from grpclib.server import Stream
from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
from viam.proto.component.servo import (
GetPositionRequest,
GetPositionResponse,
IsMovingRequest,
IsMovingResponse,
MoveRequest,
MoveResponse,
ServoServiceBase,
StopRequest,
StopResponse,
)
from viam.resource.rpc_service_base import ResourceRPCServiceBase
from viam.utils import dict_to_struct, struct_to_dict
from .servo import Servo
[docs]class ServoRPCService(ServoServiceBase, ResourceRPCServiceBase[Servo]):
"""
gRPC Service for a Servo
"""
RESOURCE_TYPE = Servo
[docs] async def Move(self, stream: Stream[MoveRequest, MoveResponse]) -> None:
request = await stream.recv_message()
assert request is not None
name = request.name
servo = self.get_resource(name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
await servo.move(request.angle_deg, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
await stream.send_message(MoveResponse())
[docs] async def GetPosition(self, stream: Stream[GetPositionRequest, GetPositionResponse]) -> None:
request = await stream.recv_message()
assert request is not None
name = request.name
servo = self.get_resource(name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
position = await servo.get_position(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
resp = GetPositionResponse(position_deg=position)
await stream.send_message(resp)
[docs] async def Stop(self, stream: Stream[StopRequest, StopResponse]) -> None:
request = await stream.recv_message()
assert request is not None
name = request.name
servo = self.get_resource(name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
await servo.stop(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
await stream.send_message(StopResponse())
[docs] async def IsMoving(self, stream: Stream[IsMovingRequest, IsMovingResponse]) -> None:
request = await stream.recv_message()
assert request is not None
name = request.name
servo = self.get_resource(name)
is_moving = await servo.is_moving()
await stream.send_message(IsMovingResponse(is_moving=is_moving))
[docs] async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -> None:
request = await stream.recv_message()
assert request is not None
servo = self.get_resource(request.name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
result = await servo.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
servo = self.get_resource(request.name)
timeout = stream.deadline.time_remaining() if stream.deadline else None
geometries = await servo.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
response = GetGeometriesResponse(geometries=geometries)
await stream.send_message(response)