RSDK-4791: Add Readings to Flutter SDK (#130)

lib/src/components/movement_sensor/client.dart

@@ -20,6 +20,15 @@ class MovementSensorClient extends MovementSensor implements ResourceRPCClient {
 
   MovementSensorClient(this.name, this.channel);
 
+  @override
+  Future<Map<String, dynamic>> readings({Map<String, dynamic>? extra}) async {
+    final request = GetReadingsRequest()
+      ..name = name
+      ..extra = extra?.toStruct() ?? Struct();
+    final response = await client.getReadings(request);
+    return response.readings.map((key, value) => MapEntry(key, value.toPrimitive()));
+  }
+
   @override
   Future<Position> position({Map<String, dynamic>? extra}) async {
     final request = GetPositionRequest()

lib/src/components/movement_sensor/movement_sensor.dart

@@ -16,9 +16,13 @@ class Position {
 typedef Properties = GetPropertiesResponse;
 
 /// MovementSensor reports information about the robot's direction, position and speed.
-abstract class MovementSensor extends Sensor {
+abstract class MovementSensor extends Resource {
   static const Subtype subtype = Subtype(resourceNamespaceRDK, resourceTypeComponent, 'movement_sensor');
 
+  /// Obtain the measurements/data specific to this [MovementSensor]
+  /// If a sensor is not configured to have a measurement or fails to read a piece of data, it will not appear in the readings dictionary.
+  Future<Map<String, dynamic>> readings({Map<String, dynamic>? extra});
+
   /// Get the current [GeoPoint] (latitude, longitude) and altitude (mm)
   Future<Position> position({Map<String, dynamic>? extra});
 
@@ -43,66 +47,6 @@ abstract class MovementSensor extends Sensor {
   /// Get the accuracy of the various sensors
   Future<Map<String, double>> accuracy({Map<String, dynamic>? extra});
 
-  /// Obtain the measurements/data specific to this [MovementSensor].
-  /// If a sensor is not configured to have a measurement or fails to read a piece of data, it will not appear in the readings dictionary.
-  /// The returns dictionary contains the following readings and values:
-  ///   position: [GeoPoint],
-  ///   altitude: [double],
-  ///   linear_velocity: [Vector3],
-  ///   angular_velocity: [Vector3],
-  ///   linear_acceleration: [Vector3],
-  ///   compass: [double],
-  ///   orientation: [Orientation],
-  @override
-  Future<Map<String, dynamic>> readings({Map<String, dynamic>? extra}) async {
-    final Map<String, dynamic> readings = {};
-    try {
-      final Position pos = await position(extra: extra);
-      readings['position'] = pos.coordinates;
-      readings['altitude'] = pos.altitude;
-    } catch (exception) {
-      // TODO: Check if the exception is of a specific type and ignore or rethrow
-      Logger().e(exception);
-    }
-
-    try {
-      final lv = await linearVelocity(extra: extra);
-      readings['linear_velocity'] = lv;
-    } catch (exception) {
-      // TODO: Check if the exception is of a specific type and ignore or rethrow
-    }
-
-    try {
-      final av = await angularVelocity(extra: extra);
-      readings['angular_velocity'] = av;
-    } catch (exception) {
-      // TODO: Check if the exception is of a specific type and ignore or rethrow
-    }
-
-    try {
-      final la = await linearAcceleration(extra: extra);
-      readings['linear_acceleration'] = la;
-    } catch (exception) {
-      // TODO: Check if the exception is of a specific type and ignore or rethrow
-    }
-
-    try {
-      final comp = await compassHeading(extra: extra);
-      readings['compass'] = comp;
-    } catch (exception) {
-      // TODO: Check if the exception is of a specific type and ignore or rethrow
-    }
-
-    try {
-      final orient = await orientation(extra: extra);
-      readings['orientation'] = orient;
-    } catch (exception) {
-      // TODO: Check if the exception is of a specific type and ignore or rethrow
-    }
-
-    return readings;
-  }
-
   /// Get the [ResourceName] for this [MovementSensor] with the given [name]
   static ResourceName getResourceName(String name) {
     return MovementSensor.subtype.getResourceName(name);

lib/src/components/movement_sensor/service.dart

@@ -20,6 +20,13 @@ class MovementSensorService extends MovementSensorServiceBase {
     }
   }
 
