add powersensor/powersensor tests and also utils for converting betwe…

…en protobuf value / native types

core/sdk/src/main/java/com/viam/sdk/core/component/powersensor/PowerSensor.java

@@ -0,0 +1,84 @@
+package com.viam.sdk.core.component.powersensor;
+
+import com.google.protobuf.Struct;
+import com.viam.common.v1.Common;
+import com.viam.sdk.core.component.Component;
+import com.viam.sdk.core.resource.Resource;
+import com.viam.sdk.core.resource.Subtype;
+import com.viam.sdk.core.robot.RobotClient;
+
+import java.util.Map.Entry;
+
+
+import java.util.Map;
+import java.util.Optional;
+
+/**
+ * PowerSensor reports information about voltage, current and power.
+ */
+public abstract class PowerSensor extends Component {
+    public static final Subtype SUBTYPE = new Subtype(
+            Subtype.NAMESPACE_RDK,
+            Subtype.RESOURCE_TYPE_COMPONENT,
+            "power_sensor");
+
+    public PowerSensor(final String name) {
+        super(SUBTYPE, named(name));
+    }
+
+    /**
+     * Get the ResourceName of the component
+     *
+     * @param name the name of the component
+     * @return the component's ResourceName
+     */
+    public static Common.ResourceName named(final String name) {
+        return Resource.named(SUBTYPE, name);
+    }
+
+    /**
+     * Get the component with the provided name from the provided robot.
+     *
+     * @param robot the RobotClient
+     * @param name  the name of the component
+     * @return the component
+     */
+    public static PowerSensor fromRobot(final RobotClient robot, final String name) {
+        return robot.getResource(PowerSensor.class, named(name));
+    }
+
+    /**
+     * Return the voltage reading of a specified device and whether it is AC or DC.
+     *
+     * @return the pair where the first double representing the voltage reading in V, the second bool indicating whether the voltage is AC (`true`) or DC
+     * (`false`).
+     */
+    public abstract Entry<Double, Boolean> getVoltage(Optional<Struct> extra);
+
+    /**
+     * Return the current of a specified device and whether it is AC or DC.
+     *
+     * @return the pair where the first double representing the current reading in V, the second bool indicating whether the current is AC (`true`) or DC
+     * *             (`false`).
+     */
+    public abstract Entry<Double, Boolean> getCurrent(Optional<Struct> extra);
+
+    /**
+     * Return the power reading in watts.
+     *
+     * @return the power reading in watts
+     */
+    public abstract double getPower(Optional<Struct> extra);
+
+
+    /**
+     * Get the measurements or readings that this power sensor provides. If a sensor is not configured correctly or fails to read a
+     * piece of data, it will not appear in the readings dictionary.
+     *
+     * @return The readings for the PowerSensor. Object should be of type Vector3, GeoPoint, Orientation, or any Value type. Includes voltage in volts (float), current in
+     * amperes (float), is_ac (bool), and power in watts (float).
+     */
+    public abstract Map<String, Object> getReadings(Optional<Struct> extra);
+
+
+}

core/sdk/src/main/java/com/viam/sdk/core/component/powersensor/PowerSensorRPCClient.java

