[RSDK-9110] Add trace debug logging

lib/src/components/arm/client.dart

@@ -11,7 +11,7 @@ import 'arm.dart';
 /// gRPC client for an [Arm] component.
 ///
 /// Used to communicate with an existing [Arm] implementation over gRPC.
-class ArmClient extends Arm implements ResourceRPCClient {
+class ArmClient extends Arm with RPCDebugLoggerMixin implements ResourceRPCClient {
   @override
   final String name;
 
@@ -28,14 +28,14 @@ class ArmClient extends Arm implements ResourceRPCClient {
     final request = GetEndPositionRequest()
       ..name = name
       ..extra = extra?.toStruct() ?? Struct();
-    final response = await client.getEndPosition(request);
+    final response = await client.getEndPosition(request, options: callOptions);
     return response.pose;
   }
 
   @override
   Future<bool> isMoving() async {
     final request = IsMovingRequest()..name = name;
-    final response = await client.isMoving(request);
+    final response = await client.isMoving(request, options: callOptions);
     return response.isMoving;
   }
 
@@ -45,7 +45,7 @@ class ArmClient extends Arm implements ResourceRPCClient {
       ..name = name
       ..positions = (JointPositions()..values.addAll(positions))
       ..extra = extra?.toStruct() ?? Struct();
-    await client.moveToJointPositions(request);
+    await client.moveToJointPositions(request, options: callOptions);
   }
 
   @override
@@ -54,15 +54,15 @@ class ArmClient extends Arm implements ResourceRPCClient {
       ..name = name
       ..to = pose
       ..extra = extra?.toStruct() ?? Struct();
-    await client.moveToPosition(request);
+    await client.moveToPosition(request, options: callOptions);
   }
 
   @override
   Future<List<double>> jointPositions({Map<String, dynamic>? extra}) async {
     final request = GetJointPositionsRequest()
       ..name = name
       ..extra = extra?.toStruct() ?? Struct();
-    final response = await client.getJointPositions(request);
+    final response = await client.getJointPositions(request, options: callOptions);
     return response.positions.values;
   }
 
@@ -71,15 +71,15 @@ class ArmClient extends Arm implements ResourceRPCClient {
     final request = StopRequest()
       ..name = name
       ..extra = extra?.toStruct() ?? Struct();
-    await client.stop(request);
+    await client.stop(request, options: callOptions);
   }
 
   @override
   Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
     final request = DoCommandRequest()
       ..name = name
       ..command = command.toStruct();
-    final response = await client.doCommand(request);
+    final response = await client.doCommand(request, options: callOptions);
     return response.result.toMap();
   }
 }

lib/src/components/base/client.dart

@@ -10,7 +10,7 @@ import 'base.dart';
 
 /// {@category Components}
 /// gRPC client for the [Base] component.
-class BaseClient extends Base implements ResourceRPCClient {
+class BaseClient extends Base with RPCDebugLoggerMixin implements ResourceRPCClient {
   @override
   final String name;
 
@@ -25,7 +25,7 @@ class BaseClient extends Base implements ResourceRPCClient {
   @override
   Future<bool> isMoving() async {
     final request = IsMovingRequest()..name = name;
-    final response = await client.isMoving(request);
+    final response = await client.isMoving(request, options: callOptions);
     return response.isMoving;
   }
 
@@ -36,7 +36,7 @@ class BaseClient extends Base implements ResourceRPCClient {
       ..distanceMm = Int64(distance)
       ..mmPerSec = velocity
       ..extra = extra?.toStruct() ?? Struct();
-    await client.moveStraight(request);
+    await client.moveStraight(request, options: callOptions);
   }
 
   @override
@@ -46,7 +46,7 @@ class BaseClient extends Base implements ResourceRPCClient {
       ..linear = linear
       ..angular = angular
       ..extra = extra?.toStruct() ?? Struct();
-    await client.setPower(request);
+    await client.setPower(request, options: callOptions);
   }
 
   @override
@@ -56,7 +56,7 @@ class BaseClient extends Base implements ResourceRPCClient {
       ..linear = linear
       ..angular = angular
       ..extra = extra?.toStruct() ?? Struct();
-    await client.setVelocity(request);
+    await client.setVelocity(request, options: callOptions);
   }
 
