RSDK-9621: Add Discover Service and GetModelsFromModules to Typescript

src/robot/client.ts

@@ -701,6 +701,13 @@ export class RobotClient extends EventDispatcher implements Robot {
     return resp.discovery;
   }
 
+  // GET MODELS FROM MODULES
+
+  async getModelsFromModules() {
+    const resp = await this.robotService.getModelsFromModules();
+    return resp.model;
+  }
+
   // GET CLOUD METADATA
 
   async getCloudMetadata() {

src/robot/robot.ts

@@ -2,6 +2,7 @@ import type { Struct } from '@bufbuild/protobuf';
 import { MachineConnectionEvent } from '../events';
 import type { PoseInFrame, Transform } from '../gen/common/v1/common_pb';
 import type proto from '../gen/robot/v1/robot_pb';
+import type { ComponentConfig } from '../gen/app/v1/robot_pb';
 import type { ResourceName } from '../types';
 
 export type CloudMetadata = proto.GetCloudMetadataResponse;
@@ -113,6 +114,15 @@ export interface Robot {
     queries: proto.DiscoveryQuery[]
   ): Promise<proto.Discovery[]>;
 
+  /**
+   * Get the list of discovered component configurations.
+   *
+   * @group ComponentConfig
+   * @alpha
+   */
+  getModelsFromModules(
+  ): Promise<ComponentConfig[]>;
+
   /**
    * Get a list of all resources on the robot.
    *

src/services/discovery.ts

@@ -0,0 +1,2 @@
+export { DiscoveryClient } from './discovery/client';
+export type { Discovery } from './discovery/discovery';

src/services/discovery/client.spec.ts

@@ -0,0 +1,51 @@
+// @vitest-environment happy-dom
+
+import {
+  createPromiseClient,
+  createRouterTransport,
+} from '@connectrpc/connect';
+import { beforeEach, describe, expect, it, vi } from 'vitest';
+import { DiscoveryService } from '../../gen/service/discovery/v1/discovery_connect';
+import {
+  DiscoverResourcesRequest,
+  DiscoverResourcesResponse,
+} from '../../gen/service/discovery/v1/discovery_pb';
+import { RobotClient } from '../../robot';
+import { DiscoveryClient } from './client';
+import { ComponentConfig } from '../../gen/app/v1/robot_pb';
+vi.mock('../../robot');
+vi.mock('../../gen/service/discovery/v1/discovery_pb_service');
+
+const discoveryClientName = 'test-discovery';
+
+let discovery: DiscoveryClient;
+
+const discoveries: ComponentConfig = new ComponentConfig();
+
+describe('DiscoveryClient Tests', () => {
+  beforeEach(() => {
+    const mockTransport = createRouterTransport(({ service }) => {
+      service(DiscoveryService, {
+        discoverResources: () =>
+          new DiscoverResourcesResponse({ discovery: [discoveries] }),
+      });
+    });
+
+    RobotClient.prototype.createServiceClient = vi
+      .fn()
+      .mockImplementation(() =>
+        createPromiseClient(DiscoveryService, mockTransport)
+      );
+    discovery = new DiscoveryClient(new RobotClient('host'), discoveryClientName);
+  });
+
+  describe('Discovery Resources Tests', () => {
+    it('returns resources from a machine', async () => {
+      const expected = [discoveries];
+
+      await expect(
+        discovery.discoverResources('discovery')
+      ).resolves.toStrictEqual(expected);
+    });
+  });
+});

src/services/discovery/client.ts

@@ -0,0 +1,61 @@
+import { Struct, type JsonValue } from '@bufbuild/protobuf';
+import type { CallOptions, PromiseClient } from '@connectrpc/connect';
+import { DiscoveryService } from '../../gen/service/discover/v1/discovery_connect';
+import {
+  DiscoverResourcesRequest,
+  DiscoverResourcesResponse,
+} from '../../gen/service/discovery/v1/discovery_pb';
+import type { RobotClient } from '../../robot';
+import { doCommandFromClient } from '../../utils';
+import type { Discovery } from './discovery';
+
+/**
+ * A gRPC-web client for a Vision service.
+ *
+ * @group Clients
+ */
+export class DiscoveryClient implements Discovery {
+  private client: PromiseClient<typeof DiscoveryService>;
+  private readonly name: string;
+  private readonly options: Options;
+  public callOptions: CallOptions = { headers: {} as Record<string, string> };
+
+  constructor(client: RobotClient, name: string, options: Options = {}) {
+    this.client = client.createServiceClient(DiscoveryService);
+    this.name = name;
+    this.options = options;
+  }
+
+  async discoverResources(
+    discoveryName: string,
+    extra = {},
+    callOptions = this.callOptions
+  ) {
+    const request = new DiscoverResourcesRequest({
+      name: this.name,
+      discoveryName,
+      extra: Struct.fromJson(extra),
+    });
+
+    this.options.requestLogger?.(request);
+
+    const resp = await this.client.discoverResources(
+      request,
+      callOptions
+    );
+    return resp.discovery;
+  }
+
+  async doCommand(
+    command: Struct,
+    callOptions = this.callOptions
+  ): Promise<JsonValue> {
+    return doCommandFromClient(
+      this.client.doCommand,
+      this.name,
+      command,
+      this.options,
+      callOptions
+    );
+  }
+}

src/services/discovery/discovery.ts

@@ -0,0 +1,17 @@
+import type { Struct } from '@bufbuild/protobuf';
+import type { Resource } from '../../types';
+import type { ComponentConfig } from '../../gen/app/v1/robot_pb';
+
+/** A service that enables various computer vision algorithms */
+export interface Discovery extends Resource {
+  /**
+   * Get a list of detections in the next image given a camera.
+   *
+   * @param discoveryName - The name of the discovery service.
+   * @returns - The list of ComponentConfigs.
+   */
+  discoverResources: (
+    discoveryName: string,
+    extra?: Struct
+  ) => Promise<ComponentConfig[]>;
+}