RSDK-2480: Encoder API TypeScript SDK changes (#58)

Author: martha-johnston

src/components/encoder.ts

@@ -0,0 +1,2 @@
+export type { Encoder, EncoderProperties } from './encoder/Encoder';
+export { EncoderClient } from './encoder/Client';

src/components/encoder/Client.ts

@@ -0,0 +1,76 @@
+import { Struct } from 'google-protobuf/google/protobuf/struct_pb';
+import type { RobotClient } from '../../robot';
+import type { Encoder } from './Encoder';
+import { EncoderServiceClient } from '../../gen/component/encoder/v1/encoder_pb_service';
+import { type Options, PositionType } from '../../types';
+import encoderApi from '../../gen/component/encoder/v1/encoder_pb';
+import { promisify } from '../../utils';
+
+/**
+ * A gRPC-web client for the Encoder component.
+ *
+ * @group Clients
+ */
+export class EncoderClient implements Encoder {
+  private client: EncoderServiceClient;
+  private readonly name: string;
+  private readonly options: Options;
+
+  constructor(client: RobotClient, name: string, options: Options = {}) {
+    this.client = client.createServiceClient(EncoderServiceClient);
+    this.name = name;
+    this.options = options;
+  }
+
+  private get encoderService() {
+    return this.client;
+  }
+
+  async resetPosition(extra = {}) {
+    const encoderService = this.encoderService;
+    const request = new encoderApi.ResetPositionRequest();
+    request.setName(this.name);
+    request.setExtra(Struct.fromJavaScript(extra));
+
+    this.options.requestLogger?.(request);
+
+    await promisify<
+      encoderApi.ResetPositionRequest,
+      encoderApi.ResetPositionResponse
+    >(encoderService.resetPosition.bind(encoderService), request);
+  }
+
+  async getProperties(extra = {}) {
+    const encoderService = this.encoderService;
+    const request = new encoderApi.GetPropertiesRequest();
+    request.setName(this.name);
+    request.setExtra(Struct.fromJavaScript(extra));
+
+    this.options.requestLogger?.(request);
+
+    const response = await promisify<
+      encoderApi.GetPropertiesRequest,
+      encoderApi.GetPropertiesResponse
+    >(encoderService.getProperties.bind(encoderService), request);
+    return response.toObject();
+  }
+
+  async getPosition(
+    positionType: PositionType = PositionType.POSITION_TYPE_UNSPECIFIED,
+    extra = {}
+  ) {
+    const encoderService = this.encoderService;
+    const request = new encoderApi.GetPositionRequest();
+    request.setName(this.name);
+    request.setPositionType(positionType);
+    request.setExtra(Struct.fromJavaScript(extra));
+
+    this.options.requestLogger?.(request);
+
+    const response = await promisify<
+      encoderApi.GetPositionRequest,
+      encoderApi.GetPositionResponse
+    >(encoderService.getPosition.bind(encoderService), request);
+    return [response.getValue(), response.getPositionType()] as const;
+  }
+}

src/components/encoder/Encoder.ts

@@ -0,0 +1,25 @@
+import type { Extra, PositionType } from '../../types';
+import pb from '../../gen/component/encoder/v1/encoder_pb';
+
+export type EncoderProperties = pb.GetPropertiesResponse.AsObject;
+
+/** Represents a physical encoder. */
+export interface Encoder {
+  /** Set the current position of the encoder as the new zero position. */
+  resetPosition(extra?: Extra): Promise<void>;
+
+  /** Return the encoder's properties. */
+  getProperties(extra?: Extra): Promise<EncoderProperties>;
+
+  /**
+   * Return the current position either in relative units (ticks away from a
+   * zero position) or absolute units (degrees along a circle).
+   *
+   * @param positionType - The type of position the encoder returns (ticks or
+   *   degrees)
+   */
+  getPosition(
+    positionType?: PositionType,
+    extra?: Extra
+  ): Promise<readonly [number, PositionType]>;
+}

src/main.ts

@@ -71,6 +71,22 @@ export { type Board, BoardClient } from './components/board';
 export { default as cameraApi } from './gen/component/camera/v1/camera_pb';
 export { type Camera, CameraClient } from './components/camera';
 
+/**
+ * Raw Protobuf interfaces for an Encoder component.
+ *
+ * Generated with https://github.com/improbable-eng/grpc-web
+ *
+ * @deprecated Use {@link EncoderClient} instead.
+ * @alpha
+ * @group Raw Protobufs
+ */
+export { default as encoderApi } from './gen/component/encoder/v1/encoder_pb';
+export {
+  type Encoder,
+  type EncoderProperties,
+  EncoderClient,
+} from './components/encoder';
+
 /**
  * Raw Protobuf interfaces for a Motor component.
  *

src/robot/Client.ts

@@ -13,6 +13,7 @@ import { dialDirect, dialWebRTC } from '@viamrobotics/rpc';
 import { ArmServiceClient } from '../gen/component/arm/v1/arm_pb_service';
 import { BaseServiceClient } from '../gen/component/base/v1/base_pb_service';
 import { BoardServiceClient } from '../gen/component/board/v1/board_pb_service';
+import { EncoderServiceClient } from '../gen/component/encoder/v1/encoder_pb_service';
 import { GantryServiceClient } from '../gen/component/gantry/v1/gantry_pb_service';
 import { GenericServiceClient } from '../gen/component/generic/v1/generic_pb_service';
 import { GripperServiceClient } from '../gen/component/gripper/v1/gripper_pb_service';
@@ -76,6 +77,8 @@ export class RobotClient implements Robot {
 
   private boardServiceClient: BoardServiceClient | undefined;
 
+  private encoderServiceClient: EncoderServiceClient | undefined;
+
   private gantryServiceClient: GantryServiceClient | undefined;
 
   private genericServiceClient: GenericServiceClient | undefined;
@@ -155,6 +158,13 @@ export class RobotClient implements Robot {
     return this.boardServiceClient;
   }
 
+  get encoderService() {
+    if (!this.encoderServiceClient) {
+      throw new Error(RobotClient.notConnectedYetStr);
+    }
+    return this.encoderServiceClient;
+  }
+
   get gantryService() {
     if (!this.gantryServiceClient) {
       throw new Error(RobotClient.notConnectedYetStr);
@@ -373,6 +383,10 @@ export class RobotClient implements Robot {
         this.serviceHost,
         grpcOptions
       );
+      this.encoderServiceClient = new EncoderServiceClient(
+        this.serviceHost,
+        grpcOptions
+      );
       this.gantryServiceClient = new GantryServiceClient(
         this.serviceHost,
         grpcOptions

src/types.ts

@@ -24,6 +24,12 @@ export interface Options {
   requestLogger?: (req: unknown) => void;
 }
 
+export enum PositionType {
+  POSITION_TYPE_UNSPECIFIED = 0,
+  POSITION_TYPE_TICKS_COUNT = 1,
+  POSITION_TYPE_ANGLE_DEGREES = 2,
+}
+
 // Common Protobuf Types
 
 export type ResourceName = common.ResourceName.AsObject;