from typing import Any, Dict, List, Mapping, Optional, Tuple
from grpclib.client import Channel
from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
from viam.proto.component.encoder import (
EncoderServiceStub,
GetPositionRequest,
GetPositionResponse,
GetPropertiesRequest,
GetPropertiesResponse,
PositionType,
ResetPositionRequest,
)
from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
from .encoder import Encoder
[docs]class EncoderClient(Encoder, ReconfigurableResourceRPCClientBase):
"""
gRPC client for the Encoder component.
"""
def __init__(self, name: str, channel: Channel):
self.channel = channel
self.client = EncoderServiceStub(channel)
super().__init__(name)
[docs] async def reset_position(
self,
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
**__,
):
if extra is None:
extra = {}
request = ResetPositionRequest(name=self.name, extra=dict_to_struct(extra))
await self.client.ResetPosition(request, timeout=timeout)
[docs] async def get_position(
self,
position_type: Optional[PositionType.ValueType] = None,
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
**__,
) -> Tuple[float, PositionType.ValueType]:
if extra is None:
extra = {}
request = GetPositionRequest(name=self.name, position_type=position_type, extra=dict_to_struct(extra))
response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout)
return response.value, response.position_type
[docs] async def get_properties(
self,
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
**__,
) -> Encoder.Properties:
if extra is None:
extra = {}
request = GetPropertiesRequest(name=self.name, extra=dict_to_struct(extra))
response: GetPropertiesResponse = await self.client.GetProperties(request, timeout=timeout)
return Encoder.Properties(
ticks_count_supported=response.ticks_count_supported, angle_degrees_supported=response.angle_degrees_supported
)
[docs] async def do_command(
self,
command: Mapping[str, ValueTypes],
*,
timeout: Optional[float] = None,
**__,
) -> Mapping[str, ValueTypes]:
request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
return struct_to_dict(response.result)
[docs] async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
return await get_geometries(self.client, self.name, extra, timeout)