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Merged
merged 10 commits into from
Oct 14, 2024
Merged

RSDK-6171-add-client-api-for-debugging-grpc-calls #384

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7209a3c
working example in motor
purplenicole730 Oct 9, 2024
be60555
add calloptions to all component client classes and methods
purplenicole730 Oct 9, 2024
3adf43a
make lint
purplenicole730 Oct 9, 2024
0f54019
add calloptions to all services
purplenicole730 Oct 10, 2024
6562ba8
make lint update connectrpc and exponential-backoff
purplenicole730 Oct 10, 2024
fdc24fc
add calloptions to docommand
purplenicole730 Oct 10, 2024
239965e
make callopts a default param
purplenicole730 Oct 10, 2024
be59b6f
do not use object literal
purplenicole730 Oct 10, 2024
c806ad4
Merge branch 'main' into RSDK-6171-add-client-api-for-debugging-grpc-…
purplenicole730 Oct 11, 2024
97f646a
make lint
purplenicole730 Oct 11, 2024
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39 changes: 24 additions & 15 deletions src/components/arm/client.ts
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
import { Struct, type JsonValue } from '@bufbuild/protobuf';
import type { PromiseClient } from '@connectrpc/connect';
import type { CallOptions, PromiseClient } from '@connectrpc/connect';
import { ArmService } from '../../gen/component/arm/v1/arm_connect';
import {
GetEndPositionRequest,
Expand All @@ -24,30 +24,31 @@ export class ArmClient implements Arm {
private client: PromiseClient<typeof ArmService>;
private readonly name: string;
private readonly options: Options;
public callOptions: CallOptions = { headers: {} as Record<string, string> };

constructor(client: RobotClient, name: string, options: Options = {}) {
this.client = client.createServiceClient(ArmService);
this.name = name;
this.options = options;
}

async getEndPosition(extra = {}) {
async getEndPosition(extra = {}, callOptions = this.callOptions) {
const request = new GetEndPositionRequest({
name: this.name,
extra: Struct.fromJson(extra),
});

this.options.requestLogger?.(request);

const response = await this.client.getEndPosition(request);
const response = await this.client.getEndPosition(request, callOptions);
const result = response.pose;
if (!result) {
throw new Error('no pose');
}
return result;
}

async moveToPosition(pose: Pose, extra = {}) {
async moveToPosition(pose: Pose, extra = {}, callOptions = this.callOptions) {
const request = new MoveToPositionRequest({
name: this.name,
to: pose,
Expand All @@ -56,10 +57,14 @@ export class ArmClient implements Arm {

this.options.requestLogger?.(request);

await this.client.moveToPosition(request);
await this.client.moveToPosition(request, callOptions);
}

async moveToJointPositions(jointPositionsList: number[], extra = {}) {
async moveToJointPositions(
jointPositionsList: number[],
extra = {},
callOptions = this.callOptions
) {
const newJointPositions = new JointPositions({
values: jointPositionsList,
});
Expand All @@ -72,18 +77,18 @@ export class ArmClient implements Arm {

this.options.requestLogger?.(request);

await this.client.moveToJointPositions(request);
await this.client.moveToJointPositions(request, callOptions);
}

async getJointPositions(extra = {}) {
async getJointPositions(extra = {}, callOptions = this.callOptions) {
const request = new GetJointPositionsRequest({
name: this.name,
extra: Struct.fromJson(extra),
});

this.options.requestLogger?.(request);

const response = await this.client.getJointPositions(request);
const response = await this.client.getJointPositions(request, callOptions);

const result = response.positions;
if (!result) {
Expand All @@ -92,34 +97,38 @@ export class ArmClient implements Arm {
return result;
}

async stop(extra = {}) {
async stop(extra = {}, callOptions = this.callOptions) {
const request = new StopRequest({
name: this.name,
extra: Struct.fromJson(extra),
});

this.options.requestLogger?.(request);

await this.client.stop(request);
await this.client.stop(request, callOptions);
}

async isMoving() {
async isMoving(callOptions = this.callOptions) {
const request = new IsMovingRequest({
name: this.name,
});

this.options.requestLogger?.(request);

const resp = await this.client.isMoving(request);
const resp = await this.client.isMoving(request, callOptions);
return resp.isMoving;
}

async doCommand(command: Struct): Promise<JsonValue> {
async doCommand(
command: Struct,
callOptions = this.callOptions
): Promise<JsonValue> {
return doCommandFromClient(
this.client.doCommand,
this.name,
command,
this.options
this.options,
callOptions
);
}
}
2 changes: 1 addition & 1 deletion src/components/base/base.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@ export interface Base extends Resource {
stop(extra?: Struct): Promise<void>;

/** Return true if the base is in motion. */
isMoving(extra?: Struct): Promise<boolean>;
isMoving(): Promise<boolean>;
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@purplenicole730 purplenicole730 Oct 10, 2024 •
edited
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This is technically a breaking change. None of the other isMoving functions have an extra parameter and BaseClient.isMoving was not using it as well, leading me to believe it was mistakenly included. I thought to remove it, but let me know if I should not do this.


