add: grpc service between robot and remote policy server
This commit is contained in:
Francesco Capuano
parent
854bfb4ff8
commit
188bcf48fd
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// !/usr/bin/env python
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// Copyright 2024 The HuggingFace Inc. team.
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// All rights reserved.
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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// http://www.apache.org/licenses/LICENSE-2.0
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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syntax = "proto3";
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package async_inference;
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// AsyncInference: from Robot perspective
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// Robot send observations to & executes action received from a remote Policy server
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service AsyncInference {
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// Robot -> Policy to share observations with a remote inference server
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// Policy -> Robot to share actions predicted for given observations
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rpc SendObservations(stream Observation) returns (Empty);
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rpc StreamActions(Empty) returns (stream Action);
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rpc Ready(Empty) returns (Empty);
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}
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enum TransferState {
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TRANSFER_UNKNOWN = 0;
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TRANSFER_BEGIN = 1;
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TRANSFER_MIDDLE = 2;
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TRANSFER_END = 3;
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}
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// Messages
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message Observation {
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// sent by Robot, to remote Policy
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TransferState transfer_state = 1;
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bytes data = 2;
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}
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message Action {
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// sent by remote Policy, to Robot
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TransferState transfer_state = 1;
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bytes data = 2;
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}
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message Empty {}
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@ -0,0 +1,44 @@
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# -*- coding: utf-8 -*-
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# Generated by the protocol buffer compiler. DO NOT EDIT!
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# NO CHECKED-IN PROTOBUF GENCODE
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# source: async_inference.proto
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# Protobuf Python Version: 5.29.0
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"""Generated protocol buffer code."""
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from google.protobuf import descriptor as _descriptor
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from google.protobuf import descriptor_pool as _descriptor_pool
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from google.protobuf import runtime_version as _runtime_version
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from google.protobuf import symbol_database as _symbol_database
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from google.protobuf.internal import builder as _builder
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_runtime_version.ValidateProtobufRuntimeVersion(
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_runtime_version.Domain.PUBLIC,
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5,
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29,
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0,
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'',
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'async_inference.proto'
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)
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# @@protoc_insertion_point(imports)
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_sym_db = _symbol_database.Default()
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DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x15\x61sync_inference.proto\x12\x0f\x61sync_inference\"S\n\x0bObservation\x12\x36\n\x0etransfer_state\x18\x01 \x01(\x0e\x32\x1e.async_inference.TransferState\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"N\n\x06\x41\x63tion\x12\x36\n\x0etransfer_state\x18\x01 \x01(\x0e\x32\x1e.async_inference.TransferState\x12\x0c\n\x04\x64\x61ta\x18\x02 \x01(\x0c\"\x07\n\x05\x45mpty*`\n\rTransferState\x12\x14\n\x10TRANSFER_UNKNOWN\x10\x00\x12\x12\n\x0eTRANSFER_BEGIN\x10\x01\x12\x13\n\x0fTRANSFER_MIDDLE\x10\x02\x12\x10\n\x0cTRANSFER_END\x10\x03\x32\xd9\x01\n\x0e\x41syncInference\x12J\n\x10SendObservations\x12\x1c.async_inference.Observation\x1a\x16.async_inference.Empty(\x01\x12\x42\n\rStreamActions\x12\x16.async_inference.Empty\x1a\x17.async_inference.Action0\x01\x12\x37\n\x05Ready\x12\x16.async_inference.Empty\x1a\x16.async_inference.Emptyb\x06proto3')
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_globals = globals()
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_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
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_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'async_inference_pb2', _globals)
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if not _descriptor._USE_C_DESCRIPTORS:
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DESCRIPTOR._loaded_options = None
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_globals['_TRANSFERSTATE']._serialized_start=216
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_globals['_TRANSFERSTATE']._serialized_end=312
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_globals['_OBSERVATION']._serialized_start=42
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_globals['_OBSERVATION']._serialized_end=125
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_globals['_ACTION']._serialized_start=127
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_globals['_ACTION']._serialized_end=205
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_globals['_EMPTY']._serialized_start=207
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_globals['_EMPTY']._serialized_end=214
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_globals['_ASYNCINFERENCE']._serialized_start=315
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_globals['_ASYNCINFERENCE']._serialized_end=532
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# @@protoc_insertion_point(module_scope)
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@ -0,0 +1,191 @@
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# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
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"""Client and server classes corresponding to protobuf-defined services."""
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import grpc
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import warnings
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import async_inference_pb2 as async__inference__pb2
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GRPC_GENERATED_VERSION = '1.71.0'
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GRPC_VERSION = grpc.__version__
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_version_not_supported = False
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try:
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from grpc._utilities import first_version_is_lower
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_version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
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except ImportError:
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_version_not_supported = True
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if _version_not_supported:
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raise RuntimeError(
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f'The grpc package installed is at version {GRPC_VERSION},'
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+ f' but the generated code in async_inference_pb2_grpc.py depends on'
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+ f' grpcio>={GRPC_GENERATED_VERSION}.'
