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RSDK-10408 Add world-state-store service (#621)
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‎package-lock.json‎

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‎package.json‎

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@@ -80,6 +80,7 @@
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"prettier-plugin-jsdoc": "^1.1.1",
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"typedoc": "^0.27.9",
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"typescript": "^5.3.3",
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"uuid-tool": "^2.0.3",
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"vite": "^5.0.10",
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"vitest": "^1.1.0",
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"yaml": "^2.3.3"

‎src/main.ts‎

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@@ -407,6 +407,8 @@ export {
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*/
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export * as visionApi from './gen/service/vision/v1/vision_pb';
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export * from './services/world-state-store';
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export {
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GenericClient as GenericServiceClient,
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type Generic as GenericService,

‎src/robot/client.ts‎

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@@ -36,6 +36,7 @@ import type { Robot } from './robot';
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import SessionManager from './session-manager';
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import { MLModelService } from '../gen/service/mlmodel/v1/mlmodel_connect';
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import type { AccessToken, Credential } from '../main';
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import { WorldStateStoreService } from '../gen/service/worldstatestore/v1/world_state_store_connect';
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import { assertExists } from '../assert';
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interface ICEServer {
@@ -238,6 +239,10 @@ export class RobotClient extends EventDispatcher implements Robot {
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private slamServiceClient: Client<typeof SLAMService> | undefined;
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private worldStateStoreServiceClient:
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| Client<typeof WorldStateStoreService>
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| undefined;
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private currentRetryAttempt = 0;
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constructor(
@@ -478,6 +483,13 @@ export class RobotClient extends EventDispatcher implements Robot {
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return this.slamServiceClient;
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}
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get worldStateStoreService() {
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this.worldStateStoreServiceClient ??= this.createServiceClient(
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WorldStateStoreService
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);
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return this.worldStateStoreServiceClient;
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}
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createServiceClient<T extends ServiceType>(svcType: T): Client<T> {
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assertExists(this.clientTransport, RobotClient.notConnectedYetStr);
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return createClient(svcType, this.clientTransport);

‎src/services/world-state-store/client.spec.ts‎

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// @vitest-environment happy-dom
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import { createClient, createRouterTransport } from '@connectrpc/connect';
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import { Struct } from '@bufbuild/protobuf';
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import { beforeEach, describe, expect, it, vi } from 'vitest';
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import { WorldStateStoreService } from '../../gen/service/worldstatestore/v1/world_state_store_connect';
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import {
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GetTransformResponse,
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ListUUIDsResponse,
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StreamTransformChangesResponse,
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} from '../../gen/service/worldstatestore/v1/world_state_store_pb';
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import { RobotClient } from '../../robot';
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import { WorldStateStoreClient } from './client';
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import { TransformChangeType } from '../../gen/service/worldstatestore/v1/world_state_store_pb';
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import { Transform, PoseInFrame, Pose } from '../../gen/common/v1/common_pb';
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import { transformWithUUID, uuidToString } from './world-state-store';
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vi.mock('../../robot');
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const worldStateStoreClientName = 'test-world-state-store';
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let worldStateStore: WorldStateStoreClient;
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const mockUuids = [new Uint8Array([1, 2, 3, 4]), new Uint8Array([5, 6, 7, 8])];
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const mockTransform = new Transform({
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referenceFrame: 'test-frame',
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poseInObserverFrame: new PoseInFrame({
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referenceFrame: 'observer-frame',
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pose: new Pose({
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x: 10,
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y: 20,
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z: 30,
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oX: 0,
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oY: 0,
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oZ: 1,
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theta: 90,
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}),
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}),
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uuid: mockUuids[0],
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});
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describe('WorldStateStoreClient Tests', () => {
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beforeEach(() => {
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const mockTransport = createRouterTransport(({ service }) => {
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service(WorldStateStoreService, {
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listUUIDs: () => new ListUUIDsResponse({ uuids: mockUuids }),
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getTransform: () =>
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new GetTransformResponse({ transform: mockTransform }),
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streamTransformChanges: async function* mockStream() {
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// Add await to satisfy linter
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await Promise.resolve();
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yield new StreamTransformChangesResponse({
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changeType: TransformChangeType.ADDED,
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transform: mockTransform,
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});
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yield new StreamTransformChangesResponse({
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changeType: TransformChangeType.UPDATED,
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transform: mockTransform,
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updatedFields: { paths: ['pose_in_observer_frame'] },
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});
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},
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doCommand: () => ({ result: Struct.fromJson({ success: true }) }),
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});
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});
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RobotClient.prototype.createServiceClient = vi
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.fn()
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.mockImplementation(() =>
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createClient(WorldStateStoreService, mockTransport)
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);
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worldStateStore = new WorldStateStoreClient(
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new RobotClient('host'),
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worldStateStoreClientName
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);
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});
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describe('listUUIDs', () => {
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it('returns all transform UUIDs', async () => {
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const expected = mockUuids.map((uuid) => uuidToString(uuid));
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await expect(worldStateStore.listUUIDs()).resolves.toStrictEqual(
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expected
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);
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});
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});
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describe('getTransform', () => {
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it('returns a transform by UUID', async () => {
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const uuid = '01020304';
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const expected = mockTransform;
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await expect(worldStateStore.getTransform(uuid)).resolves.toStrictEqual({
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...expected,
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uuidString: uuid,
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});
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});
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});
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describe('streamTransformChanges', () => {
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it('streams transform changes', async () => {
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const stream = worldStateStore.streamTransformChanges();
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const results = [];
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for await (const result of stream) {
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results.push(result);
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}
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expect(results).toHaveLength(2);
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expect(results[0]).toEqual({
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changeType: TransformChangeType.ADDED,
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transform: transformWithUUID(mockTransform),
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updatedFields: undefined,
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});
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expect(results[1]).toEqual({
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changeType: TransformChangeType.UPDATED,
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transform: transformWithUUID(mockTransform),
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updatedFields: { paths: ['pose_in_observer_frame'] },
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});
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});
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});
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describe('doCommand', () => {
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it('executes arbitrary commands', async () => {
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const command = Struct.fromJson({ test: 'value' });
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const expected = { success: true };
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await expect(worldStateStore.doCommand(command)).resolves.toStrictEqual(
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expected
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);
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});
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});
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});

