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server.go
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server.go
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// Package board contains a gRPC based Board service server.
package board
import (
"context"
commonpb "go.viam.com/api/common/v1"
pb "go.viam.com/api/component/board/v1"
"go.viam.com/rdk/protoutils"
"go.viam.com/rdk/resource"
)
// serviceServer implements the BoardService from board.proto.
type serviceServer struct {
pb.UnimplementedBoardServiceServer
coll resource.APIResourceCollection[Board]
}
// NewRPCServiceServer constructs an board gRPC service server.
// It is intentionally untyped to prevent use outside of tests.
func NewRPCServiceServer(coll resource.APIResourceCollection[Board]) interface{} {
return &serviceServer{coll: coll}
}
// SetGPIO sets a given pin of a board of the underlying robot to either low or high.
func (s *serviceServer) SetGPIO(ctx context.Context, req *pb.SetGPIORequest) (*pb.SetGPIOResponse, error) {
b, err := s.coll.Resource(req.Name)
if err != nil {
return nil, err
}
p, err := b.GPIOPinByName(req.Pin)
if err != nil {
return nil, err
}
return &pb.SetGPIOResponse{}, p.Set(ctx, req.High, req.Extra.AsMap())
}
// GetGPIO gets the high/low state of a given pin of a board of the underlying robot.
func (s *serviceServer) GetGPIO(ctx context.Context, req *pb.GetGPIORequest) (*pb.GetGPIOResponse, error) {
b, err := s.coll.Resource(req.Name)
if err != nil {
return nil, err
}
p, err := b.GPIOPinByName(req.Pin)
if err != nil {
return nil, err
}
high, err := p.Get(ctx, req.Extra.AsMap())
if err != nil {
return nil, err
}
return &pb.GetGPIOResponse{High: high}, nil
}
// PWM gets the duty cycle of the given pin of a board of the underlying robot.
func (s *serviceServer) PWM(ctx context.Context, req *pb.PWMRequest) (*pb.PWMResponse, error) {
b, err := s.coll.Resource(req.Name)
if err != nil {
return nil, err
}
p, err := b.GPIOPinByName(req.Pin)
if err != nil {
return nil, err
}
pwm, err := p.PWM(ctx, req.Extra.AsMap())
if err != nil {
return nil, err
}
return &pb.PWMResponse{DutyCyclePct: pwm}, nil
}
// SetPWM sets a given pin of the underlying robot to the given duty cycle.
func (s *serviceServer) SetPWM(ctx context.Context, req *pb.SetPWMRequest) (*pb.SetPWMResponse, error) {
b, err := s.coll.Resource(req.Name)
if err != nil {
return nil, err
}
p, err := b.GPIOPinByName(req.Pin)
if err != nil {
return nil, err
}
return &pb.SetPWMResponse{}, p.SetPWM(ctx, req.DutyCyclePct, req.Extra.AsMap())
}
// PWMFrequency gets the PWM frequency of the given pin of a board of the underlying robot.
func (s *serviceServer) PWMFrequency(ctx context.Context, req *pb.PWMFrequencyRequest) (*pb.PWMFrequencyResponse, error) {
b, err := s.coll.Resource(req.Name)
if err != nil {
return nil, err
}
p, err := b.GPIOPinByName(req.Pin)
if err != nil {
return nil, err
}
freq, err := p.PWMFreq(ctx, req.Extra.AsMap())
if err != nil {
return nil, err
}
return &pb.PWMFrequencyResponse{FrequencyHz: uint64(freq)}, nil
}
// SetPWMFrequency sets a given pin of a board of the underlying robot to the given PWM frequency.
