RSDK-7769, RSDK-7770 Add AppRobotClient and LogOutput dial option (#233)

lib/src/app/robot.dart

@@ -0,0 +1,42 @@
+import 'dart:async';
+
+import 'package:logger/logger.dart';
+import 'package:viam_sdk/src/gen/google/protobuf/timestamp.pb.dart';
+
+import '../gen/app/v1/robot.pbgrpc.dart';
+import '../gen/common/v1/common.pb.dart';
+
+/// gRPC client for connecting to app's RobotService.
+///
+/// All calls must be authenticated.
+class AppRobotClient {
+  final RobotServiceClient _client;
+
+  AppRobotClient(this._client);
+
+  /// Log the OutputEvent to app with the given partId.
+  Future<void> log(String partId, host, loggerName, OutputEvent event) async {
+    late String level;
+    switch (event.level) {
+      case Level.debug:
+        level = 'debug';
+      case Level.warning:
+        level = 'warning';
+      case Level.error:
+        level = 'error';
+      default:
+        // Assume info level if none of the above.
+        level = 'info';
+    }
+
+    // Assume log was just output (OutputEvent has no timestamp field).
+    final Timestamp protoTs = Timestamp.fromDateTime(DateTime.now());
+
+    // Join lines with '\n' and suffix with '\n'.
+    final String message = '${event.lines.join('\n')}\n';
+
+    final LogEntry entry = LogEntry(host: host, level: level, time: protoTs, loggerName: loggerName, message: message);
+    final request = LogRequest(id: partId, logs: [entry]);
+    await _client.log(request);
+  }
+}

lib/src/rpc/dial.dart

@@ -17,7 +17,13 @@ import '../utils.dart';
 import 'grpc/grpc_or_grpcweb_channel.dart';
 import 'web_rtc/web_rtc_client.dart';
 
-final _logger = Logger(printer: PrettyPrinter(printTime: true));
+Logger _newDialLogger(LogOutput? output) {
+  // Use a SimplePrinter, as flutter dial logs from the RC app are sent to app.viam.com,
+  // and pretty-printed logs are overly formatted.
+  return Logger(output: output, printer: SimplePrinter(colors: false));
+}
+
+var _logger = _newDialLogger(null);
 
 /// Describes the behavior for connecting to a robot
 class DialOptions {
@@ -56,6 +62,9 @@ class DialOptions {
 
   /// Timeout is the timeout for dial.
   Duration timeout = Duration(seconds: 10);
+
+  /// If specified, a custom log output for dial logs.
+  LogOutput? logOutput;
 }
 
 /// The credentials used for connecting to the robot
@@ -113,9 +122,11 @@ class DialWebRtcOptions {
 
 /// Connect to a robot at the provided address with the given options
 Future<ClientChannelBase> dial(String address, DialOptions? options, String Function() sessionCallback) async {
+  final opts = options ?? DialOptions();
+  _logger = _newDialLogger(opts.logOutput);
+
   final dialSW = Stopwatch()..start();
   _logger.i('Connecting to address $address');
-  final opts = options ?? DialOptions();
 
   if (opts.attemptMdns) {
     final mdnsSW = Stopwatch()..start();

lib/src/viam_sdk.dart

@@ -2,6 +2,7 @@ import './app/app.dart';
 import './app/billing.dart';
 import './app/data.dart';
 import './app/provisioning.dart';
+import './app/robot.dart';
 import './gen/app/v1/app.pbgrpc.dart';
 import './robot/client.dart';
 import './viam_sdk_impl.dart';
@@ -20,6 +21,9 @@ abstract class Viam {
   /// A client to communicate with Viam's app service
   AppClient get appClient;
 
+  /// A client to communicate with Viam's robot service
+  AppRobotClient get appRobotClient;
+
   /// A client to communicate with Viam's billing services
   BillingClient get billingClient;
 

lib/src/viam_sdk_impl.dart

@@ -6,24 +6,28 @@ import 'package:viam_sdk/protos/app/dataset.dart';
 import '../protos/app/app.dart';
 import '../protos/app/billing.dart';
 import '../protos/app/data.dart';
+import '../protos/app/robot.dart';
 import '../protos/provisioning/provisioning.dart';
 import './app/app.dart';
 import './app/billing.dart';
 import './app/data.dart';
 import './app/provisioning.dart';
+import './app/robot.dart';
 import './robot/client.dart';
 import './rpc/dial.dart';
 import './viam_sdk.dart';
 
 class ViamImpl implements Viam {
   final ClientChannelBase _clientChannelBase;
   late AppClient _appClient;
+  late AppRobotClient _appRobotClient;
   late BillingClient _billingClient;
   late DataClient _dataClient;
   late ProvisioningClient _provisioningClient;
 
