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server.go
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server.go
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// Package input contains a gRPC based input controller service server.
package input
import (
"context"
"github.com/pkg/errors"
commonpb "go.viam.com/api/common/v1"
pb "go.viam.com/api/component/inputcontroller/v1"
"google.golang.org/protobuf/types/known/timestamppb"
"go.viam.com/rdk/protoutils"
"go.viam.com/rdk/resource"
)
// serviceServer implements the InputControllerService from proto.
type serviceServer struct {
pb.UnimplementedInputControllerServiceServer
coll resource.APIResourceCollection[Controller]
}
// NewRPCServiceServer constructs an input controller gRPC service server.
// It is intentionally untyped to prevent use outside of tests.
func NewRPCServiceServer(coll resource.APIResourceCollection[Controller]) interface{} {
return &serviceServer{coll: coll}
}
// GetControls lists the inputs of an Controller.
func (s *serviceServer) GetControls(
ctx context.Context,
req *pb.GetControlsRequest,
) (*pb.GetControlsResponse, error) {
controller, err := s.coll.Resource(req.Controller)
if err != nil {
return nil, err
}
controlList, err := controller.Controls(ctx, req.Extra.AsMap())
if err != nil {
return nil, err
}
resp := &pb.GetControlsResponse{}
for _, control := range controlList {
resp.Controls = append(resp.Controls, string(control))
}
return resp, nil
}
// GetEvents returns the last Event (current state) of each control.
func (s *serviceServer) GetEvents(
ctx context.Context,
req *pb.GetEventsRequest,
) (*pb.GetEventsResponse, error) {
controller, err := s.coll.Resource(req.Controller)
if err != nil {
return nil, err
}
eventsIn, err := controller.Events(ctx, req.Extra.AsMap())
if err != nil {
return nil, err
}
resp := &pb.GetEventsResponse{}
for _, eventIn := range eventsIn {
resp.Events = append(resp.Events, &pb.Event{
Time: timestamppb.New(eventIn.Time),
Event: string(eventIn.Event),
Control: string(eventIn.Control),
Value: eventIn.Value,
})
}
return resp, nil
}
// TriggerEvent allows directly sending an Event (such as a button press) from external code.
func (s *serviceServer) TriggerEvent(
ctx context.Context,
req *pb.TriggerEventRequest,
) (*pb.TriggerEventResponse, error) {
controller, err := s.coll.Resource(req.Controller)
if err != nil {
return nil, err
}
injectController, ok := controller.(Triggerable)
if !ok {
return nil, errors.Errorf("input controller is not of type Triggerable (%s)", req.Controller)
}
err = injectController.TriggerEvent(
ctx,
Event{
Time: req.Event.Time.AsTime(),
Event: EventType(req.Event.Event),
Control: Control(req.Event.Control),
Value: req.Event.Value,
},
req.Extra.AsMap(),
)
if err != nil {
return nil, err
}
return &pb.TriggerEventResponse{}, nil
}
// StreamEvents returns a stream of Event.
func (s *serviceServer) StreamEvents(
req *pb.StreamEventsRequest,
server pb.InputControllerService_StreamEventsServer,
) error {
controller, err := s.coll.Resource(req.Controller)
if err != nil {
return err
}
eventsChan := make(chan *pb.Event, 1024)
ctrlFunc := func(ctx context.Context, eventIn Event) {
resp := &pb.Event{
Time: timestamppb.New(eventIn.Time),
Event: string(eventIn.Event),
Control: string(eventIn.Control),
Value: eventIn.Value,
}
select {
case eventsChan <- resp:
case <-ctx.Done():
}
}
for _, ev := range req.Events {
var triggers []EventType
for _, v := range ev.Events {
triggers = append(triggers, EventType(v))
}
if len(triggers) > 0 {
err := controller.RegisterControlCallback(server.Context(), Control(ev.Control), triggers, ctrlFunc, req.Extra.AsMap())
if err != nil {
return err
}
}
var cancelledTriggers []EventType
for _, v := range ev.CancelledEvents {
cancelledTriggers = append(cancelledTriggers, EventType(v))
}
if len(cancelledTriggers) > 0 {
err := controller.RegisterControlCallback(server.Context(), Control(ev.Control), cancelledTriggers, nil, req.Extra.AsMap())
if err != nil {
return err
}
}
}
for {
select {
case <-server.Context().Done():
return server.Context().Err()
case msg := <-eventsChan:
err := server.Send(&pb.StreamEventsResponse{Event: msg})
if err != nil {
return err
}
}
}
}
// DoCommand receives arbitrary commands.
func (s *serviceServer) DoCommand(ctx context.Context,
req *commonpb.DoCommandRequest,
) (*commonpb.DoCommandResponse, error) {
controller, err := s.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
return protoutils.DoFromResourceServer(ctx, controller, req)
}