From 369f33ff1c9ad511dd2cbed2d157bf2fbeb16ffd Mon Sep 17 00:00:00 2001
From: Nicole Jung <31713368+purplenicole730@users.noreply.github.com>
Date: Thu, 2 Nov 2023 17:27:24 -0400
Subject: [PATCH] RSDK-5426 - update motion service with obstacle detectors
 (#186)

---
 buf.lock                        |  4 ++--
 src/components/sensor/client.ts | 15 +++++++++------
 src/main.ts                     |  1 +
 src/services/motion.ts          |  1 +
 src/services/motion/types.ts    | 14 ++++++++++++--
 5 files changed, 25 insertions(+), 10 deletions(-)

diff --git a/buf.lock b/buf.lock
index 9ee74e78c..0b62e85d3 100644
--- a/buf.lock
+++ b/buf.lock
@@ -14,8 +14,8 @@ deps:
   - remote: buf.build
     owner: viamrobotics
     repository: api
-    commit: 2109757288234ffc8248121f60437cdd
-    digest: shake256:18027527c16555ead747df632f73fecce3e2e489da437a35c175826d89472cce8323f32b9fa74261ca322e58e81aedcfce4d7cdc776b65eceb57dacacfe4822d
+    commit: 9196e89cb02f40d6b38344d637fdb3fc
+    digest: shake256:45153f9922a876347f1b3cf7db9d35a76ff045e5a72b83fc7d6e89d1e899ff53b2d3930c36f7ce8aac704fb57f60dd9cbdba61224c8df51b1044a1ff9882ba15
   - remote: buf.build
     owner: viamrobotics
     repository: goutils
diff --git a/src/components/sensor/client.ts b/src/components/sensor/client.ts
index 3b9d4dc95..f4ee1a5be 100644
--- a/src/components/sensor/client.ts
+++ b/src/components/sensor/client.ts
@@ -5,7 +5,10 @@ import type { Options, StructType } from '../../types';
 import { SensorServiceClient } from '../../gen/component/sensor/v1/sensor_pb_service';
 
 import { promisify, doCommandFromClient } from '../../utils';
-import sensorApi from '../../gen/component/sensor/v1/sensor_pb';
+import {
+  GetReadingsRequest,
+  GetReadingsResponse,
+} from '../../gen/common/v1/common_pb';
 import type { Sensor } from './sensor';
 
 /**
@@ -30,16 +33,16 @@ export class SensorClient implements Sensor {
 
   async getReadings(extra = {}) {
     const { sensorService } = this;
-    const request = new sensorApi.GetReadingsRequest();
+    const request = new GetReadingsRequest();
     request.setName(this.name);
     request.setExtra(Struct.fromJavaScript(extra));
 
     this.options.requestLogger?.(request);
 
-    const response = await promisify<
-      sensorApi.GetReadingsRequest,
-      sensorApi.GetReadingsResponse
-    >(sensorService.getReadings.bind(sensorService), request);
+    const response = await promisify<GetReadingsRequest, GetReadingsResponse>(
+      sensorService.getReadings.bind(sensorService),
+      request
+    );
 
     const result: Record<string, unknown> = {};
     for (const [key, value] of response.getReadingsMap().entries()) {
diff --git a/src/main.ts b/src/main.ts
index 25f71f3b9..ebca0440d 100644
--- a/src/main.ts
+++ b/src/main.ts
@@ -309,6 +309,7 @@ export {
   type Motion,
   type Constraints,
   type LinearConstraint,
+  type ObstacleDetector,
   type OrientationConstraint,
   type CollisionSpecification,
   type MotionConfiguration,
diff --git a/src/services/motion.ts b/src/services/motion.ts
index 8fe9dbe93..6be7df5e7 100644
--- a/src/services/motion.ts
+++ b/src/services/motion.ts
@@ -2,6 +2,7 @@ export type { Motion } from './motion/motion';
 export type {
   Constraints,
   LinearConstraint,
+  ObstacleDetector,
   OrientationConstraint,
   CollisionSpecification,
   MotionConfiguration,
diff --git a/src/services/motion/types.ts b/src/services/motion/types.ts
index 2ed7b7a50..d9755c394 100644
--- a/src/services/motion/types.ts
+++ b/src/services/motion/types.ts
@@ -2,6 +2,7 @@ import pb from '../../gen/service/motion/v1/motion_pb';
 import { encodeResourceName } from '../../utils';
 
 export type Constraints = pb.Constraints.AsObject;
+export type ObstacleDetector = pb.ObstacleDetector.AsObject;
 export type LinearConstraint = pb.LinearConstraint.AsObject;
 export type OrientationConstraint = pb.OrientationConstraint.AsObject;
 export type CollisionSpecification = pb.CollisionSpecification.AsObject;
@@ -65,8 +66,17 @@ export const encodeMotionConfiguration = (
 ): pb.MotionConfiguration => {
   const result = new pb.MotionConfiguration();
 
-  result.setVisionServicesList(
-    obj.visionServicesList.map((x) => encodeResourceName(x))
+  result.setObstacleDetectorsList(
+    obj.obstacleDetectorsList.map((x: ObstacleDetector) => {
+      const obstacleDetector = new pb.ObstacleDetector();
+      if (x.visionService) {
+        obstacleDetector.setVisionService(encodeResourceName(x.visionService));
+      }
+      if (x.camera) {
+        obstacleDetector.setCamera(encodeResourceName(x.camera));
+      }
+      return obstacleDetector;
+    })
   );
   result.setPositionPollingFrequencyHz(obj.positionPollingFrequencyHz);
   result.setObstaclePollingFrequencyHz(obj.obstaclePollingFrequencyHz);