Add VisionClient.fromRobot (#199)

example/viam_example_app/macos/Podfile

@@ -1,4 +1,4 @@
-platform :osx, '10.15'
+platform :osx, '13'
 
 # CocoaPods analytics sends network stats synchronously affecting flutter build latency.
 ENV['COCOAPODS_DISABLE_STATS'] = 'true'

example/viam_example_app/macos/Runner.xcodeproj/project.pbxproj

@@ -258,7 +258,7 @@
 			isa = PBXProject;
 			attributes = {
 				LastSwiftUpdateCheck = 0920;
-				LastUpgradeCheck = 1430;
+				LastUpgradeCheck = 1510;
 				ORGANIZATIONNAME = "";
 				TargetAttributes = {
 					331C80D4294CF70F00263BE5 = {

example/viam_example_app/macos/Runner.xcodeproj/xcshareddata/xcschemes/Runner.xcscheme

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <Scheme
-   LastUpgradeVersion = "1430"
+   LastUpgradeVersion = "1510"
    version = "1.3">
    <BuildAction
       parallelizeBuildables = "YES"

lib/src/components/arm/client.dart

@@ -12,7 +12,7 @@ import 'arm.dart';
 /// Used to communicate with an existing [Arm] implementation over gRPC.
 class ArmClient extends Arm implements ResourceRPCClient {
   @override
-  String name;
+  final String name;
 
   @override
   ClientChannelBase channel;

lib/src/components/base/client.dart

@@ -11,7 +11,7 @@ import 'base.dart';
 /// gRPC client for the [Base] component.
 class BaseClient extends Base implements ResourceRPCClient {
   @override
-  String name;
+  final String name;
 
   @override
   ClientChannelBase channel;

lib/src/components/board/client.dart

@@ -15,7 +15,7 @@ import 'board.dart';
 /// gRPC client for the [Board] component.
 class BoardClient extends Board implements ResourceRPCClient {
   @override
-  String name;
+  final String name;
 
   @override
   ClientChannelBase channel;

lib/src/components/camera/client.dart

@@ -11,7 +11,7 @@ import 'camera.dart';
 /// gRPC client for the [Camera] component
 class CameraClient extends Camera implements ResourceRPCClient {
   @override
-  String name;
+  final String name;
 
   @override
   ClientChannelBase channel;

lib/src/components/gantry/client.dart

@@ -10,7 +10,7 @@ import 'gantry.dart';
 /// gRPC client for the [Gantry] component.
 class GantryClient extends Gantry implements ResourceRPCClient {
   @override
-  String name;
+  final String name;
 
   @override
   ClientChannelBase channel;

lib/src/components/generic/client.dart

@@ -9,7 +9,7 @@ import 'generic.dart';
 /// gRPC client for the [Generic] component.
 class GenericClient extends Generic implements ResourceRPCClient {
   @override
-  String name;
+  final String name;
 
   @override
   ClientChannelBase channel;

lib/src/components/gripper/client.dart

@@ -10,10 +10,10 @@ import 'gripper.dart';
 /// gRPC client for the [Gripper] component.
 class GripperClient extends Gripper implements ResourceRPCClient {
   @override
-  ClientChannelBase channel;
+  final String name;
 
   @override
-  String name;
+  ClientChannelBase channel;
 
   @override
   GripperServiceClient get client => GripperServiceClient(channel);

lib/src/components/motor/client.dart

@@ -10,7 +10,7 @@ import 'motor.dart';
 /// gRPC client for the [Motor] component.
 class MotorClient extends Motor implements ResourceRPCClient {
   @override
-  String name;
+  final String name;
 
   @override
   ClientChannelBase channel;

lib/src/components/movement_sensor/client.dart

@@ -10,7 +10,7 @@ import 'movement_sensor.dart';
 /// gRPC client for the [MovementSensor] component.
 class MovementSensorClient extends MovementSensor implements ResourceRPCClient {
   @override
-  String name;
+  final String name;
 
   @override
   ClientChannelBase channel;

lib/src/components/power_sensor/client.dart

@@ -10,7 +10,7 @@ import 'power_sensor.dart';
 /// gRPC client for the [PowerSensor] component.
 class PowerSensorClient extends PowerSensor implements ResourceRPCClient {
   @override
-  String name;
+  final String name;
 
   @override
   ClientChannelBase channel;

lib/src/components/sensor/client.dart

@@ -10,7 +10,7 @@ import 'sensor.dart';
 /// gRPC client for the [Sensor] component.
 class SensorClient extends Sensor implements ResourceRPCClient {
   @override
-  String name;
+  final String name;
 
   @override
   ClientChannelBase channel;

lib/src/components/servo/client.dart

@@ -10,7 +10,7 @@ import 'servo.dart';
 /// gRPC client for the [Servo] component.
 class ServoClient extends Servo implements ResourceRPCClient {
   @override
-  String name;
+  final String name;
 
   @override
   ClientChannelBase channel;

lib/src/resource/base.dart

@@ -53,7 +53,7 @@ class Subtype {
 
 /// Abstract class that defines the base functionality for all [Resource] types
 abstract class Resource {
-  abstract String name;
+  abstract final String name;
 
   /// Send/Receive arbitrary commands to the [Resource]
   Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) {

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/vision.dart';
 
 /// An object representing a resource to be registered.
 ///
@@ -65,6 +66,7 @@ class Registry {
     registerSubtype(ResourceRegistration(PowerSensor.subtype, (name, channel) => PowerSensorClient(name, channel)));
     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)));
   }
 
   /// The [Subtype] available in the SDK

lib/src/services/vision.dart

@@ -5,9 +5,13 @@ import '../../protos/common/common.dart';
 import '../../protos/service/vision.dart';
 import '../media/image.dart';
 import '../resource/base.dart';
+import '../robot/client.dart';
 import '../utils.dart';
 
-class VisionClient implements ResourceRPCClient {
+class VisionClient extends Resource implements ResourceRPCClient {
+  static const Subtype subtype = Subtype(resourceNamespaceRDK, resourceTypeService, 'vision');
+
+  @override
   final String name;
 
   @override
@@ -68,12 +72,22 @@ class VisionClient implements ResourceRPCClient {
     return response.objects;
   }
 
-  /// Send/Receive arbitrary commands to the Resource
+  @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 [VisionClient] with the given [name]
+  static ResourceName getResourceName(String name) {
+    return VisionClient.subtype.getResourceName(name);
+  }
+
+  /// Get the [VisionClient] named [name] from the provided robot.
+  static VisionClient fromRobot(RobotClient robot, String name) {
+    return robot.getResource(VisionClient.getResourceName(name));
+  }
 }