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server.go
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server.go
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package encoder
import (
"context"
"github.com/pkg/errors"
commonpb "go.viam.com/api/common/v1"
pb "go.viam.com/api/component/encoder/v1"
"go.viam.com/rdk/protoutils"
"go.viam.com/rdk/resource"
)
type serviceServer struct {
pb.UnimplementedEncoderServiceServer
coll resource.APIResourceCollection[Encoder]
}
// NewRPCServiceServer constructs an Encoder gRPC service serviceServer.
func NewRPCServiceServer(coll resource.APIResourceCollection[Encoder]) interface{} {
return &serviceServer{coll: coll}
}
// GetPosition returns the current position in terms of ticks or
// degrees, and whether it is a relative or absolute position.
func (s *serviceServer) GetPosition(
ctx context.Context,
req *pb.GetPositionRequest,
) (*pb.GetPositionResponse, error) {
enc, err := s.coll.Resource(req.Name)
if err != nil {
return nil, err
}
position, positionType, err := enc.Position(ctx, ToEncoderPositionType(req.PositionType), req.Extra.AsMap())
if err != nil {
return nil, err
}
return &pb.GetPositionResponse{
Value: float32(position),
PositionType: ToProtoPositionType(positionType),
}, nil
}
// ResetPosition sets the current position of the encoder
// specified by the request to be its new zero position.
func (s *serviceServer) ResetPosition(
ctx context.Context,
req *pb.ResetPositionRequest,
) (*pb.ResetPositionResponse, error) {
encName := req.GetName()
enc, err := s.coll.Resource(encName)
if err != nil {
return nil, errors.Errorf("no encoder (%s) found", encName)
}
return &pb.ResetPositionResponse{}, enc.ResetPosition(ctx, req.Extra.AsMap())
}
// GetProperties returns a message of booleans indicating which optional features the robot's encoder supports.
func (s *serviceServer) GetProperties(
ctx context.Context,
req *pb.GetPropertiesRequest,
) (*pb.GetPropertiesResponse, error) {
encoderName := req.GetName()
enc, err := s.coll.Resource(encoderName)
if err != nil {
return nil, errors.Errorf("no encoder (%s) found", encoderName)
}
features, err := enc.Properties(ctx, req.Extra.AsMap())
if err != nil {
return nil, err
}
return PropertiesToProtoResponse(features)
}
// DoCommand receives arbitrary commands.
func (s *serviceServer) DoCommand(ctx context.Context,
req *commonpb.DoCommandRequest,
) (*commonpb.DoCommandResponse, error) {
enc, err := s.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
return protoutils.DoFromResourceServer(ctx, enc, req)
}