+  @override
+  Future<GetReadingsResponse> getReadings(ServiceCall call, GetReadingsRequest request) async {
+    final movementSensor = _fromManager(request.name);
+    final result = await movementSensor.readings(extra: request.extra.toMap());
+    return GetReadingsResponse()..readings.addAll(result.toStruct().fields);
+  }
+
   @override
   Future<DoCommandResponse> doCommand(ServiceCall call, DoCommandRequest request) async {
     final movementSensor = _fromManager(request.name);

lib/src/components/power_sensor/client.dart

@@ -20,6 +20,15 @@ class PowerSensorClient extends PowerSensor implements ResourceRPCClient {
 
   PowerSensorClient(this.name, this.channel);
 
+  @override
+  Future<Map<String, dynamic>> readings({Map<String, dynamic>? extra}) async {
+    final request = GetReadingsRequest()
+      ..name = name
+      ..extra = extra?.toStruct() ?? Struct();
+    final response = await client.getReadings(request);
+    return response.readings.map((key, value) => MapEntry(key, value.toPrimitive()));
+  }
+
   @override
   Future<Voltage> voltage({Map<String, dynamic>? extra}) async {
     final request = GetVoltageRequest()

lib/src/components/power_sensor/power_sensor.dart

@@ -8,9 +8,13 @@ typedef Voltage = GetVoltageResponse;
 typedef Current = GetCurrentResponse;
 
 /// PowerSensor reports information about voltage, current, and power.
-abstract class PowerSensor extends Sensor {
+abstract class PowerSensor extends Resource {
   static const Subtype subtype = Subtype(resourceNamespaceRDK, resourceTypeComponent, 'power_sensor');
 
+  /// Obtain the measurements/data specific to this [Sensor]
+  /// If a sensor is not configured to have a measurement or fails to read a piece of data, it will not appear in the readings dictionary.
+  Future<Map<String, dynamic>> readings({Map<String, dynamic>? extra});
+
   /// Get the voltage (volts) and boolean isAC
   Future<Voltage> voltage({Map<String, dynamic>? extra});
 
@@ -20,39 +24,6 @@ abstract class PowerSensor extends Sensor {
   /// Get the power (watts)
   Future<double> power({Map<String, dynamic>? extra});
 
-  /// Obtain the measurements/data specific to this [PowerSensor].
-  /// If a sensor is not configured to have a measurement or fails to read a piece of data, it will not appear in the readings dictionary.
-  /// The returns dictionary contains the following readings and values:
-  ///   voltage: [double],
-  ///   current: [double],
-  ///   is_ac: [bool],
-  ///   power: [double],
-  @override
-  Future<Map<String, dynamic>> readings({Map<String, dynamic>? extra}) async {
-    final Map<String, dynamic> readings = {};
-    try {
-      final vol = await voltage(extra: extra);
-      readings['voltage'] = vol.volts;
-      readings['is_ac'] = vol.isAc;
-    } catch (exception) {
-      // TODO: Check if the exception is of a specific type and ignore or rethrow
-    }
-    try {
-      final cur = await current(extra: extra);
-      readings['current'] = cur.amperes;
-      readings['is_ac'] = cur.isAc;
-    } catch (exception) {
-      // TODO: Check if the exception is of a specific type and ignore or rethrow;
-    }
-    try {
-      final pow = await power(extra: extra);
-      readings['power'] = pow;
-    } catch (exception) {
-      // TODO: Check if the exception is of a specific type and ignore or rethrow
-    }
-    return readings;
-  }
-
   /// Get the [ResourceName] for this [PowerSensor] with the given [name]
   static ResourceName getResourceName(String name) {
     return PowerSensor.subtype.getResourceName(name);

lib/src/components/power_sensor/service.dart

@@ -20,6 +20,13 @@ class PowerSensorService extends PowerSensorServiceBase {
     }
   }
 
+  @override
+  Future<GetReadingsResponse> getReadings(ServiceCall call, GetReadingsRequest request) async {
+    final sensor = _fromManager(request.name);
+    final result = await sensor.readings(extra: request.extra.toMap());
+    return GetReadingsResponse()..readings.addAll(result.toStruct().fields);
+  }
+
   @override
   Future<DoCommandResponse> doCommand(ServiceCall call, DoCommandRequest request) async {
     final powerSensor = _fromManager(request.name);

lib/src/gen/common/v1/common.pb.dart

@@ -1437,6 +1437,96 @@ class GetGeometriesResponse extends $pb.GeneratedMessage {
   $core.List<Geometry> get geometries => $_getList(0);
 }
 
