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

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

const {BaseClient} = require('./common');
const {DataAcquisitionClient, get_request_id, acquire_data_error, metadata_to_proto} = require('./data_acquisition');
const {now_timestamp} = require('../bosdyn-core/util');
const data_acquisition = require('../bosdyn/api/data_acquisition_pb');
const data_acquisition_plugin_service = require('../bosdyn/api/data_acquisition_plugin_service_grpc_pb');

/**
* A client for triggering data acquisition plugin and logging. This client is not intended for
* use directly by users or applications. All acquisition requests should go to the data
* acquisition service first, which is responsible for forwarding the requests to the right data
* acquisition plugin services through this client.
* @class DataAcquisitionPluginClient
* @extends BaseClient
*/
class DataAcquisitionPluginClient extends BaseClient {

	static default_service_name = null;
	static service_type = 'bosdyn.api.DataAcquisitionPluginService';

	/**
    * Create an instance of DataAcquisitionPluginClient's class.
    * @param {string} [name=null] Name of the Class.
    */
	constructor(name = null){
		super(data_acquisition_plugin_service.DataAcquisitionPluginServiceClient, null);
	}

	/**
    * Update instance from another object.
    * @param {object} other The object where to copy from.
    * @return {void}
    */
	update_from(other){
		super.update_from(other);
	}

	/**
    * Trigger a data acquisition to save data and metadata to the data acquisition store service.
    * @param {data_acquisition.AcquisitionRequestList} acquisition_requests The different image sources and
    * data sources to capture from and save to the data acquisition store service with
    * the same timestamp.
    * @param {data_acquisition.CaptureActionId} action_id The unique action that all data should be saved with.
    * @param {data_acquisition.DataIdentifier} [data_identifiers=null] List of data identifiers to associate with metadata.
    * @param {data_acquisition.Metadata|object} [metadata=null] The JSON structured metadata to be associated with
    * the data returned by the DataAcquisitionService when logged in the data acquisition
    * store service.
    * @param {object} args Extra arguments for controlling RPC details.
    * @return If the RPC is successful, then it will return the acquire data response, which can be
    * used to check the status of the acquisition and get feedback.
    * @throws {RpcError} Problem communicating with the robot.
    */
	async acquire_plugin_data(acquisition_requests, action_id, data_identifiers = null, metadata = null, args){
		const metadata_proto = metadata_to_proto(metadata);
		const request = new data_acquisition.AcquirePluginDataRequest()
		.setMetadata(metadata_proto)
		.setAcquisitionRequests(acquisition_requests)
		.setActionId(action_id)
		.setDataIdList(data_identifiers);
		return await this.call(this._stub.acquirePluginData, request, null, acquire_data_error, args);
	}

	/**
    * Trigger a data acquisition to save data and metadata to the data acquisition store service asynchronously.
    * @param {data_acquisition.AcquisitionRequestList} acquisition_requests The different image sources and
    * data sources to capture from and save to the data acquisition store service with
    * the same timestamp.
    * @param {data_acquisition.CaptureActionId} action_id The unique action that all data should be saved with.
    * @param {data_acquisition.DataIdentifier} [data_identifiers=null] List of data identifiers to associate with metadata.
    * @param {data_acquisition.Metadata|object} [metadata=null] The JSON structured metadata to be associated with
    * the data returned by the DataAcquisitionService when logged in the data acquisition
    * store service.
    * @param {object} args Extra arguments for controlling RPC details.
    * @return If the RPC is successful, then it will return the acquire data response, which can be
    * used to check the status of the acquisition and get feedback.
    * @throws {RpcError} Problem communicating with the robot.
    */
	acquire_plugin_data_asyncs(acquisition_requests, action_id, data_identifiers = null, metadata = null, args){
		const metadata_proto = metadata_to_proto(metadata);
		const request = (new data_acquisition.AcquirePluginDataRequest())
		.setMetadata(metadata_proto)
		.setAcquisitionRequests(acquisition_requests)
		.setActionId(action_id)
		.setDataIdList(data_identifiers);
		return this.call_async(this._stub.acquirePluginData, request, undefined, acquire_data_error, args);
	}

	get_status = DataAcquisitionClient.get_status;
	get_status_async = DataAcquisitionClient.get_status_async;

	get_service_info = DataAcquisitionClient.get_service_info;
	get_service_info_async = DataAcquisitionClient.get_service_info_async;

	cancel_acquisition = DataAcquisitionClient.cancel_acquisition;
	cancel_acquisition_async = DataAcquisitionClient.cancel_acquisition_async;

};

module.exports = {
	DataAcquisitionPluginClient;
}