RSDK-8714: add Gantry wrappers (#63)

core/sdk/src/main/java/com/viam/sdk/core/resource/ResourceManager.java

@@ -4,6 +4,7 @@
 import com.viam.common.v1.Common.ResourceName;
 import com.viam.component.board.v1.BoardServiceGrpc;
 import com.viam.component.camera.v1.CameraServiceGrpc;
+import com.viam.component.gantry.v1.GantryServiceGrpc;
 import com.viam.component.generic.v1.GenericServiceGrpc;
 import com.viam.component.gripper.v1.GripperServiceGrpc;
 import com.viam.component.motor.v1.MotorServiceGrpc;
@@ -17,6 +18,9 @@
 import com.viam.sdk.core.component.camera.Camera;
 import com.viam.sdk.core.component.camera.CameraRPCClient;
 import com.viam.sdk.core.component.camera.CameraRPCService;
+import com.viam.sdk.core.component.gantry.Gantry;
+import com.viam.sdk.core.component.gantry.GantryRPCClient;
+import com.viam.sdk.core.component.gantry.GantryRPCService;
 import com.viam.sdk.core.component.generic.Generic;
 import com.viam.sdk.core.component.generic.GenericRPCClient;
 import com.viam.sdk.core.component.generic.GenericRPCService;
@@ -116,6 +120,13 @@ public class ResourceManager implements Closeable {
                 ServoRPCClient::new
         ));
 
+        Registry.registerSubtype(new ResourceRegistration<>(
+                Gantry.SUBTYPE,
+                GantryServiceGrpc.SERVICE_NAME,
+                GantryRPCService::new,
+                GantryRPCClient::new
+        ));
+
         // SERVICES
         Registry.registerSubtype(new ResourceRegistration<>(
                 DataManager.SUBTYPE,

core/sdk/src/main/kotlin/com/viam/sdk/core/component/gantry/Gantry.kt

@@ -0,0 +1,112 @@
+package com.viam.sdk.core.component.gantry
+
+import com.google.protobuf.Struct
+import com.viam.common.v1.Common.ResourceName
+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
+
+abstract class Gantry(name: String) : Component(SUBTYPE, Gantry.named(name)) {
+    companion object {
+        @JvmField
+        val SUBTYPE = Subtype(Subtype.NAMESPACE_RDK, Subtype.RESOURCE_TYPE_COMPONENT, "gantry")
+
+        /**
+         * 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)
+        }
+
+        /**
+         * 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): Gantry {
+            return robot.getResource(Gantry::class.java, named(name))
+        }
+    }
+
+    /**
+     * Get the positions of the axes of the gantry in millimeters.
+     * @return the list of the position of the axes of the gantry in millimeters
+     */
+    abstract fun getPosition(extra: Struct): List<Double>
+
+    /**
+     * Get the positions of the axes of the gantry in millimeters.
+     * @return the list of the position of the axes of the gantry in millimeters
+     */
+    fun getPosition(): List<Double> {
+        return getPosition(Struct.getDefaultInstance())
+    }
+
+    /**
+     * Move the axes of the gantry to the desired positions (mm) at the requested speeds (mm/sec).
+     * @param positions the list of positions for the axes of the gantry to move to, in millimeters
+     * @param speeds    the list of speeds in millimeters per second for the gantry to move at respective to each axis
+     */
+    abstract fun moveToPosition(positions: List<Double>, speeds: List<Double>, extra: Struct)
+
+    /**
+     * Move the axes of the gantry to the desired positions (mm) at the requested speeds (mm/sec).
+     * @param positions the list of positions for the axes of the gantry to move to, in millimeters
+     * @param speeds    the list of speeds in millimeters per second for the gantry to move at respective to each axis
+     */
+    fun moveToPosition(positions: List<Double>, speeds: List<Double>) {
+        return moveToPosition(positions, speeds, Struct.getDefaultInstance())
+    }
+
+    /**
+     * Run the homing sequence of the gantry to re-calibrate the axes with respect to the limit switches.
+     * @return whether the gantry has run the homing sequence successfully
+     */
+    abstract fun home(extra: Struct): Boolean
+
+    /**
+     * Run the homing sequence of the gantry to re-calibrate the axes with respect to the limit switches.
+     * @return whether the gantry has run the homing sequence successfully
+     */
+    fun home(): Boolean {
+        return home(Struct.getDefaultInstance())
+    }
+
+    /**
+     * Get the lengths of the axes of the gantry in millimeters.
+     * @return the list of the lengths of the axes of the gantry in millimeters
+     */
+    abstract fun getLengths(extra: Struct): List<Double>
+
+    /**
+     * Get the lengths of the axes of the gantry in millimeters.
+     * @return the list of the lengths of the axes of the gantry in millimeters
+     */
+    fun getLengths(): List<Double> {
+        return getLengths(Struct.getDefaultInstance())
+    }
+
+    /**
+     *Stop all motion of the gantry. It is assumed that the gantry stops immediately.
+     */
+    abstract fun stop(extra: Struct)
+
+    /**
+     * Stop all motion of the gantry. It is assumed that the gantry stops immediately.
+     */
+    fun stop() {
+        stop(Struct.getDefaultInstance())
+    }
+
+    /**
+     * Get if the gantry is currently moving.
+     * @returns if the gantry is moving
+     */
+    abstract fun isMoving(): Boolean
+}

