Merge pull request #55 from pollen-robotics/54-get-config-from-grpc-a…

…nd-adapt-the-sdk-in-function

Get config from grpc method. Adapt head required joints with the config.

reachy_sdk/head.py

@@ -36,12 +36,17 @@ class Head:
     expressed in Reachy's coordinate system.
     """
 
-    _required_joints = (
-        'neck_roll', 'neck_pitch', 'neck_yaw', 'l_antenna', 'r_antenna',
-    )
-
-    def __init__(self, joints: List[Joint], grpc_channel) -> None:
+    def __init__(self, config, joints: List[Joint], grpc_channel) -> None:
         """Set up the head."""
+        if 'no_head' in config:
+            self._required_joints = (
+                'neck_roll', 'neck_pitch', 'neck_yaw',
+            )
+        else:
+            self._required_joints = (
+                'neck_roll', 'neck_pitch', 'neck_yaw', 'l_antenna', 'r_antenna',
+            )
+
         self._kin_stub = HeadKinematicsStub(grpc_channel)
 
         def get_joint(name):

reachy_sdk/reachy_sdk.py

@@ -20,6 +20,7 @@
 from google.protobuf.empty_pb2 import Empty
 
 from reachy_sdk_api import camera_reachy_pb2_grpc
+from reachy_sdk_api import config_pb2_grpc
 from reachy_sdk_api import joint_pb2, joint_pb2_grpc
 from reachy_sdk_api import fan_pb2_grpc
 from reachy_sdk_api import sensor_pb2, sensor_pb2_grpc
@@ -90,6 +91,7 @@ def __init__(
             grpc.insecure_channel(f'{self._host}:{self._restart_port}')
         )
 
+        self._get_config()
         self._setup_joints()
         self._setup_arms()
         self._setup_head()
@@ -116,6 +118,10 @@ def __repr__(self) -> str:
             s
         }\n>'''
 
+    def _get_config(self) -> None:
+        config_stub = config_pb2_grpc.ConfigServiceStub(self._grpc_channel)
+        self._config = config_stub.GetReachyConfig(Empty()).config
+
     def _setup_joints(self):
         joint_stub = joint_pb2_grpc.JointServiceStub(self._grpc_channel)
 
@@ -148,7 +154,7 @@ def _setup_arms(self):
 
     def _setup_head(self):
         try:
-            head = Head(self._joints, self._grpc_channel)
+            head = Head(self._config, self._joints, self._grpc_channel)
             setattr(self, 'head', head)
         except ValueError:
             pass