[WORKFLOW] AI update based on proto changes from commit 4676591

Author: viambot

src/app/data-client.spec.ts

@@ -25,6 +25,8 @@ import {
   ConfigureDatabaseUserResponse,
   CreateIndexRequest,
   CreateIndexResponse,
+  CreateBinaryDataSignedURLRequest,
+  CreateBinaryDataSignedURLResponse,
   DataRequest,
   DeleteBinaryDataByFilterRequest,
   DeleteBinaryDataByFilterResponse,
@@ -1229,6 +1231,52 @@ describe('DataClient tests', () => {
     });
   });
 
+  describe('createBinaryDataSignedURL tests', () => {
+    const binaryDataId = 'testBinaryDataId';
+    const signedUrl = 'https://example.com/signed-url';
+    const expiresAt = new Date(2025, 0, 1, 12, 0, 0); // Jan 1, 2025 12:00:00
+    const expirationMinutes = 60;
+
+    let capReq: CreateBinaryDataSignedURLRequest;
+    beforeEach(() => {
+      mockTransport = createRouterTransport(({ service }) => {
+        service(DataService, {
+          createBinaryDataSignedURL: (req) => {
+            capReq = req;
+            return new CreateBinaryDataSignedURLResponse({
+              signedUrl,
+              expiresAt: Timestamp.fromDate(expiresAt),
+            });
+          },
+        });
+      });
+    });
+
+    it('creates a binary data signed URL with default expiration', async () => {
+      const expectedRequest = new CreateBinaryDataSignedURLRequest({
+        binaryDataId,
+      });
+
+      const result = await subject().createBinaryDataSignedURL(binaryDataId);
+      expect(capReq).toStrictEqual(expectedRequest);
+      expect(result).toEqual({ signedUrl, expiresAt });
+    });
+
+    it('creates a binary data signed URL with specified expiration', async () => {
+      const expectedRequest = new CreateBinaryDataSignedURLRequest({
+        binaryDataId,
+        expirationMinutes,
+      });
+
+      const result = await subject().createBinaryDataSignedURL(
+        binaryDataId,
+        expirationMinutes
+      );
+      expect(capReq).toStrictEqual(expectedRequest);
+      expect(result).toEqual({ signedUrl, expiresAt });
+    });
+  });
+
   describe('createFilter tests', () => {
     it('create empty filter', () => {
       const testFilter = DataClient.createFilter({});
@@ -2037,4 +2085,4 @@ describe('fileUpload tests', () => {
 
     expect(receivedData).toStrictEqual(data);
   });
-});
+});

src/app/data-client.ts

@@ -18,6 +18,8 @@ import {
   TabularDataSource,
   TabularDataSourceType,
   TagsFilter,
+  CreateBinaryDataSignedURLRequest,
+  CreateBinaryDataSignedURLResponse,
 } from '../gen/app/data/v1/data_pb';
 import { DataPipelinesService } from '../gen/app/datapipelines/v1/data_pipelines_connect';
 import {
@@ -1737,6 +1739,43 @@ export class DataClient {
       pipelineName,
     });
   }
+
+  /**
+   * CreateBinaryDataSignedURL creates a temporary public URL for a binary data file.
+   *
+   * @example
+   *
+   * ```ts
+   * const { signedUrl, expiresAt } = await dataClient.createBinaryDataSignedURL(
+   *   'ccb74b53-1235-4328-a4b9-91dff1915a50/x5vur1fmps/YAEzj5I1kTwtYsDdf4a7ctaJpGgKRHmnM9bJNVyblk52UpqmrnMVTITaBKZctKEh',
+   *   60 // Expiration in minutes
+   * );
+   * console.log('Signed URL:', signedUrl);
+   * console.log('Expires At:', expiresAt);
+   * ```
+   *
+   * For more information, see [Data
+   * API](https://docs.viam.com/dev/reference/apis/data-client/#createbinarydatasignedurl).
+   *
+   * @param binaryDataId The binary data ID of the file to create a signed URL for.
+   * @param expirationMinutes Optional expiration time in minutes. Defaults to 15 minutes if not specified.
+   *   Maximum allowed is 10080 minutes (7 days).
+   * @returns An object containing the signed URL and its expiration time.
+   */
+  async createBinaryDataSignedURL(
+    binaryDataId: string,
+    expirationMinutes?: number
+  ): Promise<{ signedUrl: string; expiresAt: Date }> {
+    const req = new CreateBinaryDataSignedURLRequest({
+      binaryDataId,
+      expirationMinutes,
+    });
+    const resp = await this.dataClient.createBinaryDataSignedURL(req);
+    return {
+      signedUrl: resp.signedUrl,
+      expiresAt: resp.expiresAt!.toDate(), // eslint-disable-line @typescript-eslint/no-non-null-assertion
+    };
+  }
 }
 
