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client.go
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client.go
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// Package base contains a gRPC based base client
package base
import (
"context"
"github.com/edaniels/golog"
"github.com/golang/geo/r3"
commonpb "go.viam.com/api/common/v1"
pb "go.viam.com/api/component/base/v1"
"go.viam.com/utils/protoutils"
"go.viam.com/utils/rpc"
rprotoutils "go.viam.com/rdk/protoutils"
)
// client implements BaseServiceClient.
type client struct {
name string
conn rpc.ClientConn
client pb.BaseServiceClient
logger golog.Logger
}
// NewClientFromConn constructs a new Client from connection passed in.
func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Base {
c := pb.NewBaseServiceClient(conn)
return &client{
name: name,
conn: conn,
client: c,
logger: logger,
}
}
func (c *client) MoveStraight(ctx context.Context, distanceMm int, mmPerSec float64, extra map[string]interface{}) error {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return err
}
_, err = c.client.MoveStraight(ctx, &pb.MoveStraightRequest{
Name: c.name,
DistanceMm: int64(distanceMm),
MmPerSec: mmPerSec,
Extra: ext,
})
if err != nil {
return err
}
return nil
}
func (c *client) Spin(ctx context.Context, angleDeg, degsPerSec float64, extra map[string]interface{}) error {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return err
}
_, err = c.client.Spin(ctx, &pb.SpinRequest{
Name: c.name,
AngleDeg: angleDeg,
DegsPerSec: degsPerSec,
Extra: ext,
})
if err != nil {
return err
}
return nil
}
func (c *client) SetPower(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return err
}
_, err = c.client.SetPower(ctx, &pb.SetPowerRequest{
Name: c.name,
Linear: &commonpb.Vector3{X: linear.X, Y: linear.Y, Z: linear.Z},
Angular: &commonpb.Vector3{X: angular.X, Y: angular.Y, Z: angular.Z},
Extra: ext,
})
if err != nil {
return err
}
return nil
}
func (c *client) SetVelocity(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return err
}
_, err = c.client.SetVelocity(ctx, &pb.SetVelocityRequest{
Name: c.name,
Linear: &commonpb.Vector3{X: linear.X, Y: linear.Y, Z: linear.Z},
Angular: &commonpb.Vector3{X: angular.X, Y: angular.Y, Z: angular.Z},
Extra: ext,
})
if err != nil {
return err
}
return nil
}
func (c *client) Stop(ctx context.Context, extra map[string]interface{}) error {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return err
}
_, err = c.client.Stop(ctx, &pb.StopRequest{Name: c.name, Extra: ext})
if err != nil {
return err
}
return nil
}
func (c *client) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error) {
return rprotoutils.DoFromResourceClient(ctx, c.client, c.name, cmd)
}
func (c *client) IsMoving(ctx context.Context) (bool, error) {
resp, err := c.client.IsMoving(ctx, &pb.IsMovingRequest{Name: c.name})
if err != nil {
return false, err
}
return resp.IsMoving, nil
}