readonly O: typeof import("../gen/service/navigation/v1/navigation_pb").SetModeResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getLocation: { readonly name: "GetLocation"; readonly I: typeof import("../gen/service/navigation/v1/navigation_pb").GetLocationRequest; readonly O: typeof import("../gen/service/navigation/v1/navigation_pb").GetLocationResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getWaypoints: { readonly name: "GetWaypoints"; readonly I: typeof import("../gen/service/navigation/v1/navigation_pb").GetWaypointsRequest; readonly O: typeof import("../gen/service/navigation/v1/navigation_pb").GetWaypointsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly addWaypoint: { readonly name: "AddWaypoint"; readonly I: typeof import("../gen/service/navigation/v1/navigation_pb").AddWaypointRequest; readonly O: typeof import("../gen/service/navigation/v1/navigation_pb").AddWaypointResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly removeWaypoint: { readonly name: "RemoveWaypoint"; readonly I: typeof import("../gen/service/navigation/v1/navigation_pb").RemoveWaypointRequest; readonly O: typeof import("../gen/service/navigation/v1/navigation_pb").RemoveWaypointResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getObstacles: { readonly name: "GetObstacles"; readonly I: typeof import("../gen/service/navigation/v1/navigation_pb").GetObstaclesRequest; readonly O: typeof import("../gen/service/navigation/v1/navigation_pb").GetObstaclesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getPaths: { readonly name: "GetPaths"; readonly I: typeof import("../gen/service/navigation/v1/navigation_pb").GetPathsRequest; readonly O: typeof import("../gen/service/navigation/v1/navigation_pb").GetPathsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getProperties: { readonly name: "GetProperties"; readonly I: typeof import("../gen/service/navigation/v1/navigation_pb").GetPropertiesRequest; readonly O: typeof import("../gen/service/navigation/v1/navigation_pb").GetPropertiesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get discoveryService(): Client<{ readonly typeName: "viam.service.discovery.v1.DiscoveryService"; readonly methods: { readonly discoverResources: { readonly name: "DiscoverResources"; readonly I: typeof import("../gen/service/discovery/v1/discovery_pb").DiscoverResourcesRequest; readonly O: typeof import("../gen/service/discovery/v1/discovery_pb").DiscoverResourcesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get motionService(): Client<{ readonly typeName: "viam.service.motion.v1.MotionService"; readonly methods: { readonly move: { readonly name: "Move"; readonly I: typeof import("../gen/service/motion/v1/motion_pb").MoveRequest; readonly O: typeof import("../gen/service/motion/v1/motion_pb").MoveResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly moveOnMap: { readonly name: "MoveOnMap"; readonly I: typeof import("../gen/service/motion/v1/motion_pb").MoveOnMapRequest; readonly O: typeof import("../gen/service/motion/v1/motion_pb").MoveOnMapResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly moveOnGlobe: { readonly name: "MoveOnGlobe"; readonly I: typeof import("../gen/service/motion/v1/motion_pb").MoveOnGlobeRequest; readonly O: typeof import("../gen/service/motion/v1/motion_pb").MoveOnGlobeResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getPose: { readonly name: "GetPose"; readonly I: typeof import("../gen/service/motion/v1/motion_pb").GetPoseRequest; readonly O: typeof import("../gen/service/motion/v1/motion_pb").GetPoseResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly stopPlan: { readonly name: "StopPlan"; readonly I: typeof import("../gen/service/motion/v1/motion_pb").StopPlanRequest; readonly O: typeof import("../gen/service/motion/v1/motion_pb").StopPlanResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly listPlanStatuses: { readonly name: "ListPlanStatuses"; readonly I: typeof import("../gen/service/motion/v1/motion_pb").ListPlanStatusesRequest; readonly O: typeof import("../gen/service/motion/v1/motion_pb").ListPlanStatusesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getPlan: { readonly name: "GetPlan"; readonly I: typeof import("../gen/service/motion/v1/motion_pb").GetPlanRequest; readonly O: typeof import("../gen/service/motion/v1/motion_pb").GetPlanResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; /** * Set timeout in milliseconds for dialing. Default is defined by * DIAL_TIMEOUT. A value of 0 disables the timeout. * * @deprecated Use `dialTimeoutMs` instead. */ readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get visionService(): Client<{ readonly typeName: "viam.service.vision.v1.VisionService"; readonly methods: { readonly getDetectionsFromCamera: { readonly name: "GetDetectionsFromCamera"; readonly I: typeof import("../gen/service/vision/v1/vision_pb").GetDetectionsFromCameraRequest; readonly O: typeof import("../gen/service/vision/v1/vision_pb").GetDetectionsFromCameraResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getDetections: { readonly name: "GetDetections"; readonly I: typeof import("../gen/service/vision/v1/vision_pb").GetDetectionsRequest; readonly O: typeof import("../gen/service/vision/v1/vision_pb").GetDetectionsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getClassificationsFromCamera: { readonly name: "GetClassificationsFromCamera"; readonly I: typeof import("../gen/service/vision/v1/vision_pb").GetClassificationsFromCameraRequest; readonly O: typeof import("../gen/service/vision/v1/vision_pb").GetClassificationsFromCameraResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getClassifications: { readonly name: "GetClassifications"; readonly I: typeof import("../gen/service/vision/v1/vision_pb").GetClassificationsRequest; readonly O: typeof import("../gen/service/vision/v1/vision_pb").GetClassificationsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getObjectPointClouds: { readonly name: "GetObjectPointClouds"; readonly I: typeof import("../gen/service/vision/v1/vision_pb").GetObjectPointCloudsRequest; readonly O: typeof import("../gen/service/vision/v1/vision_pb").GetObjectPointCloudsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getProperties: { readonly name: "GetProperties"; readonly I: typeof import("../gen/service/vision/v1/vision_pb").GetPropertiesRequest; readonly O: typeof import("../gen/service/vision/v1/vision_pb").GetPropertiesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly captureAllFromCamera: { readonly name: "CaptureAllFromCamera"; readonly I: typeof import("../gen/service/vision/v1/vision_pb").CaptureAllFromCameraRequest; readonly O: typeof import("../gen/service/vision/v1/vision_pb").CaptureAllFromCameraResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; /** * Set timeout in milliseconds for dialing. Default is defined by * DIAL_TIMEOUT. A value of 0 disables the timeout. */ readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get servoService(): Client<{ readonly typeName: "viam.component.servo.v1.ServoService"; readonly methods: { readonly move: { readonly name: "Move"; readonly I: typeof import("../gen/component/servo/v1/servo_pb").MoveRequest; readonly O: typeof import("../gen/component/servo/v1/servo_pb").MoveResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getPosition: { readonly name: "GetPosition"; readonly I: typeof import("../gen/component/servo/v1/servo_pb").GetPositionRequest; readonly O: typeof import("../gen/component/servo/v1/servo_pb").GetPositionResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly stop: { readonly name: "Stop"; readonly I: typeof import("../gen/component/servo/v1/servo_pb").StopRequest; readonly O: typeof import("../gen/component/servo/v1/servo_pb").StopResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly isMoving: { readonly name: "IsMoving"; readonly I: typeof import("../gen/component/servo/v1/servo_pb").IsMovingRequest; readonly O: typeof import("../gen/component/servo/v1/servo_pb").IsMovingResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getGeometries: { readonly name: "GetGeometries"; readonly I: typeof import("../gen/common/v1/common_pb").GetGeometriesRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetGeometriesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get slamService(): Client<{ readonly typeName: "viam.service.slam.v1.SLAMService"; readonly methods: { readonly getPosition: { readonly name: "GetPosition"; readonly I: typeof import("../gen/service/slam/v1/slam_pb").GetPositionRequest; readonly O: typeof import("../gen/service/slam/v1/slam_pb").GetPositionResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getPointCloudMap: { readonly name: "GetPointCloudMap"; readonly I: typeof import("../gen/service/slam/v1/slam_pb").GetPointCloudMapRequest; readonly O: typeof import("../gen/service/slam/v1/slam_pb").GetPointCloudMapResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.ServerStreaming; }; readonly getInternalState: { readonly name: "GetInternalState"; readonly I: typeof import("../gen/service/slam/v1/slam_pb").GetInternalStateRequest; readonly O: typeof import("../gen/service/slam/v1/slam_pb").GetInternalStateResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.ServerStreaming; }; readonly getProperties: { readonly name: "GetProperties"; readonly I: typeof import("../gen/service/slam/v1/slam_pb").GetPropertiesRequest; readonly O: typeof import("../gen/service/slam/v1/slam_pb").GetPropertiesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; get worldStateStoreService(): Client<{ readonly typeName: "viam.service.worldstatestore.v1.WorldStateStoreService"; readonly methods: { readonly listUUIDs: { readonly name: "ListUUIDs"; readonly I: typeof import("../gen/service/worldstatestore/v1/world_state_store_pb").ListUUIDsRequest; readonly O: typeof import("../gen/service/worldstatestore/v1/world_state_store_pb").ListUUIDsResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getTransform: { readonly name: "GetTransform"; readonly I: typeof import("../gen/service/worldstatestore/v1/world_state_store_pb").GetTransformRequest; readonly O: typeof import("../gen/service/worldstatestore/v1/world_state_store_pb").GetTransformResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly streamTransformChanges: { readonly name: "StreamTransformChanges"; readonly I: typeof import("../gen/service/worldstatestore/v1/world_state_store_pb").StreamTransformChangesRequest; readonly O: typeof import("../gen/service/worldstatestore/v1/world_state_store_pb").StreamTransformChangesResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.ServerStreaming; }; readonly doCommand: { readonly name: "DoCommand"; readonly I: typeof import("../gen/common/v1/common_pb").DoCommandRequest; readonly O: typeof import("../gen/common/v1/common_pb").DoCommandResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; readonly getStatus: { readonly name: "GetStatus"; readonly I: typeof import("../gen/common/v1/common_pb").GetStatusRequest; readonly O: typeof import("../gen/common/v1/common_pb").GetStatusResponse; readonly kind: import("@bufbuild/protobuf").MethodKind.Unary; }; }; }>; createServiceClient(svcType: T): Client; get peerConnection(): RTCPeerConnection | undefined; private get clientTransport(); private dialWebRTC; private dialDirect; private resetDialing; dial(conf: DialConf): Promise; private createBackOffOpts; private tryWebRTCDial; private tryDirectDial; private performDial; disconnect(): Promise; isConnected(): boolean; connect({ creds, priority, dialTimeout, dialTimeoutMs, extraHeaders, }?: ConnectOptions): Promise; getSessions(): Promise; getOperations(): Promise; cancelOperation(id: string): Promise; blockForOperation(id: string): Promise; stopAll(): Promise; frameSystemConfig(transforms: Transform[]): Promise; transformPose(source: PoseInFrame, destination: string, supplementalTransforms: Transform[], callOptions?: CallOptions): Promise; transformPCD(pointCloudPCD: Uint8Array, source: string, destination: string): Promise; getModelsFromModules(): Promise; getCloudMetadata(): Promise; resourceNames(): Promise; resourceRPCSubtypes(): Promise; getMachineStatus(): Promise; getVersion(): Promise; restartModule(moduleId?: string, moduleName?: string): Promise; getPose(componentName: string, destinationFrame: string, supplementalTransforms: Transform[]): Promise; } export {};