from grpclib.server import Stream
from viam.proto.common import (
DoCommandRequest,
DoCommandResponse,
GetGeometriesRequest,
GetGeometriesResponse,
GetReadingsRequest,
GetReadingsResponse,
)
from viam.proto.component.sensor import SensorServiceBase
from viam.resource.rpc_service_base import ResourceRPCServiceBase
from viam.utils import dict_to_struct, sensor_readings_native_to_value, struct_to_dict
from .sensor import Sensor
[docs]class SensorRPCService(SensorServiceBase, ResourceRPCServiceBase[Sensor]):
"""
gRPC Service for a generic Sensor
"""
RESOURCE_TYPE = Sensor
[docs] async def GetReadings(self, stream: Stream[GetReadingsRequest, GetReadingsResponse]) -> None:
request = await stream.recv_message()
assert request is not None
name = request.name
sensor = self.get_resource(name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
readings = await sensor.get_readings(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
response = GetReadingsResponse(readings=sensor_readings_native_to_value(readings))
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
sensor = self.get_resource(request.name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
result = await sensor.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
sensor = self.get_resource(request.name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
geometries = await sensor.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
response = GetGeometriesResponse(geometries=geometries)
await stream.send_message(response)