@@ -0,0 +1,66 @@
+package com.viam.sdk.core.component.powersensor;
+
+import com.google.protobuf.Struct;
+import com.google.protobuf.Value;
+import com.viam.common.v1.Common;
+import com.viam.component.powersensor.v1.PowerSensorServiceGrpc;
+import com.viam.component.powersensor.v1.Powersensor;
+import com.viam.sdk.core.rpc.Channel;
+import com.viam.sdk.core.util.Utils;
+
+import java.util.Map;
+import java.util.Map.Entry;
+import java.util.Optional;
+
+public class PowerSensorRPCClient extends PowerSensor {
+    private final PowerSensorServiceGrpc.PowerSensorServiceBlockingStub client;
+
+    public PowerSensorRPCClient(final String name, final Channel chan) {
+        super(name);
+        final PowerSensorServiceGrpc.PowerSensorServiceBlockingStub client = PowerSensorServiceGrpc.newBlockingStub(chan);
+        if (chan.getCallCredentials().isPresent()) {
+            this.client = client.withCallCredentials(chan.getCallCredentials().get());
+        } else {
+            this.client = client;
+        }
+    }
+
+    @Override
+    public Struct doCommand(final Map<String, Value> command) {
+        return client.doCommand(Common.DoCommandRequest.newBuilder().
+                setName(getName().getName()).
+                setCommand(Struct.newBuilder().putAllFields(command).build()).
+                build()).getResult();
+    }
+
+    @Override
+    public Entry<Double, Boolean> getVoltage(Optional<Struct> extra) {
+        Powersensor.GetVoltageRequest.Builder builder = com.viam.component.powersensor.v1.Powersensor.GetVoltageRequest.newBuilder().setName(this.getName().getName());
+        extra.ifPresent(builder::setExtra);
+        Powersensor.GetVoltageResponse response = client.getVoltage(builder.build());
+        return Map.entry(response.getVolts(), response.getIsAc());
+    }
+
+    @Override
+    public Map.Entry<Double, Boolean> getCurrent(Optional<Struct> extra) {
+        Powersensor.GetCurrentRequest.Builder builder = com.viam.component.powersensor.v1.Powersensor.GetCurrentRequest.newBuilder().setName(this.getName().getName());
+        extra.ifPresent(builder::setExtra);
+        Powersensor.GetCurrentResponse response = client.getCurrent(builder.build());
+        return Map.entry(response.getAmperes(), response.getIsAc());
+    }
+
+    @Override
+    public double getPower(Optional<Struct> extra) {
+        Powersensor.GetPowerRequest.Builder builder = com.viam.component.powersensor.v1.Powersensor.GetPowerRequest.newBuilder().setName(this.getName().getName());
+        extra.ifPresent(builder::setExtra);
+        return client.getPower(builder.build()).getWatts();
+    }
+
+    @Override
+    public Map<String, Object> getReadings(Optional<Struct> extra) {
+        Common.GetReadingsRequest.Builder builder = Common.GetReadingsRequest.newBuilder().setName(this.getName().getName());
+        extra.ifPresent(builder::setExtra);
+        return Utils.sensorReadingsValueToNative(client.getReadings(builder.build()).getReadingsMap());
+
+    }
+}

core/sdk/src/main/java/com/viam/sdk/core/component/powersensor/PowerSensorRPCService.java

@@ -0,0 +1,78 @@
+package com.viam.sdk.core.component.powersensor;
+
+import com.google.protobuf.Struct;
+import com.google.protobuf.Value;
+import com.viam.common.v1.Common;
+import com.viam.component.powersensor.v1.PowerSensorServiceGrpc;
+import com.viam.component.powersensor.v1.Powersensor;
+import com.viam.sdk.core.resource.ResourceManager;
+import com.viam.sdk.core.resource.ResourceRPCService;
+import com.viam.sdk.core.util.Utils;
+import io.grpc.stub.StreamObserver;
+
+import java.util.Map;
+import java.util.Map.Entry;
+import java.util.Optional;
+
+public class PowerSensorRPCService extends PowerSensorServiceGrpc.PowerSensorServiceImplBase implements ResourceRPCService<PowerSensor> {
+
+    private final ResourceManager manager;
+
+    public PowerSensorRPCService(ResourceManager manager) {
+        this.manager = manager;
+    }
+
+    @Override
+    public Class<PowerSensor> getResourceClass() {
+        return PowerSensor.class;
+    }
+
+    @Override
+    public ResourceManager getManager() {
+        return manager;
+    }
+
+
+    @Override
+    public void getVoltage(Powersensor.GetVoltageRequest request, StreamObserver<Powersensor.GetVoltageResponse> responseObserver) {
+        PowerSensor powerSensor = getResource(PowerSensor.named(request.getName()));
+        Entry<Double, Boolean> voltage = powerSensor.getVoltage(Optional.of(request.getExtra()));
+        responseObserver.onNext(com.viam.component.powersensor.v1.Powersensor.GetVoltageResponse.newBuilder().setVolts(voltage.getKey()).setIsAc(voltage.getValue()).build());
+        responseObserver.onCompleted();
+    }
+
+    @Override
+    public void getCurrent(Powersensor.GetCurrentRequest request, StreamObserver<Powersensor.GetCurrentResponse> responseObserver) {
+        PowerSensor powerSensor = getResource(PowerSensor.named(request.getName()));
+        Entry<Double, Boolean> current = powerSensor.getCurrent(Optional.of(request.getExtra()));
+        responseObserver.onNext(com.viam.component.powersensor.v1.Powersensor.GetCurrentResponse.newBuilder().setAmperes(current.getKey()).setIsAc(current.getValue()).build());
+        responseObserver.onCompleted();
+    }
+
+    @Override
+    public void getPower(Powersensor.GetPowerRequest request, StreamObserver<Powersensor.GetPowerResponse> responseObserver) {
+        PowerSensor powerSensor = getResource(PowerSensor.named(request.getName()));
+        double power = powerSensor.getPower(Optional.of(request.getExtra()));
+        responseObserver.onNext(com.viam.component.powersensor.v1.Powersensor.GetPowerResponse.newBuilder().setWatts(power).build());
+        responseObserver.onCompleted();
+    }
+
+    @Override
+    public void getReadings(Common.GetReadingsRequest request, StreamObserver<Common.GetReadingsResponse> responseObserver) {
+        PowerSensor powerSensor = getResource(PowerSensor.named(request.getName()));
+        Map<String, Value> readings = Utils.sensorReadingsNativeToValue(powerSensor.getReadings(Optional.of(request.getExtra())));
+        responseObserver.onNext(Common.GetReadingsResponse.newBuilder().putAllReadings(readings).build());
+        responseObserver.onCompleted();
+    }
+    @Override
+    public void doCommand(Common.DoCommandRequest request,
+                          StreamObserver<Common.DoCommandResponse> responseObserver) {
+
+        PowerSensor powerSensor = getResource(PowerSensor.named(request.getName()));
+        Struct result = powerSensor.doCommand(request.getCommand().getFieldsMap());
+        responseObserver.onNext(Common.DoCommandResponse.newBuilder().setResult(result).build());
+        responseObserver.onCompleted();
+    }
+
+}
+

