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server.go
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server.go
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// Package base contains a gRPC based arm service server.
package base
import (
"context"
commonpb "go.viam.com/api/common/v1"
pb "go.viam.com/api/component/base/v1"
"go.viam.com/rdk/operation"
"go.viam.com/rdk/protoutils"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/spatialmath"
)
// serviceServer implements the BaseService from base.proto.
type serviceServer struct {
pb.UnimplementedBaseServiceServer
coll resource.APIResourceCollection[Base]
}
// NewRPCServiceServer constructs a base gRPC service server.
// It is intentionally untyped to prevent use outside of tests.
func NewRPCServiceServer(coll resource.APIResourceCollection[Base]) interface{} {
return &serviceServer{coll: coll}
}
// MoveStraight moves a robot's base in a straight line by a given distance, expressed in millimeters
// and a given speed, expressed in millimeters per second.
func (s *serviceServer) MoveStraight(
ctx context.Context,
req *pb.MoveStraightRequest,
) (*pb.MoveStraightResponse, error) {
operation.CancelOtherWithLabel(ctx, req.GetName())
base, err := s.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
err = base.MoveStraight(ctx, int(req.GetDistanceMm()), req.GetMmPerSec(), req.Extra.AsMap())
if err != nil {
return nil, err
}
return &pb.MoveStraightResponse{}, nil
}
// Spin spins a robot's base by an given angle, expressed in degrees, and a given
// angular speed, expressed in degrees per second.
func (s *serviceServer) Spin(
ctx context.Context,
req *pb.SpinRequest,
) (*pb.SpinResponse, error) {
operation.CancelOtherWithLabel(ctx, req.GetName())
base, err := s.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
err = base.Spin(ctx, req.GetAngleDeg(), req.GetDegsPerSec(), req.Extra.AsMap())
if err != nil {
return nil, err
}
return &pb.SpinResponse{}, nil
}
func (s *serviceServer) SetPower(
ctx context.Context,
req *pb.SetPowerRequest,
) (*pb.SetPowerResponse, error) {
operation.CancelOtherWithLabel(ctx, req.GetName())
base, err := s.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
err = base.SetPower(
ctx,
protoutils.ConvertVectorProtoToR3(req.GetLinear()),
protoutils.ConvertVectorProtoToR3(req.GetAngular()),
req.Extra.AsMap(),
)
if err != nil {
return nil, err
}
return &pb.SetPowerResponse{}, nil
}
func (s *serviceServer) SetVelocity(
ctx context.Context,
req *pb.SetVelocityRequest,
) (*pb.SetVelocityResponse, error) {
operation.CancelOtherWithLabel(ctx, req.GetName())
base, err := s.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
err = base.SetVelocity(
ctx,
protoutils.ConvertVectorProtoToR3(req.GetLinear()),
protoutils.ConvertVectorProtoToR3(req.GetAngular()),
req.Extra.AsMap(),
)
if err != nil {
return nil, err
}
return &pb.SetVelocityResponse{}, nil
}
// Stop stops a robot's base.
func (s *serviceServer) Stop(
ctx context.Context,
req *pb.StopRequest,
) (*pb.StopResponse, error) {
operation.CancelOtherWithLabel(ctx, req.GetName())
base, err := s.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
if err = base.Stop(ctx, req.Extra.AsMap()); err != nil {
return nil, err
}
return &pb.StopResponse{}, nil
}
// IsMoving queries of a component is in motion.
func (s *serviceServer) IsMoving(ctx context.Context, req *pb.IsMovingRequest) (*pb.IsMovingResponse, error) {
base, err := s.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
moving, err := base.IsMoving(ctx)
if err != nil {
return nil, err
}
return &pb.IsMovingResponse{IsMoving: moving}, nil
}
func (s *serviceServer) GetProperties(
ctx context.Context,
req *pb.GetPropertiesRequest,
) (*pb.GetPropertiesResponse, error) {
baseName := req.GetName()
base, err := s.coll.Resource(baseName)
if err != nil {
return nil, err
}
features, err := base.Properties(ctx, req.Extra.AsMap())
if err != nil {
return nil, err
}
return PropertiesToProtoResponse(features)
}
func (s *serviceServer) GetGeometries(ctx context.Context, req *commonpb.GetGeometriesRequest) (*commonpb.GetGeometriesResponse, error) {
res, err := s.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
geometries, err := res.Geometries(ctx, req.Extra.AsMap())
if err != nil {
return nil, err
}
return &commonpb.GetGeometriesResponse{Geometries: spatialmath.NewGeometriesToProto(geometries)}, nil
}
// DoCommand receives arbitrary commands.
func (s *serviceServer) DoCommand(ctx context.Context,
req *commonpb.DoCommandRequest,
) (*commonpb.DoCommandResponse, error) {
base, err := s.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
return protoutils.DoFromResourceServer(ctx, base, req)
}