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client.go
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client.go
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package encoder
import (
"context"
pb "go.viam.com/api/component/encoder/v1"
"go.viam.com/utils/rpc"
"google.golang.org/protobuf/types/known/structpb"
"go.viam.com/rdk/logging"
"go.viam.com/rdk/protoutils"
"go.viam.com/rdk/resource"
)
// client implements EncoderServiceClient.
type client struct {
resource.Named
resource.TriviallyReconfigurable
resource.TriviallyCloseable
name string
conn rpc.ClientConn
client pb.EncoderServiceClient
logger logging.Logger
}
// NewClientFromConn constructs a new Client from connection passed in.
func NewClientFromConn(
ctx context.Context,
conn rpc.ClientConn,
remoteName string,
name resource.Name,
logger logging.Logger,
) (Encoder, error) {
c := pb.NewEncoderServiceClient(conn)
return &client{
Named: name.PrependRemote(remoteName).AsNamed(),
name: name.ShortName(),
conn: conn,
client: c,
logger: logger,
}, nil
}
// Position returns the current position in terms of ticks or
// degrees, and whether it is a relative or absolute position.
func (c *client) Position(
ctx context.Context,
positionType PositionType,
extra map[string]interface{},
) (float64, PositionType, error) {
ext, err := structpb.NewStruct(extra)
if err != nil {
return 0, PositionTypeUnspecified, err
}
posType := ToProtoPositionType(positionType)
req := &pb.GetPositionRequest{Name: c.name, PositionType: &posType, Extra: ext}
resp, err := c.client.GetPosition(ctx, req)
if err != nil {
return 0, PositionTypeUnspecified, err
}
posType1 := ToEncoderPositionType(&resp.PositionType)
return float64(resp.Value), posType1, nil
}
// ResetPosition sets the current position of
// the encoder to be its new zero position.
func (c *client) ResetPosition(ctx context.Context, extra map[string]interface{}) error {
ext, err := structpb.NewStruct(extra)
if err != nil {
return err
}
req := &pb.ResetPositionRequest{Name: c.name, Extra: ext}
_, err = c.client.ResetPosition(ctx, req)
return err
}
// Properties returns a list of all the position types that are supported by a given encoder.
func (c *client) Properties(ctx context.Context, extra map[string]interface{}) (Properties, error) {
ext, err := structpb.NewStruct(extra)
if err != nil {
return Properties{}, err
}
req := &pb.GetPropertiesRequest{Name: c.name, Extra: ext}
resp, err := c.client.GetProperties(ctx, req)
if err != nil {
return Properties{}, err
}
return ProtoFeaturesToProperties(resp), nil
}
func (c *client) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error) {
return protoutils.DoFromResourceClient(ctx, c.client, c.name, cmd)
}