RSDK-9622: Add Discover Service and GetModelsFromModules to Flutter

lib/src/resource/registry.dart

@@ -69,6 +69,7 @@ class Registry {
     registerSubtype(ResourceRegistration(Sensor.subtype, (name, channel) => SensorClient(name, channel)));
     registerSubtype(ResourceRegistration(Servo.subtype, (name, channel) => ServoClient(name, channel)));
     registerSubtype(ResourceRegistration(VisionClient.subtype, (name, channel) => VisionClient(name, channel)));
+    registerSubtype(ResourceRegistration(DiscoveryClient.subtype, (name, channel) => DiscoverClient(name, channel)));
   }
 
   /// The [Subtype] available in the SDK

lib/src/robot/client.dart

@@ -349,4 +349,14 @@ class RobotClient {
     final response = await _client.discoverComponents(request);
     return response.discovery.map((d) => Discovery.fromProto(d)).toList();
   }
+
+  /// GetModelsFromModules returns the list of models supported in modules on the machine.
+  ///
+  /// ```
+  /// var modelsFromModules = await machine.getModelsFromModules();
+  /// ```
+  Future<List<ModuleModel>> getModelsFromModules() async {
+    final response = await _client.getModelsFromModules(request);
+    return response.model.map((d) => ModuleModel.fromProto(d)).toList();
+  }
 }

lib/src/services/discovery.dart

@@ -0,0 +1,56 @@
+import 'package:fixnum/fixnum.dart';
+import 'package:grpc/grpc_connection_interface.dart';
+
+import '../../protos/common/common.dart';
+import '../../protos/service/discovery.dart';
+import '../media/image.dart';
+import '../resource/base.dart';
+import '../robot/client.dart';
+import '../utils.dart';
+
+/// {@category Services}
+class DiscoveryClient extends Resource implements ResourceRPCClient {
+  static const Subtype subtype = Subtype(resourceNamespaceRDK, resourceTypeService, 'discovery');
+
+  @override
+  final String name;
+
+  @override
+  ClientChannelBase channel;
+
+  @override
+  DiscoveryServiceClient get client => DiscoveryServiceClient(channel);
+
+  DiscoveryClient(this.name, this.channel);
+
+  /// Returns a list of [ComponentConfig]s for all discovered viam resources connected to the viam-server machine.
+  ///
+  /// ```
+  /// // Example:
+  /// var resources = await myDiscoveryService.discoverResources('myWebcam');
+  /// ```
+  Future<List<ComponentConfig>> discoverResources(String discoveryName, {Map<String, dynamic>? extra}) async {
+    final request = DiscoverResourcesRequest(name: name, extra: extra?.toStruct());
+    final response = await client.discoverResources(request);
+    return response.discovery;
+  }
+
+  @override
+  Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
+    final request = DoCommandRequest()
+      ..name = name
+      ..command = command.toStruct();
+    final response = await client.doCommand(request);
+    return response.result.toMap();
+  }
+
+  /// Get the [ResourceName] for this [DiscoveryClient] with the given [name]
+  static ResourceName getResourceName(String name) {
+    return DiscoveryClient.subtype.getResourceName(name);
+  }
+
+  /// Get the [DiscoveryClient] named [name] from the provided robot.
+  static DiscoveryClient fromRobot(RobotClient robot, String name) {
+    return robot.getResource(DiscoveryClient.getResourceName(name));
+  }
+}

test/unit_test/services/discovery_test.dart

@@ -0,0 +1,39 @@
+import 'package:fixnum/fixnum.dart';
+import 'package:flutter_test/flutter_test.dart';
+import 'package:mockito/mockito.dart';
+import 'package:viam_sdk/protos/service/discovery.dart';
+import 'package:viam_sdk/src/gen/common/v1/common.pb.dart';
+import 'package:viam_sdk/src/gen/service/discovery/v1/discovery.pbgrpc.dart';
+import 'package:viam_sdk/viam_sdk.dart';
+
+import '../mocks/mock_response_future.dart';
+import '../mocks/service_clients_mocks.mocks.dart';
+
+class FakeDiscoveryClient extends DiscoverClient {
+  @override
+  DiscoveryServiceClient get client => _client;
+
+  final MockDiscoveryServiceClient _client;
+
+  FakeDiscoveryClient(super.name, super.channel, this._client);
+}
+
+void main() {
+  late DiscoveryClient client;
+  late MockDiscoveryServiceClient serviceClient;
+
+  setUp(() {
+    serviceClient = MockDiscoveryServiceClient();
+    client = FakeDiscoveryClient('discovery', MockClientChannelBase(), serviceClient);
+  });
+
+  group('Discovery RPC Client Tests', () {
+    test('discoverResources', () async {
+      final expected = [ComponentConfig()];
+      when(serviceClient.discoverResources(any))
+          .thenAnswer((_) => MockResponseFuture.value(DiscoverResourcesResponse(discovery: expected)));
+      final response = await client.discoverResources('discoveryName');
+      expect(response, equals(expected));
+    });
+  });
+}