core/sdk/src/main/kotlin/com/viam/sdk/core/component/gantry/GantryRPCClient.kt

@@ -0,0 +1,75 @@
+package com.viam.sdk.core.component.gantry
+
+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.gantry.v1.Gantry.*
+import com.viam.component.gantry.v1.GantryServiceGrpc
+import com.viam.component.gantry.v1.GantryServiceGrpc.GantryServiceBlockingStub
+import com.viam.sdk.core.rpc.Channel
+import java.util.*
+import kotlin.jvm.optionals.getOrDefault
+
+class GantryRPCClient(name: String, channel: Channel) : Gantry(name) {
+    private val client: GantryServiceBlockingStub
+
+    init {
+        val client = GantryServiceGrpc.newBlockingStub(channel)
+        if (channel.callCredentials.isPresent) {
+            this.client = client.withCallCredentials(channel.callCredentials.get())
+        } else {
+            this.client = client
+        }
+    }
+
+    override fun getPosition(extra: Struct): List<Double> {
+        val request = GetPositionRequest.newBuilder().setName(this.name.name).setExtra(extra).build()
+        val response = this.client.getPosition(request)
+        return response.positionsMmList
+    }
+
+    override fun moveToPosition(positions: List<Double>, speeds: List<Double>, extra: Struct) {
+        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).setExtra(extra).build()
+        val response = this.client.home(request)
+        return response.homed
+    }
+
+    override fun getLengths(extra: Struct): List<Double> {
+        val request = GetLengthsRequest.newBuilder().setName(this.name.name).setExtra(extra).build()
+        val response = this.client.getLengths(request)
+        return response.lengthsMmList
+    }
+
+    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
+    }
+
+    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
+    }
+
+    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
+    }
+
+
+}

core/sdk/src/main/kotlin/com/viam/sdk/core/component/gantry/GantryRPCService.kt

@@ -0,0 +1,88 @@
+package com.viam.sdk.core.component.gantry
+
+import com.viam.common.v1.Common.*
+import com.viam.component.gantry.v1.Gantry.*
+import com.viam.component.gantry.v1.GantryServiceGrpc
+import com.viam.sdk.core.component.motor.Motor
+import com.viam.sdk.core.resource.ResourceManager
+import com.viam.sdk.core.resource.ResourceRPCService
+import io.grpc.stub.StreamObserver
+import java.util.*
+
+internal class GantryRPCService(private val manager: ResourceManager) : GantryServiceGrpc.GantryServiceImplBase(),
+    ResourceRPCService<Gantry> {
+
+    override fun getPosition(
+        request: GetPositionRequest, responseObserver: StreamObserver<GetPositionResponse>
+    ) {
+        val gantry = getResource(Gantry.named(request.name))
+        val position = gantry.getPosition(request.extra)
+        responseObserver.onNext(GetPositionResponse.newBuilder().addAllPositionsMm(position).build())
+        responseObserver.onCompleted()
+    }
+
+    override fun moveToPosition(
+        request: MoveToPositionRequest, responseObserver: StreamObserver<MoveToPositionResponse>
+    ) {
+        val gantry = getResource(Gantry.named(request.name))
+        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(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(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(request.extra)
+        responseObserver.onNext(StopResponse.newBuilder().build())
+        responseObserver.onCompleted()
+    }
+
+    override fun isMoving(request: IsMovingRequest, responseObserver: StreamObserver<IsMovingResponse>) {
+        val gantry = getResource(Gantry.named(request.name))
+        val bool = gantry.isMoving()
+        responseObserver.onNext(IsMovingResponse.newBuilder().setIsMoving(bool).build())
+        responseObserver.onCompleted()
+    }
+
+    override fun doCommand(
+        request: DoCommandRequest, responseObserver: StreamObserver<DoCommandResponse>
+    ) {
+        val gantry = getResource(Gantry.named(request.name))
+        val result = gantry.doCommand(request.command.fieldsMap)
+        responseObserver.onNext(DoCommandResponse.newBuilder().setResult(result).build())
+        responseObserver.onCompleted()
+    }
+
+    override fun getGeometries(
+        request: GetGeometriesRequest, responseObserver: StreamObserver<GetGeometriesResponse>
+    ) {
+        val motor = getResource(Gantry.named(request.name))
+        val result = motor.getGeometries(Optional.of(request.extra))
+        responseObserver.onNext(GetGeometriesResponse.newBuilder().addAllGeometries(result).build())
+        responseObserver.onCompleted()
+    }
+
+
+    override fun getResourceClass(): Class<Gantry> {
+        return Gantry::class.java
+    }
+
+    override fun getManager(): ResourceManager {
+        return this.manager
+    }
+
+}