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

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

const {BaseClient, common_header_errors} = require('./common.js');
const robot_state_pb = require('../bosdyn/api/robot_state_pb.js');
const directory_service_grpc_pb = require('../bosdyn/api/directory_service_grpc_pb.js');

/**
* Client for the RobotState service.
* @class RobotStateClient
* @extends BaseClient
*/
class RobotStateClient extends BaseClient {
	
	static default_service_name = 'robot-state';
	static service_type = 'bosdyn.api.RobotStateService';

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

	/**
    * Obtain current state of the robot.
    * @param {object} args Extra arguments for controlling RPC details.
    * @return The current robot state.
    * @throws {RpcError} Problem communicating with the robot.
    */
    async get_robot_state(args){
    	const req = this._get_robot_state_request();
    	return await this.call(this._stub.getRobotState, req, _get_robot_state_value, common_header_errors, args);
    }

	/**
    * Obtain current state of the robot asynchronously.
    * @param {object} args Extra arguments for controlling RPC details.
    * @return The current robot state.
    * @throws {RpcError} Problem communicating with the robot.
    */
    get_robot_state_async(args){
    	const req = this._get_robot_state_request();
    	return this.call_async(this._stub.getRobotState, req, _get_robot_state_value, common_header_errors, args);
    }

	/**
    * Obtain robot metrics, such as distance traveled or time powered on.
    * @param {object} args Extra arguments for controlling RPC details.
    * @return All of the current robot metrics.
    * @throws {RpcError} Problem communicating with the robot.
    */
    async get_robot_metrics(args){
    	const req = this._get_robot_metrics_request();
    	return await this.call(this._stub.getRobotMetrics, req, _get_robot_metrics_value, common_header_errors, args);
    }

	/**
    * Async version of get_robot_metrics()
    * @param {object} args Extra arguments for controlling RPC details.
    * @return All of the current robot metrics.
    * @throws {RpcError} Problem communicating with the robot.
    */
    get_robot_metrics_async(args){
    	var req = this._get_robot_metrics_request();
    	return this.call_async(this._stub.getRobotMetrics, req, _get_robot_metrics_value, common_header_errors, args);
    }

	/**
    * Obtain current hardware configuration of robot.
    * @param {object} args Extra arguments for controlling RPC details.
    * @return The hardware configuration, which includes the link names.
    * @throws {RpcError} Problem communicating with the robot.
    */
    async get_robot_hardware_configuration(args){
    	const req = this._get_robot_hardware_configuration_request();
    	return await this.call(this._stub.getRobotHardwareConfiguration, req, _get_robot_hardware_configuration_value, common_header_errors, args);
    }

	/**
    * Async version of get_robot_hardware_configuration()
    * @param {object} args Extra arguments for controlling RPC details.
    * @return The hardware configuration, which includes the link names.
    * @throws {RpcError} Problem communicating with the robot.
    */
    get_robot_hardware_configuration_async(args){
    	var req = this._get_robot_hardware_configuration_request();
    	return this.call_async(this._stub.getRobotHardwareConfiguration, req, _get_robot_hardware_configuration_value, common_header_errors, args);
    }

	/**
    * Obtain link model OBJ for a specific link.
    * @param {string} link_name Name of the link to get the model.
    * @param {object} args Extra arguments for controlling RPC details.
    * @return {robot_state_pb.Skeleton.Link.ObjModel} The bosdyn.api.Skeleton.Link.ObjModel for the specified link.
    * @throws {RpcError} Problem communicating with the robot.
    */
    async get_robot_link_model(link_name, args){
    	const req = this._get_robot_link_model_request(link_name);
    	return await this.call(this._stub.getRobotLinkModel, req, _get_robot_link_model_value, common_header_errors, args);
    }

	/**
    * Async version of get_robot_joint_model_async()
    * @param {string} link_name Name of the link to get the model.
    * @param {object} args Extra arguments for controlling RPC details.
    * @return {robot_state_pb.Skeleton.Link.ObjModel} The bosdyn.api.Skeleton.Link.ObjModel for the specified link.
    * @throws {RpcError} Problem communicating with the robot.
    */
    get_robot_link_model_async(link_name, args){
    	var req = this._get_robot_link_model_request(link_name);
    	return this.call_async(this._stub.getRobotLinkModel, req, _get_robot_link_model_value, common_header_errors, args);
    }

	/**
    * Convenience function which first requests a robots hardware configuration followed by
    * requests to get link models for all robot links.
    * @return {robot_state_pb.HardwareConfiguration} robot_state_pb.HardwareConfiguration with all link models filled out.
    */
    async get_hardware_config_with_link_info(){
    	const hardware_configuration = await this.get_robot_hardware_configuration();
    	for(const link of hardware_configuration.getSkeleton().getLinksList()){
    		const obj_model = await this.get_robot_link_model(link.getName());
    		link.setObjModel(obj_model);
    	}
    	return hardware_configuration;
    }

    static _get_robot_state_request(){
    	return new robot_state_pb.RobotStateRequest();
    }

    static _get_robot_metrics_request(){
    	return new robot_state_pb.RobotMetricsRequest();
    }

    static _get_robot_hardware_configuration_request(){
    	return new robot_state_pb.RobotHardwareConfigurationRequest();
    }

    static _get_robot_link_model_request(link_name){
    	return new robot_state_pb.RobotLinkModelRequest().setLinkName(link_name);
    }
};

const _get_robot_state_value = (response) => response.getRobotState();

const _get_robot_metrics_value = (response) => response.getRobotMetrics();

const _get_robot_hardware_configuration_value = (response) => response.getHardwareConfiguration();

const _get_robot_link_model_value = (response) => response.getLinkModel(); 

/**
* Convenience function which first requests a robots hardware configuration followed by
* requests to get link models for all robot links.
* @param {RobotStateClient} state_client RobotStateClient to query for robot state.
* @param {number} [timeout=null] 
* @return {boolean} Returns true if robot has an arm, false otherwise.
*/
async function has_arm(state_client, timeout = null){
	const state = await state_client.get_robot_state({timeout});
	return state.getManipulatorState();
}

module.exports = {
	RobotStateClient,
	has_arm
};