[WORKFLOW] AI update based on proto changes from commit c9b203b

Author: viambot

lib/src/components/gantry/client.dart

@@ -81,4 +81,13 @@ class GantryClient extends Gantry with RPCDebugLoggerMixin implements ResourceRP
     final response = await client.doCommand(request, options: callOptions);
     return response.result.toMap();
   }
-}
+
+  @override
+  Future<KinematicsFile> kinematics({Map<String, dynamic>? extra}) async {
+    final request = GetKinematicsRequest()
+      ..name = name
+      ..extra = extra?.toStruct() ?? Struct();
+    final response = await client.getKinematics(request, options: callOptions);
+    return response.kinematicsFile;
+  }
+}

lib/src/components/gantry/gantry.dart

@@ -1,6 +1,7 @@
 import '../../gen/common/v1/common.pb.dart';
 import '../../resource/base.dart';
 import '../../robot/client.dart';
+import '../../gen/component/gantry/v1/gantry.pb.dart';
 
 /// {@category Components}
 /// Gantry represents a physical Gantry and can be used for controlling gantries of N axes.
@@ -63,6 +64,15 @@ abstract class Gantry extends Resource {
   /// For more information, see [Gantry component](https://docs.viam.com/dev/reference/apis/components/gantry/#ismoving).
   Future<bool> isMoving();
 
+  /// Get the [KinematicsFile] of the gantry.
+  ///
+  /// ```
+  /// var kinematics = await myGantry.kinematics();
+  /// ```
+  ///
+  /// For more information, see [Gantry component](https://docs.viam.com/dev/reference/apis/components/gantry/#getkinematics).
+  Future<KinematicsFile> kinematics({Map<String, dynamic>? extra});
+
   /// Get the [ResourceName] for this [Gantry] with the given [name]
   ///
   /// ```
@@ -84,4 +94,4 @@ abstract class Gantry extends Resource {
   static Gantry fromRobot(RobotClient robot, String name) {
     return robot.getResource(Gantry.getResourceName(name));
   }
-}
+}

lib/src/components/gantry/service.dart

@@ -75,4 +75,11 @@ class GantryService extends GantryServiceBase {
     // TODO: implement getGeometries
     throw UnimplementedError();
   }
-}
+
+  @override
+  Future<GetKinematicsResponse> getKinematics(ServiceCall call, GetKinematicsRequest request) async {
+    final gantry = _fromManager(request.name);
+    final response = await gantry.kinematics(extra: request.extra.toMap());
+    return GetKinematicsResponse()..kinematicsFile = response;
+  }
+}

test/unit_test/components/gantry_test.dart

@@ -57,6 +57,12 @@ class FakeGantry extends Gantry {
   Future<List<double>> position({Map<String, dynamic>? extra}) async {
     return positions;
   }
+
+  @override
+  Future<KinematicsFile> kinematics({Map<String, dynamic>? extra}) async {
+    this.extra = extra;
+    return KinematicsFile()..kinematicsData = 'fake kinematics data';
+  }
 }
 
 void main() {
@@ -233,6 +239,21 @@ void main() {
           ..extra = {'foo': 'bar'}.toStruct());
         expect(gantry.extra, {'foo': 'bar'});
       });
+
+      test('kinematics', () async {
+        final client = GantryServiceClient(channel);
+        final response = await client.getKinematics(GetKinematicsRequest()..name = name);
+        expect(response.kinematicsFile.kinematicsData, 'fake kinematics data');
+      });
+
+      test('kinematics with extra', () async {
+        expect(gantry.extra, null);
+        final client = GantryServiceClient(channel);
+        await client.getKinematics(GetKinematicsRequest()
+          ..name = name
+          ..extra = {'foo': 'bar'}.toStruct());
+        expect(gantry.extra, {'foo': 'bar'});
+      });
     });
     group('Gantry Client Tests', () {
       test('position', () async {
@@ -292,6 +313,19 @@ void main() {
         await client.stop(extra: {'foo': 'bar'});
         expect(gantry.extra, {'foo': 'bar'});
       });
+
+      test('kinematics', () async {
+        final client = GantryClient(name, channel);
+        final response = await client.kinematics();
+        expect(response.kinematicsData, 'fake kinematics data');
+      });
+
+      test('kinematics with extra', () async {
+        expect(gantry.extra, null);
+        final client = GantryClient(name, channel);
+        await client.kinematics(extra: {'foo': 'bar'});
+        expect(gantry.extra, {'foo': 'bar'});
+      });
     });
   });
 }