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viamrobotics · Sep 13, 2024 · d67bb9c · d67bb9c
1 parent 38abc09
commit d67bb9c
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Showing 6 changed files with 53 additions and 24 deletions.
diff --git a/core/sdk/src/main/kotlin/com/viam/sdk/core/component/audioinput/AudioInput.kt b/core/sdk/src/main/kotlin/com/viam/sdk/core/component/audioinput/AudioInput.kt
@@ -45,11 +45,11 @@ abstract class AudioInput(name: String) : Component(SUBTYPE, named(name)) {
     /**
      * Stream audio samples from the audio input of the underlying robot
      */
-    abstract fun stream() : AudioStream
+    abstract fun stream(): AudioStream
 
     /**
      * Get the properties of the audio input of the underlying robot
      */
-    abstract fun getProperties() : Properties
+    abstract fun getProperties(): Properties
 
 }
diff --git a/core/sdk/src/main/kotlin/com/viam/sdk/core/component/audioinput/AudioInputRPCClient.kt b/core/sdk/src/main/kotlin/com/viam/sdk/core/component/audioinput/AudioInputRPCClient.kt
@@ -24,7 +24,8 @@ class AudioInputRPCClient(name: String, channel: Channel) : AudioInput(name) {
     }
 
     override fun stream(): AudioStream {
-        val request = Audioinput.ChunksRequest.newBuilder().setName(this.name.name).setSampleFormat(Audioinput.SampleFormat.SAMPLE_FORMAT_FLOAT32_INTERLEAVED).build()
+        val request = Audioinput.ChunksRequest.newBuilder().setName(this.name.name)
+            .setSampleFormat(Audioinput.SampleFormat.SAMPLE_FORMAT_FLOAT32_INTERLEAVED).build()
         val response = this.client.chunks(request)
         return response
     }

diff --git a/core/sdk/src/main/kotlin/com/viam/sdk/core/component/audioinput/AudioInputRPCService.kt b/core/sdk/src/main/kotlin/com/viam/sdk/core/component/audioinput/AudioInputRPCService.kt
@@ -1,5 +1,6 @@
 package com.viam.sdk.core.component.audioinput
 
+import com.google.api.HttpBody
 import com.viam.common.v1.Common.*
 import com.viam.component.audioinput.v1.AudioInputServiceGrpc
 import com.viam.component.audioinput.v1.Audioinput
@@ -8,7 +9,8 @@ import com.viam.sdk.core.resource.ResourceRPCService
 import io.grpc.stub.StreamObserver
 import java.util.*
 
-internal class AudioInputRPCService(private val manager: ResourceManager) : AudioInputServiceGrpc.AudioInputServiceImplBase(),
+internal class AudioInputRPCService(private val manager: ResourceManager) :
+    AudioInputServiceGrpc.AudioInputServiceImplBase(),
     ResourceRPCService<AudioInput> {
 
     override fun chunks(
@@ -17,7 +19,7 @@ internal class AudioInputRPCService(private val manager: ResourceManager) : Audi
     ) {
         val audioInput = getResource(AudioInput.named(request.name))
         val response = audioInput.stream()
-        for(chunk in response){
+        for (chunk in response) {
             responseObserver.onNext(chunk)
         }
         responseObserver.onCompleted()
@@ -32,6 +34,11 @@ internal class AudioInputRPCService(private val manager: ResourceManager) : Audi
         responseObserver.onNext(result)
         responseObserver.onCompleted()
     }
+
+    override fun record(request: Audioinput.RecordRequest?, responseObserver: StreamObserver<HttpBody>?) {
+        throw UnsupportedOperationException()
+    }
+
     override fun doCommand(
         request: DoCommandRequest, responseObserver: StreamObserver<DoCommandResponse>
     ) {
@@ -49,13 +56,13 @@ internal class AudioInputRPCService(private val manager: ResourceManager) : Audi
         responseObserver.onNext(GetGeometriesResponse.newBuilder().addAllGeometries(result).build())
         responseObserver.onCompleted()
     }
-    
+
     override fun getResourceClass(): Class<AudioInput> {
         return AudioInput::class.java
     }
 
     override fun getManager(): ResourceManager {
-       return this.manager
+        return this.manager
     }
 
