RSDK-9622: Add Discover Service and GetModelsFromModules to Flutter (#…

…321) * add discovery service * register and add tests * add module models * change to discoveries * update with latest api changes * fix mocks * fix import' * import common to discovery.dart * remove content of test * readd test * export discovery client --------- Co-authored-by: Naveed Jooma <[email protected]>
viamrobotics · Jan 22, 2025 · 5d442c7 · 5d442c7
1 parent 4c4b202
commit 5d442c7
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Showing 7 changed files with 4,257 additions and 4,544 deletions.
diff --git a/lib/src/resource/registry.dart b/lib/src/resource/registry.dart
@@ -25,6 +25,7 @@ import '../components/sensor/sensor.dart';
 import '../components/servo/client.dart';
 import '../components/servo/servo.dart';
 import '../resource/base.dart';
+import '../services/discovery.dart';
 import '../services/vision.dart';
 
 /// {@category Viam SDK}
@@ -69,6 +70,7 @@ class Registry {
     registerSubtype(ResourceRegistration(Sensor.subtype, (name, channel) => SensorClient(name, channel)));
     registerSubtype(ResourceRegistration(Servo.subtype, (name, channel) => ServoClient(name, channel)));
     registerSubtype(ResourceRegistration(VisionClient.subtype, (name, channel) => VisionClient(name, channel)));
+    registerSubtype(ResourceRegistration(DiscoveryClient.subtype, (name, channel) => DiscoveryClient(name, channel)));
   }
 
   /// The [Subtype] available in the SDK

diff --git a/lib/src/robot/client.dart b/lib/src/robot/client.dart
@@ -5,6 +5,7 @@ import 'package:grpc/grpc_connection_interface.dart';
 import 'package:logger/logger.dart';
 
 import '../gen/common/v1/common.pb.dart';
+import '../gen/robot/v1/robot.pb.dart';
 import '../gen/google/protobuf/struct.pb.dart';
 import '../gen/robot/v1/robot.pbgrpc.dart' as rpb;
 import '../gen/stream/v1/stream.pbgrpc.dart';
@@ -349,4 +350,15 @@ class RobotClient {
     final response = await _client.discoverComponents(request);
     return response.discovery.map((d) => Discovery.fromProto(d)).toList();
   }
+
+  /// GetModelsFromModules returns the list of models supported in modules on the machine.
+  ///
+  /// ```
+  /// var modelsFromModules = await machine.getModelsFromModules();
+  /// ```
+  Future<List<ModuleModel>> getModelsFromModules() async {
+    final request = rpb.GetModelsFromModulesRequest();
+    final response = await _client.getModelsFromModules(request);
+    return response.models;
+  }
 }
diff --git a/lib/src/services/discovery.dart b/lib/src/services/discovery.dart
@@ -0,0 +1,57 @@
+import 'package:grpc/grpc_connection_interface.dart';
+
+import '../../protos/common/common.dart';
+import '../gen/common/v1/common.pb.dart';
+import '../../protos/service/discovery.dart';
+import '../gen/service/discovery/v1/discovery.pbgrpc.dart';
+import '../gen/app/v1/robot.pb.dart';
+import '../resource/base.dart';
+import '../robot/client.dart';
+import '../utils.dart';
+
+/// {@category Services}
+class DiscoveryClient extends Resource implements ResourceRPCClient {
+  static const Subtype subtype = Subtype(resourceNamespaceRDK, resourceTypeService, 'discovery');
+
+  @override
+  final String name;
+
+  @override
+  ClientChannelBase channel;
+
+  @override
+  DiscoveryServiceClient get client => DiscoveryServiceClient(channel);
+
+  DiscoveryClient(this.name, this.channel);
+
+  /// Returns a list of [ComponentConfig]s for all discovered viam resources connected to the viam-server machine.
+  ///
+  /// ```
+  /// // Example:
+  /// var resources = await myDiscoveryService.discoverResources('myWebcam');
+  /// ```
+  Future<List<ComponentConfig>> discoverResources(String discoveryName, {Map<String, dynamic>? extra}) async {
+    final request = DiscoverResourcesRequest(name: name, extra: extra?.toStruct());
+    final response = await client.discoverResources(request);
+    return response.discoveries;
+  }
+
+  @override
+  Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
+    final request = DoCommandRequest()
+      ..name = name
+      ..command = command.toStruct();
+    final response = await client.doCommand(request);
+    return response.result.toMap();
+  }
+
+  /// Get the [ResourceName] for this [DiscoveryClient] with the given [name]
+  static ResourceName getResourceName(String name) {
+    return DiscoveryClient.subtype.getResourceName(name);
+  }
+
+  /// Get the [DiscoveryClient] named [name] from the provided robot.
+  static DiscoveryClient fromRobot(RobotClient robot, String name) {
+    return robot.getResource(DiscoveryClient.getResourceName(name));
+  }
+}
diff --git a/lib/viam_sdk.dart b/lib/viam_sdk.dart
@@ -52,6 +52,7 @@ export 'src/robot/client.dart';
 export 'src/rpc/dial.dart';
 
 /// Services
+export 'src/services/discovery.dart';
 export 'src/services/vision.dart';
 
 /// Misc

diff --git a/test/unit_test/mocks/service_clients_mocks.dart b/test/unit_test/mocks/service_clients_mocks.dart
@@ -9,6 +9,7 @@ import 'package:viam_sdk/src/gen/app/v1/robot.pbgrpc.dart' as app_robot;
 import 'package:viam_sdk/src/gen/provisioning/v1/provisioning.pbgrpc.dart';
 import 'package:viam_sdk/src/gen/robot/v1/robot.pbgrpc.dart';
 import 'package:viam_sdk/src/gen/service/vision/v1/vision.pbgrpc.dart';
+import 'package:viam_sdk/src/gen/service/discovery/v1/discovery.pbgrpc.dart';
 
 @GenerateNiceMocks([
   MockSpec<ClientChannelBase>(),
@@ -21,5 +22,6 @@ import 'package:viam_sdk/src/gen/service/vision/v1/vision.pbgrpc.dart';
   MockSpec<BillingServiceClient>(),
   MockSpec<MLTrainingServiceClient>(),
   MockSpec<DatasetServiceClient>(),
+  MockSpec<DiscoveryServiceClient>(),
 ])
 void main() {}