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

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

const {
	BaseClient,
	error_factory, 
	error_pair, 
	handle_unset_status_error,
	handle_common_header_errors,
	handle_lease_use_result_errors
} = require('./common');
const {ResponseError, InternalServerError, UnsetStatusError} = require('./exceptions');

const network_compute_bridge_pb = require('../bosdyn/api/network_compute_bridge_pb');
const network_compute_bridge_service_pb = require('../bosdyn/api/network_compute_bridge_service_pb');
const network_compute_bridge_service_grpc_pb = require('../bosdyn/api/network_compute_bridge_service_grpc_pb');

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

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

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

/**
* Client to either the NetworkComputeBridgeService or the NetworkComputeBridgeWorkerService.
* @class NetworkComputeBridgeClient
* @extends BaseClient
*/
class NetworkComputeBridgeClient extends BaseClient {

	static default_service_name = 'network-compute-bridge';
    static service_type = 'bosdyn.api.NetworkComputeBridge';

    /**
    * Create an instance of NetworkComputeBridgeClient's class.
    * @param {string} [name=null]
    */
    constructor(name=null){
    	super(network_compute_bridge_service_grpc_pb.NetworkComputeBridgeClient, name);
    }

    /**
    * List all available models that the service knows.
    * @param {network_compute_bridge_pb.ListAvailableModelsRequest} list_request The request to list all models.
    * @param {object} args Extra arguments for controlling RPC details.
    * @return {network_compute_bridge_pb.ListAvailableModelsResponse} The full ListAvailableModelsResponse, 
    * which contains any models the service or worker service advertise.
    * @throws {RpcError} Problem communicating with the robot.
    * @throws {ExternalServiceNotFoundError} The network compute bridge worker service was not found in the robot's directory.
    * @throws {ExternalServerError} Either the service or worker service threw an error when responding with
    * the set of all models.
    */
    async list_available_models_command(list_request, args){
        return await this.call(this._stub.listAvailableModels, list_request, null, _list_available_models_error, args);
    }

    /**
    * Async version of list_available_models_command().
    * @param {network_compute_bridge_pb.ListAvailableModelsRequest} list_request The request to list all models.
    * @param {object} args Extra arguments for controlling RPC details.
    * @return {network_compute_bridge_pb.ListAvailableModelsResponse} The full ListAvailableModelsResponse, 
    * which contains any models the service or worker service advertise.
    * @throws {RpcError} Problem communicating with the robot.
    * @throws {ExternalServiceNotFoundError} The network compute bridge worker service was not found in the robot's directory.
    * @throws {ExternalServerError} Either the service or worker service threw an error when responding with
    * the set of all models.
    */
    list_available_models_command_async(list_request, args){
        return this.call_async(this._stub.listAvailableModels, list_request, null, _list_available_models_error, args);
    }

    /**
    * Issue the main network compute bridge request to run a model on specific, requested data.
    * @param {network_compute_bridge_pb.NetworkComputeRequest} network_compute_request The request which contains what type of data should
    * be processed, and which model the server should run.
    * @param {object} args Extra arguments for controlling RPC details.
    * @return {network_compute_bridge_pb.NetworkComputeResponse} The full NetworkComputeResponse, which contains the processed data.
    * @throws {RpcError} Problem communicating with the robot.
    * @throws {ExternalServiceNotFoundError} The network compute bridge worker service was not found in the robot's directory.
    * @throws {ExternalServerError} Either the service or worker service threw an error when responding with
    * the set of all models.
    * @throws {NetworkComputeRotationError} For processed image data, the robot was unable to rotate the image as requested.
    */
    async network_compute_bridge_command(network_compute_request, args){
        return await this.call(this._stub.networkCompute, network_compute_request, null, _network_compute_error, args);
    }

    /**
    * Async version of network_compute_bridge_command().
    * @param {network_compute_bridge_pb.NetworkComputeRequest} network_compute_request The request which contains what type of data should
    * be processed, and which model the server should run.
    * @param {object} args Extra arguments for controlling RPC details.
    * @return {network_compute_bridge_pb.NetworkComputeResponse} The full NetworkComputeResponse, which contains the processed data.
    * @throws {RpcError} Problem communicating with the robot.
    * @throws {ExternalServiceNotFoundError} The network compute bridge worker service was not found in the robot's directory.
    * @throws {ExternalServerError} Either the service or worker service threw an error when responding with
    * the set of all models.
    * @throws {NetworkComputeRotationError} For processed image data, the robot was unable to rotate the image as requested.
    */
    network_compute_bridge_command_async(network_compute_request, args){
        return this.call_async(this._stub.networkCompute, network_compute_request, null, _network_compute_error, args);
    }

};

const _NETWORK_COMPUTE_STATUS_TO_ERROR = {
	NETWORK_COMPUTE_STATUS_SUCCESS: [null, null],
	NETWORK_COMPUTE_STATUS_UNKNOWN: error_pair(UnsetStatusError),
	NETWORK_COMPUTE_STATUS_EXTERNAL_SERVICE_NOT_FOUND: [ExternalServiceNotFoundError, 'The requested service for external computation was not found in the directory.'],
	NETWORK_COMPUTE_STATUS_EXTERNAL_SERVER_ERROR: [ExternalServerError, null],
	NETWORK_COMPUTE_STATUS_ROTATION_ERROR: [NetworkComputeRotationError, null]
};

const _LIST_AVAILABLE_MODELS_STATUS_TO_ERROR = {
	LIST_AVAILABLE_MODELS_STATUS_SUCCESS: [null, null],
	LIST_AVAILABLE_MODELS_STATUS_UNKNOWN: error_pair(UnsetStatusError),
	LIST_AVAILABLE_MODELS_STATUS_EXTERNAL_SERVICE_NOT_FOUND: [ExternalServiceNotFoundError, 'The requested service for external computation was not found in the directory.'],
	LIST_AVAILABLE_MODELS_STATUS_EXTERNAL_SERVER_ERROR: [ExternalServerError, null]
};

function _network_compute_error(response){
    const [error_type, message] = _NETWORK_COMPUTE_STATUS_TO_ERROR[response.getStatus()];
    if(error_type == null) return null;
    return new error_type(message);
}

function _list_available_models_error(response){
    const [error_type, message] = _LIST_AVAILABLE_MODELS_STATUS_TO_ERROR[response.getStatus()];
    if(error_type == null) return null;
    return new error_type(message);
}

module.exports = {
	NetworkComputeBridgeClient,
	ExternalServiceNotFoundError,
	ExternalServerError,
	NetworkComputeRotationError
};