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server.go
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server.go
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// Package gripper contains a gRPC based gripper service server.
package gripper
import (
"context"
commonpb "go.viam.com/api/common/v1"
pb "go.viam.com/api/component/gripper/v1"
"go.viam.com/rdk/operation"
"go.viam.com/rdk/protoutils"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/spatialmath"
)
// serviceServer implements the GripperService from gripper.proto.
type serviceServer struct {
pb.UnimplementedGripperServiceServer
coll resource.APIResourceCollection[Gripper]
}
// NewRPCServiceServer constructs an gripper gRPC service server.
// It is intentionally untyped to prevent use outside of tests.
func NewRPCServiceServer(coll resource.APIResourceCollection[Gripper]) interface{} {
return &serviceServer{coll: coll}
}
// Open opens a gripper of the underlying robot.
func (s *serviceServer) Open(ctx context.Context, req *pb.OpenRequest) (*pb.OpenResponse, error) {
gripper, err := s.coll.Resource(req.Name)
if err != nil {
return nil, err
}
return &pb.OpenResponse{}, gripper.Open(ctx, req.Extra.AsMap())
}
// Grab requests a gripper of the underlying robot to grab.
func (s *serviceServer) Grab(ctx context.Context, req *pb.GrabRequest) (*pb.GrabResponse, error) {
gripper, err := s.coll.Resource(req.Name)
if err != nil {
return nil, err
}
success, err := gripper.Grab(ctx, req.Extra.AsMap())
if err != nil {
return nil, err
}
return &pb.GrabResponse{Success: success}, nil
}
// Stop stops the gripper specified.
func (s *serviceServer) Stop(ctx context.Context, req *pb.StopRequest) (*pb.StopResponse, error) {
operation.CancelOtherWithLabel(ctx, req.Name)
gripper, err := s.coll.Resource(req.Name)
if err != nil {
return nil, err
}
return &pb.StopResponse{}, gripper.Stop(ctx, req.Extra.AsMap())
}
// IsMoving queries of a component is in motion.
func (s *serviceServer) IsMoving(ctx context.Context, req *pb.IsMovingRequest) (*pb.IsMovingResponse, error) {
gripper, err := s.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
moving, err := gripper.IsMoving(ctx)
if err != nil {
return nil, err
}
return &pb.IsMovingResponse{IsMoving: moving}, nil
}
// DoCommand receives arbitrary commands.
func (s *serviceServer) DoCommand(ctx context.Context,
req *commonpb.DoCommandRequest,
) (*commonpb.DoCommandResponse, error) {
gripper, err := s.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
return protoutils.DoFromResourceServer(ctx, gripper, req)
}
func (s *serviceServer) Geometries(ctx context.Context, req *commonpb.GetGeometriesRequest) (*commonpb.GetGeometriesResponse, error) {
res, err := s.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
geometries, err := res.Geometries(ctx, req.Extra.AsMap())
if err != nil {
return nil, err
}
return &commonpb.GetGeometriesResponse{Geometries: spatialmath.NewGeometriesToProto(geometries)}, nil
}