RSDK-1825 - add slam wrapper (#143)

package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/sdk",
-  "version": "0.2.5-next.0",
+  "version": "0.2.5-next.1",
   "description": "",
   "main": "./dist/main.umd.js",
   "module": "./dist/main.es.js",

src/main.ts

@@ -325,29 +325,12 @@ export { type Servo, ServoClient } from './components/servo';
  *
  * Generated with https://github.com/improbable-eng/grpc-web
  *
- * @example
- *
- * ```ts
- * import { grpc } from '@improbable-eng/grpc-web';
- *
- * const client = {}; // replace with a connected robot client
- *
- * const request = new slamApi.GetPositionRequest();
- * request.setName('myslam');
- *
- * client.slamService.getPosition(
- *   request,
- *   new grpc.Metadata(),
- *   (error, response) => {
- *     // do something with error or response
- *   }
- * );
- * ```
- *
+ * @deprecated Use {@link SlamClient} instead.
  * @alpha
  * @group Raw Protobufs
  */
 export { default as slamApi } from './gen/service/slam/v1/slam_pb';
+export { type GetPositionResponse, SlamClient } from './services/slam';
 
 /**
  * Raw Protobuf interfaces for a Vision service.

src/services/navigation/navigation.ts

@@ -12,7 +12,7 @@ export interface Navigation extends Resource {
   /**
    * Set the mode the robot is operating in.
    *
-   * @param mode -
+   * @param mode - The mode for the service to operate in.
    */
   setMode: (mode: ModeMap[keyof ModeMap], extra?: StructType) => Promise<void>;
 

src/services/slam.ts

@@ -0,0 +1,3 @@
+export type { Slam } from './slam/slam';
+export type { GetPositionResponse } from './slam/types';
+export { SlamClient } from './slam/client';

src/services/slam/client.ts

@@ -0,0 +1,100 @@
+import pb from '../../gen/service/slam/v1/slam_pb';
+import { SLAMServiceClient } from '../../gen/service/slam/v1/slam_pb_service';
+import { RobotClient } from '../../robot';
+import type { Options, StructType } from '../../types';
+import { doCommandFromClient, promisify } from '../../utils';
+import type { Slam } from './slam';
+
+/**
+ * A gRPC-web client for a SLAM service.
+ *
+ * @group Clients
+ */
+export class SlamClient implements Slam {
+  private client: SLAMServiceClient;
+  private readonly name: string;
+  private readonly options: Options;
+
+  constructor(client: RobotClient, name: string, options: Options = {}) {
+    this.client = client.createServiceClient(SLAMServiceClient);
+    this.name = name;
+    this.options = options;
+  }
+
+  private get service() {
+    return this.client;
+  }
+
+  async getPosition() {
+    const { service } = this;
+
+    const request = new pb.GetPositionRequest();
+    request.setName(this.name);
+
+    this.options.requestLogger?.(request);
+
+    const response = await promisify<
+      pb.GetPositionRequest,
+      pb.GetPositionResponse
+    >(service.getPosition.bind(service), request);
+
+    return response.toObject();
+  }
+
+  async getPointCloudMap() {
+    const { service } = this;
+
+    const request = new pb.GetPointCloudMapRequest();
+    request.setName(this.name);
+
+    this.options.requestLogger?.(request);
+
+    const response = await promisify<
+      pb.GetPointCloudMapRequest,
+      pb.GetPointCloudMapResponse
+    >(service.getPointCloudMap.bind(service), request);
+
+    return response.getPointCloudPcdChunk_asU8();
+  }
+
+  async getInternalState() {
+    const { service } = this;
+
+    const request = new pb.GetInternalStateRequest();
+    request.setName(this.name);
+
+    this.options.requestLogger?.(request);
+
+    const response = await promisify<
+      pb.GetInternalStateRequest,
+      pb.GetInternalStateResponse
+    >(service.getInternalState.bind(service), request);
+
+    return response.getInternalStateChunk_asU8();
+  }
+
+  async getLatestMapInfo() {
+    const { service } = this;
+
+    const request = new pb.GetLatestMapInfoRequest();
+    request.setName(this.name);
+
+    this.options.requestLogger?.(request);
+
+    const response = await promisify<
+      pb.GetLatestMapInfoRequest,
+      pb.GetLatestMapInfoResponse
+    >(service.getLatestMapInfo.bind(service), request);
+
+    const timestamp = response.getLastMapUpdate();
+    if (!timestamp) {
+      throw new Error('no map update');
+    }
+    return new Date(timestamp.getSeconds() * 1e3 + timestamp.getNanos() / 1e6);
+  }
+
+  async doCommand(command: StructType): Promise<StructType> {
+    const { service } = this;
+    return doCommandFromClient(service, this.name, command, this.options);
+  }
+}

src/services/slam/slam.ts

@@ -0,0 +1,26 @@
+import type { Resource } from '../../types';
+import type { GetPositionResponse } from './types';
+
+/**
+ * A service that allows your robot to create a map of its surroundings and find
+ * its location within that map.
+ */
+export interface Slam extends Resource {
+  /**
+   * Get the current position of the specified source component in the point
+   * cloud SLAM map.
+   */
+  getPosition: () => Promise<GetPositionResponse>;
+
+  /** Get the point cloud SLAM map. */
+  getPointCloudMap: () => Promise<Uint8Array>;
+
+  /**
+   * Get the internal state of the SLAM algorithm required to continue
+   * mapping/localization.
+   */
+  getInternalState: () => Promise<Uint8Array>;
+
+  /** Get the timestamp of the last update to the point cloud SLAM map. */
+  getLatestMapInfo: () => Promise<Date>;
+}

src/services/slam/types.ts

@@ -0,0 +1,3 @@
+import pb from '../../gen/service/slam/v1/slam_pb';
+
+export type GetPositionResponse = pb.GetPositionResponse.AsObject;