Add generic and gripper FromDependencies methods (#4747)

viamrobotics · Jan 27, 2025 · c473803 · c473803
1 parent a7916d6
commit c473803
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diff --git a/components/generic/generic.go b/components/generic/generic.go
@@ -31,6 +31,12 @@ func Named(name string) resource.Name {
 	return resource.NewName(API, name)
 }
 
+// FromDependencies is a helper for getting the named generic from a collection of
+// dependencies.
+func FromDependencies(deps resource.Dependencies, name string) (resource.Resource, error) {
+	return resource.FromDependencies[resource.Resource](deps, Named(name))
+}
+
 // FromRobot is a helper for getting the named Generic from the given Robot.
 func FromRobot(r robot.Robot, name string) (resource.Resource, error) {
 	return robot.ResourceFromRobot[resource.Resource](r, Named(name))

diff --git a/components/gripper/gripper.go b/components/gripper/gripper.go
@@ -79,6 +79,12 @@ func FromRobot(r robot.Robot, name string) (Gripper, error) {
 	return robot.ResourceFromRobot[Gripper](r, Named(name))
 }
 
+// FromDependencies is a helper for getting the named gripper from a collection of
+// dependencies.
+func FromDependencies(deps resource.Dependencies, name string) (Gripper, error) {
+	return resource.FromDependencies[Gripper](deps, Named(name))
+}
+
 // NamesFromRobot is a helper for getting all gripper names from the given Robot.
 func NamesFromRobot(r robot.Robot) []string {
 	return robot.NamesByAPI(r, API)