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core/sdk/src/main/kotlin/com/viam/sdk/core/component/base/Base.kt
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| package com.viam.sdk.core.component.base | ||
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| import com.google.protobuf.Struct | ||
| import com.viam.common.v1.Common.ResourceName | ||
| import com.viam.common.v1.Common.Vector3 | ||
| import com.viam.component.base.v1.Base.GetPropertiesResponse | ||
| import com.viam.sdk.core.component.Component | ||
| import com.viam.sdk.core.resource.Resource | ||
| import com.viam.sdk.core.resource.Subtype | ||
| import com.viam.sdk.core.robot.RobotClient | ||
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| typealias Properties = GetPropertiesResponse | ||
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| /** | ||
| * Base represents a physical base of a robot. | ||
| */ | ||
| abstract class Base(name: String) : Component(SUBTYPE, named(name)) { | ||
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| companion object { | ||
| @JvmField | ||
| val SUBTYPE = Subtype(Subtype.NAMESPACE_RDK, Subtype.RESOURCE_TYPE_COMPONENT, "base") | ||
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| /** | ||
| * Get the ResourceName of the component | ||
| * @param name the name of the component | ||
| * @return the component's ResourceName | ||
| */ | ||
| @JvmStatic | ||
| fun named(name: String): ResourceName { | ||
| return Resource.named(SUBTYPE, name) | ||
| } | ||
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| /** | ||
| * Get the component with the provided name from the provided robot. | ||
| * @param robot the RobotClient | ||
| * @param name the name of the component | ||
| * @return the component | ||
| */ | ||
| @JvmStatic | ||
| fun fromRobot(robot: RobotClient, name: String): Base { | ||
| return robot.getResource(Base::class.java, named(name)) | ||
| } | ||
| } | ||
| /** | ||
| * Move the base in a straight line the given ``distance``, expressed in millimeters, | ||
| * at the given ``velocity``, expressed in millimeters per second. | ||
| * When ``distance`` or ``velocity`` is 0, the base will stop. | ||
| * This method blocks until completed or cancelled. | ||
| * @param distance The distance (in millimeters) to move. Negative implies backwards. | ||
| * @param velocity The velocity (in millimeters per second) to move. | ||
| * Negative implies backwards. | ||
| */ | ||
| abstract fun moveStraight(distance: Long, velocity: Double, extra: Struct) | ||
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| /** | ||
| * Move the base in a straight line the given ``distance``, expressed in millimeters, | ||
| * at the given ``velocity``, expressed in millimeters per second. | ||
| * When ``distance`` or ``velocity`` is 0, the base will stop. | ||
| * This method blocks until completed or cancelled. | ||
| * @param distance The distance (in millimeters) to move. Negative implies backwards. | ||
| * @param velocity The velocity (in millimeters per second) to move. | ||
| * Negative implies backwards. | ||
| */ | ||
| fun moveStraight(distance: Long, velocity: Double) { | ||
| moveStraight(distance, velocity, Struct.getDefaultInstance()) | ||
| } | ||
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| /** | ||
| * Spin the base in place ``angle`` degrees, at the given angular ``velocity``, | ||
| * expressed in degrees per second. | ||
| * When ``velocity`` is 0, the base will stop. | ||
| * This method blocks until completed or cancelled. | ||
| * @param angle The angle (in degrees) to spin. | ||
| * @param velocity The angular velocity (in degrees per second) to spin. | ||
| * Given a positive angle and a positive velocity, the base will turn to the left. | ||
| */ | ||
| abstract fun spin(angle: Double, velocity: Double, extra: Struct) | ||
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| /** | ||
| * Spin the base in place ``angle`` degrees, at the given angular ``velocity``, | ||
| * expressed in degrees per second. | ||
| * When ``velocity`` is 0, the base will stop. | ||
| * This method blocks until completed or cancelled. | ||
| * @param angle The angle (in degrees) to spin. | ||
| * @param velocity The angular velocity (in degrees per second) to spin. | ||
| * Given a positive angle and a positive velocity, the base will turn to the left. | ||
| */ | ||
| fun spin(angle: Double, velocity: Double) { | ||
| spin(angle, velocity, Struct.getDefaultInstance()) | ||
| } | ||
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| /** | ||
| * Set the linear and angular velocity of the Base | ||
| * When ``linear`` is 0, the the base will spin. | ||
| * When ``angular`` is 0, the the base will move in a straight line. | ||
| * When both ``linear`` and ``angular`` are 0, the base will stop. | ||
| * When ``linear`` and ``angular`` are both nonzero, the base will move in an arc, with a tighter radius if angular | ||
| * power is greater than linear power. | ||
| * @param linear The linear component. Only the Y component is used for wheeled base. Positive implies forwards. | ||
| * @param angular The angular component. Only the Z component is used | ||
| * for wheeled base. Positive turns left; negative turns right. | ||
| */ | ||
| abstract fun setPower(linear: Vector3, angular: Vector3, extra: Struct) | ||
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| /** | ||
| * Set the linear and angular velocity of the Base | ||
| * When ``linear`` is 0, the the base will spin. | ||
| * When ``angular`` is 0, the the base will move in a straight line. | ||
| * When both ``linear`` and ``angular`` are 0, the base will stop. | ||
| * When ``linear`` and ``angular`` are both nonzero, the base will move in an arc, with a tighter radius if angular | ||
| * power is greater than linear power. | ||
