RSDK-4790: Add Readings to TypeScript SDK (#191)

buf.lock

@@ -14,8 +14,8 @@ deps:
   - remote: buf.build
     owner: viamrobotics
     repository: api
-    commit: 9196e89cb02f40d6b38344d637fdb3fc
-    digest: shake256:45153f9922a876347f1b3cf7db9d35a76ff045e5a72b83fc7d6e89d1e899ff53b2d3930c36f7ce8aac704fb57f60dd9cbdba61224c8df51b1044a1ff9882ba15
+    commit: db4372e839fc4ddab817a38a397686fb
+    digest: shake256:7983589dddbde5534f0f04a4c43e1cb94f185b11f1ff6d0fe8ba50fa5fdb22711a60c009b5d428b20fd251b497e2259605a065556013a4fb9daa1f2ce6b10168
   - remote: buf.build
     owner: viamrobotics
     repository: goutils

package.json

@@ -67,7 +67,7 @@
     "grpc-web": "^1.4.2",
     "happy-dom": "^8.2.6",
     "npm-check": "^6.0.1",
-    "prettier": "^2.8.1",
+    "prettier": "^2.8.8",
     "prettier-plugin-jsdoc": "^0.4.2",
     "protoc-gen-js": "^3.21.2",
     "ts-protoc-gen": "^0.15.0",

src/components/movement-sensor/client.test.ts

@@ -8,11 +8,29 @@ import { MovementSensorClient } from './client';
 
 let sensor: MovementSensorClient;
 
+const mapVals = {
+  toJavaScript: () => {
+    return 'readings';
+  },
+};
+
 beforeEach(() => {
   RobotClient.prototype.createServiceClient = vi
     .fn()
     .mockImplementation(() => new MovementSensorServiceClient('mysensor'));
 
+  MovementSensorServiceClient.prototype.getReadings = vi
+    .fn()
+    .mockImplementation((_req, _md, cb) => {
+      cb(null, {
+        getReadingsMap: () => {
+          return {
+            entries: () => new Map<string, unknown>([['readings', mapVals]]),
+          };
+        },
+      });
+    });
+
   MovementSensorServiceClient.prototype.getPosition = vi
     .fn()
     .mockImplementation((_req, _md, cb) => {
@@ -88,12 +106,7 @@ test('individual readings', async () => {
 
 test('get readings', async () => {
   await expect(sensor.getReadings()).resolves.toStrictEqual({
-    position: 'pos',
-    linearVelocity: 'vel',
-    linearAcceleration: 'acc',
-    angularVelocity: 'ang',
-    compassHeading: 'comp',
-    orientation: 'ori',
+    readings: 'readings',
   });
 });
 
@@ -110,25 +123,6 @@ test('get readings returns without unimplemented fields', async () => {
     unimplementedError
   );
   await expect(sensor.getReadings()).resolves.toStrictEqual({
-    position: 'pos',
-    linearAcceleration: 'acc',
-    angularVelocity: 'ang',
-    compassHeading: 'comp',
-    orientation: 'ori',
+    readings: 'readings',
   });
 });
-
-test('get readings fails on other errors', async () => {
-  const unexpectedError = new Error('Jank!');
-
-  MovementSensorServiceClient.prototype.getLinearVelocity = vi
-    .fn()
-    .mockImplementation((_req, _md, cb) => {
-      cb(unexpectedError, null);
-    });
-
-  await expect(sensor.getLinearVelocity()).rejects.toStrictEqual(
-    unexpectedError
-  );
-  await expect(sensor.getReadings()).rejects.toStrictEqual(unexpectedError);
-});

src/components/movement-sensor/client.ts

@@ -4,7 +4,11 @@ import { MovementSensorServiceClient } from '../../gen/component/movementsensor/
 import type { Options, StructType } from '../../types';
 import pb from '../../gen/component/movementsensor/v1/movementsensor_pb';
 import { promisify, doCommandFromClient } from '../../utils';
-import type { MovementSensor, MovementSensorReadings } from './movement-sensor';
+import {
+  GetReadingsRequest,
+  GetReadingsResponse,
+} from '../../gen/common/v1/common_pb';
+import type { MovementSensor } from './movement-sensor';
 