/** Return the base's properties. */
getProperties(extra?: Struct): Promise<BaseProperties>;
Expand Down
59 changes: 42 additions & 17 deletions src/components/base/client.ts
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
import { Struct, type JsonValue } from '@bufbuild/protobuf';
import type { PromiseClient } from '@connectrpc/connect';
import type { CallOptions, PromiseClient } from '@connectrpc/connect';
import { BaseService } from '../../gen/component/base/v1/base_connect';
import {
GetPropertiesRequest,
Expand All @@ -24,14 +24,20 @@ export class BaseClient implements Base {
private client: PromiseClient<typeof BaseService>;
private readonly name: string;
private readonly options: Options;
public callOptions: CallOptions = { headers: {} as Record<string, string> };

constructor(client: RobotClient, name: string, options: Options = {}) {
this.client = client.createServiceClient(BaseService);
this.name = name;
this.options = options;
}

async moveStraight(distanceMm: number, mmPerSec: number, extra = {}) {
async moveStraight(
distanceMm: number,
mmPerSec: number,
extra = {},
callOptions = this.callOptions
) {
const request = new MoveStraightRequest({
name: this.name,
mmPerSec,
Expand All @@ -41,10 +47,15 @@ export class BaseClient implements Base {

this.options.requestLogger?.(request);

await this.client.moveStraight(request);
await this.client.moveStraight(request, callOptions);
}

async spin(angleDeg: number, degsPerSec: number, extra = {}) {
async spin(
angleDeg: number,
degsPerSec: number,
extra = {},
callOptions = this.callOptions
) {
const request = new SpinRequest({
name: this.name,
angleDeg,
Expand All @@ -54,10 +65,15 @@ export class BaseClient implements Base {

this.options.requestLogger?.(request);

await this.client.spin(request);
await this.client.spin(request, callOptions);
}

async setPower(linear: Vector3, angular: Vector3, extra = {}) {
async setPower(
linear: Vector3,
angular: Vector3,
extra = {},
callOptions = this.callOptions
) {
const request = new SetPowerRequest({
name: this.name,
linear,
Expand All @@ -67,10 +83,15 @@ export class BaseClient implements Base {

this.options.requestLogger?.(request);

await this.client.setPower(request);
await this.client.setPower(request, callOptions);
}

async setVelocity(linear: Vector3, angular: Vector3, extra = {}) {
async setVelocity(
linear: Vector3,
angular: Vector3,
extra = {},
callOptions = this.callOptions
) {
const request = new SetVelocityRequest({
name: this.name,
linear,
Expand All @@ -80,48 +101,52 @@ export class BaseClient implements Base {

this.options.requestLogger?.(request);

await this.client.setVelocity(request);
await this.client.setVelocity(request, callOptions);
}

async stop(extra = {}) {
async stop(extra = {}, callOptions = this.callOptions) {
const request = new StopRequest({
name: this.name,
extra: Struct.fromJson(extra),
});

this.options.requestLogger?.(request);

await this.client.stop(request);
await this.client.stop(request, callOptions);
}

async isMoving() {
async isMoving(callOptions = this.callOptions) {
const request = new IsMovingRequest({
name: this.name,
});

this.options.requestLogger?.(request);

const resp = await this.client.isMoving(request);
const resp = await this.client.isMoving(request, callOptions);
return resp.isMoving;
}

async doCommand(command: Struct): Promise<JsonValue> {
async doCommand(
command: Struct,
callOptions = this.callOptions
): Promise<JsonValue> {
return doCommandFromClient(
this.client.doCommand,
this.name,
command,
this.options
this.options,
callOptions
);
}

async getProperties(extra = {}) {
async getProperties(extra = {}, callOptions = this.callOptions) {
const request = new GetPropertiesRequest({
name: this.name,
extra: Struct.fromJson(extra),
});

this.options.requestLogger?.(request);

return this.client.getProperties(request);
return this.client.getProperties(request, callOptions);
}
}
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