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server.go
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server.go
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// Package servo contains a gRPC based servo service server
package servo
import (
"context"
commonpb "go.viam.com/api/common/v1"
pb "go.viam.com/api/component/servo/v1"
"go.viam.com/rdk/operation"
"go.viam.com/rdk/protoutils"
"go.viam.com/rdk/resource"
)
type serviceServer struct {
pb.UnimplementedServoServiceServer
coll resource.APIResourceCollection[Servo]
}
// NewRPCServiceServer constructs a servo gRPC service server.
// It is intentionally untyped to prevent use outside of tests.
func NewRPCServiceServer(coll resource.APIResourceCollection[Servo]) interface{} {
return &serviceServer{coll: coll}
}
func (server *serviceServer) Move(ctx context.Context, req *pb.MoveRequest) (*pb.MoveResponse, error) {
operation.CancelOtherWithLabel(ctx, req.GetName())
servo, err := server.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
return &pb.MoveResponse{}, servo.Move(ctx, req.GetAngleDeg(), req.Extra.AsMap())
}
func (server *serviceServer) GetPosition(
ctx context.Context,
req *pb.GetPositionRequest,
) (*pb.GetPositionResponse, error) {
servo, err := server.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
angleDeg, err := servo.Position(ctx, req.Extra.AsMap())
if err != nil {
return nil, err
}
return &pb.GetPositionResponse{PositionDeg: angleDeg}, nil
}
func (server *serviceServer) Stop(ctx context.Context, req *pb.StopRequest) (*pb.StopResponse, error) {
operation.CancelOtherWithLabel(ctx, req.Name)
servo, err := server.coll.Resource(req.Name)
if err != nil {
return nil, err
}
return &pb.StopResponse{}, servo.Stop(ctx, req.Extra.AsMap())
}
// IsMoving queries of a component is in motion.
func (server *serviceServer) IsMoving(ctx context.Context, req *pb.IsMovingRequest) (*pb.IsMovingResponse, error) {
servo, err := server.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
moving, err := servo.IsMoving(ctx)
if err != nil {
return nil, err
}
return &pb.IsMovingResponse{IsMoving: moving}, nil
}
// DoCommand receives arbitrary commands.
func (server *serviceServer) DoCommand(ctx context.Context,
req *commonpb.DoCommandRequest,
) (*commonpb.DoCommandResponse, error) {
servo, err := server.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
return protoutils.DoFromResourceServer(ctx, servo, req)
}