Board (#45)

viamrobotics · Jun 27, 2024 · b251763 · b251763
1 parent ef77c7a
commit b251763
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Showing 3 changed files with 19 additions and 5 deletions.
diff --git a/core/sdk/src/main/kotlin/com/viam/sdk/core/component/board/Board.kt b/core/sdk/src/main/kotlin/com/viam/sdk/core/component/board/Board.kt
@@ -11,6 +11,8 @@ import com.viam.sdk.core.robot.RobotClient
 import java.util.*
 import java.util.stream.Stream
 import kotlin.time.Duration
+import kotlin.time.toJavaDuration
+import java.time.Duration as JDuration
 
 typealias Tick = StreamTicksResponse
 
@@ -226,14 +228,23 @@ abstract class Board(name: String) : Component(SUBTYPE, named(name)) {
      * @param powerMode the power mode to set
      * @param duration  if provided, the board will exit the given power mode after this duration
      */
-    abstract fun setPowerMode(powerMode: PowerMode, duration: Duration, extra: Struct)
+    abstract fun setPowerMode(powerMode: PowerMode, duration: JDuration, extra: Struct)
 
     /**
      * Set the board to the indicated power mode.
      * @param powerMode the power mode to set
      * @param duration  if provided, the board will exit the given power mode after this duration
      */
-    fun setPowerMode(powerMode: PowerMode, duration: Duration) {
+    fun setPowerMode(powerMode: PowerMode, duration: JDuration) {
         return setPowerMode(powerMode, duration, Struct.getDefaultInstance())
     }
+
+    /**
+     * Set the board to the indicated power mode.
+     * @param powerMode the power mode to set
+     * @param duration  if provided, the board will exit the given power mode after this duration
+     */
+    fun setPowerMode(powerMode: PowerMode, duration: Duration, extra: Struct = Struct.getDefaultInstance()) {
+        return setPowerMode(powerMode, duration.toJavaDuration(), extra)
+    }
 }
diff --git a/core/sdk/src/main/kotlin/com/viam/sdk/core/component/board/BoardRPCClient.kt b/core/sdk/src/main/kotlin/com/viam/sdk/core/component/board/BoardRPCClient.kt
@@ -10,9 +10,10 @@ import com.viam.component.board.v1.BoardServiceGrpc.BoardServiceBlockingStub
 import com.viam.sdk.core.exception.MethodNotImplementedException
 import com.viam.sdk.core.rpc.Channel
 import com.viam.sdk.core.util.Durations
+import java.time.Duration
 import java.util.*
 import kotlin.jvm.optionals.getOrDefault
-import kotlin.time.Duration
+import kotlin.time.toKotlinDuration
 
 /**
  * gRPC Client for a Board component
@@ -99,7 +100,7 @@ class BoardRPCClient(name: String, channel: Channel) : Board(name) {
         powerMode: PowerMode, duration: Duration, extra: Struct
     ) {
         val request = SetPowerModeRequest.newBuilder().setName(this.name.name).setPowerMode(powerMode)
-            .setDuration(Durations.fromNanos(duration.inWholeNanoseconds)).setExtra(extra).build()
+            .setDuration(Durations.fromNanos(duration.toKotlinDuration().inWholeNanoseconds)).setExtra(extra).build()
         this.client.setPowerMode(request)
     }
 
@@ -116,4 +117,5 @@ class BoardRPCClient(name: String, channel: Channel) : Board(name) {
         val response = this.client.getGeometries(request)
         return response.geometriesList
     }
+
 }
diff --git a/core/sdk/src/test/kotlin/com/viam/sdk/core/component/board/BoardTest.kt b/core/sdk/src/test/kotlin/com/viam/sdk/core/component/board/BoardTest.kt
@@ -14,6 +14,7 @@ import java.util.*
 import kotlin.random.Random
 import kotlin.time.DurationUnit
 import kotlin.time.toDuration
+import kotlin.time.toJavaDuration
 
 class BoardTest {
     private lateinit var board: Board
@@ -163,6 +164,6 @@ class BoardTest {
         val powerMode = PowerMode.POWER_MODE_OFFLINE_DEEP
         val powerModeDuration = Random.nextInt().toDuration(DurationUnit.NANOSECONDS)
         board.setPowerMode(powerMode, powerModeDuration)
-        verify(board).setPowerMode(powerMode, powerModeDuration)
+        verify(board).setPowerMode(powerMode, powerModeDuration.toJavaDuration(), Struct.getDefaultInstance())
     }
 }