Skip to content

Commit aeb091c

Browse files
njoomanjooma
authored
[RSDK-9110] Add trace debug logging (#380)
1 parent 3b30624 commit aeb091c

File tree

20 files changed

+309
-114
lines changed

20 files changed

+309
-114
lines changed

‎lib/src/components/arm/client.dart

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -11,7 +11,7 @@ import 'arm.dart';
1111
/// gRPC client for an [Arm] component.
1212
///
1313
/// Used to communicate with an existing [Arm] implementation over gRPC.
14-
class ArmClient extends Arm implements ResourceRPCClient {
14+
class ArmClient extends Arm with RPCDebugLoggerMixin implements ResourceRPCClient {
1515
@override
1616
final String name;
1717

@@ -28,14 +28,14 @@ class ArmClient extends Arm implements ResourceRPCClient {
2828
final request = GetEndPositionRequest()
2929
..name = name
3030
..extra = extra?.toStruct() ?? Struct();
31-
final response = await client.getEndPosition(request);
31+
final response = await client.getEndPosition(request, options: callOptions);
3232
return response.pose;
3333
}
3434

3535
@override
3636
Future<bool> isMoving() async {
3737
final request = IsMovingRequest()..name = name;
38-
final response = await client.isMoving(request);
38+
final response = await client.isMoving(request, options: callOptions);
3939
return response.isMoving;
4040
}
4141

@@ -45,7 +45,7 @@ class ArmClient extends Arm implements ResourceRPCClient {
4545
..name = name
4646
..positions = (JointPositions()..values.addAll(positions))
4747
..extra = extra?.toStruct() ?? Struct();
48-
await client.moveToJointPositions(request);
48+
await client.moveToJointPositions(request, options: callOptions);
4949
}
5050

5151
@override
@@ -54,15 +54,15 @@ class ArmClient extends Arm implements ResourceRPCClient {
5454
..name = name
5555
..to = pose
5656
..extra = extra?.toStruct() ?? Struct();
57-
await client.moveToPosition(request);
57+
await client.moveToPosition(request, options: callOptions);
5858
}
5959

6060
@override
6161
Future<List<double>> jointPositions({Map<String, dynamic>? extra}) async {
6262
final request = GetJointPositionsRequest()
6363
..name = name
6464
..extra = extra?.toStruct() ?? Struct();
65-
final response = await client.getJointPositions(request);
65+
final response = await client.getJointPositions(request, options: callOptions);
6666
return response.positions.values;
6767
}
6868

@@ -71,15 +71,15 @@ class ArmClient extends Arm implements ResourceRPCClient {
7171
final request = StopRequest()
7272
..name = name
7373
..extra = extra?.toStruct() ?? Struct();
74-
await client.stop(request);
74+
await client.stop(request, options: callOptions);
7575
}
7676

7777
@override
7878
Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
7979
final request = DoCommandRequest()
8080
..name = name
8181
..command = command.toStruct();
82-
final response = await client.doCommand(request);
82+
final response = await client.doCommand(request, options: callOptions);
8383
return response.result.toMap();
8484
}
8585
}

‎lib/src/components/base/client.dart

Lines changed: 9 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,7 @@ import 'base.dart';
1010

1111
/// {@category Components}
1212
/// gRPC client for the [Base] component.
13-
class BaseClient extends Base implements ResourceRPCClient {
13+
class BaseClient extends Base with RPCDebugLoggerMixin implements ResourceRPCClient {
1414
@override
1515
final String name;
1616

@@ -25,7 +25,7 @@ class BaseClient extends Base implements ResourceRPCClient {
2525
@override
2626
Future<bool> isMoving() async {
2727
final request = IsMovingRequest()..name = name;
28-
final response = await client.isMoving(request);
28+
final response = await client.isMoving(request, options: callOptions);
2929
return response.isMoving;
3030
}
3131

@@ -36,7 +36,7 @@ class BaseClient extends Base implements ResourceRPCClient {
3636
..distanceMm = Int64(distance)
3737
..mmPerSec = velocity
3838
..extra = extra?.toStruct() ?? Struct();
39-
await client.moveStraight(request);
39+
await client.moveStraight(request, options: callOptions);
4040
}
4141

4242
@override
@@ -46,7 +46,7 @@ class BaseClient extends Base implements ResourceRPCClient {
4646
..linear = linear
4747
..angular = angular
4848
..extra = extra?.toStruct() ?? Struct();
49-
await client.setPower(request);
49+
await client.setPower(request, options: callOptions);
5050
}
5151

5252
@override
@@ -56,7 +56,7 @@ class BaseClient extends Base implements ResourceRPCClient {
5656
..linear = linear
5757
..angular = angular
5858
..extra = extra?.toStruct() ?? Struct();
59-
await client.setVelocity(request);
59+
await client.setVelocity(request, options: callOptions);
6060
}
6161