core/sdk/src/main/java/com/viam/sdk/core/resource/ResourceManager.java

@@ -8,6 +8,7 @@
 import com.viam.component.gripper.v1.GripperServiceGrpc;
 import com.viam.component.motor.v1.MotorServiceGrpc;
 import com.viam.component.movementsensor.v1.MovementSensorServiceGrpc;
+import com.viam.component.powersensor.v1.PowerSensorServiceGrpc;
 import com.viam.component.sensor.v1.SensorServiceGrpc;
 import com.viam.component.servo.v1.ServoServiceGrpc;
 import com.viam.sdk.core.component.board.Board;
@@ -28,6 +29,9 @@
 import com.viam.sdk.core.component.movementsensor.MovementSensor;
 import com.viam.sdk.core.component.movementsensor.MovementSensorRPCClient;
 import com.viam.sdk.core.component.movementsensor.MovementSensorRPCService;
+import com.viam.sdk.core.component.powersensor.PowerSensor;
+import com.viam.sdk.core.component.powersensor.PowerSensorRPCClient;
+import com.viam.sdk.core.component.powersensor.PowerSensorRPCService;
 import com.viam.sdk.core.component.sensor.Sensor;
 import com.viam.sdk.core.component.sensor.SensorRPCClient;
 import com.viam.sdk.core.component.sensor.SensorRPCService;
@@ -105,6 +109,12 @@ public class ResourceManager implements Closeable {
                 ServoRPCService::new,
                 ServoRPCClient::new
         ));
+        Registry.registerSubtype(new ResourceRegistration<>(
+                PowerSensor.SUBTYPE,
+                PowerSensorServiceGrpc.SERVICE_NAME,
+                PowerSensorRPCService::new,
+                PowerSensorRPCClient::new
+        ));
 