‎src/services/world-state-store/client.ts‎

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import { Struct, type JsonValue } from '@bufbuild/protobuf';
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import type { CallOptions, Client } from '@connectrpc/connect';
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import { WorldStateStoreService } from '../../gen/service/worldstatestore/v1/world_state_store_connect';
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import {
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GetTransformRequest,
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ListUUIDsRequest,
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StreamTransformChangesRequest,
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} from '../../gen/service/worldstatestore/v1/world_state_store_pb';
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import type { RobotClient } from '../../robot';
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import type { Options } from '../../types';
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import { doCommandFromClient } from '../../utils';
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import type { WorldStateStore } from './world-state-store';
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import {
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transformWithUUID,
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uuidFromString,
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uuidToString,
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} from './world-state-store';
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import type { TransformChangeEvent } from './types';
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/**
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* A gRPC-web client for a WorldStateStore service.
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*
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* @group Clients
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*/
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export class WorldStateStoreClient implements WorldStateStore {
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private client: Client<typeof WorldStateStoreService>;
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public readonly name: string;
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private readonly options: Options;
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public callOptions: CallOptions = { headers: {} as Record<string, string> };
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constructor(client: RobotClient, name: string, options: Options = {}) {
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this.client = client.createServiceClient(WorldStateStoreService);
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this.name = name;
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this.options = options;
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}
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async listUUIDs(extra = {}, callOptions = this.callOptions) {
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const request = new ListUUIDsRequest({
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name: this.name,
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extra: Struct.fromJson(extra),
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});
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this.options.requestLogger?.(request);
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const response = await this.client.listUUIDs(request, callOptions);
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return response.uuids.map((uuid) => uuidToString(uuid));
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}
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async getTransform(uuid: string, extra = {}, callOptions = this.callOptions) {
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const request = new GetTransformRequest({
51+
name: this.name,
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uuid: uuidFromString(uuid),
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extra: Struct.fromJson(extra),
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});
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this.options.requestLogger?.(request);
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const response = await this.client.getTransform(request, callOptions);
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if (!response.transform) {
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throw new Error('No transform returned from server');
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}
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return transformWithUUID(response.transform);
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}
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async *streamTransformChanges(
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extra = {},
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callOptions = this.callOptions
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): AsyncGenerator<TransformChangeEvent, void> {
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const request = new StreamTransformChangesRequest({
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name: this.name,
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extra: Struct.fromJson(extra),
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});
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this.options.requestLogger?.(request);
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const stream = this.client.streamTransformChanges(request, callOptions);
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for await (const response of stream) {
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if (!response.transform) {
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continue;
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}
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yield {
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...response,
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transform: transformWithUUID(response.transform),
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};
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}
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}
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async doCommand(
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command: Struct,
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callOptions = this.callOptions
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): Promise<JsonValue> {
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return doCommandFromClient(
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this.client.doCommand,
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this.name,
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command,
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this.options,
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callOptions
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);
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}
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}

‎src/services/world-state-store/index.ts‎

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export { WorldStateStoreClient } from './client';
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export type { WorldStateStore } from './world-state-store';
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export { transformWithUUID } from './world-state-store';
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export type { TransformChangeEvent, TransformWithUUID } from './types';
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export { TransformChangeType } from '../../gen/service/worldstatestore/v1/world_state_store_pb';

‎src/services/world-state-store/types.ts‎

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import type { PlainMessage } from '@bufbuild/protobuf';
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import type { Transform } from '../../gen/common/v1/common_pb';
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import type { StreamTransformChangesResponse } from '../../gen/service/worldstatestore/v1/world_state_store_pb';
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export interface TransformWithUUID extends PlainMessage<Transform> {
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uuidString: string;
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}
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export type TransformChangeEvent = Omit<
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PlainMessage<StreamTransformChangesResponse>,
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'transform'
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> & {
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transform: TransformWithUUID | undefined;
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};

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