RSDK-4057 Add Power Sensor Component (#142)

buf.lock

@@ -9,8 +9,8 @@ deps:
   - remote: buf.build
     owner: viamrobotics
     repository: api
-    commit: 9983a44b37434cdea5f0f9ff1eb17456
-    digest: shake256:15c1db788f3bc46c33a5291dce377af9fdb0e1dc9136ec61db508cc777abd6f6978b1cdd1e503a3662bcee66c051c3e1f04986f0c4bd83da846ca6d89aef5328
+    commit: 95de10381a3b4bd6a399b6ebae933268
+    digest: shake256:917b4ea97a702b23f1b6ae795a69dc6eb250b98df077323aa3497ea341a8822b78bb410ca3b16d94e68b4f8b73ad81f24070b91302b84e81ecfccaa5d0d28701
   - remote: buf.build
     owner: viamrobotics
     repository: goutils

codesamples/apis.json

@@ -46,6 +46,11 @@
         "func": "getLinearAcceleration",
         "args": []
     },
+    "power_sensor": {
+        "client": "PowerSensorClient",
+        "func": "getVoltage",
+        "args": []
+    },
     "servo": {
         "client": "ServoClient",
         "func": "getPosition"

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

@@ -0,0 +1,101 @@
+// @vitest-environment happy-dom
+
+import { afterEach, beforeEach, expect, test, vi } from 'vitest';
+
+import { RobotClient } from '../../robot';
+import { PowerSensorServiceClient } from '../../gen/component/powersensor/v1/powersensor_pb_service';
+import { PowerSensorClient } from './client';
+
+let sensor: PowerSensorClient;
+const testPower = 0.5;
+const testVoltage = 1.5;
+const testCurrent = 1;
+const testIsAc = true;
+
+beforeEach(() => {
+  RobotClient.prototype.createServiceClient = vi
+    .fn()
+    .mockImplementation(() => new PowerSensorServiceClient('mysensor'));
+
+  PowerSensorServiceClient.prototype.getVoltage = vi
+    .fn()
+    .mockImplementation((_req, _md, cb) => {
+      cb(null, {
+        getVolts: () => testVoltage,
+        getIsAc: () => testIsAc,
+      });
+    });
+  PowerSensorServiceClient.prototype.getCurrent = vi
+    .fn()
+    .mockImplementation((_req, _md, cb) => {
+      cb(null, {
+        getAmperes: () => testCurrent,
+        getIsAc: () => testIsAc,
+      });
+    });
+
+  PowerSensorServiceClient.prototype.getPower = vi
+    .fn()
+    .mockImplementation((_req, _md, cb) => {
+      cb(null, {
+        getWatts: () => testPower,
+      });
+    });
+
+  sensor = new PowerSensorClient(new RobotClient('host'), 'test-sensor');
+});
+
+afterEach(() => {
+  vi.clearAllMocks();
+});
+
+test('individual readings', async () => {
+  await expect(sensor.getVoltage()).resolves.toStrictEqual([
+    testVoltage,
+    testIsAc,
+  ]);
+  await expect(sensor.getCurrent()).resolves.toStrictEqual([
+    testCurrent,
+    testIsAc,
+  ]);
+  await expect(sensor.getPower()).resolves.toStrictEqual(testPower);
+});
+
+test('get readings', async () => {
+  await expect(sensor.getReadings()).resolves.toStrictEqual({
+    voltage: testVoltage,
+    current: testCurrent,
+    isAc: testIsAc,
+    power: testPower,
+  });
+});
+
+test('get readings returns without unimplemented fields', async () => {
+  const unimplementedError = new Error('Unimplemented');
+
+  PowerSensorServiceClient.prototype.getVoltage = vi
+    .fn()
+    .mockImplementation((_req, _md, cb) => {
+      cb(unimplementedError, null);
+    });
+
+  await expect(sensor.getVoltage()).rejects.toStrictEqual(unimplementedError);
+  await expect(sensor.getReadings()).resolves.toStrictEqual({
+    current: testCurrent,
+    isAc: testIsAc,
+    power: testPower,
+  });
+});
+
+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

