RSDK-6171-add-client-api-for-debugging-grpc-calls (#384)

viamrobotics · Oct 14, 2024 · 1f8e7f4 · 1f8e7f4
1 parent ded23f6
commit 1f8e7f4
Show file tree

Hide file tree

Showing 23 changed files with 551 additions and 262 deletions.
diff --git a/src/components/arm/client.ts b/src/components/arm/client.ts
@@ -1,5 +1,5 @@
 import { Struct, type JsonValue } from '@bufbuild/protobuf';
-import type { PromiseClient } from '@connectrpc/connect';
+import type { CallOptions, PromiseClient } from '@connectrpc/connect';
 import { ArmService } from '../../gen/component/arm/v1/arm_connect';
 import {
   GetEndPositionRequest,
@@ -24,30 +24,31 @@ export class ArmClient implements Arm {
   private client: PromiseClient<typeof ArmService>;
   private readonly name: string;
   private readonly options: Options;
+  public callOptions: CallOptions = { headers: {} as Record<string, string> };
 
   constructor(client: RobotClient, name: string, options: Options = {}) {
     this.client = client.createServiceClient(ArmService);
     this.name = name;
     this.options = options;
   }
 
-  async getEndPosition(extra = {}) {
+  async getEndPosition(extra = {}, callOptions = this.callOptions) {
     const request = new GetEndPositionRequest({
       name: this.name,
       extra: Struct.fromJson(extra),
     });
 
     this.options.requestLogger?.(request);
 
-    const response = await this.client.getEndPosition(request);
+    const response = await this.client.getEndPosition(request, callOptions);
     const result = response.pose;
     if (!result) {
       throw new Error('no pose');
     }
     return result;
   }
 
-  async moveToPosition(pose: Pose, extra = {}) {
+  async moveToPosition(pose: Pose, extra = {}, callOptions = this.callOptions) {
     const request = new MoveToPositionRequest({
       name: this.name,
       to: pose,
@@ -56,10 +57,14 @@ export class ArmClient implements Arm {
 
     this.options.requestLogger?.(request);
 
-    await this.client.moveToPosition(request);
+    await this.client.moveToPosition(request, callOptions);
   }
 
-  async moveToJointPositions(jointPositionsList: number[], extra = {}) {
+  async moveToJointPositions(
+    jointPositionsList: number[],
+    extra = {},
+    callOptions = this.callOptions
+  ) {
     const newJointPositions = new JointPositions({
       values: jointPositionsList,
     });
@@ -72,18 +77,18 @@ export class ArmClient implements Arm {
 
     this.options.requestLogger?.(request);
 
-    await this.client.moveToJointPositions(request);
+    await this.client.moveToJointPositions(request, callOptions);
   }
 
-  async getJointPositions(extra = {}) {
+  async getJointPositions(extra = {}, callOptions = this.callOptions) {
     const request = new GetJointPositionsRequest({
       name: this.name,
       extra: Struct.fromJson(extra),
     });
 
     this.options.requestLogger?.(request);
 
-    const response = await this.client.getJointPositions(request);
+    const response = await this.client.getJointPositions(request, callOptions);
 
     const result = response.positions;
     if (!result) {
@@ -92,34 +97,38 @@ export class ArmClient implements Arm {
     return result;
   }
 
-  async stop(extra = {}) {
+  async stop(extra = {}, callOptions = this.callOptions) {
     const request = new StopRequest({
       name: this.name,
       extra: Struct.fromJson(extra),
     });
 
     this.options.requestLogger?.(request);
 
-    await this.client.stop(request);
+    await this.client.stop(request, callOptions);
   }
 
-  async isMoving() {
+  async isMoving(callOptions = this.callOptions) {
     const request = new IsMovingRequest({
       name: this.name,
     });
 
     this.options.requestLogger?.(request);
 
-    const resp = await this.client.isMoving(request);
+    const resp = await this.client.isMoving(request, callOptions);
     return resp.isMoving;
   }
 
-  async doCommand(command: Struct): Promise<JsonValue> {
+  async doCommand(
+    command: Struct,
+    callOptions = this.callOptions
+  ): Promise<JsonValue> {
     return doCommandFromClient(
       this.client.doCommand,
       this.name,
       command,
-      this.options
+      this.options,
+      callOptions
     );
   }
 }
diff --git a/src/components/base/base.ts b/src/components/base/base.ts
@@ -51,7 +51,7 @@ export interface Base extends Resource {
   stop(extra?: Struct): Promise<void>;
 