   ViamImpl._withChannel(this._clientChannelBase) {
     _appClient = AppClient(AppServiceClient(_clientChannelBase));
+    _appRobotClient = AppRobotClient(RobotServiceClient(_clientChannelBase));
     _billingClient = BillingClient(BillingServiceClient(_clientChannelBase));
     _dataClient = DataClient(
         DataServiceClient(_clientChannelBase), DataSyncServiceClient(_clientChannelBase), DatasetServiceClient(_clientChannelBase));
@@ -33,6 +37,7 @@ class ViamImpl implements Viam {
   ViamImpl.withAccessToken(String accessToken, {String serviceHost = 'app.viam.com', int servicePort = 443})
       : _clientChannelBase = AuthenticatedChannel(serviceHost, servicePort, accessToken, servicePort == 443 ? false : true) {
     _appClient = AppClient(AppServiceClient(_clientChannelBase));
+    _appRobotClient = AppRobotClient(RobotServiceClient(_clientChannelBase));
     _billingClient = BillingClient(BillingServiceClient(_clientChannelBase));
     _dataClient = DataClient(
         DataServiceClient(_clientChannelBase), DataSyncServiceClient(_clientChannelBase), DatasetServiceClient(_clientChannelBase));
@@ -63,6 +68,11 @@ class ViamImpl implements Viam {
     return _appClient;
   }
 
+  @override
+  AppRobotClient get appRobotClient {
+    return _appRobotClient;
+  }
+
   @override
   BillingClient get billingClient {
     return _billingClient;

lib/viam_sdk.dart

@@ -5,6 +5,7 @@ library viam_sdk;
 export 'src/app/data.dart' hide DataClient;
 export 'src/app/permissions.dart';
 export 'src/app/provisioning.dart';
+export 'src/app/robot.dart';
 
 /// Components
 export 'src/components/arm/arm.dart';

test/unit_test/app/app_robot_client_test.dart

@@ -0,0 +1,28 @@
+import 'package:flutter_test/flutter_test.dart';
+import 'package:logger/logger.dart';
+import 'package:mockito/mockito.dart';
+import 'package:viam_sdk/src/gen/app/v1/robot.pbgrpc.dart';
+import 'package:viam_sdk/viam_sdk.dart';
+
+import '../mocks/mock_response_future.dart';
+import '../mocks/service_clients_mocks.mocks.dart';
+
+void main() {
+  late MockAppRobotServiceClient serviceClient;
+  late AppRobotClient appRobotClient;
+
+  setUp(() {
+    serviceClient = MockAppRobotServiceClient();
+    appRobotClient = AppRobotClient(serviceClient);
+  });
+
+  group('App Robot RPC Client Tests', () {
+    test('log', () async {
+      when(serviceClient.log(any)).thenAnswer((_) => MockResponseFuture.value(LogResponse()));
+
+      final event = LogEvent(Level.info, 'fake log message');
+      await appRobotClient.log('fakePartId', 'fakeHost', 'fakeLoggerName', OutputEvent(event, List.empty()));
+      verify(serviceClient.log(any)).called(1);
+    });
+  });
+}

test/unit_test/dial/dial_test.dart

@@ -0,0 +1,31 @@
+import 'package:flutter_test/flutter_test.dart';
+import 'package:logger/logger.dart';
+import 'package:viam_sdk/viam_sdk.dart';
+
+class TestLogOutput extends LogOutput {
+  final List<OutputEvent> _outputtedEvents = List.empty(growable: true);
+  TestLogOutput();
+
+  @override
+  void output(OutputEvent event) {
+    _outputtedEvents.add(event);
+  }
+
+  List<OutputEvent> outputtedEvents() {
+    return _outputtedEvents;
+  }
+}
+
+void main() {
+  group('dial', () {
+    test('custom log output', () {
+      final output = TestLogOutput();
+      final dialOpts = DialOptions()..logOutput = output;
+      // Dial to arbitrary address and assert that logs get redirected to TestLogOutput.
+      dial('foo', dialOpts, () => '');
+
+      final events = output.outputtedEvents();
+      expect(events.isNotEmpty, true);
+    });
+  });
+}

test/unit_test/mocks/service_clients_mocks.dart

@@ -5,13 +5,15 @@ import 'package:viam_sdk/protos/app/ml_training.dart';
 import 'package:viam_sdk/src/gen/app/data/v1/data.pbgrpc.dart';
 import 'package:viam_sdk/src/gen/app/v1/app.pbgrpc.dart';
 import 'package:viam_sdk/src/gen/app/v1/billing.pbgrpc.dart';
+import 'package:viam_sdk/src/gen/app/v1/robot.pbgrpc.dart' as app_robot;
 import 'package:viam_sdk/src/gen/provisioning/v1/provisioning.pbgrpc.dart';
 import 'package:viam_sdk/src/gen/robot/v1/robot.pbgrpc.dart';
 import 'package:viam_sdk/src/gen/service/vision/v1/vision.pbgrpc.dart';
 
 @GenerateNiceMocks([
   MockSpec<ClientChannelBase>(),
   MockSpec<RobotServiceClient>(),
+  MockSpec<app_robot.RobotServiceClient>(as: Symbol('MockAppRobotServiceClient')),
   MockSpec<AppServiceClient>(),
   MockSpec<DataServiceClient>(),
   MockSpec<ProvisioningServiceClient>(),