 /**
  * A gRPC-web client for the MovementSensor component.
@@ -195,30 +199,23 @@ export class MovementSensorClient implements MovementSensor {
   }
 
   async getReadings(extra = {}) {
-    const readingFunctions = {
-      position: this.getPosition.bind(this),
-      linearVelocity: this.getLinearVelocity.bind(this),
-      angularVelocity: this.getAngularVelocity.bind(this),
-      linearAcceleration: this.getLinearAcceleration.bind(this),
-      compassHeading: this.getCompassHeading.bind(this),
-      orientation: this.getOrientation.bind(this),
-    };
-
-    const tasks = Object.entries(readingFunctions).flatMap(([field, func]) =>
-      (async () => {
-        try {
-          return [[field, await func(extra)]];
-        } catch (error) {
-          if (!(error as Error).message.includes('Unimplemented')) {
-            throw error;
-          }
-          return [];
-        }
-      })()
+    const { movementsensorService } = this;
+    const request = new GetReadingsRequest();
+    request.setName(this.name);
+    request.setExtra(Struct.fromJavaScript(extra));
+
+    this.options.requestLogger?.(request);
+
+    const response = await promisify<GetReadingsRequest, GetReadingsResponse>(
+      movementsensorService.getReadings.bind(movementsensorService),
+      request
     );
-    const entries = await Promise.all(tasks);
 
-    return Object.fromEntries(entries.flat()) as MovementSensorReadings;
+    const result: Record<string, unknown> = {};
+    for (const [key, value] of response.getReadingsMap().entries()) {
+      result[key] = value.toJavaScript();
+    }
+    return result;
   }
 
   async doCommand(command: StructType): Promise<StructType> {

src/components/movement-sensor/movement-sensor.ts

@@ -1,26 +1,14 @@
-import type { Orientation, StructType, Vector3 } from '../../types';
-import type { Sensor } from '../sensor';
+import type { Resource, Orientation, StructType, Vector3 } from '../../types';
 import pb from '../../gen/component/movementsensor/v1/movementsensor_pb';
 
 export type MovementSensorPosition = pb.GetPositionResponse.AsObject;
 export type MovementSensorProperties = pb.GetPropertiesResponse.AsObject;
 
-// https://github.com/microsoft/TypeScript/issues/15300
-// eslint-disable-next-line @typescript-eslint/consistent-type-definitions
-export type MovementSensorReadings = {
-  position?: MovementSensorPosition;
-  linearVelocity?: Vector3;
-  angularVelocity?: Vector3;
-  linearAcceleration?: Vector3;
-  compassHeading?: number;
-  orientation?: Orientation;
-};
-
 /**
  * Represents any sensor that reports information about the robot's direction,
  * position, and/or speed.
  */
-export interface MovementSensor extends Sensor {
+export interface MovementSensor extends Resource {
   /** Get linear velocity across x/y/z axes */
   getLinearVelocity(extra?: StructType): Promise<Vector3>;
 
@@ -50,4 +38,7 @@ export interface MovementSensor extends Sensor {
 
   /** Get linear acceleration across x/y/z axes */
   getLinearAcceleration(extra?: StructType): Promise<Vector3>;
+
+  /** Return the readings of a sensor. */
+  getReadings(extra?: StructType): Promise<Record<string, unknown>>;
 }

src/components/movementsensor.ts

@@ -1,7 +1,6 @@
 export type {
   MovementSensorPosition,
   MovementSensorProperties,
-  MovementSensorReadings,
   MovementSensor,
 } from './movement-sensor/movement-sensor';
 export { MovementSensorClient } from './movement-sensor/client';

src/components/power-sensor/client.test.ts

@@ -12,6 +12,12 @@ const testVoltage = 1.5;
 const testCurrent = 1;
 const testIsAc = true;
 
+const mapVals = {
+  toJavaScript: () => {
+    return 'readings';
+  },
+};
+
 beforeEach(() => {
   RobotClient.prototype.createServiceClient = vi
     .fn()
@@ -42,6 +48,18 @@ beforeEach(() => {
       });
     });
 
+  PowerSensorServiceClient.prototype.getReadings = vi
+    .fn()
+    .mockImplementation((_req, _md, cb) => {
+      cb(null, {
+        getReadingsMap: () => {
+          return {
+            entries: () => new Map<string, unknown>([['readings', mapVals]]),
+          };
+        },
+      });
+    });
+
   sensor = new PowerSensorClient(new RobotClient('host'), 'test-sensor');
 });
 
@@ -63,10 +81,7 @@ test('individual readings', async () => {
 
 test('get readings', async () => {
   await expect(sensor.getReadings()).resolves.toStrictEqual({
-    voltage: testVoltage,
-    current: testCurrent,
-    isAc: testIsAc,
-    power: testPower,
+    readings: 'readings',
   });
 });
 
