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server.go
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server.go
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package motion
import (
"context"
"github.com/pkg/errors"
commonpb "go.viam.com/api/common/v1"
pb "go.viam.com/api/service/motion/v1"
"go.viam.com/rdk/protoutils"
"go.viam.com/rdk/referenceframe"
"go.viam.com/rdk/resource"
)
// serviceServer implements the MotionService from motion.proto.
type serviceServer struct {
pb.UnimplementedMotionServiceServer
coll resource.APIResourceCollection[Service]
}
// NewRPCServiceServer constructs a motion gRPC service server.
// It is intentionally untyped to prevent use outside of tests.
func NewRPCServiceServer(coll resource.APIResourceCollection[Service]) interface{} {
return &serviceServer{coll: coll}
}
func (server *serviceServer) Move(ctx context.Context, req *pb.MoveRequest) (*pb.MoveResponse, error) {
svc, err := server.coll.Resource(req.Name)
if err != nil {
return nil, err
}
worldState, err := referenceframe.WorldStateFromProtobuf(req.GetWorldState())
if err != nil {
return nil, err
}
success, err := svc.Move(
ctx,
protoutils.ResourceNameFromProto(req.GetComponentName()),
referenceframe.ProtobufToPoseInFrame(req.GetDestination()),
worldState,
req.GetConstraints(),
req.Extra.AsMap(),
)
return &pb.MoveResponse{Success: success}, err
}
func (server *serviceServer) MoveOnMap(ctx context.Context, req *pb.MoveOnMapRequest) (*pb.MoveOnMapResponse, error) {
svc, err := server.coll.Resource(req.Name)
if err != nil {
return nil, err
}
r, err := moveOnMapRequestFromProto(req)
if err != nil {
return nil, err
}
id, err := svc.MoveOnMap(ctx, r)
if err != nil {
return nil, err
}
return &pb.MoveOnMapResponse{ExecutionId: id.String()}, nil
}
func (server *serviceServer) MoveOnGlobe(ctx context.Context, req *pb.MoveOnGlobeRequest) (*pb.MoveOnGlobeResponse, error) {
svc, err := server.coll.Resource(req.Name)
if err != nil {
return nil, err
}
r, err := moveOnGlobeRequestFromProto(req)
if err != nil {
return nil, err
}
id, err := svc.MoveOnGlobe(ctx, r)
if err != nil {
return nil, err
}
return &pb.MoveOnGlobeResponse{ExecutionId: id.String()}, nil
}
func (server *serviceServer) GetPose(ctx context.Context, req *pb.GetPoseRequest) (*pb.GetPoseResponse, error) {
svc, err := server.coll.Resource(req.Name)
if err != nil {
return nil, err
}
if req.ComponentName == nil {
return nil, errors.New("must provide component name")
}
transforms, err := referenceframe.LinkInFramesFromTransformsProtobuf(req.GetSupplementalTransforms())
if err != nil {
return nil, err
}
pose, err := svc.GetPose(ctx, protoutils.ResourceNameFromProto(req.ComponentName), req.DestinationFrame, transforms, req.Extra.AsMap())
if err != nil {
return nil, err
}
return &pb.GetPoseResponse{Pose: referenceframe.PoseInFrameToProtobuf(pose)}, nil
}
func (server *serviceServer) StopPlan(ctx context.Context, req *pb.StopPlanRequest) (*pb.StopPlanResponse, error) {
svc, err := server.coll.Resource(req.Name)
if err != nil {
return nil, err
}
componentName := protoutils.ResourceNameFromProto(req.GetComponentName())
r := StopPlanReq{ComponentName: componentName, Extra: req.Extra.AsMap()}
err = svc.StopPlan(ctx, r)
if err != nil {
return nil, err
}
return &pb.StopPlanResponse{}, nil
}
func (server *serviceServer) ListPlanStatuses(ctx context.Context, req *pb.ListPlanStatusesRequest) (*pb.ListPlanStatusesResponse, error) {
svc, err := server.coll.Resource(req.Name)
if err != nil {
return nil, err
}
r := ListPlanStatusesReq{OnlyActivePlans: req.GetOnlyActivePlans(), Extra: req.Extra.AsMap()}
statuses, err := svc.ListPlanStatuses(ctx, r)
if err != nil {
return nil, err
}
protoStatuses := make([]*pb.PlanStatusWithID, 0, len(statuses))
for _, status := range statuses {
protoStatuses = append(protoStatuses, status.ToProto())
}
return &pb.ListPlanStatusesResponse{PlanStatusesWithIds: protoStatuses}, nil
}
func (server *serviceServer) GetPlan(ctx context.Context, req *pb.GetPlanRequest) (*pb.GetPlanResponse, error) {
svc, err := server.coll.Resource(req.Name)
if err != nil {
return nil, err
}
r, err := getPlanRequestFromProto(req)
if err != nil {
return nil, err
}
planHistory, err := svc.PlanHistory(ctx, r)
if err != nil {
return nil, err
}
cpws := planHistory[0].ToProto()
history := []*pb.PlanWithStatus{}
for _, plan := range planHistory[1:] {
history = append(history, plan.ToProto())
}
return &pb.GetPlanResponse{CurrentPlanWithStatus: cpws, ReplanHistory: history}, nil
}
// DoCommand receives arbitrary commands.
func (server *serviceServer) DoCommand(ctx context.Context,
req *commonpb.DoCommandRequest,
) (*commonpb.DoCommandResponse, error) {
svc, err := server.coll.Resource(req.Name)
if err != nil {
return nil, err
}
return protoutils.DoFromResourceServer(ctx, svc, req)
}