spot-sdk-js/bosdyn-client/spot_cam/ptz.js

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

const {BaseClient} = require('../common');
const {recenter_angle} = require('../math_helpers');
const service_grpc_pb = require('../../bosdyn/api/spot_cam/service_grpc_pb');
const ptz_pb = require('../../bosdyn/api/spot_cam/ptz_pb');

const {FloatValue} = require('google-protobuf/google/protobuf/wrappers_pb');

class PtzClient extends BaseClient {

	static default_service_name = 'spot-cam-ptz';
	static service_type = 'bosdyn.api.spot_cam.PtzService';

	constructor(){
		super(service_grpc_pb.PtzServiceClient);
	}

	async list_ptz(args){
		const request = new ptz_pb.ListPtzRequest();
		return await this.call(this._stub.listPtz, request, this._list_ptz_from_response, this._ptz_error_from_response, args);
	}

	list_ptz_async(args){
		const request = new ptz_pb.ListPtzRequest();
		return this.call_async(this._stub.ListPtz, request, this._list_ptz_from_response, this._ptz_error_from_response, args);
	}

	async get_ptz_position(ptz_desc, args){
		const request = new ptz_pb.GetPtzPositionRequest().setPtz(ptz_desc);
		return await this.call(this._stub.getPtzPosition, request, this._get_ptz_position_from_response, this._ptz_error_from_response, args);
	}

	get_ptz_position_async(ptz_desc, args){
		const request = new ptz_pb.GetPtzPositionRequest().setPtz(ptz_desc);
		return this.call_async(this._stub.getPtzPosition, request, this._get_ptz_position_from_response, this._ptz_error_from_response, args);
	}

	async get_ptz_velocity(ptz_desc, args){
		const request = new ptz_pb.GetPtzVelocityRequest().setPtz(ptz_desc);
		return await this.call(this._stub.getPtzVelocity, request, this._get_ptz_velocity_from_response, this._ptz_error_from_response, args);
	}

	get_ptz_velocity_async(ptz_desc, args){
		const request = new ptz_pb.GetPtzVelocityRequest().setPtz(ptz_desc);
		return this.call_async(this._stub.getPtzVelocity, request, this._get_ptz_velocity_from_response, this._ptz_error_from_response, args);
	}

	async set_ptz_position(ptz_desc, pan, tilt, zoom, args){
		const p = new FloatValue().setValue(pan);
		const t = new FloatValue().setValue(tilt);
		const z = new FloatValue().setValue(zoom);
		const ptz_position = new ptz_pb.PtzPosition().setPtz(ptz_desc).setPan(p).setTilt(t).setZoom(z);
		const request = new ptz_pb.SetPtzPositionRequest().setPosition(ptz_position);
		return await this.call(this._stub.setPtzPosition, request, this._set_ptz_position_from_response, this._ptz_error_from_response, args);
	}

	set_ptz_position_async(ptz_desc, pan, tilt, zoom, args){
		const p = new FloatValue().setValue(pan);
		const t = new FloatValue().setValue(tilt);
		const z = new FloatValue().setValue(zoom);
		const ptz_position = new ptz_pb.PtzPosition().setPtz(ptz_desc).setPan(p).setTilt(t).setZoom(z);
		const request = new ptz_pb.SetPtzPositionRequest().setPosition(ptz_position);
		return this.call_async(this._stub.setPtzPosition, request, this._set_ptz_position_from_response, this._ptz_error_from_response, args);
	}

	async set_ptz_velocity(ptz_desc, pan, tilt, zoom, args){
		const p = new FloatValue().setValue(pan);
		const t = new FloatValue().setValue(tilt);
		const z = new FloatValue().setValue(zoom);
		const ptz_velocity = new ptz_pb.PtzVelocity().setPtz(ptz_desc).setPan(p).setTilt(t).setZoom(z);
		const request = new ptz_pb.SetPtzVelocityRequest().setVelocity(ptz_velocity);
		return await this.call(this._stub.setPtzVelocity, request, this._set_ptz_velocity_from_response, this._ptz_error_from_response, args);
	}

	set_ptz_velocity_async(ptz_desc, pan, tilt, zoom, args){
		const p = new FloatValue().setValue(pan);
		const t = new FloatValue().setValue(tilt);
		const z = new FloatValue().setValue(zoom);
		const ptz_velocity = new ptz_pb.PtzVelocity().setPtz(ptz_desc).setPan(p).setTilt(t).setZoom(z);
		const request = new ptz_pb.SetPtzVelocityRequest().setVelocity(ptz_velocity);
		return this.call_async(this._stub.setPtzVelocity, request, this._set_ptz_velocity_from_response, this._ptz_error_from_response, args);
	}

	async initialize_lens(args){
        const request = new ptz_pb.InitializeLensRequest();
        return await this.call(this._stub.initializeLens, request, this._initialize_lens_from_response, common_header_errors, args);
    }

    initialize_lens_async(args){
        const request = new ptz_pb.InitializeLensRequest();
        return this.call_async(this._stub.initializeLens, request, this._initialize_lens_from_response, common_header_errors, args);
    }

	_list_ptz_from_response(response){
        return response.getPtzsList();
	}

	_get_ptz_position_from_response(response){
        return response.getPosition();
	}

	_get_ptz_velocity_from_response(response){
        return response.getVelocity();
	}

	_set_ptz_position_from_response(response){
        return response.getPosition();
	}

	_set_ptz_velocity_from_response(response){
        return response.getVelocity();
	}

	_ptz_error_from_response(response){
        return null;
	}

	_initialize_lens_from_response(response){
        return response;
	}

	_get_ptz_focus_from_response(response){
        return response.getPtzFocus();
	}

	_set_ptz_focus_from_response(response){
        return response.getPtzFocus();
	}

};

/**
* Shift the pan angle (degrees) so that it is in the [0,360] range.
* @param {number} pan
* @returns {number}
*/
function shift_pan_angle(pan){
    return recenter_angle(pan, 0, 360);
}

module.exports = {
	PtzClient,
	shift_pan_angle
};