6262
@override
@@ -66,31 +66,31 @@ class BaseClient extends Base implements ResourceRPCClient {
6666
..angleDeg = angle
6767
..degsPerSec = velocity
6868
..extra = extra?.toStruct() ?? Struct();
69-
await client.spin(request);
69+
await client.spin(request, options: callOptions);
7070
}
7171

7272
@override
7373
Future<void> stop({Map<String, dynamic>? extra}) async {
7474
final request = StopRequest()
7575
..name = name
7676
..extra = extra?.toStruct() ?? Struct();
77-
await client.stop(request);
77+
await client.stop(request, options: callOptions);
7878
}
7979

8080
@override
8181
Future<BaseProperties> properties({Map<String, dynamic>? extra}) async {
8282
final request = GetPropertiesRequest()
8383
..name = name
8484
..extra = extra?.toStruct() ?? Struct();
85-
return await client.getProperties(request);
85+
return await client.getProperties(request, options: callOptions);
8686
}
8787

8888
@override
8989
Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
9090
final request = DoCommandRequest()
9191
..name = name
9292
..command = command.toStruct();
93-
final response = await client.doCommand(request);
93+
final response = await client.doCommand(request, options: callOptions);
9494
return response.result.toMap();
9595
}
9696
}

‎lib/src/components/board/client.dart

Lines changed: 18 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,7 @@ import 'board.dart';
1414

1515
/// {@category Components}
1616
/// gRPC client for the [Board] component.
17-
class BoardClient extends Board implements ResourceRPCClient {
17+
class BoardClient extends Board with RPCDebugLoggerMixin implements ResourceRPCClient {
1818
@override
1919
final String name;
2020

@@ -31,7 +31,7 @@ class BoardClient extends Board implements ResourceRPCClient {
3131
final request = common.DoCommandRequest()
3232
..name = name
3333
..command = command.toStruct();
34-
final response = await client.doCommand(request);
34+
final response = await client.doCommand(request, options: callOptions);
3535
return response.result.toMap();
3636
}
3737

@@ -42,7 +42,7 @@ class BoardClient extends Board implements ResourceRPCClient {
4242
..pin = pin
4343
..high = high
4444
..extra = extra?.toStruct() ?? Struct();
45-
await client.setGPIO(request);
45+
await client.setGPIO(request, options: callOptions);
4646
}
4747

4848
@override
@@ -51,7 +51,7 @@ class BoardClient extends Board implements ResourceRPCClient {
5151
..name = name
5252
..pin = pin
5353
..extra = extra?.toStruct() ?? Struct();
54-
final response = await client.getGPIO(request);
54+
final response = await client.getGPIO(request, options: callOptions);
5555
return response.high;
5656
}
5757

@@ -61,7 +61,7 @@ class BoardClient extends Board implements ResourceRPCClient {
6161
..name = name
6262
..pin = pin
6363
..extra = extra?.toStruct() ?? Struct();
64-
final response = await client.pWM(request);
64+
final response = await client.pWM(request, options: callOptions);
6565
return response.dutyCyclePct;
6666
}
6767

@@ -72,7 +72,7 @@ class BoardClient extends Board implements ResourceRPCClient {
7272
..pin = pin
7373
..dutyCyclePct = dutyCyclePct
7474
..extra = extra?.toStruct() ?? Struct();
75-
await client.setPWM(request);
75+
await client.setPWM(request, options: callOptions);
7676
}
7777

7878
@override
@@ -81,7 +81,7 @@ class BoardClient extends Board implements ResourceRPCClient {
8181
..name = name
8282
..pin = pin
8383
..extra = extra?.toStruct() ?? Struct();
84-
final response = await client.pWMFrequency(request);
84+
final response = await client.pWMFrequency(request, options: callOptions);
8585
return response.frequencyHz.toInt();
8686
}
8787

@@ -92,7 +92,7 @@ class BoardClient extends Board implements ResourceRPCClient {
9292
..pin = pin
9393
..frequencyHz = Int64(frequencyHz)
9494
..extra = extra?.toStruct() ?? Struct();
95-
await client.setPWMFrequency(request);
95+
await client.setPWMFrequency(request, options: callOptions);
9696
}
9797

9898
@override
@@ -101,7 +101,7 @@ class BoardClient extends Board implements ResourceRPCClient {
101101
..boardName = name
102102
..analogReaderName = analogReaderName
103103
..extra = extra?.toStruct() ?? Struct();
104-
final response = await client.readAnalogReader(request);
104+
final response = await client.readAnalogReader(request, options: callOptions);
105105
return response;
106106
}
107107

