RSDK-2235: add power management api (#174)

Co-authored-by: Maxim Pertsov <[email protected]>

src/components/board.ts

@@ -1,2 +1,2 @@
-export type { Board } from './board/board';
+export { type Board, type Duration, PowerMode } from './board/board';
 export { BoardClient } from './board/client';

src/components/board/board.ts

@@ -1,10 +1,18 @@
+import { type Duration as PBDuration } from 'google-protobuf/google/protobuf/duration_pb';
+import pb from '../../gen/component/board/v1/board_pb';
 import type { Resource, StructType } from '../../types';
 
 interface Status {
   analogs: Record<string, number>;
   digitalInterrupts: Record<string, number>;
 }
 
+type ValueOf<T> = T[keyof T];
+export const { PowerMode } = pb;
+export type PowerMode = ValueOf<typeof pb.PowerMode>;
+
+export type Duration = PBDuration.AsObject;
+
 /**
  * Represents a physical general purpose compute board that contains various
  * components such as analog readers, and digital interrupts.
@@ -74,4 +82,17 @@ export interface Board extends Resource {
     digitalInterruptName: string,
     extra?: StructType
   ): Promise<number>;
+  /**
+   * Set power mode of the board.
+   *
+   * @param name - The name of the board.
+   * @param powerMode - The requested power mode.
+   * @param duration - The requested duration to stay in power mode.
+   */
+  setPowerMode(
+    name: string,
+    powerMode: PowerMode,
+    duration: Duration,
+    extra?: StructType
+  ): Promise<void>;
 }

src/components/board/client.ts

@@ -1,12 +1,13 @@
 import { Struct } from 'google-protobuf/google/protobuf/struct_pb';
 
+import { Duration as PBDuration } from 'google-protobuf/google/protobuf/duration_pb';
 import { BoardServiceClient } from '../../gen/component/board/v1/board_pb_service';
 import type { RobotClient } from '../../robot';
 import type { Options, StructType } from '../../types';
 
 import pb from '../../gen/component/board/v1/board_pb';
 import { promisify, doCommandFromClient } from '../../utils';
-import type { Board } from './board';
+import type { Board, Duration, PowerMode } from './board';
 
 /**
  * A gRPC-web client for the Board component.
@@ -202,6 +203,32 @@ export class BoardClient implements Board {
     return response.getValue();
   }
 
+  async setPowerMode(
+    name: string,
+    powerMode: PowerMode,
+    duration?: Duration,
+    extra = {}
+  ) {
+    const { boardService } = this;
+    const request = new pb.SetPowerModeRequest();
+    request.setName(name);
+    request.setPowerMode(powerMode);
+    if (duration) {
+      const pbDuration = new PBDuration();
+      pbDuration.setNanos(duration.nanos);
+      pbDuration.setSeconds(duration.seconds);
+      request.setDuration(pbDuration);
+    }
+    request.setExtra(Struct.fromJavaScript(extra));
+
+    this.options.requestLogger?.(request);
+
+    await promisify<pb.SetPowerModeRequest, pb.SetPowerModeResponse>(
+      boardService.setPowerMode.bind(boardService),
+      request
+    );
+  }
+
   async doCommand(command: StructType): Promise<StructType> {
     const { boardService } = this;
     return doCommandFromClient(boardService, this.name, command, this.options);

src/main.ts

@@ -78,7 +78,12 @@ export { type Base, type BaseProperties, BaseClient } from './components/base';
  * @group Raw Protobufs
  */
 export { default as boardApi } from './gen/component/board/v1/board_pb';
-export { type Board, BoardClient } from './components/board';
+export {
+  type Board,
+  BoardClient,
+  type Duration,
+  PowerMode,
+} from './components/board';
 
 /**
  * Raw Protobuf interfaces for a Camera component.

src/robot/dial.ts

@@ -157,7 +157,13 @@ export const createRobotClient = async (
 ): Promise<RobotClient> => {
   let client;
   if (conf.authEntity) {
-    conf.authEntity = new URL(conf.authEntity).host;
+    try {
+      conf.authEntity = new URL(conf.authEntity).host;
+    } catch (error) {
+      if (!(error instanceof TypeError)) {
+        throw error;
+      }
+    }
   }
 
   if (conf.reconnectMaxAttempts && !isPosInt(conf.reconnectMaxAttempts)) {