Source code for viam.components.motor.service

from grpclib.server import Stream

from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
from viam.proto.component.motor import (
    GetPositionRequest,
    GetPositionResponse,
    GetPropertiesRequest,
    GetPropertiesResponse,
    GoForRequest,
    GoForResponse,
    GoToRequest,
    GoToResponse,
    IsMovingRequest,
    IsMovingResponse,
    IsPoweredRequest,
    IsPoweredResponse,
    MotorServiceBase,
    ResetZeroPositionRequest,
    ResetZeroPositionResponse,
    SetPowerRequest,
    SetPowerResponse,
    StopRequest,
    StopResponse,
)
from viam.resource.rpc_service_base import ResourceRPCServiceBase
from viam.utils import dict_to_struct, struct_to_dict

from .motor import Motor


[docs]class MotorRPCService(MotorServiceBase, ResourceRPCServiceBase[Motor]): """ gRPC Service for a Motor """ RESOURCE_TYPE = Motor
[docs] async def SetPower(self, stream: Stream[SetPowerRequest, SetPowerResponse]) -> None: request = await stream.recv_message() assert request is not None name = request.name motor = self.get_resource(name) timeout = stream.deadline.time_remaining() if stream.deadline else None await motor.set_power(request.power_pct, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata) await stream.send_message(SetPowerResponse())
[docs] async def GoFor(self, stream: Stream[GoForRequest, GoForResponse]) -> None: request = await stream.recv_message() assert request is not None name = request.name motor = self.get_resource(name) timeout = stream.deadline.time_remaining() if stream.deadline else None await motor.go_for(request.rpm, request.revolutions, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata) await stream.send_message(GoForResponse())
[docs] async def GoTo(self, stream: Stream[GoToRequest, GoToResponse]) -> None: request = await stream.recv_message() assert request is not None name = request.name motor = self.get_resource(name) timeout = stream.deadline.time_remaining() if stream.deadline else None await motor.go_to( request.rpm, request.position_revolutions, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata ) await stream.send_message(GoToResponse())
[docs] async def ResetZeroPosition(self, stream: Stream[ResetZeroPositionRequest, ResetZeroPositionResponse]) -> None: request = await stream.recv_message() assert request is not None name = request.name motor = self.get_resource(name) timeout = stream.deadline.time_remaining() if stream.deadline else None await motor.reset_zero_position(request.offset, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata) await stream.send_message(ResetZeroPositionResponse())
[docs] async def GetPosition(self, stream: Stream[GetPositionRequest, GetPositionResponse]) -> None: request = await stream.recv_message() assert request is not None name = request.name motor = self.get_resource(name) timeout = stream.deadline.time_remaining() if stream.deadline else None position = await motor.get_position(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata) await stream.send_message(GetPositionResponse(position=position))
[docs] async def GetProperties(self, stream: Stream[GetPropertiesRequest, GetPropertiesResponse]) -> None: request = await stream.recv_message() assert request is not None name = request.name motor = self.get_resource(name) timeout = stream.deadline.time_remaining() if stream.deadline else None properties = await motor.get_properties(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata) response = GetPropertiesResponse(**properties.__dict__) await stream.send_message(response)
[docs] async def Stop(self, stream: Stream[StopRequest, StopResponse]) -> None: request = await stream.recv_message() assert request is not None name = request.name motor = self.get_resource(name) timeout = stream.deadline.time_remaining() if stream.deadline else None await motor.stop(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata) response = StopResponse() await stream.send_message(response)
[docs] async def IsPowered(self, stream: Stream[IsPoweredRequest, IsPoweredResponse]) -> None: request = await stream.recv_message() assert request is not None name = request.name motor = self.get_resource(name) timeout = stream.deadline.time_remaining() if stream.deadline else None is_powered, power_pct = await motor.is_powered(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata) await stream.send_message(IsPoweredResponse(is_on=is_powered, power_pct=power_pct))
[docs] async def IsMoving(self, stream: Stream[IsMovingRequest, IsMovingResponse]) -> None: request = await stream.recv_message() assert request is not None name = request.name motor = self.get_resource(name) is_moving = await motor.is_moving() response = IsMovingResponse(is_moving=is_moving) await stream.send_message(response)
[docs] async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -> None: request = await stream.recv_message() assert request is not None motor = self.get_resource(request.name) timeout = stream.deadline.time_remaining() if stream.deadline else None result = await motor.do_command(command=struct_to_dict(request.command), timeout=timeout, metadata=stream.metadata) response = DoCommandResponse(result=dict_to_struct(result)) await stream.send_message(response)
[docs] async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None: request = await stream.recv_message() assert request is not None motor = self.get_resource(request.name) timeout = stream.deadline.time_remaining() if stream.deadline else None geometries = await motor.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout) response = GetGeometriesResponse(geometries=geometries) await stream.send_message(response)