RSDK-4317 RC card power sensor (viamrobotics#2765)

components/powersensor/powersensor.go

@@ -106,13 +106,14 @@ func Readings(ctx context.Context, g PowerSensor, extra map[string]interface{})
 		readings["is_ac"] = isAC
 	}
 
-	cur, _, err := g.Current(ctx, extra)
+	cur, isAC, err := g.Current(ctx, extra)
 	if err != nil {
 		if !strings.Contains(err.Error(), ErrMethodUnimplementedCurrent.Error()) {
 			return nil, err
 		}
 	} else {
 		readings["current"] = cur
+		readings["is_ac"] = isAC
 	}
 
 	pow, err := g.Power(ctx, extra)

examples/apis.json

@@ -52,6 +52,10 @@
     "func": "LinearAcceleration",
     "args": ["context.Background()", "map[string]interface{}{}"]
   },
+  "power_sensor": {
+    "func": "Voltage",
+    "args": ["context.Background()", "map[string]interface{}{}"]
+  },
   "pose_tracker": {
     "func": "Poses",
     "args": []

web/frontend/src/components/power-sensor/index.svelte

@@ -0,0 +1,81 @@
+<script lang="ts">
+
+import { PowerSensorClient, type ServiceError } from '@viamrobotics/sdk';
+import { displayError } from '@/lib/error';
+import Collapse from '@/lib/components/collapse.svelte';
+import { rcLogConditionally } from '@/lib/log';
+import { setAsyncInterval } from '@/lib/schedule';
+import { useRobotClient, useDisconnect } from '@/hooks/robot-client';
+
+export let name: string;
+
+const { robotClient } = useRobotClient();
+
+const powerSensorClient = new PowerSensorClient($robotClient, name, {
+  requestLogger: rcLogConditionally,
+});
+
+let voltageValue: number | undefined;
+let currentValue: number | undefined;
+let powerValue: number | undefined;
+
+let clearInterval: (() => void) | undefined;
+
+const refresh = async () => {
+  try {
+    const readings = await powerSensorClient.getReadings();
+    voltageValue = readings.voltage;
+    currentValue = readings.current;
+    powerValue = readings.power;
+  } catch (error) {
+    displayError(error as ServiceError);
+  }
+};
+
+const handleToggle = (event: CustomEvent<{ open: boolean }>) => {
+  if (event.detail.open) {
+    refresh();
+    clearInterval = setAsyncInterval(refresh, 500);
+  } else {
+    clearInterval?.();
+  }
+};
+
+useDisconnect(() => clearInterval?.());
+
+</script>
+
+<Collapse title={name} on:toggle={handleToggle}>
+    <v-breadcrumbs slot="title" crumbs="power_sensor" />
+    <div class="flex flex-wrap gap-5 text-sm border border-t-0 border-medium p-4">
+      {#if voltageValue !== undefined}
+        <div class="overflow-auto">
+          <small class='block pt-1 text-sm text-subtle-2'> voltage (volts)</small>
+          <div class="flex gap-1.5">
+            <small class='block pt-1 text-sm text-subtle-1'>  {voltageValue.toFixed(4)} </small>
+          </div>
+        </div>
+        {/if}
+        {#if currentValue !== undefined}
+        <div class="overflow-auto">
+          <small class='block pt-1 text-sm text-subtle-2'>
+           current (amps)
+          </small>
+          <div class="flex gap-1.5">
+            <small class='block pt-1 text-sm text-subtle-1'> {currentValue.toFixed(4)}</small>
+          </div>
+        </div>
+        {/if}
+        {#if powerValue !== undefined}
+        <div class="overflow-auto">
+          <small class='block pt-1 text-sm text-subtle-2'>
+            power (watts)
+          </small>
+          <div class="flex gap-1.5">
+            <small class='block pt-1 text-sm text-subtle-1'>  {powerValue.toFixed(4)} </small>
+          </div>
+        </div>
+        {/if}
+        </div>
+    </Collapse>
+

web/frontend/src/components/remote-control-cards.svelte

@@ -19,6 +19,7 @@ import InputController from './input-controller/index.svelte';
 import Motor from './motor/index.svelte';
 import MovementSensor from './movement-sensor/index.svelte';
 import Navigation from './navigation/index.svelte';
+import PowerSensor from './power-sensor/index.svelte';
 import Servo from './servo/index.svelte';
 import Sensors from './sensors/index.svelte';
 import Slam from './slam/index.svelte';
@@ -119,6 +120,11 @@ const getStatus = (statusMap: Record<string, unknown>, resource: commonApi.Resou
       <MovementSensor {name} />
     {/each}
 
+     <!-- ******* POWER SENSOR *******  -->
+    {#each filterSubtype($components, 'power_sensor') as { name } (name)}
+      <PowerSensor {name} />
+    {/each}
+
     <!-- ******* ARM *******  -->
     {#each filterSubtype($components, 'arm') as arm (arm.name)}
       <Arm