@@ -0,0 +1,113 @@
+import { Struct } from 'google-protobuf/google/protobuf/struct_pb';
+import type { RobotClient } from '../../robot';
+import { PowerSensorServiceClient } from '../../gen/component/powersensor/v1/powersensor_pb_service';
+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';
+
+/**
+ * A gRPC-web client for the MovementSensor component.
+ *
+ * @group Clients
+ */
+
+export class PowerSensorClient implements PowerSensor {
+  private client: PowerSensorServiceClient;
+  private readonly name: string;
+  private readonly options: Options;
+
+  constructor(client: RobotClient, name: string, options: Options = {}) {
+    this.client = client.createServiceClient(PowerSensorServiceClient);
+    this.name = name;
+    this.options = options;
+  }
+
+  private get powersensorService() {
+    return this.client;
+  }
+
+  async getVoltage(extra = {}) {
+    const { powersensorService } = this;
+    const request = new pb.GetVoltageRequest();
+    request.setName(this.name);
+    request.setExtra(Struct.fromJavaScript(extra));
+
+    this.options.requestLogger?.(request);
+
+    const response = await promisify<
+      pb.GetVoltageRequest,
+      pb.GetVoltageResponse
+    >(powersensorService.getVoltage.bind(powersensorService), request);
+
+    return [response.getVolts(), response.getIsAc()] as const;
+  }
+
+  async getCurrent(extra = {}) {
+    const { powersensorService } = this;
+    const request = new pb.GetCurrentRequest();
+    request.setName(this.name);
+    request.setExtra(Struct.fromJavaScript(extra));
+
+    this.options.requestLogger?.(request);
+
+    const response = await promisify<
+      pb.GetCurrentRequest,
+      pb.GetCurrentResponse
+    >(powersensorService.getCurrent.bind(powersensorService), request);
+
+    return [response.getAmperes(), response.getIsAc()] as const;
+  }
+
+  async getPower(extra = {}) {
+    const { powersensorService } = this;
+    const request = new pb.GetPowerRequest();
+    request.setName(this.name);
+    request.setExtra(Struct.fromJavaScript(extra));
+
+    this.options.requestLogger?.(request);
+
+    const response = await promisify<pb.GetPowerRequest, pb.GetPowerResponse>(
+      powersensorService.getPower.bind(powersensorService),
+      request
+    );
+
+    return response.getWatts();
+  }
+
+  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;
+      }
+    }
+    return readings as PowerSensorReadings;
+  }
+
+  async doCommand(command: StructType): Promise<StructType> {
+    const { powersensorService } = this;
+    return doCommandFromClient(
+      powersensorService,
+      this.name,
+      command,
+      this.options
+    );
+  }
+}

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

@@ -0,0 +1,19 @@
+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 */
+  getVoltage(extra?: StructType): Promise<readonly [number, boolean]>;
+  /** Get Current in amps and a boolean that returns true if AC */
+  getCurrent(extra?: StructType): Promise<readonly [number, boolean]>;
+  /** Get Power in watts */
+  getPower(extra?: StructType): Promise<number>;
+}

src/components/powersensor.ts

@@ -0,0 +1,5 @@
+export type {
+  PowerSensorReadings,
+  PowerSensor,
+} from './power-sensor/power-sensor';
+export { PowerSensorClient } from './power-sensor/client';

src/main.ts

@@ -132,6 +132,22 @@ export {
   MovementSensorClient,
 } from './components/movementsensor';
 
+/**
+ * Raw Protobuf interfaces for a PowerSensor component.
+ *
+ * Generated with https://github.com/improbable-eng/grpc-web
+ *
+ * @deprecated Use {@link PowerSensorClient} instead.
+ * @alpha
+ * @group Raw Protobufs
+ */
+export { default as powerSensorApi } from './gen/component/powersensor/v1/powersensor_pb';
+export {
+  type PowerSensor,
+  type PowerSensorReadings,
+  PowerSensorClient,
+} from './components/powersensor';
+
 /**
  * Raw Protobuf interfaces generated with
  * https://github.com/improbable-eng/grpc-web for a Sensor component.