   /** Return true if the base is in motion. */
-  isMoving(extra?: Struct): Promise<boolean>;
+  isMoving(): Promise<boolean>;
 
   /** Return the base's properties. */
   getProperties(extra?: Struct): Promise<BaseProperties>;

diff --git a/src/components/base/client.ts b/src/components/base/client.ts
@@ -1,5 +1,5 @@
 import { Struct, type JsonValue } from '@bufbuild/protobuf';
-import type { PromiseClient } from '@connectrpc/connect';
+import type { CallOptions, PromiseClient } from '@connectrpc/connect';
 import { BaseService } from '../../gen/component/base/v1/base_connect';
 import {
   GetPropertiesRequest,
@@ -24,14 +24,20 @@ export class BaseClient implements Base {
   private client: PromiseClient<typeof BaseService>;
   private readonly name: string;
   private readonly options: Options;
+  public callOptions: CallOptions = { headers: {} as Record<string, string> };
 
   constructor(client: RobotClient, name: string, options: Options = {}) {
     this.client = client.createServiceClient(BaseService);
     this.name = name;
     this.options = options;
   }
 
-  async moveStraight(distanceMm: number, mmPerSec: number, extra = {}) {
+  async moveStraight(
+    distanceMm: number,
+    mmPerSec: number,
+    extra = {},
+    callOptions = this.callOptions
+  ) {
     const request = new MoveStraightRequest({
       name: this.name,
       mmPerSec,
@@ -41,10 +47,15 @@ export class BaseClient implements Base {
 
     this.options.requestLogger?.(request);
 
-    await this.client.moveStraight(request);
+    await this.client.moveStraight(request, callOptions);
   }
 
-  async spin(angleDeg: number, degsPerSec: number, extra = {}) {
+  async spin(
+    angleDeg: number,
+    degsPerSec: number,
+    extra = {},
+    callOptions = this.callOptions
+  ) {
     const request = new SpinRequest({
       name: this.name,
       angleDeg,
@@ -54,10 +65,15 @@ export class BaseClient implements Base {
 
     this.options.requestLogger?.(request);
 
-    await this.client.spin(request);
+    await this.client.spin(request, callOptions);
   }
 
-  async setPower(linear: Vector3, angular: Vector3, extra = {}) {
+  async setPower(
+    linear: Vector3,
+    angular: Vector3,
+    extra = {},
+    callOptions = this.callOptions
+  ) {
     const request = new SetPowerRequest({
       name: this.name,
       linear,
@@ -67,10 +83,15 @@ export class BaseClient implements Base {
 
     this.options.requestLogger?.(request);
 
-    await this.client.setPower(request);
+    await this.client.setPower(request, callOptions);
   }
 
-  async setVelocity(linear: Vector3, angular: Vector3, extra = {}) {
+  async setVelocity(
+    linear: Vector3,
+    angular: Vector3,
+    extra = {},
+    callOptions = this.callOptions
+  ) {
     const request = new SetVelocityRequest({
       name: this.name,
       linear,
@@ -80,48 +101,52 @@ export class BaseClient implements Base {
 
     this.options.requestLogger?.(request);
 
-    await this.client.setVelocity(request);
+    await this.client.setVelocity(request, callOptions);
   }
 
-  async stop(extra = {}) {
+  async stop(extra = {}, callOptions = this.callOptions) {
     const request = new StopRequest({
       name: this.name,
       extra: Struct.fromJson(extra),
     });
 
     this.options.requestLogger?.(request);
 
-    await this.client.stop(request);
+    await this.client.stop(request, callOptions);
   }
 
-  async isMoving() {
+  async isMoving(callOptions = this.callOptions) {
     const request = new IsMovingRequest({
       name: this.name,
     });
 
     this.options.requestLogger?.(request);
 
-    const resp = await this.client.isMoving(request);
+    const resp = await this.client.isMoving(request, callOptions);
     return resp.isMoving;
   }
 
-  async doCommand(command: Struct): Promise<JsonValue> {
+  async doCommand(
+    command: Struct,
+    callOptions = this.callOptions
+  ): Promise<JsonValue> {
     return doCommandFromClient(
       this.client.doCommand,
       this.name,
       command,
-      this.options
+      this.options,
+      callOptions
     );
   }
 
-  async getProperties(extra = {}) {
+  async getProperties(extra = {}, callOptions = this.callOptions) {
     const request = new GetPropertiesRequest({
       name: this.name,
       extra: Struct.fromJson(extra),
     });
 
     this.options.requestLogger?.(request);
 
-    return this.client.getProperties(request);
+    return this.client.getProperties(request, callOptions);
   }
 }