From 4d26422ee772dffe65a7e6f7f3558f81c1672edd Mon Sep 17 00:00:00 2001
From: martha-johnston <106617924+martha-johnston@users.noreply.github.com>
Date: Thu, 17 Aug 2023 10:56:54 -0400
Subject: [PATCH] RSDK-4579: TypeScript SDK Base Properties (#156)

---
 src/components/base.ts        |  2 +-
 src/components/base/base.ts   |  6 ++++++
 src/components/base/client.ts | 15 +++++++++++++++
 src/main.ts                   |  2 +-
 4 files changed, 23 insertions(+), 2 deletions(-)

diff --git a/src/components/base.ts b/src/components/base.ts
index 9c2782142..46f52f828 100644
--- a/src/components/base.ts
+++ b/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';
diff --git a/src/components/base/base.ts b/src/components/base/base.ts
index 36625069c..6ccb1accf 100644
--- a/src/components/base/base.ts
+++ b/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>;
 }
diff --git a/src/components/base/client.ts b/src/components/base/client.ts
index 66b85ca52..63ea2e29a 100644
--- a/src/components/base/client.ts
+++ b/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();
+  }
 }
diff --git a/src/main.ts b/src/main.ts
index c1e40eebc..3ca60eaad 100644
--- a/src/main.ts
+++ b/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.