| * @param linear The linear component. Only the Y component is used for wheeled base. Positive implies forwards. | ||
| * @param angular The angular component. Only the Z component is used | ||
| * for wheeled base. Positive turns left; negative turns right. | ||
| */ | ||
| fun setPower(linear: Vector3, angular: Vector3) { | ||
| setPower(linear, angular, Struct.getDefaultInstance()) | ||
| } | ||
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| /** | ||
| * Set the linear and angular velocities of the base. | ||
| * @param linear The velocity in mm/sec | ||
| * @param angular The velocity in mm/sec | ||
| */ | ||
| abstract fun setVelocity(linear: Vector3, angular: Vector3, extra: Struct) | ||
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| /** | ||
| * Set the linear and angular velocities of the base. | ||
| * @param linear The velocity in mm/sec | ||
| * @param angular The velocity in mm/sec | ||
| */ | ||
| fun setVelocity(linear: Vector3, angular: Vector3) { | ||
| setVelocity(linear, angular, Struct.getDefaultInstance()) | ||
| } | ||
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| /** | ||
| * Stops the base. | ||
| */ | ||
| abstract fun stop(extra: Struct) | ||
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| /** | ||
| * Stops the base. | ||
| */ | ||
| fun stop(){ | ||
| stop(Struct.getDefaultInstance()) | ||
| } | ||
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| /** | ||
| * Get if the base is currently moving. | ||
| * @return Whether the base is moving. | ||
| */ | ||
| abstract fun isMoving(): Boolean | ||
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| /** | ||
| * Get the base width and turning radius | ||
| * @return the properties of the base | ||
| */ | ||
| abstract fun getProperties(): Properties | ||
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| } |
74 changes: 74 additions & 0 deletions
74
core/sdk/src/main/kotlin/com/viam/sdk/core/component/base/BaseRPCClient.kt
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,74 @@ | ||
| package com.viam.sdk.core.component.base | ||
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| import com.google.protobuf.Struct | ||
| import com.google.protobuf.Value | ||
| import com.viam.common.v1.Common | ||
| import com.viam.common.v1.Common.GetGeometriesRequest | ||
| import com.viam.component.base.v1.BaseServiceGrpc | ||
| import com.viam.component.base.v1.BaseServiceGrpc.BaseServiceBlockingStub | ||
| import com.viam.component.base.v1.Base.* | ||
| import com.viam.sdk.core.rpc.Channel | ||
| import java.util.* | ||
| import kotlin.jvm.optionals.getOrDefault | ||
|
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| class BaseRPCClient(name: String, channel: Channel) : Base(name) { | ||
| private val client: BaseServiceBlockingStub | ||
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| init { | ||
| val client = BaseServiceGrpc.newBlockingStub(channel) | ||
| if (channel.callCredentials.isPresent) { | ||
| this.client = client.withCallCredentials(channel.callCredentials.get()) | ||
| } else { | ||
| this.client = client | ||
| } | ||
| } | ||
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| override fun moveStraight(distance: Long, velocity: Double, extra: Struct) { | ||
| val request = MoveStraightRequest.newBuilder().setName(this.name.name).setExtra(extra).setDistanceMm(distance).setMmPerSec(velocity).build() | ||
| client.moveStraight(request) | ||
| } | ||
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| override fun spin(angle: Double, velocity: Double, extra: Struct) { | ||
| val request = SpinRequest.newBuilder().setName(this.name.name).setAngleDeg(angle).setDegsPerSec(velocity).setExtra(extra).build() | ||
| client.spin(request) | ||
| } | ||
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| override fun setPower(linear: Common.Vector3, angular: Common.Vector3, extra: Struct) { | ||
| val request = SetPowerRequest.newBuilder().setName(this.name.name).setLinear(linear).setAngular(angular).setExtra(extra).build() | ||
| client.setPower(request) | ||
| } | ||
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| override fun setVelocity(linear: Common.Vector3, angular: Common.Vector3, extra: Struct) { | ||
| val request = SetVelocityRequest.newBuilder().setName(this.name.name).setLinear(linear).setAngular(angular).setExtra(extra).build() | ||
| client.setVelocity(request) | ||
| } | ||
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| override fun stop(extra: Struct) { | ||
| val request = StopRequest.newBuilder().setName(this.name.name).setExtra(extra).build() | ||
| this.client.stop(request) | ||
| } | ||
| override fun isMoving(): Boolean { | ||
| val request = IsMovingRequest.newBuilder().setName(this.name.name).build() | ||
| val response = this.client.isMoving(request) | ||
| return response.isMoving | ||
| } | ||
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| override fun getProperties(): Properties { | ||
| val request = GetPropertiesRequest.newBuilder().setName(this.name.name).build() | ||
| return client.getProperties(request) | ||
| } | ||
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| override fun doCommand(command: Map<String, Value>?): Struct { | ||
| val request = Common.DoCommandRequest.newBuilder().setName(this.name.name) | ||
| .setCommand(Struct.newBuilder().putAllFields(command).build()).build() | ||
| val response = this.client.doCommand(request) | ||
| return response.result | ||
| } | ||
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| override fun getGeometries(extra: Optional<Struct>): List<Common.Geometry> { | ||
| val request = GetGeometriesRequest.newBuilder().setName(this.name.name) | ||
| .setExtra(extra.getOrDefault(Struct.getDefaultInstance())).build() | ||
| val response = this.client.getGeometries(request) | ||
| return response.geometriesList | ||
| } | ||
| } |
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