   @override
@@ -66,31 +66,31 @@ class BaseClient extends Base implements ResourceRPCClient {
       ..angleDeg = angle
       ..degsPerSec = velocity
       ..extra = extra?.toStruct() ?? Struct();
-    await client.spin(request);
+    await client.spin(request, options: callOptions);
   }
 
   @override
   Future<void> stop({Map<String, dynamic>? extra}) async {
     final request = StopRequest()
       ..name = name
       ..extra = extra?.toStruct() ?? Struct();
-    await client.stop(request);
+    await client.stop(request, options: callOptions);
   }
 
   @override
   Future<BaseProperties> properties({Map<String, dynamic>? extra}) async {
     final request = GetPropertiesRequest()
       ..name = name
       ..extra = extra?.toStruct() ?? Struct();
-    return await client.getProperties(request);
+    return await client.getProperties(request, options: callOptions);
   }
 
   @override
   Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
     final request = DoCommandRequest()
       ..name = name
       ..command = command.toStruct();
-    final response = await client.doCommand(request);
+    final response = await client.doCommand(request, options: callOptions);
     return response.result.toMap();
   }
 }

lib/src/components/board/client.dart

@@ -14,7 +14,7 @@ import 'board.dart';
 
 /// {@category Components}
 /// gRPC client for the [Board] component.
-class BoardClient extends Board implements ResourceRPCClient {
+class BoardClient extends Board with RPCDebugLoggerMixin implements ResourceRPCClient {
   @override
   final String name;
 
@@ -31,7 +31,7 @@ class BoardClient extends Board implements ResourceRPCClient {
     final request = common.DoCommandRequest()
       ..name = name
       ..command = command.toStruct();
-    final response = await client.doCommand(request);
+    final response = await client.doCommand(request, options: callOptions);
     return response.result.toMap();
   }
 
@@ -42,7 +42,7 @@ class BoardClient extends Board implements ResourceRPCClient {
       ..pin = pin
       ..high = high
       ..extra = extra?.toStruct() ?? Struct();
-    await client.setGPIO(request);
+    await client.setGPIO(request, options: callOptions);
   }
 
   @override
@@ -51,7 +51,7 @@ class BoardClient extends Board implements ResourceRPCClient {
       ..name = name
       ..pin = pin
       ..extra = extra?.toStruct() ?? Struct();
-    final response = await client.getGPIO(request);
+    final response = await client.getGPIO(request, options: callOptions);
     return response.high;
   }
 
@@ -61,7 +61,7 @@ class BoardClient extends Board implements ResourceRPCClient {
       ..name = name
       ..pin = pin
       ..extra = extra?.toStruct() ?? Struct();
-    final response = await client.pWM(request);
+    final response = await client.pWM(request, options: callOptions);
     return response.dutyCyclePct;
   }
 
@@ -72,7 +72,7 @@ class BoardClient extends Board implements ResourceRPCClient {
       ..pin = pin
       ..dutyCyclePct = dutyCyclePct
       ..extra = extra?.toStruct() ?? Struct();
-    await client.setPWM(request);
+    await client.setPWM(request, options: callOptions);
   }
 
   @override
@@ -81,7 +81,7 @@ class BoardClient extends Board implements ResourceRPCClient {
       ..name = name
       ..pin = pin
       ..extra = extra?.toStruct() ?? Struct();
-    final response = await client.pWMFrequency(request);
+    final response = await client.pWMFrequency(request, options: callOptions);
     return response.frequencyHz.toInt();
   }
 
@@ -92,7 +92,7 @@ class BoardClient extends Board implements ResourceRPCClient {
       ..pin = pin
       ..frequencyHz = Int64(frequencyHz)
       ..extra = extra?.toStruct() ?? Struct();
-    await client.setPWMFrequency(request);
+    await client.setPWMFrequency(request, options: callOptions);
   }
 
   @override
@@ -101,7 +101,7 @@ class BoardClient extends Board implements ResourceRPCClient {
       ..boardName = name
       ..analogReaderName = analogReaderName
       ..extra = extra?.toStruct() ?? Struct();
-    final response = await client.readAnalogReader(request);
+    final response = await client.readAnalogReader(request, options: callOptions);
     return response;
   }
 
