from typing import Any, Dict, List, Mapping, Optional
from grpclib.client import Channel
from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
from viam.proto.component.servo import (
GetPositionRequest,
GetPositionResponse,
IsMovingRequest,
IsMovingResponse,
MoveRequest,
ServoServiceStub,
StopRequest,
)
from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
from .servo import Servo
[docs]class ServoClient(Servo, ReconfigurableResourceRPCClientBase):
"""
gRPC client for the Servo component.
"""
def __init__(self, name: str, channel: Channel):
self.channel = channel
self.client = ServoServiceStub(channel)
super().__init__(name)
[docs] async def get_position(
self,
*,
extra: Optional[Mapping[str, Any]] = None,
timeout: Optional[float] = None,
**kwargs,
) -> int:
md = kwargs.get("metadata", self.Metadata()).proto
request = GetPositionRequest(name=self.name, extra=dict_to_struct(extra))
response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout, metadata=md)
return response.position_deg
[docs] async def move(
self,
angle: int,
*,
extra: Optional[Mapping[str, Any]] = None,
timeout: Optional[float] = None,
**kwargs,
):
md = kwargs.get("metadata", self.Metadata()).proto
request = MoveRequest(name=self.name, angle_deg=angle, extra=dict_to_struct(extra))
await self.client.Move(request, timeout=timeout, metadata=md)
[docs] async def stop(
self,
*,
extra: Optional[Mapping[str, Any]] = None,
timeout: Optional[float] = None,
**kwargs,
):
md = kwargs.get("metadata", self.Metadata()).proto
request = StopRequest(name=self.name, extra=dict_to_struct(extra))
await self.client.Stop(request, timeout=timeout, metadata=md)
[docs] async def is_moving(self, *, timeout: Optional[float] = None, **kwargs) -> bool:
md = kwargs.get("metadata", self.Metadata()).proto
request = IsMovingRequest(name=self.name)
response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout, metadata=md)
return response.is_moving
[docs] async def do_command(
self,
command: Mapping[str, ValueTypes],
*,
timeout: Optional[float] = None,
**kwargs,
) -> Mapping[str, ValueTypes]:
md = kwargs.get("metadata", self.Metadata()).proto
request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout, metadata=md)
return struct_to_dict(response.result)
[docs] async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
md = kwargs.get("metadata", self.Metadata())
return await get_geometries(self.client, self.name, extra, timeout, md)