RSDK-9465, RSDK-9366 - Remove robot status and sensors service (#425)

Author: cheukt

e2e/src/main.ts

@@ -17,26 +17,6 @@ const main = async () => {
     resNamesDiv.append(resNameDiv);
   }
   document.body.append(resNamesDiv);
-
-  const stream = machine.streamStatus(resourceNames);
-  const statusesDiv = document.createElement('div');
-  statusesDiv.dataset.testid = 'statuses';
-
-  let i = 0;
-  for await (const statuses of stream) {
-    for await (const status of statuses) {
-      const statusDiv = document.createElement('div');
-      statusDiv.textContent = status.toJsonString();
-      statusDiv.dataset.testid = 'status';
-      statusesDiv.append(statusDiv);
-    }
-
-    i += 1;
-    if (i >= 3) {
-      break;
-    }
-  }
-  document.body.append(statusesDiv);
 };
 
 main().catch(console.error); // eslint-disable-line no-console

e2e/tests/connect-and-status.spec.ts

@@ -11,8 +11,4 @@ test('check resource names and multiple statuses', async ({ page }) => {
   await expect(resourceNames.getByText('base1')).toHaveCount(1);
   await expect(resourceNames.getByText('servo1')).toHaveCount(1);
   await expect(resourceNames.getByText('builtin')).toHaveCount(1);
-
-  // 3 status iterations * 3 resource names (see main.ts for loop)
-  const statuses = page.getByTestId('statuses').getByTestId('status');
-  await expect(statuses).toHaveCount(9);
 });

src/main.ts

@@ -246,35 +246,6 @@ export * as powerSensorApi from './gen/component/powersensor/v1/powersensor_pb';
 export { SensorClient, type Sensor } from './components/sensor';
 export * as sensorApi from './gen/component/sensor/v1/sensor_connect';
 
-/**
- * Raw Protobuf interfaces for a Sensors service.
- *
- * Generated with https://github.com/connectrpc/connect-es
- *
- * @example
- *
- * ```ts
- * import { grpc } from '@improbable-eng/grpc-web';
- *
- * const client = {}; // replace with a connected robot client
- *
- * const request = new sensorsApi.GetSensorsRequest();
- * request.setName('mysensors');
- *
- * client.sensorsService.getSensors(
- *   request,
- *   new grpc.Metadata(),
- *   (error, response) => {
- *     // do something with error or response
- *   }
- * );
- * ```
- *
- * @alpha
- * @group Raw Protobufs
- */
-export * as sensorsApi from './gen/service/sensors/v1/sensors_pb';
-
 /**
  * Raw Protobuf interfaces for a Stream.
  *

src/robot/client.ts

@@ -1,5 +1,5 @@
 /* eslint-disable max-classes-per-file */
-import { Duration, type ServiceType } from '@bufbuild/protobuf';
+import { type ServiceType } from '@bufbuild/protobuf';
 import {
   createPromiseClient,
   type PromiseClient,
@@ -26,17 +26,14 @@ import { RobotService } from '../gen/robot/v1/robot_connect';
 import {
   DiscoveryQuery,
   RestartModuleRequest,
-  Status,
   TransformPCDRequest,
   TransformPoseRequest,
 } from '../gen/robot/v1/robot_pb';
 import { MotionService } from '../gen/service/motion/v1/motion_connect';
 import { NavigationService } from '../gen/service/navigation/v1/navigation_connect';
-import { SensorsService } from '../gen/service/sensors/v1/sensors_connect';
 import { SLAMService } from '../gen/service/slam/v1/slam_connect';
 import { VisionService } from '../gen/service/vision/v1/vision_connect';
 import { dialDirect, dialWebRTC, type DialOptions } from '../rpc';
-import type { ResourceName } from '../types';
 import { clientHeaders } from '../utils';
 import GRPCConnectionManager from './grpc-connection-manager';
 import type { Robot } from './robot';
@@ -140,10 +137,6 @@ export class RobotClient extends EventDispatcher implements Robot {
 
   private visionServiceClient: PromiseClient<typeof VisionService> | undefined;
 
-  private sensorsServiceClient:
-    | PromiseClient<typeof SensorsService>
-    | undefined;
-
   private servoServiceClient: PromiseClient<typeof ServoService> | undefined;
 
   private slamServiceClient: PromiseClient<typeof SLAMService> | undefined;
@@ -366,13 +359,6 @@ export class RobotClient extends EventDispatcher implements Robot {
     return this.visionServiceClient;
   }
 
-  get sensorsService() {
-    if (!this.sensorsServiceClient) {
-      throw new Error(RobotClient.notConnectedYetStr);
-    }
-    return this.sensorsServiceClient;
-  }
-
   get servoService() {
     if (!this.servoServiceClient) {
       throw new Error(RobotClient.notConnectedYetStr);
@@ -609,10 +595,6 @@ export class RobotClient extends EventDispatcher implements Robot {
         VisionService,
         clientTransport
       );
-      this.sensorsServiceClient = createPromiseClient(
-        SensorsService,
-        clientTransport
-      );
       this.servoServiceClient = createPromiseClient(
         ServoService,
         clientTransport
@@ -737,30 +719,6 @@ export class RobotClient extends EventDispatcher implements Robot {
     return resp.resourceRpcSubtypes;
   }
 
-  // STATUS
-
-  async getStatus(resourceNames: ResourceName[] = []) {
-    const resp = await this.robotService.getStatus({
-      resourceNames,
-    });
-    return resp.status;
-  }
-
-  async *streamStatus(
-    resourceNames: ResourceName[] = [],
-    durationMs = 500
-  ): AsyncIterable<Status[]> {
-    const stream = this.robotService.streamStatus({
-      resourceNames,
-      every: new Duration({
-        nanos: durationMs * 1e6,
-      }),
-    });
-    for await (const val of stream) {
-      yield val.status;
-    }
-  }
-
   // MODULES
 
   async restartModule(moduleId?: string, moduleName?: string) {

src/robot/robot.ts

@@ -129,31 +129,6 @@ export interface Robot {
    */
   resourceRPCSubtypes(): Promise<proto.ResourceRPCSubtype[]>;
 
-  /**
-   * Get a list of all statuses requested. An empty request signifies all
-   * resources.
-   *
-   * @param resourceNames - The list of resources for which to receive statuses.
-   * @group Status
-   * @alpha
-   */
-  getStatus(resourceNames?: ResourceName[]): Promise<proto.Status[]>;
-
-  /**
-   * Periodically receive the status of all statuses requested. An empty request
-   * signifies all resources.
-   *
-   * @param resourceNames - The list of resources for which to receive statuses.
-   *   Default is [].
-   * @param duration - How often to send a new status. Default is 0.5 seconds.
-   * @group Status
-   * @alpha
-   */
-  streamStatus(
-    resourceNames?: ResourceName[],
-    durationMs?: number
-  ): AsyncIterable<proto.Status[]>;
-
   /**
    * Call a function when a connection event occurs.
    *