Added new method for EscapePod authentication & EscapePod examples

cmd/examples.escape-pod/battery/main.go

@@ -0,0 +1,32 @@
+package main
+
+import (
+	"context"
+	"fmt"
+	"log"
+	"os"
+
+	"github.com/digital-dream-labs/vector-go-sdk/pkg/vector"
+	"github.com/digital-dream-labs/vector-go-sdk/pkg/vectorpb"
+)
+
+func main() {
+
+	v, err := vector.NewEP(
+		vector.WithTarget(os.Getenv("BOT_TARGET")),
+	)
+	if err != nil {
+		log.Fatal(err)
+	}
+
+	bs, err := v.Conn.BatteryState(
+		context.Background(),
+		&vectorpb.BatteryStateRequest{},
+	)
+	if err != nil {
+		log.Fatal(err)
+	}
+
+	fmt.Println(bs)
+
+}

cmd/examples.escape-pod/lift/main.go

@@ -0,0 +1,50 @@
+package main
+
+import (
+	"context"
+	"fmt"
+	"log"
+	"os"
+
+	"github.com/digital-dream-labs/vector-go-sdk/pkg/vector"
+	"github.com/digital-dream-labs/vector-go-sdk/pkg/vectorpb"
+)
+
+func main() {
+
+	v, err := vector.NewEP(
+		vector.WithTarget(os.Getenv("BOT_TARGET")),
+	)
+	if err != nil {
+		log.Fatal(err)
+	}
+
+	ctx := context.Background()
+	start := make(chan bool)
+	stop := make(chan bool)
+
+	go func() {
+		_ = v.BehaviorControl(ctx, start, stop)
+	}()
+
+	for {
+		select {
+		case <-start:
+			_, err := v.Conn.SetLiftHeight(
+				ctx,
+				&vectorpb.SetLiftHeightRequest{
+					HeightMm:          250,
+					MaxSpeedRadPerSec: 1,
+					IdTag:             2000001,
+					DurationSec:       .001,
+				},
+			)
+			if err != nil {
+				fmt.Println(err)
+			}
+			stop <- true
+			return
+		}
+	}
+
+}

cmd/examples.escape-pod/speak/main.go

@@ -0,0 +1,44 @@
+package main
+
+import (
+	"context"
+	"log"
+	"os"
+
+	"github.com/digital-dream-labs/vector-go-sdk/pkg/vector"
+	"github.com/digital-dream-labs/vector-go-sdk/pkg/vectorpb"
+)
+
+func main() {
+
+	v, err := vector.NewEP(
+		vector.WithTarget(os.Getenv("BOT_TARGET")),
+	)
+	if err != nil {
+		log.Fatal(err)
+	}
+
+	ctx := context.Background()
+	start := make(chan bool)
+	stop := make(chan bool)
+
+	go func() {
+		_ = v.BehaviorControl(ctx, start, stop)
+	}()
+
+	for {
+		select {
+		case <-start:
+			_, _ = v.Conn.SayText(
+				ctx,
+				&vectorpb.SayTextRequest{
+					Text:           "hello, hello, hello",
+					UseVectorVoice: true,
+					DurationScalar: 1.0,
+				},
+			)
+			stop <- true
+			return
+		}
+	}
+}

pkg/vector/vector.go

@@ -1,6 +1,8 @@
 package vector
 
 import (
+	"context"
+	"flag"
 	"fmt"
 
 	"github.com/digital-dream-labs/hugh/grpc/client"
@@ -47,5 +49,52 @@ func New(opts ...Option) (*Vector, error) {
 	}
 
 	return &r, nil
+}
+
+// NewEP returns either a vector struct for escape pod vector, or an error on failure
+func NewEP(opts ...Option) (*Vector, error) {
+	cfg := options{}
+
+	for _, opt := range opts {
+		opt(&cfg)
+	}
+	if cfg.target == "" {
+		var host = flag.String("host", "", "Vector's IP address")
+		flag.Parse()
+		if *host == "" {
+			return nil, fmt.Errorf("please set the BOT_TARGET env variable, or use the -host argument and set it to your robots IP address")
+		}
+		cfg.target = fmt.Sprintf("%s:443", *host)
+	}
+	if cfg.target == "" {
+		return nil, fmt.Errorf("configuration options missing")
+	}
+
+	c, err := client.New(
+		client.WithTarget(cfg.target),
+		client.WithInsecureSkipVerify(),
+	)
+	if err != nil {
+		return nil, err
+	}
+	if err := c.Connect(); err != nil {
+		return nil, err
+	}
 
+	vc := vectorpb.NewExternalInterfaceClient(c.Conn())
+
+	login, err := vc.UserAuthentication(context.Background(),
+		&vectorpb.UserAuthenticationRequest{
+			UserSessionId: []byte("anything1"),
+			ClientName:    []byte("anything2"),
+		},
+	)
+	if err != nil {
+		return nil, err
+	}
+
+	return New(
+		WithTarget(cfg.target),
+		WithToken(string(login.ClientTokenGuid)),
+	)
 }