Add unwrapper

viamrobotics · Nov 19, 2024 · 44a7b8e · 44a7b8e
1 parent f60818a
commit 44a7b8e
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Showing 2 changed files with 65 additions and 1 deletion.
diff --git a/lib/src/robot/client.dart b/lib/src/robot/client.dart
@@ -83,7 +83,7 @@ class Discovery {
     return Discovery(
       subtype: proto.query.subtype,
       model: proto.query.model,
-      results: proto.results.toMap(),
+      results: proto.results.toMap().unwrap(),
     );
   }
 

diff --git a/lib/src/utils.dart b/lib/src/utils.dart
@@ -39,6 +39,70 @@ extension StructUtils on Struct {
   }
 }
 
+// Deeply unwraps a nested proto map structure by removing wrappers and converting all nested values to their primitive types.
+extension UnwrapProtoMapUtils on Map<String, dynamic> {
+  Map<String, dynamic> unwrap() {
+    final result = <String, dynamic>{};
+
+    dynamic unwrapValue(dynamic value) {
+      if (value is Map) {
+        final mapValue = Map<String, dynamic>.from(value);
+
+        // Remove `Kind` wrapper
+        if (mapValue.containsKey('Kind')) {
+          final kindValue = mapValue['Kind'];
+          if (kindValue is Map) {
+            final kindMap = Map<String, dynamic>.from(kindValue);
+
+            // Directly convert value types
+            if (kindMap.containsKey('StringValue')) return kindMap['StringValue'];
+            if (kindMap.containsKey('NumberValue')) return kindMap['NumberValue'];
+            if (kindMap.containsKey('BoolValue')) return kindMap['BoolValue'];
+            if (kindMap.containsKey('NullValue')) return null;
+
+            // Special handling for more non-value types
+            if (kindMap.containsKey('ListValue')) {
+              final listValue = kindMap['ListValue'];
+              if (listValue is Map && listValue.containsKey('values')) {
+                return (listValue['values'] as List).map(unwrapValue).toList();
+              }
+              return [];
+            }
+
+            if (kindMap.containsKey('StructValue')) {
+              final structValue = kindMap['StructValue'];
+              if (structValue is Map && structValue.containsKey('fields')) {
+                return Map<String, dynamic>.from(structValue['fields']).unwrap();
+              }
+            }
+          }
+          return value;
+        }
+
+        // Remove `fields` wrapper
+        if (mapValue.containsKey('fields')) {
+          return Map<String, dynamic>.from(mapValue['fields']).unwrap();
+        }
+
+        // Continue unwrapping (recursive)
+        return mapValue.map((key, val) => MapEntry(key, unwrapValue(val)));
+      }
+
+      if (value is List) {
+        return value.map(unwrapValue).toList();
+      }
+
+      return value;
+    }
+
+    forEach((key, value) {
+      result[key] = unwrapValue(value);
+    });
+
+    return result;
+  }
+}
+
 extension ListValueUtils<T> on List<T> {
   Value toValue() {
     final values = map((e) {