 export class ListDataPipelineRunsPage {
@@ -1793,5 +1832,7 @@ export {
   type BinaryID,
   type IndexableCollection,
   type Order,
+  CreateBinaryDataSignedURLRequest,
+  CreateBinaryDataSignedURLResponse,
 } from '../gen/app/data/v1/data_pb';
 export { type UploadMetadata } from '../gen/app/datasync/v1/data_sync_pb';

src/components/gantry/client.ts

@@ -13,7 +13,7 @@ import type { RobotClient } from '../../robot';
 import type { Options } from '../../types';
 import { doCommandFromClient } from '../../utils';
 import type { Gantry } from './gantry';
-import { GetGeometriesRequest } from '../../gen/common/v1/common_pb';
+import { GetGeometriesRequest, GetKinematicsRequest, GetKinematicsResponse, KinematicParamType } from '../../gen/common/v1/common_pb';
 
 /**
  * A gRPC-web client for the Gantry component.
@@ -42,6 +42,32 @@ export class GantryClient implements Gantry {
     return response.geometries;
   }
 
+  async getKinematics(extra = {}, callOptions = this.callOptions) {
+    const request = new GetKinematicsRequest({
+      name: this.name,
+      extra: Struct.fromJson(extra),
+    });
+
+    this.options.requestLogger?.(request);
+
+    const resp = await this.client.getKinematics(request, callOptions);
+    const { kinematicsData } = resp;
+    if (!kinematicsData) {
+      throw new Error('No kinematics data');
+    }
+    return {
+      name: this.name,
+      kinematic_param_type: KinematicParamType[
+        kinematicsData.kinematicParamType
+      ].replace('KINEMATIC_PARAM_TYPE_', '') as
+        | 'SVA'
+        | 'URDF'
+        | 'UNSPECIFIED',
+      joints: kinematicsData.joints,
+      links: kinematicsData.links,
+    };
+  }
+
   async getPosition(extra = {}, callOptions = this.callOptions) {
     const request = new GetPositionRequest({
       name: this.name,
@@ -130,4 +156,4 @@ export class GantryClient implements Gantry {
       callOptions
     );
   }
-}
+}

src/components/gantry/gantry.ts

@@ -1,6 +1,8 @@
 import type { Struct } from '@bufbuild/protobuf';
 import type { Resource } from '../../types';
 import type { Geometry } from '../../gen/common/v1/common_pb';
+import type { Frame } from '../../gen/app/v1/robot_pb';
+import type { Vector3 } from '../../types';
 
 /** Represents a physical gantry that exists in three-dimensional space. */
 export interface Gantry extends Resource {
@@ -21,6 +23,34 @@ export interface Gantry extends Resource {
    */
   getGeometries: (extra?: Struct) => Promise<Geometry[]>;
 
+  /**
+   * Get the kinematics information associated with the gantry.
+   *
+   * @example
+   *
+   * ```ts
+   * const gantry = new VIAM.GantryClient(machine, 'my_gantry');
+   * const kinematics = await gantry.getKinematics();
+   * console.log(kinematics);
+   * ```
+   *
+   * For more information, see [Gantry
+   * API](https://docs.viam.com/dev/reference/apis/components/gantry/#getkinematics).
+   */
+  getKinematics: (extra?: Struct) => Promise<{
+    name: string;
+    kinematic_param_type: 'SVA' | 'URDF' | 'UNSPECIFIED';
+    joints: {
+      id: string;
+      type: string;
+      parent: string;
+      axis: Vector3;
+      max: number;
+      min: number;
+    }[];
+    links: Frame[];
+  }>;
+
   /**
    * Move each axis of the gantry to the positionsMm at the speeds in
    * speedsMmPerSec.
@@ -144,4 +174,4 @@ export interface Gantry extends Resource {
    * API](https://docs.viam.com/dev/reference/apis/components/gantry/#ismoving).
    */
   isMoving: () => Promise<boolean>;
-}
+}