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client.go
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client.go
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package navigation
import (
"context"
geo "github.com/kellydunn/golang-geo"
"github.com/pkg/errors"
"go.mongodb.org/mongo-driver/bson/primitive"
commonpb "go.viam.com/api/common/v1"
pb "go.viam.com/api/service/navigation/v1"
"go.viam.com/utils/protoutils"
"go.viam.com/utils/rpc"
"go.viam.com/rdk/logging"
rprotoutils "go.viam.com/rdk/protoutils"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/spatialmath"
)
// client implements NavigationServiceClient.
type client struct {
resource.Named
resource.TriviallyReconfigurable
resource.TriviallyCloseable
name string
client pb.NavigationServiceClient
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,
) (Service, error) {
grpcClient := pb.NewNavigationServiceClient(conn)
c := &client{
Named: name.PrependRemote(remoteName).AsNamed(),
name: name.ShortName(),
client: grpcClient,
logger: logger,
}
return c, nil
}
func (c *client) Mode(ctx context.Context, extra map[string]interface{}) (Mode, error) {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return 0, err
}
resp, err := c.client.GetMode(ctx, &pb.GetModeRequest{Name: c.name, Extra: ext})
if err != nil {
return 0, err
}
pbMode := resp.GetMode()
switch pbMode {
case pb.Mode_MODE_MANUAL:
return ModeManual, nil
case pb.Mode_MODE_WAYPOINT:
return ModeWaypoint, nil
case pb.Mode_MODE_EXPLORE:
return ModeExplore, nil
case pb.Mode_MODE_UNSPECIFIED:
fallthrough
default:
return 0, errors.New("mode error")
}
}
func (c *client) SetMode(ctx context.Context, mode Mode, extra map[string]interface{}) error {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return err
}
var pbMode pb.Mode
switch mode {
case ModeManual:
pbMode = pb.Mode_MODE_MANUAL
case ModeWaypoint:
pbMode = pb.Mode_MODE_WAYPOINT
case ModeExplore:
pbMode = pb.Mode_MODE_EXPLORE
default:
pbMode = pb.Mode_MODE_UNSPECIFIED
}
_, err = c.client.SetMode(ctx, &pb.SetModeRequest{Name: c.name, Mode: pbMode, Extra: ext})
if err != nil {
return err
}
return nil
}
func (c *client) Location(ctx context.Context, extra map[string]interface{}) (*spatialmath.GeoPose, error) {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return nil, err
}
resp, err := c.client.GetLocation(ctx, &pb.GetLocationRequest{Name: c.name, Extra: ext})
if err != nil {
return nil, err
}
geoPose := spatialmath.NewGeoPose(
geo.NewPoint(resp.GetLocation().GetLatitude(), resp.GetLocation().GetLongitude()),
resp.GetCompassHeading(),
)
return geoPose, nil
}
func (c *client) Waypoints(ctx context.Context, extra map[string]interface{}) ([]Waypoint, error) {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return nil, err
}
resp, err := c.client.GetWaypoints(ctx, &pb.GetWaypointsRequest{Name: c.name, Extra: ext})
if err != nil {
return nil, err
}
waypoints := resp.GetWaypoints()
result := make([]Waypoint, 0, len(waypoints))
for _, wpt := range waypoints {
id, err := primitive.ObjectIDFromHex(wpt.GetId())
if err != nil {
return nil, err
}
loc := wpt.GetLocation()
result = append(result, Waypoint{
ID: id,
Lat: loc.GetLatitude(),
Long: loc.GetLongitude(),
})
}
return result, nil
}
func (c *client) AddWaypoint(ctx context.Context, point *geo.Point, extra map[string]interface{}) error {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return err
}
loc := &commonpb.GeoPoint{
Latitude: point.Lat(),
Longitude: point.Lng(),
}
req := &pb.AddWaypointRequest{
Name: c.name,
Location: loc,
Extra: ext,
}
_, err = c.client.AddWaypoint(ctx, req)
if err != nil {
return err
}
return nil
}
func (c *client) RemoveWaypoint(ctx context.Context, id primitive.ObjectID, extra map[string]interface{}) error {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return err
}
req := &pb.RemoveWaypointRequest{Name: c.name, Id: id.Hex(), Extra: ext}
_, err = c.client.RemoveWaypoint(ctx, req)
if err != nil {
return err
}
return nil
}
func (c *client) Obstacles(ctx context.Context, extra map[string]interface{}) ([]*spatialmath.GeoGeometry, error) {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return nil, err
}
req := &pb.GetObstaclesRequest{Name: c.name, Extra: ext}
resp, err := c.client.GetObstacles(ctx, req)
if err != nil {
return nil, err
}
protoObs := resp.GetObstacles()
geos := []*spatialmath.GeoGeometry{}
for _, o := range protoObs {
obstacle, err := spatialmath.GeoGeometryFromProtobuf(o)
if err != nil {
return nil, err
}
geos = append(geos, obstacle)
}
return geos, nil
}
func (c *client) Paths(ctx context.Context, extra map[string]interface{}) ([]*Path, error) {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return nil, err
}
req := &pb.GetPathsRequest{Name: c.name, Extra: ext}
resp, err := c.client.GetPaths(ctx, req)
if err != nil {
return nil, err
}
return ProtoSliceToPaths(resp.GetPaths())
}
func (c *client) Properties(ctx context.Context) (Properties, error) {
resp, err := c.client.GetProperties(ctx, &pb.GetPropertiesRequest{Name: c.name})
if err != nil {
return Properties{}, errors.Wrapf(err, "failure to get properties")
}
mapType, err := protobufToMapType(resp.MapType)
if err != nil {
return Properties{}, err
}
prop := Properties{
MapType: mapType,
}
return prop, nil
}
func (c *client) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error) {
return rprotoutils.DoFromResourceClient(ctx, c.client, c.name, cmd)
}