'use strict';

const { BaseClient } = require('./common');
const { add_lease_wallet_processors } = require('./lease');
const manipulation_api_service_grpc_pb = require('../bosdyn/api/manipulation_api_service_grpc_pb');

/**
 * Client for the ManipulationAPI service.
 * @class ManipulationApiClient
 * @extends BaseClient
 */
class ManipulationApiClient extends BaseClient {
  static default_service_name = 'manipulation';
  static service_type = 'bosdyn.api.ManipulationApiService';

  /**
   * Create an instance of ManipulationApiClient's class.
   * @param {string} [name=null] Name of the Class.
   */
  constructor(name = null) {
    super(manipulation_api_service_grpc_pb.ManipulationApiServiceClient, name);
  }

  /**
   * Update instance from another object.
   * @param {Object} other The object where to copy from.
   * @returns {void}
   */
  update_from(other) {
    super.update_from(other);
    if (this.lease_wallet) add_lease_wallet_processors(this, this.lease_wallet);
  }

  /**
   * Issue a manipulation api command to the robot.
   * @param {manipulation_api_pb.ManipulationApiRequest} manipulation_api_request The command request
   * for a manipulation task.
   * @param {Object} args Extra arguments for controlling RPC details.
   * @returns {Promise<manipulation_api_pb.ManipulationApiResponse>} The full ManipulationApiResponse message,
   * which includes a command id for feedback.
   */
  manipulation_api_command(manipulation_api_request, args) {
    return this.call(this._stub.manipulationApi, manipulation_api_request, null, null, args);
  }

  /**
   * Issue a manipulation api feedback request to the robot.
   * @param {manipulation_api_pb.ManipulationApiFeedbackRequest} manipulation_api_feedback_request The request for
   * feedback for a specific manipulation command.
   * @param {Object} args Extra arguments for controlling RPC details.
   * @returns {Promise<manipulation_api_pb.ManipulationApiFeedbackResponse>} The full ManipulationApiFeedbackResponse
   * message.
   */
  manipulation_api_feedback_command(manipulation_api_feedback_request, args) {
    return this.call(this._stub.manipulationApiFeedback, manipulation_api_feedback_request, null, null, args);
  }
}

module.exports = {
  ManipulationApiClient,
};