+class GetReadingsRequest extends $pb.GeneratedMessage {
+  factory GetReadingsRequest() => create();
+  GetReadingsRequest._() : super();
+  factory GetReadingsRequest.fromBuffer($core.List<$core.int> i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromBuffer(i, r);
+  factory GetReadingsRequest.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
+
+  static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'GetReadingsRequest', package: const $pb.PackageName(_omitMessageNames ? '' : 'viam.common.v1'), createEmptyInstance: create)
+    ..aOS(1, _omitFieldNames ? '' : 'name')
+    ..aOM<$1.Struct>(99, _omitFieldNames ? '' : 'extra', subBuilder: $1.Struct.create)
+    ..hasRequiredFields = false
+  ;
+
+  @$core.Deprecated(
+  'Using this can add significant overhead to your binary. '
+  'Use [GeneratedMessageGenericExtensions.deepCopy] instead. '
+  'Will be removed in next major version')
+  GetReadingsRequest clone() => GetReadingsRequest()..mergeFromMessage(this);
+  @$core.Deprecated(
+  'Using this can add significant overhead to your binary. '
+  'Use [GeneratedMessageGenericExtensions.rebuild] instead. '
+  'Will be removed in next major version')
+  GetReadingsRequest copyWith(void Function(GetReadingsRequest) updates) => super.copyWith((message) => updates(message as GetReadingsRequest)) as GetReadingsRequest;
+
+  $pb.BuilderInfo get info_ => _i;
+
+  @$core.pragma('dart2js:noInline')
+  static GetReadingsRequest create() => GetReadingsRequest._();
+  GetReadingsRequest createEmptyInstance() => create();
+  static $pb.PbList<GetReadingsRequest> createRepeated() => $pb.PbList<GetReadingsRequest>();
+  @$core.pragma('dart2js:noInline')
+  static GetReadingsRequest getDefault() => _defaultInstance ??= $pb.GeneratedMessage.$_defaultFor<GetReadingsRequest>(create);
+  static GetReadingsRequest? _defaultInstance;
+
+  @$pb.TagNumber(1)
+  $core.String get name => $_getSZ(0);
+  @$pb.TagNumber(1)
+  set name($core.String v) { $_setString(0, v); }
+  @$pb.TagNumber(1)
+  $core.bool hasName() => $_has(0);
+  @$pb.TagNumber(1)
+  void clearName() => clearField(1);
+
+  @$pb.TagNumber(99)
+  $1.Struct get extra => $_getN(1);
+  @$pb.TagNumber(99)
+  set extra($1.Struct v) { setField(99, v); }
+  @$pb.TagNumber(99)
+  $core.bool hasExtra() => $_has(1);
+  @$pb.TagNumber(99)
+  void clearExtra() => clearField(99);
+  @$pb.TagNumber(99)
+  $1.Struct ensureExtra() => $_ensure(1);
+}
+
+class GetReadingsResponse extends $pb.GeneratedMessage {
+  factory GetReadingsResponse() => create();
+  GetReadingsResponse._() : super();
+  factory GetReadingsResponse.fromBuffer($core.List<$core.int> i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromBuffer(i, r);
+  factory GetReadingsResponse.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
+
+  static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'GetReadingsResponse', package: const $pb.PackageName(_omitMessageNames ? '' : 'viam.common.v1'), createEmptyInstance: create)
+    ..m<$core.String, $1.Value>(1, _omitFieldNames ? '' : 'readings', entryClassName: 'GetReadingsResponse.ReadingsEntry', keyFieldType: $pb.PbFieldType.OS, valueFieldType: $pb.PbFieldType.OM, valueCreator: $1.Value.create, valueDefaultOrMaker: $1.Value.getDefault, packageName: const $pb.PackageName('viam.common.v1'))
+    ..hasRequiredFields = false
+  ;
+
+  @$core.Deprecated(
+  'Using this can add significant overhead to your binary. '
+  'Use [GeneratedMessageGenericExtensions.deepCopy] instead. '
+  'Will be removed in next major version')
+  GetReadingsResponse clone() => GetReadingsResponse()..mergeFromMessage(this);
+  @$core.Deprecated(
+  'Using this can add significant overhead to your binary. '
+  'Use [GeneratedMessageGenericExtensions.rebuild] instead. '
+  'Will be removed in next major version')
+  GetReadingsResponse copyWith(void Function(GetReadingsResponse) updates) => super.copyWith((message) => updates(message as GetReadingsResponse)) as GetReadingsResponse;
+
+  $pb.BuilderInfo get info_ => _i;
+
+  @$core.pragma('dart2js:noInline')
+  static GetReadingsResponse create() => GetReadingsResponse._();
+  GetReadingsResponse createEmptyInstance() => create();
+  static $pb.PbList<GetReadingsResponse> createRepeated() => $pb.PbList<GetReadingsResponse>();
+  @$core.pragma('dart2js:noInline')
+  static GetReadingsResponse getDefault() => _defaultInstance ??= $pb.GeneratedMessage.$_defaultFor<GetReadingsResponse>(create);
+  static GetReadingsResponse? _defaultInstance;
+
+  @$pb.TagNumber(1)
+  $core.Map<$core.String, $1.Value> get readings => $_getMap(0);
+}
+
 class Common {
   static final safetyHeartbeatMonitored = $pb.Extension<$core.bool>(_omitMessageNames ? '' : 'google.protobuf.MethodOptions', _omitFieldNames ? '' : 'safetyHeartbeatMonitored', 84260, $pb.PbFieldType.OB);
   static void registerAllExtensions($pb.ExtensionRegistry registry) {