@@ -111,7 +111,7 @@ class BoardClient extends Board implements ResourceRPCClient {
       ..boardName = name
       ..digitalInterruptName = digitalInterruptName
       ..extra = extra?.toStruct() ?? Struct();
-    final response = await client.getDigitalInterruptValue(request);
+    final response = await client.getDigitalInterruptValue(request, options: callOptions);
     return response.value.toInt();
   }
 
@@ -123,10 +123,12 @@ class BoardClient extends Board implements ResourceRPCClient {
 
   @override
   Stream<Tick> streamTicks(List<String> interrupts, {Map<String, dynamic>? extra}) {
-    final response = client.streamTicks(StreamTicksRequest()
-      ..name = name
-      ..pinNames.addAll(interrupts)
-      ..extra = extra?.toStruct() ?? Struct());
+    final response = client.streamTicks(
+        StreamTicksRequest()
+          ..name = name
+          ..pinNames.addAll(interrupts)
+          ..extra = extra?.toStruct() ?? Struct(),
+        options: callOptions);
 
     final stream = response.map((resp) => Tick(pinName: resp.pinName, high: resp.high, time: resp.time));
     return stream.asBroadcastStream(onCancel: (_) => response.cancel());
@@ -142,7 +144,7 @@ class BoardClient extends Board implements ResourceRPCClient {
       ..powerMode = powerMode
       ..duration = duration
       ..extra = extra?.toStruct() ?? Struct();
-    await client.setPowerMode(request);
+    await client.setPowerMode(request, options: callOptions);
   }
 
   @override
@@ -152,6 +154,6 @@ class BoardClient extends Board implements ResourceRPCClient {
       ..pin = pin
       ..value = value
       ..extra = extra?.toStruct() ?? Struct();
-    await client.writeAnalog(request);
+    await client.writeAnalog(request, options: callOptions);
   }
 }

lib/src/components/button/client.dart

@@ -9,7 +9,7 @@ import 'button.dart';
 
 /// {@category Components}
 /// gRPC client for the [Button] component.
-class ButtonClient extends Button implements ResourceRPCClient {
+class ButtonClient extends Button with RPCDebugLoggerMixin implements ResourceRPCClient {
   @override
   final String name;
 
@@ -26,15 +26,15 @@ class ButtonClient extends Button implements ResourceRPCClient {
     final request = PushRequest()
       ..name = name
       ..extra = extra?.toStruct() ?? Struct();
-    await client.push(request);
+    await client.push(request, options: callOptions);
   }
 
   @override
   Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
     final request = DoCommandRequest()
       ..name = name
       ..command = command.toStruct();
-    final response = await client.doCommand(request);
+    final response = await client.doCommand(request, options: callOptions);
     return response.result.toMap();
   }
 }

lib/src/components/camera/client.dart

@@ -10,7 +10,7 @@ import 'camera.dart';
 
 /// {@category Components}
 /// gRPC client for the [Camera] component
-class CameraClient extends Camera implements ResourceRPCClient {
+class CameraClient extends Camera with RPCDebugLoggerMixin implements ResourceRPCClient {
   @override
   final String name;
 
@@ -28,7 +28,7 @@ class CameraClient extends Camera implements ResourceRPCClient {
       ..name = name
       ..mimeType = mimeType?.name ?? ''
       ..extra = extra?.toStruct() ?? Struct();
-    final response = await client.getImage(request);
+    final response = await client.getImage(request, options: callOptions);
     final actualMimeType = MimeType.fromString(response.mimeType);
     return ViamImage(response.image, actualMimeType);
   }
@@ -39,23 +39,23 @@ class CameraClient extends Camera implements ResourceRPCClient {
       ..name = name
       ..mimeType = MimeType.pcd.name
       ..extra = extra?.toStruct() ?? Struct();
-    final response = await client.getPointCloud(request);
+    final response = await client.getPointCloud(request, options: callOptions);
     final actualMimeType = MimeType.fromString(response.mimeType);
     return ViamImage(response.pointCloud, actualMimeType);
   }
 
   @override
   Future<CameraProperties> properties() async {
     final request = GetPropertiesRequest()..name = name;
-    return await client.getProperties(request);
+    return await client.getProperties(request, options: callOptions);
   }
 
   @override
   Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
     final request = DoCommandRequest()
       ..name = name
       ..command = command.toStruct();
-    final response = await client.doCommand(request);
+    final response = await client.doCommand(request, options: callOptions);
     return response.result.toMap();
   }
 }