RSDK-4579: TypeScript SDK Base Properties (#156)

src/components/base.ts

@@ -1,2 +1,2 @@
-export type { Base } from './base/base';
+export type { Base, BaseProperties } from './base/base';
 export { BaseClient } from './base/client';

src/components/base/base.ts

@@ -1,4 +1,7 @@
 import type { Resource, StructType, Vector3 } from '../../types';
+import pb from '../../gen/component/base/v1/base_pb';
+
+export type BaseProperties = pb.GetPropertiesResponse.AsObject;
 
 /** Represents a physical base of a robot. */
 export interface Base extends Resource {
@@ -54,4 +57,7 @@ export interface Base extends Resource {
 
   /** Return true if the base is in motion. */
   isMoving(extra?: StructType): Promise<boolean>;
+
+  /** Return the base's properties. */
+  getProperties(extra?: StructType): Promise<BaseProperties>;
 }

src/components/base/client.ts

@@ -123,4 +123,19 @@ export class BaseClient implements Base {
     const { baseService } = this;
     return doCommandFromClient(baseService, this.name, command, this.options);
   }
+
+  async getProperties(extra = {}) {
+    const { baseService } = this;
+    const request = new pb.GetPropertiesRequest();
+    request.setName(this.name);
+    request.setExtra(Struct.fromJavaScript(extra));
+
+    this.options.requestLogger?.(request);
+
+    const response = await promisify<
+      pb.GetPropertiesRequest,
+      pb.GetPropertiesResponse
+    >(baseService.getProperties.bind(baseService), request);
+    return response.toObject();
+  }
 }

src/main.ts

@@ -47,7 +47,7 @@ export { type Arm, ArmClient } from './components/arm';
  * @group Raw Protobufs
  */
 export { default as baseApi } from './gen/component/base/v1/base_pb';
-export { type Base, BaseClient } from './components/base';
+export { type Base, type BaseProperties, BaseClient } from './components/base';
 
 /**
  * Raw Protobuf interfaces for a Board component.