lib/src/gen/common/v1/common.pbjson.dart

@@ -441,3 +441,43 @@ final $typed_data.Uint8List getGeometriesResponseDescriptor = $convert.base64Dec
     'ChVHZXRHZW9tZXRyaWVzUmVzcG9uc2USOAoKZ2VvbWV0cmllcxgBIAMoCzIYLnZpYW0uY29tbW'
     '9uLnYxLkdlb21ldHJ5UgpnZW9tZXRyaWVz');
 
+@$core.Deprecated('Use getReadingsRequestDescriptor instead')
+const GetReadingsRequest$json = {
+  '1': 'GetReadingsRequest',
+  '2': [
+    {'1': 'name', '3': 1, '4': 1, '5': 9, '10': 'name'},
+    {'1': 'extra', '3': 99, '4': 1, '5': 11, '6': '.google.protobuf.Struct', '10': 'extra'},
+  ],
+};
+
+/// Descriptor for `GetReadingsRequest`. Decode as a `google.protobuf.DescriptorProto`.
+final $typed_data.Uint8List getReadingsRequestDescriptor = $convert.base64Decode(
+    'ChJHZXRSZWFkaW5nc1JlcXVlc3QSEgoEbmFtZRgBIAEoCVIEbmFtZRItCgVleHRyYRhjIAEoCz'
+    'IXLmdvb2dsZS5wcm90b2J1Zi5TdHJ1Y3RSBWV4dHJh');
+
+@$core.Deprecated('Use getReadingsResponseDescriptor instead')
+const GetReadingsResponse$json = {
+  '1': 'GetReadingsResponse',
+  '2': [
+    {'1': 'readings', '3': 1, '4': 3, '5': 11, '6': '.viam.common.v1.GetReadingsResponse.ReadingsEntry', '10': 'readings'},
+  ],
+  '3': [GetReadingsResponse_ReadingsEntry$json],
+};
+
+@$core.Deprecated('Use getReadingsResponseDescriptor instead')
+const GetReadingsResponse_ReadingsEntry$json = {
+  '1': 'ReadingsEntry',
+  '2': [
+    {'1': 'key', '3': 1, '4': 1, '5': 9, '10': 'key'},
+    {'1': 'value', '3': 2, '4': 1, '5': 11, '6': '.google.protobuf.Value', '10': 'value'},
+  ],
+  '7': {'7': true},
+};
+
+/// Descriptor for `GetReadingsResponse`. Decode as a `google.protobuf.DescriptorProto`.
+final $typed_data.Uint8List getReadingsResponseDescriptor = $convert.base64Decode(
+    'ChNHZXRSZWFkaW5nc1Jlc3BvbnNlEk0KCHJlYWRpbmdzGAEgAygLMjEudmlhbS5jb21tb24udj'
+    'EuR2V0UmVhZGluZ3NSZXNwb25zZS5SZWFkaW5nc0VudHJ5UghyZWFkaW5ncxpTCg1SZWFkaW5n'
+    'c0VudHJ5EhAKA2tleRgBIAEoCVIDa2V5EiwKBXZhbHVlGAIgASgLMhYuZ29vZ2xlLnByb3RvYn'
+    'VmLlZhbHVlUgV2YWx1ZToCOAE=');
+