// For Raspberry Pis, 0 will use a default PWM frequency of 800.
func (s *serviceServer) SetPWMFrequency(
ctx context.Context,
req *pb.SetPWMFrequencyRequest,
) (*pb.SetPWMFrequencyResponse, error) {
b, err := s.coll.Resource(req.Name)
if err != nil {
return nil, err
}
p, err := b.GPIOPinByName(req.Pin)
if err != nil {
return nil, err
}
return &pb.SetPWMFrequencyResponse{}, p.SetPWMFreq(ctx, uint(req.FrequencyHz), req.Extra.AsMap())
}
// ReadAnalogReader reads off the current value of an analog reader of a board of the underlying robot.
func (s *serviceServer) ReadAnalogReader(
ctx context.Context,
req *pb.ReadAnalogReaderRequest,
) (*pb.ReadAnalogReaderResponse, error) {
b, err := s.coll.Resource(req.BoardName)
if err != nil {
return nil, err
}
theReader, err := b.AnalogByName(req.AnalogReaderName)
if err != nil {
return nil, err
}
val, err := theReader.Read(ctx, req.Extra.AsMap())
if err != nil {
return nil, err
}
return &pb.ReadAnalogReaderResponse{Value: int32(val)}, nil
}
// WriteAnalog writes the analog value to the analog writer pin of the underlying robot.
func (s *serviceServer) WriteAnalog(
ctx context.Context,
req *pb.WriteAnalogRequest,
) (*pb.WriteAnalogResponse, error) {
b, err := s.coll.Resource(req.Name)
if err != nil {
return nil, err
}
analog, err := b.AnalogByName(req.Pin)
if err != nil {
return nil, err
}
err = analog.Write(ctx, int(req.Value), req.Extra.AsMap())
if err != nil {
return nil, err
}
return &pb.WriteAnalogResponse{}, nil
}
// GetDigitalInterruptValue returns the current value of the interrupt which is based on the type of interrupt.
func (s *serviceServer) GetDigitalInterruptValue(
ctx context.Context,
req *pb.GetDigitalInterruptValueRequest,
) (*pb.GetDigitalInterruptValueResponse, error) {
b, err := s.coll.Resource(req.BoardName)
if err != nil {
return nil, err
}
interrupt, err := b.DigitalInterruptByName(req.DigitalInterruptName)
if err != nil {
return nil, err
}
val, err := interrupt.Value(ctx, req.Extra.AsMap())
if err != nil {
return nil, err
}
return &pb.GetDigitalInterruptValueResponse{Value: val}, nil
}
func (s *serviceServer) StreamTicks(
req *pb.StreamTicksRequest,
server pb.BoardService_StreamTicksServer,
) error {
b, err := s.coll.Resource(req.Name)
if err != nil {
return err
}
ticksChan := make(chan Tick)
interrupts := []DigitalInterrupt{}
for _, name := range req.PinNames {
di, err := b.DigitalInterruptByName(name)
if err != nil {
return err
}
interrupts = append(interrupts, di)
}
err = b.StreamTicks(server.Context(), interrupts, ticksChan, req.Extra.AsMap())
if err != nil {
return err
}
// Send an empty response first so the client doesn't block while checking for errors.
err = server.Send(&pb.StreamTicksResponse{})
if err != nil {
return err
}
for {
select {
case <-server.Context().Done():
return server.Context().Err()
default:
}
select {
case <-server.Context().Done():
return server.Context().Err()
case msg := <-ticksChan:
err := server.Send(&pb.StreamTicksResponse{PinName: msg.Name, High: msg.High, Time: msg.TimestampNanosec})
if err != nil {
return err
}
}
}
}
// DoCommand receives arbitrary commands.
func (s *serviceServer) DoCommand(ctx context.Context,
req *commonpb.DoCommandRequest,
) (*commonpb.DoCommandResponse, error) {
b, err := s.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
return protoutils.DoFromResourceServer(ctx, b, req)
}
func (s *serviceServer) SetPowerMode(ctx context.Context,
req *pb.SetPowerModeRequest,
) (*pb.SetPowerModeResponse, error) {
b, err := s.coll.Resource(req.Name)
if err != nil {
return nil, err
}
if req.Duration == nil {
err = b.SetPowerMode(ctx, req.PowerMode, nil)
} else {
if err := req.Duration.CheckValid(); err != nil {
return nil, err
}
duration := req.Duration.AsDuration()
err = b.SetPowerMode(ctx, req.PowerMode, &duration)
}
if err != nil {
return nil, err
}
return &pb.SetPowerModeResponse{}, nil
}