Implements new Parameter Dump to API (#59)

* added actuator parameter dump api

Author: nfreq

Cargo.toml

@@ -7,13 +7,14 @@ members = [
 ]
 
 [workspace.package]
-version = "0.7.5"
+version = "0.7.7"
 authors = [
     "Benjamin Bolte <ben@kscale.dev>",
     "Denys Bezmenov <denys@kscale.dev>",
     "Jingxiang Mo <jx@kscale.dev>",
     "Pawel Budzianowski <pawel@kscale.dev>",
     "Wesley Maa <wesley@kscale.dev>",
+    "Scott Carlson <scott@kscale.dev>",
 ]
 edition = "2021"
 license = "MIT"

kos-py/pykos/__init__.py

@@ -1,6 +1,6 @@
 """KOS Python client."""
 
-__version__ = "0.7.6"
+__version__ = "0.7.7"
 
 from . import services
 from .client import KOS

kos-py/pykos/services/actuator.py

@@ -378,3 +378,18 @@ async def zero_actuators(
             actuator_id=actuator_id,
             zero_position=True,
         )
+
+    async def parameter_dump(
+        self,
+        actuator_ids: list[int],
+    ) -> actuator_pb2.ParameterDumpResponse:
+        """Fetch parameters for specified actuators.
+
+        Args:
+            actuator_ids: List of actuator IDs to query.
+
+        Returns:
+            A ParameterDumpResponse containing parameter maps for each actuator.
+        """
+        request = actuator_pb2.ParameterDumpRequest(actuator_ids=actuator_ids)
+        return await self.stub.ParameterDump(request)

kos-stub/Cargo.toml

@@ -14,3 +14,4 @@ eyre = "0.6"
 uuid = { version = "1", features = ["v4"] }
 tokio = { version = "1", features = ["full"] }
 tracing = "0.1"
+prost-types = "0.13.5"

kos-stub/src/actuator.rs

@@ -9,13 +9,13 @@ use kos::{
     },
     kos_proto::{actuator::*, common::ActionResult},
 };
+use prost_types::{Struct, Value};
 use std::sync::mpsc::{channel, Sender};
 use std::sync::Arc;
 use std::thread;
 use tokio::runtime::Runtime;
 use tokio::time::Duration;
 use tracing::debug;
-
 pub struct StubActuator {
     operations: Arc<OperationsServiceImpl>,
     calibration_tx: Sender<u32>,
@@ -128,4 +128,23 @@ impl Actuator for StubActuator {
             faults: vec![],
         }])
     }
+
+    async fn get_parameters(&self, actuator_ids: Vec<u32>) -> Result<Vec<(u32, Struct)>> {
+        let dummy_struct = Struct {
+            fields: vec![
+                ("model".to_string(), Value::from("stub")),
+                ("firmware_version".to_string(), Value::from("0.0.1")),
+                ("max_torque".to_string(), Value::from(0.5)),
+            ]
+            .into_iter()
+            .collect(),
+        };
+
+        let results = actuator_ids
+            .into_iter()
+            .map(|id| (id, dummy_struct.clone()))
+            .collect();
+
+        Ok(results)
+    }
 }

kos/proto/kos/actuator.proto

@@ -4,6 +4,7 @@ package kos.actuator;
 
 import "google/protobuf/empty.proto";
 import "google/longrunning/operations.proto";
+import "google/protobuf/struct.proto";
 import "kos/common.proto";
 
 option go_package = "kos/actuator;actuator";
@@ -28,6 +29,9 @@ service ActuatorService {
 
     // Retrieves the state of multiple actuators.
     rpc GetActuatorsState(GetActuatorsStateRequest) returns (GetActuatorsStateResponse);
+
+    // Retrieves all available parameters for specified actuators.
+    rpc ParameterDump(ParameterDumpRequest) returns (ParameterDumpResponse);
 }
 
 // Message representing a command to an actuator.
@@ -104,3 +108,16 @@ message ActuatorStateResponse {
     optional float current = 8;      // Current in amperes
     repeated string faults = 9;      // Faults
 }
+
+message ParameterDumpRequest {
+    repeated uint32 actuator_ids = 1; // Actuators to query
+}
+
+message ParameterDumpResponse {
+    repeated ParameterDumpEntry entries = 1; // One entry per actuator
+}
+
+message ParameterDumpEntry {
+    uint32 actuator_id = 1;                  // Actuator ID
+    google.protobuf.Struct parameters = 2;   // Generic parameter dump (key-value map)
+}

kos/src/hal.rs

@@ -25,6 +25,10 @@ pub trait Actuator: Send + Sync {
         &self,
         actuator_ids: Vec<u32>,
     ) -> Result<Vec<ActuatorStateResponse>>;
+    async fn get_parameters(
+        &self,
+        actuator_ids: Vec<u32>,
+    ) -> Result<Vec<(u32, prost_types::Struct)>>;
 }
 
 #[async_trait]

kos/src/services/actuator.rs

@@ -7,7 +7,7 @@ use crate::telemetry::Telemetry;
 use crate::telemetry_types::{ActuatorCommand, ActuatorState};
 use std::sync::Arc;
 use tonic::{Request, Response, Status};
-use tracing::trace;
+use tracing::{trace, warn};
 
 pub struct ActuatorServiceImpl {
     actuator: Arc<dyn Actuator>,
@@ -49,7 +49,7 @@ impl ActuatorService for ActuatorServiceImpl {
                 .publish("actuator/command", &telemetry_commands)
                 .await
             {
-                tracing::warn!("Failed to publish telemetry: {}", e);
+                warn!("Failed to publish telemetry: {}", e);
             }
         }
 
@@ -99,7 +99,7 @@ impl ActuatorService for ActuatorServiceImpl {
         let telemetry = Telemetry::get().await;
         if let Some(telemetry) = telemetry {
             if let Err(e) = telemetry.publish("actuator/state", &telemetry_states).await {
-                tracing::warn!("Failed to publish telemetry: {}", e);
+                warn!("Failed to publish telemetry: {}", e);
             }
         }
 
@@ -110,4 +110,27 @@ impl ActuatorService for ActuatorServiceImpl {
         );
         Ok(Response::new(GetActuatorsStateResponse { states }))
     }
+
+    async fn parameter_dump(
+        &self,
+        request: Request<ParameterDumpRequest>,
+    ) -> Result<Response<ParameterDumpResponse>, Status> {
+        let ids = request.into_inner().actuator_ids;
+
+        let results = self
+            .actuator
+            .get_parameters(ids)
+            .await
+            .map_err(|e| Status::internal(format!("Failed to dump parameters: {:?}", e)))?;
+
+        let entries = results
+            .into_iter()
+            .map(|(actuator_id, parameters)| ParameterDumpEntry {
+                actuator_id,
+                parameters: Some(parameters),
+            })
+            .collect();
+
+        Ok(Response::new(ParameterDumpResponse { entries }))
+    }
 }