spot-sdk-js/bosdyn-client/auto_return.js

Develop applications and payloads for Spot using the unofficial Boston Dynamics Spot Node.js SDK.

const {BaseClient, handle_common_header_errors, error_factory } = require('./common');
const {ResponseError} = require('./exceptions');
const auto_return_pb = require('../bosdyn/api/auto_return/auto_return_pb');
const auto_return_service_grpc_pb = require('../bosdyn/api/auto_return/auto_return_service_grpc_pb');

class AutoReturnResponseError extends ResponseError {
	constructor(msg){
		super(msg);
		this.name = 'AutoReturnResponseError';
	}
};

class InvalidParameterError extends AutoReturnResponseError {
	constructor(msg){
		super(msg);
		this.name = 'InvalidParameterError';
	}
};

class AutoReturnClient extends BaseClient {

	static default_service_name = 'auto-return';
	static service_type = 'bosdyn.api.auto_return.AutoReturnService';

	constructor(){
		super(auto_return_service_grpc_pb.AutoReturnServiceClient);
		this._timesync_endpoint = null;
	}

	async configure(params, leases, args){
        const request = this._configure_request(params, leases);
        return await this.call(this._stub.configure, request, null, configure_error, args);
    }

    configure_async(params, leases, args){
        const request = this._configure_request(params, leases);
        return this.call_async(this._stub.configure, request, null, configure_error, args);
    }

    async get_configuration(args){
        const request = new auto_return_pb.GetConfigurationRequest();
        return await this.call(this._stub.getConfiguration, request, null, null, args);
    }

    get_configuration_async(args){
        const request = new auto_return_pb.GetConfigurationRequest();
        return this.call_async(this._stub.getConfiguration, request, null, null, args);
    }

    async start(args){
        const request = new auto_return_pb.StartRequest();
        return await this.call(this._stub.start, request, null, null, args);
    }

    start_async(args){
        const request = new auto_return_pb.StartRequest();
        return this.call_async(this._stub.start, request, null, null, args);
    }

    _configure_request(params, leases){
        const request = new auto_return_pb.ConfigureRequest().setParams(params);
        for(const lease of leases){
            request.addLeases(lease);
        }
        return request;
    }

};

const _CONFIGURE_STATUS_TO_ERROR = {
	[auto_return_pb.ConfigureResponse.Status.STATUS_INVALID_PARAMS]: [InvalidParameterError, 'One or more parameters were invalid.']
};

function configure_error(response){
    return (handle_common_header_errors(response) || 
    error_factory(response, response.getStatus(), Object.keys(auto_return_pb.ConfigureResponse.Status), _CONFIGURE_STATUS_TO_ERROR));
}

module.exports = {
	AutoReturnClient,
	AutoReturnResponseError,
	InvalidParameterError
};