-
Notifications
You must be signed in to change notification settings - Fork 110
/
client.go
140 lines (125 loc) · 3.44 KB
/
client.go
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
// Package gantry contains a gRPC based gantry client.
package gantry
import (
"context"
"github.com/edaniels/golog"
pb "go.viam.com/api/component/gantry/v1"
"go.viam.com/utils/protoutils"
"go.viam.com/utils/rpc"
rprotoutils "go.viam.com/rdk/protoutils"
"go.viam.com/rdk/referenceframe"
"go.viam.com/rdk/resource"
)
// client implements GantryServiceClient.
type client struct {
resource.Named
resource.TriviallyReconfigurable
resource.TriviallyCloseable
name string
client pb.GantryServiceClient
logger golog.Logger
}
// NewClientFromConn constructs a new Client from connection passed in.
func NewClientFromConn(
ctx context.Context,
conn rpc.ClientConn,
remoteName string,
name resource.Name,
logger golog.Logger,
) (Gantry, error) {
c := pb.NewGantryServiceClient(conn)
return &client{
Named: name.PrependRemote(remoteName).AsNamed(),
name: name.ShortName(),
client: c,
logger: logger,
}, nil
}
func (c *client) Position(ctx context.Context, extra map[string]interface{}) ([]float64, error) {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return nil, err
}
resp, err := c.client.GetPosition(ctx, &pb.GetPositionRequest{
Name: c.name,
Extra: ext,
})
if err != nil {
return nil, err
}
return resp.PositionsMm, nil
}
func (c *client) Lengths(ctx context.Context, extra map[string]interface{}) ([]float64, error) {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return nil, err
}
lengths, err := c.client.GetLengths(ctx, &pb.GetLengthsRequest{
Name: c.name,
Extra: ext,
})
if err != nil {
return nil, err
}
return lengths.LengthsMm, nil
}
func (c *client) Home(ctx context.Context, extra map[string]interface{}) (bool, error) {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return false, err
}
homed, err := c.client.Home(ctx, &pb.HomeRequest{
Name: c.name,
Extra: ext,
})
if err != nil {
return false, err
}
return homed.Homed, nil
}
func (c *client) MoveToPosition(ctx context.Context, positionsMm, speedsMmPerSec []float64, extra map[string]interface{}) error {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return err
}
_, err = c.client.MoveToPosition(ctx, &pb.MoveToPositionRequest{
Name: c.name,
PositionsMm: positionsMm,
SpeedsMmPerSec: speedsMmPerSec,
Extra: ext,
})
return err
}
func (c *client) Stop(ctx context.Context, extra map[string]interface{}) error {
ext, err := protoutils.StructToStructPb(extra)
if err != nil {
return err
}
_, err = c.client.Stop(ctx, &pb.StopRequest{Name: c.name, Extra: ext})
return err
}
func (c *client) ModelFrame() referenceframe.Model {
// TODO(erh): this feels wrong
return nil
}
func (c *client) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error) {
res, err := c.Position(ctx, nil)
if err != nil {
return nil, err
}
return referenceframe.FloatsToInputs(res), nil
}
func (c *client) GoToInputs(ctx context.Context, goal []referenceframe.Input) error {
speeds := []float64{}
return c.MoveToPosition(ctx, referenceframe.InputsToFloats(goal), speeds, 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)
}
func (c *client) IsMoving(ctx context.Context) (bool, error) {
resp, err := c.client.IsMoving(ctx, &pb.IsMovingRequest{Name: c.name})
if err != nil {
return false, err
}
return resp.IsMoving, nil
}