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+ f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
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+ f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
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)
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class AsyncInferenceStub(object):
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"""AsyncInference: from Robot perspective
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Robot send observations to & executes action received from a remote Policy server
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"""
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def __init__(self, channel):
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"""Constructor.
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Args:
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channel: A grpc.Channel.
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"""
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self.SendObservations = channel.stream_unary(
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'/async_inference.AsyncInference/SendObservations',
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request_serializer=async__inference__pb2.Observation.SerializeToString,
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response_deserializer=async__inference__pb2.Empty.FromString,
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_registered_method=True)
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self.StreamActions = channel.unary_stream(
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'/async_inference.AsyncInference/StreamActions',
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request_serializer=async__inference__pb2.Empty.SerializeToString,
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response_deserializer=async__inference__pb2.Action.FromString,
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_registered_method=True)
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self.Ready = channel.unary_unary(
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'/async_inference.AsyncInference/Ready',
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request_serializer=async__inference__pb2.Empty.SerializeToString,
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response_deserializer=async__inference__pb2.Empty.FromString,
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_registered_method=True)
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class AsyncInferenceServicer(object):
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"""AsyncInference: from Robot perspective
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Robot send observations to & executes action received from a remote Policy server
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"""
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def SendObservations(self, request_iterator, context):
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"""Robot -> Policy to share observations with a remote inference server
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Policy -> Robot to share actions predicted for given observations
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"""
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context.set_code(grpc.StatusCode.UNIMPLEMENTED)
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context.set_details('Method not implemented!')
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raise NotImplementedError('Method not implemented!')
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def StreamActions(self, request, context):
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"""Missing associated documentation comment in .proto file."""
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context.set_code(grpc.StatusCode.UNIMPLEMENTED)
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context.set_details('Method not implemented!')
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raise NotImplementedError('Method not implemented!')
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def Ready(self, request, context):
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"""Missing associated documentation comment in .proto file."""
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context.set_code(grpc.StatusCode.UNIMPLEMENTED)
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context.set_details('Method not implemented!')
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raise NotImplementedError('Method not implemented!')
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def add_AsyncInferenceServicer_to_server(servicer, server):
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rpc_method_handlers = {
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'SendObservations': grpc.stream_unary_rpc_method_handler(
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servicer.SendObservations,
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request_deserializer=async__inference__pb2.Observation.FromString,
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response_serializer=async__inference__pb2.Empty.SerializeToString,
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),
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'StreamActions': grpc.unary_stream_rpc_method_handler(
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servicer.StreamActions,
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request_deserializer=async__inference__pb2.Empty.FromString,
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response_serializer=async__inference__pb2.Action.SerializeToString,
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),
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'Ready': grpc.unary_unary_rpc_method_handler(
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servicer.Ready,
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request_deserializer=async__inference__pb2.Empty.FromString,
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response_serializer=async__inference__pb2.Empty.SerializeToString,
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),
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}
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generic_handler = grpc.method_handlers_generic_handler(
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'async_inference.AsyncInference', rpc_method_handlers)
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server.add_generic_rpc_handlers((generic_handler,))
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server.add_registered_method_handlers('async_inference.AsyncInference', rpc_method_handlers)
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# This class is part of an EXPERIMENTAL API.
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class AsyncInference(object):
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"""AsyncInference: from Robot perspective
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Robot send observations to & executes action received from a remote Policy server
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"""
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@staticmethod
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def SendObservations(request_iterator,
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target,
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options=(),
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channel_credentials=None,
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call_credentials=None,
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insecure=False,
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compression=None,
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wait_for_ready=None,
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timeout=None,
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metadata=None):
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return grpc.experimental.stream_unary(
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request_iterator,
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target,
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'/async_inference.AsyncInference/SendObservations',
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async__inference__pb2.Observation.SerializeToString,
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async__inference__pb2.Empty.FromString,
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options,
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channel_credentials,
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insecure,
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call_credentials,
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compression,
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wait_for_ready,
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timeout,
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metadata,
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_registered_method=True)
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@staticmethod
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def StreamActions(request,
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target,
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options=(),
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channel_credentials=None,
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call_credentials=None,
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insecure=False,
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compression=None,
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wait_for_ready=None,
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timeout=None,
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metadata=None):
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return grpc.experimental.unary_stream(
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request,
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target,
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'/async_inference.AsyncInference/StreamActions',
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async__inference__pb2.Empty.SerializeToString,
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async__inference__pb2.Action.FromString,
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options,
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channel_credentials,
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insecure,
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call_credentials,
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compression,
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wait_for_ready,
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timeout,
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metadata,
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_registered_method=True)
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@staticmethod
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def Ready(request,
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target,
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options=(),
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channel_credentials=None,
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call_credentials=None,
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insecure=False,
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compression=None,
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wait_for_ready=None,
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timeout=None,
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metadata=None):
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return grpc.experimental.unary_unary(
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request,
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target,
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'/async_inference.AsyncInference/Ready',
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async__inference__pb2.Empty.SerializeToString,
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async__inference__pb2.Empty.FromString,
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options,
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channel_credentials,
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insecure,
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call_credentials,
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compression,
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wait_for_ready,
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timeout,
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metadata,
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_registered_method=True)
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