-
Notifications
You must be signed in to change notification settings - Fork 110
/
client.go
171 lines (146 loc) · 4.03 KB
/
client.go
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
// Package main tests out all four custom models in the complexmodule.
package main
import (
"context"
"time"
"github.com/edaniels/golog"
"github.com/golang/geo/r3"
geo "github.com/kellydunn/golang-geo"
"go.viam.com/rdk/components/base"
"go.viam.com/rdk/examples/customresources/apis/gizmoapi"
"go.viam.com/rdk/examples/customresources/apis/summationapi"
"go.viam.com/rdk/robot/client"
"go.viam.com/rdk/services/navigation"
)
func main() {
logger := golog.NewDevelopmentLogger("client")
robot, err := client.New(
context.Background(),
"localhost:8080",
logger,
)
if err != nil {
logger.Fatal(err)
}
defer robot.Close(context.Background())
logger.Info("---- Testing gizmo1 (gizmoapi) -----")
comp1, err := gizmoapi.FromRobot(robot, "gizmo1")
if err != nil {
logger.Fatal(err)
}
ret1, err := comp1.DoOne(context.Background(), "hello")
if err != nil {
logger.Fatal(err)
}
logger.Info(ret1)
ret2, err := comp1.DoOneClientStream(context.Background(), []string{"hello", "arg1", "foo"})
if err != nil {
logger.Fatal(err)
}
logger.Info(ret2)
ret2, err = comp1.DoOneClientStream(context.Background(), []string{"arg1", "arg1", "arg1"})
if err != nil {
logger.Fatal(err)
}
logger.Info(ret2)
ret3, err := comp1.DoOneServerStream(context.Background(), "hello")
if err != nil {
logger.Fatal(err)
}
logger.Info(ret3)
ret3, err = comp1.DoOneBiDiStream(context.Background(), []string{"hello", "arg1", "foo"})
if err != nil {
logger.Fatal(err)
}
logger.Info(ret3)
ret3, err = comp1.DoOneBiDiStream(context.Background(), []string{"arg1", "arg1", "arg1"})
if err != nil {
logger.Fatal(err)
}
logger.Info(ret3)
logger.Info("---- Testing adder (summationapi) -----")
add, err := summationapi.FromRobot(robot, "adder")
if err != nil {
logger.Fatal(err)
}
nums := []float64{10, 0.5, 12}
retAdd, err := add.Sum(context.Background(), nums)
if err != nil {
logger.Fatal(err)
}
logger.Info(nums, " sum to ", retAdd)
logger.Info("---- Testing subtractor (summationapi) -----")
sub, err := summationapi.FromRobot(robot, "subtractor")
if err != nil {
logger.Fatal(err)
}
retSub, err := sub.Sum(context.Background(), nums)
if err != nil {
logger.Fatal(err)
}
logger.Info(nums, " subtract to ", retSub)
logger.Info("---- Testing denali (navigation) -----")
nav, err := navigation.FromRobot(robot, "denali")
if err != nil {
logger.Fatal(err)
}
loc, err := nav.Location(context.Background(), nil)
if err != nil {
logger.Fatal(err)
}
logger.Infof("denali service reports its location as %0.8f, %0.8f", loc.Lat(), loc.Lng())
err = nav.AddWaypoint(context.Background(), geo.NewPoint(55.1, 22.2), nil)
if err != nil {
logger.Fatal(err)
}
err = nav.AddWaypoint(context.Background(), geo.NewPoint(10.77, 17.88), nil)
if err != nil {
logger.Fatal(err)
}
err = nav.AddWaypoint(context.Background(), geo.NewPoint(42.0, 42.0), nil)
if err != nil {
logger.Fatal(err)
}
waypoints, err := nav.Waypoints(context.Background(), nil)
if err != nil {
logger.Fatal(err)
}
logger.Info("denali waypoints stored")
for _, w := range waypoints {
logger.Infof("%.8f %.8f", w.Lat, w.Long)
}
logger.Info("---- Testing base1 (base) -----")
mybase, err := base.FromRobot(robot, "base1")
if err != nil {
logger.Fatal(err)
}
logger.Info("move forward")
err = mybase.SetPower(context.Background(), r3.Vector{Y: 1}, r3.Vector{}, nil)
if err != nil {
logger.Fatal(err)
}
time.Sleep(time.Second)
logger.Info("move backward")
err = mybase.SetPower(context.Background(), r3.Vector{Y: -1}, r3.Vector{}, nil)
if err != nil {
logger.Fatal(err)
}
time.Sleep(time.Second)
logger.Info("spin left")
err = mybase.SetPower(context.Background(), r3.Vector{}, r3.Vector{Z: -1}, nil)
if err != nil {
logger.Fatal(err)
}
time.Sleep(time.Second)
logger.Info("spin right")
err = mybase.SetPower(context.Background(), r3.Vector{}, r3.Vector{Z: 1}, nil)
if err != nil {
logger.Fatal(err)
}
time.Sleep(time.Second *1)
logger.Info("stop")
err = mybase.Stop(context.Background(), nil)
if err != nil {
logger.Fatal(err)
}
}