         // SERVICES
         Registry.registerSubtype(new ResourceRegistration<>(

core/sdk/src/main/java/com/viam/sdk/core/util/Utils.java

@@ -0,0 +1,131 @@
+package com.viam.sdk.core.util;
+
+import com.google.protobuf.*;
+import com.viam.common.v1.Common;
+
+import java.util.*;
+
+public class Utils {
+    public static Object valueToNative(Value v) {
+        switch (v.getKindCase()) {
+            case STRUCT_VALUE: {
+                Map<String, Value> structMap = v.getStructValue().getFieldsMap();
+                if (structMap.get("_type") != null) {
+                    switch (structMap.get("_type").getStringValue()) {
+                        case ("vector3"): {
+                            return Common.Vector3.newBuilder().setX(structMap.get("x").getNumberValue()).setY(structMap.get("y").getNumberValue()).setZ(structMap.get("z").getNumberValue()).build();
+                        }
+                        case ("geopoint"): {
+                            return Common.GeoPoint.newBuilder().setLatitude(structMap.get("lat").getNumberValue()).setLongitude(structMap.get("lng").getNumberValue()).build();
+                        }
+                        case ("orientation_vector_degrees"): {
+                            return Common.Orientation.newBuilder().setOX(structMap.get("ox").getNumberValue()).setOY(structMap.get("oy").getNumberValue()).setOZ(structMap.get("oz").getNumberValue()).setTheta(structMap.get("theta").getNumberValue()).build();
+                        }
+                    }
+
+                } else {
+                    Map<String, Object> nativeMap = new HashMap<>();
+                    for (Map.Entry<String, Value> entry : structMap.entrySet()) {
+                        nativeMap.put(entry.getKey(), valueToNative(entry.getValue()));
+                    }
+                    return nativeMap;
+
+                }
+
+
+            }
+            case LIST_VALUE: {
+                List<Object> list = new ArrayList<>();
+                for (Value val : v.getListValue().getValuesList()) {
+                    list.add(valueToNative(val));
+                }
+                return list;
+
+            }
+            case BOOL_VALUE:
+                return v.getBoolValue();
+            case NUMBER_VALUE:
+                return v.getNumberValue();
+            case STRING_VALUE:
+                return v.getStringValue();
+            case NULL_VALUE:
+                return v.getNullValue();
+            default:
+                return v;
+        }
+
+
+    }
+
+    public static Value nativeToValue(Object obj) throws IllegalArgumentException {
+        if (obj instanceof Common.Vector3) {
+            Struct struct = Struct.newBuilder()
+                    .putFields("x", Value.newBuilder().setNumberValue(((Common.Vector3) obj).getX()).build())
+                    .putFields("y", Value.newBuilder().setNumberValue(((Common.Vector3) obj).getY()).build())
+                    .putFields("z", Value.newBuilder().setNumberValue(((Common.Vector3) obj).getZ()).build())
+                    .putFields("_type", Value.newBuilder().setStringValue("vector3").build())
+                    .build();
+            return Value.newBuilder().setStructValue(struct).build();
+
+        } else if (obj instanceof Common.GeoPoint) {
+            Struct struct = Struct.newBuilder()
+                    .putFields("lat", Value.newBuilder().setNumberValue(((Common.GeoPoint) obj).getLatitude()).build())
+                    .putFields("lng", Value.newBuilder().setNumberValue(((Common.GeoPoint) obj).getLongitude()).build())
+                    .putFields("_type", Value.newBuilder().setStringValue("geopoint").build())
+                    .build();
+            return Value.newBuilder().setStructValue(struct).build();
+        } else if (obj instanceof Common.Orientation) {
+            Struct struct = Struct.newBuilder()
+                    .putFields("ox", Value.newBuilder().setNumberValue(((Common.Orientation) obj).getOX()).build())
+                    .putFields("oy", Value.newBuilder().setNumberValue(((Common.Orientation) obj).getOY()).build())
+                    .putFields("oz", Value.newBuilder().setNumberValue(((Common.Orientation) obj).getOZ()).build())
+                    .putFields("theta", Value.newBuilder().setNumberValue(((Common.Orientation) obj).getTheta()).build())
+                    .putFields("_type", Value.newBuilder().setStringValue("orientation_vector_degrees").build())
+                    .build();
+            return Value.newBuilder().setStructValue(struct).build();
+
+        } else if (obj instanceof Number) {
+            return Value.newBuilder().setNumberValue((double) obj).build();
+        } else if (obj instanceof String) {
+            return Value.newBuilder().setStringValue((String) obj).build();
+        } else if(obj instanceof byte[]){
+            return Value.newBuilder().setStringValue(new String((byte[]) obj)).build();
+        }else if (obj instanceof Boolean) {
+            return Value.newBuilder().setBoolValue((Boolean) obj).build();
+        } else if (obj instanceof List) {
+            ListValue.Builder listBuilder = ListValue.newBuilder();
+            for (Object o : (List<Object>) obj) {
+                listBuilder.addValues(nativeToValue(o));
+            }
+            return Value.newBuilder().setListValue(listBuilder.build()).build();
+        } else if (obj instanceof Map) {
+            Struct.Builder structBuilder = Struct.newBuilder();
+            for (Map.Entry<Object, Object> entry : ((Map<Object, Object>) obj).entrySet()) {
+                if(!(entry.getKey() instanceof String)) throw new IllegalArgumentException();
+                else structBuilder.putFields((String) entry.getKey(), nativeToValue(entry.getValue()));
+            }
+            return Value.newBuilder().setStructValue(structBuilder.build()).build();
+
+        }
+        else throw new IllegalArgumentException();
+    }
+
+    public static Map<String, Value> sensorReadingsNativeToValue(Map<String, Object> readings) {
+        Map<String, Value> valueMap = new HashMap<>();
+        for (Map.Entry<String, Object> entry : readings.entrySet()) {
+            valueMap.put(entry.getKey(), nativeToValue(entry.getValue()));
+        }
+        return valueMap;
+    }
+
+    public static Map<String, Object> sensorReadingsValueToNative(Map<String, Value> readings) {
+        Map<String, Object> map = new HashMap<>();
+        for (Map.Entry<String, Value> entry : readings.entrySet()) {
+            map.put(entry.getKey(), valueToNative(entry.getValue()));
+
+        }
+        return map;
+    }
+
+
+}