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RSDK-6632 - Typescript SDK throws if MotionConfiguration.obstacleDetectorsList is not specified #249

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merged 8 commits into from
Mar 1, 2024
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RSDK-6632 - Typescript SDK throws if MotionConfiguration.obstacleDetectorsList is not specified #249

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225b438
make MotionConfiguration Partial + handle nillness in encodeMotionCon…
nfranczak Feb 27, 2024
34bbc09
linted
nfranczak Feb 27, 2024
f59458c
micheal P requested simplifications
nfranczak Feb 27, 2024
40a2145
safer check
nfranczak Feb 27, 2024
2d3e19c
passing lint+tests
nfranczak Feb 28, 2024
2502c56
add default value to function
nfranczak Feb 28, 2024
c8dfc90
Merge branch 'main' of github.com:viamrobotics/viam-typescript-sdk in…
nfranczak Mar 1, 2024
3a7344b
bump package.json + packge-lock.json 2
nfranczak Mar 1, 2024
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25 changes: 18 additions & 7 deletions src/services/motion/types.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@ export type ObstacleDetector = pb.ObstacleDetector.AsObject;
export type LinearConstraint = pb.LinearConstraint.AsObject;
export type OrientationConstraint = pb.OrientationConstraint.AsObject;
export type CollisionSpecification = pb.CollisionSpecification.AsObject;
export type MotionConfiguration = pb.MotionConfiguration.AsObject;
export type MotionConfiguration = Partial<pb.MotionConfiguration.AsObject>;
export type GetPlanResponse = pb.GetPlanResponse.AsObject;
export type ListPlanStatusesResponse = pb.ListPlanStatusesResponse.AsObject;
type ValueOf<T> = T[keyof T];
Expand Down Expand Up @@ -71,8 +71,9 @@ export const encodeMotionConfiguration = (
): pb.MotionConfiguration => {
const result = new pb.MotionConfiguration();

const { obstacleDetectorsList = [] } = obj;
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How does this behave:

  1. if obj is undefined?
  2. if obstacleDetectorsList is not a member of obj?

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@micheal-parks micheal-parks Feb 28, 2024 •
edited
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  1. The parameter type for obj for this function states that it will never be undefined. If that's not the case, it should be an optional param, and the param should recieve a default value:
export const encodeMotionConfiguration = (
  obj?: MotionConfiguration = {}
): pb.MotionConfiguration =>
  1. If it's not a member of this object, it will be assigned a default value of [].

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@nfranczak nfranczak Feb 28, 2024 •
edited
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if obj is undefined?

The parameter type for obj for this function states that it will never be undefined. If that's not the case, it should be an optional param, and the param should recieve a default value:

Within typescript-sdk/src/services/motion/client.ts for moveOnGlobe and moveOnMap we do

    if (motionConfig) {
      request.setMotionConfiguration(encodeMotionConfiguration(motionConfig));
    }

So I think it is safe to assume that obj will not be undefined entirely.

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In this case I'd actually recommend making this an optional param like I've done above. If all fields are optional then there's no reason the user should have to pass an empty object into this function.

result.setObstacleDetectorsList(
obj.obstacleDetectorsList.map((od: ObstacleDetector) => {
obstacleDetectorsList.map((od: ObstacleDetector) => {
const obstacleDetector = new pb.ObstacleDetector();
if (od.visionService) {
obstacleDetector.setVisionService(encodeResourceName(od.visionService));
Expand All @@ -83,11 +84,21 @@ export const encodeMotionConfiguration = (
return obstacleDetector;
})
);
result.setPositionPollingFrequencyHz(obj.positionPollingFrequencyHz);
result.setObstaclePollingFrequencyHz(obj.obstaclePollingFrequencyHz);
result.setPlanDeviationM(obj.planDeviationM);
result.setLinearMPerSec(obj.linearMPerSec);
result.setAngularDegsPerSec(obj.angularDegsPerSec);
if ('positionPollingFrequencyHz' in obj) {
result.setPositionPollingFrequencyHz(obj.positionPollingFrequencyHz);
}
if ('obstaclePollingFrequencyHz' in obj) {
result.setObstaclePollingFrequencyHz(obj.obstaclePollingFrequencyHz);
}
if ('planDeviationM' in obj) {
result.setPlanDeviationM(obj.planDeviationM);
}
if ('linearMPerSec' in obj) {
result.setLinearMPerSec(obj.linearMPerSec);
}
if ('angularDegsPerSec' in obj) {
result.setAngularDegsPerSec(obj.angularDegsPerSec);
}

return result;
};
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