Migrate to connect-es (#4417)

viamrobotics · Oct 7, 2024 · 036ed32 · 036ed32
1 parent 2d83228
commit 036ed32
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Showing 53 changed files with 732 additions and 1,137 deletions.
diff --git a/web/frontend/package-lock.json b/web/frontend/package-lock.json
diff --git a/web/frontend/package.json b/web/frontend/package.json
@@ -34,22 +34,16 @@
   },
   "peerDependencies": {
     "@floating-ui/dom": "^1.5.3",
-    "@improbable-eng/grpc-web": ">=0.15",
     "@viamrobotics/prime": ">=0.5",
-    "@viamrobotics/rpc": ">=0.2",
-    "@viamrobotics/sdk": "0.25.0",
-    "google-protobuf": ">=3",
     "maplibre-gl": ">=4",
     "tailwindcss": ">=3.3",
     "three": ">=0.167"
   },
   "devDependencies": {
-    "@improbable-eng/grpc-web": "0.15.0",
     "@mdi/js": "7.2.96",
     "@sveltejs/vite-plugin-svelte": "^2.4.4",
     "@threlte/core": "^7.3.1",
     "@threlte/extras": "^8.11.5",
-    "@types/google-protobuf": "3.15.6",
     "@types/lodash-es": "^4.17.12",
     "@types/three": "0.167.2",
     "@typescript-eslint/eslint-plugin": "^6.9.0",
@@ -59,8 +53,7 @@
     "@viamrobotics/prime": "0.5.9",
     "@viamrobotics/prime-blocks": "^0.1.3",
     "@viamrobotics/prime-core": "^0.0.87",
-    "@viamrobotics/rpc": "0.2.3",
-    "@viamrobotics/sdk": "0.25.0",
+    "@viamrobotics/sdk": "0.26.0",
     "@viamrobotics/three": "^0.0.3",
     "@viamrobotics/typescript-config": "^0.1.0",
     "cypress": "12.17.3",
@@ -70,7 +63,6 @@
     "eslint-plugin-svelte": "^2.34.0",
     "eslint-plugin-tailwindcss": "3.13.0",
     "eslint-plugin-unicorn": "48.0.1",
-    "google-protobuf": "3.21.2",
     "jshashes": "1.0.8",
     "lodash-es": "^4.17.21",
     "maplibre-gl": "^4.6.0",

diff --git a/web/frontend/src/api/do-command.ts b/web/frontend/src/api/do-command.ts
diff --git a/web/frontend/src/api/encoder.ts b/web/frontend/src/api/encoder.ts
@@ -1,87 +1,36 @@
-import { type Client, encoderApi } from '@viamrobotics/sdk';
 import { rcLogConditionally } from '@/lib/log';
+import {
+  EncoderClient,
+  EncoderPositionType,
+  type Client,
+} from '@viamrobotics/sdk';
 
 export const getProperties = async (robotClient: Client, name: string) => {
-  const request = new encoderApi.GetPropertiesRequest();
-  request.setName(name);
-
-  rcLogConditionally(request);
-
-  const response = await new Promise<encoderApi.GetPropertiesResponse | null>(
-    (resolve, reject) => {
-      robotClient.encoderService.getProperties(request, (error, res) => {
-        if (error) {
-          reject(error);
-        } else {
-          resolve(res);
-        }
-      });
-    }
-  );
-
-  return response?.toObject();
+  const client = new EncoderClient(robotClient, name, {
+    requestLogger: rcLogConditionally,
+  });
+  return client.getProperties();
 };
 
 export const getPosition = async (robotClient: Client, name: string) => {
-  const request = new encoderApi.GetPositionRequest();
-  request.setName(name);
-
-  rcLogConditionally(request);
-
-  const response = await new Promise<encoderApi.GetPositionResponse | null>(
-    (resolve, reject) => {
-      robotClient.encoderService.getPosition(request, (error, res) => {
-        if (error) {
-          reject(error);
-        } else {
-          resolve(res);
-        }
-      });
-    }
-  );
-
-  return response?.toObject().value;
+  const client = new EncoderClient(robotClient, name, {
+    requestLogger: rcLogConditionally,
+  });
+  const resp = await client.getPosition();
+  return resp[0];
 };
 
 export const getPositionDegrees = async (robotClient: Client, name: string) => {
-  const request = new encoderApi.GetPositionRequest();
-  request.setName(name);
-  request.setPositionType(2);
-
-  rcLogConditionally(request);
-
-  const response = await new Promise<encoderApi.GetPositionResponse | null>(
-    (resolve, reject) => {
-      robotClient.encoderService.getPosition(request, (error, res) => {
-        if (error) {
-          reject(error);
-        } else {
-          resolve(res);
-        }
-      });
-    }
-  );
-
-  return response?.toObject().value;
+  const client = new EncoderClient(robotClient, name, {
+    requestLogger: rcLogConditionally,
+  });
+  const resp = await client.getPosition(EncoderPositionType.ANGLE_DEGREES);
+  return resp[0];
 };
 
 export const reset = async (robotClient: Client, name: string) => {
-  const request = new encoderApi.ResetPositionRequest();
-  request.setName(name);
-
-  rcLogConditionally(request);
-
-  const response = await new Promise<encoderApi.ResetPositionResponse | null>(
-    (resolve, reject) => {
-      robotClient.encoderService.resetPosition(request, (error, res) => {
-        if (error) {
-          reject(error);
-        } else {
-          resolve(res);
-        }
-      });
-    }
-  );
-
-  return response?.toObject();
+  const client = new EncoderClient(robotClient, name, {
+    requestLogger: rcLogConditionally,
+  });
+  return client.resetPosition();
 };