lib/src/gen/component/movementsensor/v1/movementsensor.pbgrpc.dart

@@ -62,6 +62,10 @@ class MovementSensorServiceClient extends $grpc.Client {
       '/viam.component.movementsensor.v1.MovementSensorService/GetGeometries',
       ($1.GetGeometriesRequest value) => value.writeToBuffer(),
       ($core.List<$core.int> value) => $1.GetGeometriesResponse.fromBuffer(value));
+  static final _$getReadings = $grpc.ClientMethod<$1.GetReadingsRequest, $1.GetReadingsResponse>(
+      '/viam.component.movementsensor.v1.MovementSensorService/GetReadings',
+      ($1.GetReadingsRequest value) => value.writeToBuffer(),
+      ($core.List<$core.int> value) => $1.GetReadingsResponse.fromBuffer(value));
 
   MovementSensorServiceClient($grpc.ClientChannel channel,
       {$grpc.CallOptions? options,
@@ -108,6 +112,10 @@ class MovementSensorServiceClient extends $grpc.Client {
   $grpc.ResponseFuture<$1.GetGeometriesResponse> getGeometries($1.GetGeometriesRequest request, {$grpc.CallOptions? options}) {
     return $createUnaryCall(_$getGeometries, request, options: options);
   }
+
+  $grpc.ResponseFuture<$1.GetReadingsResponse> getReadings($1.GetReadingsRequest request, {$grpc.CallOptions? options}) {
+    return $createUnaryCall(_$getReadings, request, options: options);
+  }
 }
 
 @$pb.GrpcServiceName('viam.component.movementsensor.v1.MovementSensorService')
@@ -185,6 +193,13 @@ abstract class MovementSensorServiceBase extends $grpc.Service {
         false,
         ($core.List<$core.int> value) => $1.GetGeometriesRequest.fromBuffer(value),
         ($1.GetGeometriesResponse value) => value.writeToBuffer()));
+    $addMethod($grpc.ServiceMethod<$1.GetReadingsRequest, $1.GetReadingsResponse>(
+        'GetReadings',
+        getReadings_Pre,
+        false,
+        false,
+        ($core.List<$core.int> value) => $1.GetReadingsRequest.fromBuffer(value),
+        ($1.GetReadingsResponse value) => value.writeToBuffer()));
   }
 
   $async.Future<$0.GetLinearVelocityResponse> getLinearVelocity_Pre($grpc.ServiceCall call, $async.Future<$0.GetLinearVelocityRequest> request) async {
@@ -227,6 +242,10 @@ abstract class MovementSensorServiceBase extends $grpc.Service {
     return getGeometries(call, await request);
   }
 
+  $async.Future<$1.GetReadingsResponse> getReadings_Pre($grpc.ServiceCall call, $async.Future<$1.GetReadingsRequest> request) async {
+    return getReadings(call, await request);
+  }
+
   $async.Future<$0.GetLinearVelocityResponse> getLinearVelocity($grpc.ServiceCall call, $0.GetLinearVelocityRequest request);
   $async.Future<$0.GetAngularVelocityResponse> getAngularVelocity($grpc.ServiceCall call, $0.GetAngularVelocityRequest request);
   $async.Future<$0.GetCompassHeadingResponse> getCompassHeading($grpc.ServiceCall call, $0.GetCompassHeadingRequest request);
@@ -237,4 +256,5 @@ abstract class MovementSensorServiceBase extends $grpc.Service {
   $async.Future<$0.GetLinearAccelerationResponse> getLinearAcceleration($grpc.ServiceCall call, $0.GetLinearAccelerationRequest request);
   $async.Future<$1.DoCommandResponse> doCommand($grpc.ServiceCall call, $1.DoCommandRequest request);
   $async.Future<$1.GetGeometriesResponse> getGeometries($grpc.ServiceCall call, $1.GetGeometriesRequest request);
+  $async.Future<$1.GetReadingsResponse> getReadings($grpc.ServiceCall call, $1.GetReadingsRequest request);
 }