@@ -81,21 +96,6 @@ test('get readings returns without unimplemented fields', async () => {
 
   await expect(sensor.getVoltage()).rejects.toStrictEqual(unimplementedError);
   await expect(sensor.getReadings()).resolves.toStrictEqual({
-    current: testCurrent,
-    isAc: testIsAc,
-    power: testPower,
+    readings: 'readings',
   });
 });
-
-test('get readings fails on other errors', async () => {
-  const unexpectedError = new Error('Jank!');
-
-  PowerSensorServiceClient.prototype.getPower = vi
-    .fn()
-    .mockImplementation((_req, _md, cb) => {
-      cb(unexpectedError, null);
-    });
-
-  await expect(sensor.getPower()).rejects.toStrictEqual(unexpectedError);
-  await expect(sensor.getReadings()).rejects.toStrictEqual(unexpectedError);
-});

src/components/power-sensor/client.ts

@@ -4,10 +4,14 @@ import { PowerSensorServiceClient } from '../../gen/component/powersensor/v1/pow
 import type { Options, StructType } from '../../types';
 import pb from '../../gen/component/powersensor/v1/powersensor_pb';
 import { promisify, doCommandFromClient } from '../../utils';
-import type { PowerSensor, PowerSensorReadings } from './power-sensor';
+import {
+  GetReadingsRequest,
+  GetReadingsResponse,
+} from '../../gen/common/v1/common_pb';
+import type { PowerSensor } from './power-sensor';
 
 /**
- * A gRPC-web client for the MovementSensor component.
+ * A gRPC-web client for the PowerSensor component.
  *
  * @group Clients
  */
@@ -76,29 +80,23 @@ export class PowerSensorClient implements PowerSensor {
   }
 
   async getReadings(extra = {}) {
-    const readings: Record<string, any> = {};
-    try {
-      [readings['voltage'], readings['isAc']] = await this.getVoltage(extra);
-    } catch (error) {
-      if (!(error as Error).message.includes('Unimplemented')) {
-        throw error;
-      }
-    }
-    try {
-      [readings['current'], readings['isAc']] = await this.getCurrent(extra);
-    } catch (error) {
-      if (!(error as Error).message.includes('Unimplemented')) {
-        throw error;
-      }
-    }
-    try {
-      readings['power'] = await this.getPower(extra);
-    } catch (error) {
-      if (!(error as Error).message.includes('Unimplemented')) {
-        throw error;
-      }
+    const { powersensorService } = this;
+    const request = new GetReadingsRequest();
+    request.setName(this.name);
+    request.setExtra(Struct.fromJavaScript(extra));
+
+    this.options.requestLogger?.(request);
+
+    const response = await promisify<GetReadingsRequest, GetReadingsResponse>(
+      powersensorService.getReadings.bind(powersensorService),
+      request
+    );
+
+    const result: Record<string, unknown> = {};
+    for (const [key, value] of response.getReadingsMap().entries()) {
+      result[key] = value.toJavaScript();
     }
-    return readings as PowerSensorReadings;
+    return result;
   }
 
   async doCommand(command: StructType): Promise<StructType> {

src/components/power-sensor/power-sensor.ts

@@ -1,13 +1,6 @@
 import type { StructType } from '../../types';
 import type { Sensor } from '../sensor';
 
-export type PowerSensorReadings = {
-  voltage?: number;
-  current?: number;
-  isAc?: boolean;
-  power?: number;
-};
-
 /** Represents any sensor that reports voltage, current, and/or power */
 export interface PowerSensor extends Sensor {
   /** Get Voltage in volts and a boolean that returns true if AC */
@@ -16,4 +9,6 @@ export interface PowerSensor extends Sensor {
   getCurrent(extra?: StructType): Promise<readonly [number, boolean]>;
   /** Get Power in watts */
   getPower(extra?: StructType): Promise<number>;
+  /** Return the readings of a sensor. */
+  getReadings(extra?: StructType): Promise<Record<string, unknown>>;
 }

src/components/powersensor.ts

@@ -1,5 +1,2 @@
-export type {
-  PowerSensorReadings,
-  PowerSensor,
-} from './power-sensor/power-sensor';
+export type { PowerSensor } from './power-sensor/power-sensor';
 export { PowerSensorClient } from './power-sensor/client';