@@ -111,7 +111,7 @@ class BoardClient extends Board implements ResourceRPCClient {
111111
..boardName = name
112112
..digitalInterruptName = digitalInterruptName
113113
..extra = extra?.toStruct() ?? Struct();
114-
final response = await client.getDigitalInterruptValue(request);
114+
final response = await client.getDigitalInterruptValue(request, options: callOptions);
115115
return response.value.toInt();
116116
}
117117

@@ -123,10 +123,12 @@ class BoardClient extends Board implements ResourceRPCClient {
123123

124124
@override
125125
Stream<Tick> streamTicks(List<String> interrupts, {Map<String, dynamic>? extra}) {
126-
final response = client.streamTicks(StreamTicksRequest()
127-
..name = name
128-
..pinNames.addAll(interrupts)
129-
..extra = extra?.toStruct() ?? Struct());
126+
final response = client.streamTicks(
127+
StreamTicksRequest()
128+
..name = name
129+
..pinNames.addAll(interrupts)
130+
..extra = extra?.toStruct() ?? Struct(),
131+
options: callOptions);
130132

131133
final stream = response.map((resp) => Tick(pinName: resp.pinName, high: resp.high, time: resp.time));
132134
return stream.asBroadcastStream(onCancel: (_) => response.cancel());
@@ -142,7 +144,7 @@ class BoardClient extends Board implements ResourceRPCClient {
142144
..powerMode = powerMode
143145
..duration = duration
144146
..extra = extra?.toStruct() ?? Struct();
145-
await client.setPowerMode(request);
147+
await client.setPowerMode(request, options: callOptions);
146148
}
147149

148150
@override
@@ -152,6 +154,6 @@ class BoardClient extends Board implements ResourceRPCClient {
152154
..pin = pin
153155
..value = value
154156
..extra = extra?.toStruct() ?? Struct();
155-
await client.writeAnalog(request);
157+
await client.writeAnalog(request, options: callOptions);
156158
}
157159
}

‎lib/src/components/button/client.dart

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,7 @@ import 'button.dart';
99

1010
/// {@category Components}
1111
/// gRPC client for the [Button] component.
12-
class ButtonClient extends Button implements ResourceRPCClient {
12+
class ButtonClient extends Button with RPCDebugLoggerMixin implements ResourceRPCClient {
1313
@override
1414
final String name;
1515

@@ -26,15 +26,15 @@ class ButtonClient extends Button implements ResourceRPCClient {
2626
final request = PushRequest()
2727
..name = name
2828
..extra = extra?.toStruct() ?? Struct();
29-
await client.push(request);
29+
await client.push(request, options: callOptions);
3030
}
3131

3232
@override
3333
Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
3434
final request = DoCommandRequest()
3535
..name = name
3636
..command = command.toStruct();
37-
final response = await client.doCommand(request);
37+
final response = await client.doCommand(request, options: callOptions);
3838
return response.result.toMap();
3939
}
4040
}

‎lib/src/components/camera/client.dart

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,7 @@ import 'camera.dart';
1010

1111
/// {@category Components}
1212
/// gRPC client for the [Camera] component
13-
class CameraClient extends Camera implements ResourceRPCClient {
13+
class CameraClient extends Camera with RPCDebugLoggerMixin implements ResourceRPCClient {
1414
@override
1515
final String name;
1616

@@ -28,7 +28,7 @@ class CameraClient extends Camera implements ResourceRPCClient {
2828
..name = name
2929
..mimeType = mimeType?.name ?? ''
3030
..extra = extra?.toStruct() ?? Struct();
31-
final response = await client.getImage(request);
31+
final response = await client.getImage(request, options: callOptions);
3232
final actualMimeType = MimeType.fromString(response.mimeType);
3333
return ViamImage(response.image, actualMimeType);
3434
}
@@ -39,23 +39,23 @@ class CameraClient extends Camera implements ResourceRPCClient {
3939
..name = name
4040
..mimeType = MimeType.pcd.name
4141
..extra = extra?.toStruct() ?? Struct();
42-
final response = await client.getPointCloud(request);
42+
final response = await client.getPointCloud(request, options: callOptions);
4343
final actualMimeType = MimeType.fromString(response.mimeType);
4444
return ViamImage(response.pointCloud, actualMimeType);
4545
}
4646

4747
@override
4848
Future<CameraProperties> properties() async {
4949
final request = GetPropertiesRequest()..name = name;
50-
return await client.getProperties(request);
50+
return await client.getProperties(request, options: callOptions);
5151
}
5252

5353
@override
5454
Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
5555
final request = DoCommandRequest()
5656
..name = name
5757
..command = command.toStruct();
58-
final response = await client.doCommand(request);
58+
final response = await client.doCommand(request, options: callOptions);
5959
return response.result.toMap();
6060
}
6161
}

0 commit comments

Comments
 (0)