add missing extras

viamrobotics · Sep 4, 2024 · bc1bc9a · bc1bc9a
1 parent dda9b4e
commit bc1bc9a
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/core/sdk/src/main/kotlin/com/viam/sdk/core/component/gantry/GantryRPCClient.kt b/core/sdk/src/main/kotlin/com/viam/sdk/core/component/gantry/GantryRPCClient.kt
@@ -30,12 +30,12 @@ class GantryRPCClient(name: String, channel: Channel) : Gantry(name) {
     }
 
     override fun moveToPosition(positions: List<Double>, speeds: List<Double>, extra: Struct) {
-        val request =MoveToPositionRequest.newBuilder().setName(this.name.name).addAllPositionsMm(positions).addAllSpeedsMmPerSec(speeds).build()
+        val request =MoveToPositionRequest.newBuilder().setName(this.name.name).setExtra(extra).addAllPositionsMm(positions).addAllSpeedsMmPerSec(speeds).build()
         this.client.moveToPosition(request)
     }
 
     override fun home(extra: Struct): Boolean {
-        val request = HomeRequest.newBuilder().setName(this.name.name).build()
+        val request = HomeRequest.newBuilder().setName(this.name.name).setExtra(extra).build()
         val response = this.client.home(request)
         return response.homed
     }

diff --git a/core/sdk/src/main/kotlin/com/viam/sdk/core/component/gantry/GantryRPCService.kt b/core/sdk/src/main/kotlin/com/viam/sdk/core/component/gantry/GantryRPCService.kt
@@ -16,7 +16,7 @@ internal class GantryRPCService(private val manager: ResourceManager) : GantrySe
         request: GetPositionRequest, responseObserver: StreamObserver<GetPositionResponse>
     ) {
         val gantry = getResource(Gantry.named(request.name))
-        val position = gantry.getPosition()
+        val position = gantry.getPosition(request.extra)
         responseObserver.onNext(GetPositionResponse.newBuilder().addAllPositionsMm(position).build())
         responseObserver.onCompleted()
     }
@@ -25,28 +25,28 @@ internal class GantryRPCService(private val manager: ResourceManager) : GantrySe
         request: MoveToPositionRequest, responseObserver: StreamObserver<MoveToPositionResponse>
     ) {
         val gantry = getResource(Gantry.named(request.name))
-        gantry.moveToPosition(request.positionsMmList, request.speedsMmPerSecList)
+        gantry.moveToPosition(request.positionsMmList, request.speedsMmPerSecList, request.extra)
         responseObserver.onNext(MoveToPositionResponse.newBuilder().build())
         responseObserver.onCompleted()
     }
 
     override fun home(request: HomeRequest, responseObserver: StreamObserver<HomeResponse>) {
         val gantry = getResource(Gantry.named(request.name))
-        val homed = gantry.home()
+        val homed = gantry.home(request.extra)
         responseObserver.onNext(HomeResponse.newBuilder().setHomed(homed).build())
         responseObserver.onCompleted()
     }
 
     override fun getLengths(request: GetLengthsRequest, responseObserver: StreamObserver<GetLengthsResponse>) {
         val gantry = getResource(Gantry.named(request.name))
-        val lengths = gantry.getLengths()
+        val lengths = gantry.getLengths(request.extra)
         responseObserver.onNext(GetLengthsResponse.newBuilder().addAllLengthsMm(lengths).build())
         responseObserver.onCompleted()
     }
 
     override fun stop(request: StopRequest, responseObserver: StreamObserver<StopResponse>) {
         val gantry = getResource(Gantry.named(request.name))
-        gantry.stop()
+        gantry.stop(request.extra)
         responseObserver.onNext(StopResponse.newBuilder().build())
         responseObserver.onCompleted()
     }