 }
diff --git a/core/sdk/src/test/kotlin/com/viam/sdk/core/component/audioinput/AudioInputRPCClientTest.kt b/core/sdk/src/test/kotlin/com/viam/sdk/core/component/audioinput/AudioInputRPCClientTest.kt
@@ -46,13 +46,17 @@ class AudioInputRPCClientTest {
     }
 
     @Test
-    fun stream(){
+    fun stream() {
 
         fun createChunks(): MutableList<ChunksResponse> {
             val chunks: MutableList<ChunksResponse> = mutableListOf()
             for (i in 0..5) {
-                val chunk = Audioinput.AudioChunk.newBuilder().setData(ByteString.copyFromUtf8(i.toString())).setLength(2).build()
-                val info = Audioinput.AudioChunkInfo.newBuilder().setChannels(4).setSampleFormat(Audioinput.SampleFormat.SAMPLE_FORMAT_FLOAT32_INTERLEAVED).setSamplingRate(1000L).build()
+                val chunk =
+                    Audioinput.AudioChunk.newBuilder().setData(ByteString.copyFromUtf8(i.toString())).setLength(2)
+                        .build()
+                val info = Audioinput.AudioChunkInfo.newBuilder().setChannels(4)
+                    .setSampleFormat(Audioinput.SampleFormat.SAMPLE_FORMAT_FLOAT32_INTERLEAVED).setSamplingRate(1000L)
+                    .build()
                 val audioChunk = ChunksResponse.newBuilder().setChunk(chunk).setInfo(info).build()
                 chunks.add(audioChunk)
             }
@@ -71,8 +75,11 @@ class AudioInputRPCClientTest {
     }
 
     @Test
-    fun getProperties(){
-        val properties = PropertiesResponse.newBuilder().setLatency(Duration.newBuilder().setSeconds(3000L).build()).setSampleRate(2).setSampleSize(3).setIsFloat(true).setChannelCount(4).setIsBigEndian(true).setIsInterleaved(true).build()
+    fun getProperties() {
+        val properties =
+            PropertiesResponse.newBuilder().setLatency(Duration.newBuilder().setSeconds(3000L).build()).setSampleRate(2)
+                .setSampleSize(3).setIsFloat(true).setChannelCount(4).setIsBigEndian(true).setIsInterleaved(true)
+                .build()
         `when`(audioInput.getProperties()).thenReturn(properties)
         val response = client.getProperties()
         verify(audioInput).getProperties()

diff --git a/core/sdk/src/test/kotlin/com/viam/sdk/core/component/audioinput/AudioInputRPCServiceTest.kt b/core/sdk/src/test/kotlin/com/viam/sdk/core/component/audioinput/AudioInputRPCServiceTest.kt
@@ -52,12 +52,16 @@ class AudioInputRPCServiceTest {
     }
 
     @Test
-    fun chunks(){
+    fun chunks() {
         fun createChunks(): MutableList<ChunksResponse> {
             val chunks: MutableList<ChunksResponse> = mutableListOf()
             for (i in 0..5) {
-                val chunk = Audioinput.AudioChunk.newBuilder().setData(ByteString.copyFromUtf8(i.toString())).setLength(2).build()
-                val info = Audioinput.AudioChunkInfo.newBuilder().setChannels(4).setSampleFormat(Audioinput.SampleFormat.SAMPLE_FORMAT_FLOAT32_INTERLEAVED).setSamplingRate(1000L).build()
+                val chunk =
+                    Audioinput.AudioChunk.newBuilder().setData(ByteString.copyFromUtf8(i.toString())).setLength(2)
+                        .build()
+                val info = Audioinput.AudioChunkInfo.newBuilder().setChannels(4)
+                    .setSampleFormat(Audioinput.SampleFormat.SAMPLE_FORMAT_FLOAT32_INTERLEAVED).setSamplingRate(1000L)
+                    .build()
                 val audioChunk = ChunksResponse.newBuilder().setChunk(chunk).setInfo(info).build()
                 val time = Instant.now().epochSecond
                 chunks.add(audioChunk)
@@ -79,14 +83,18 @@ class AudioInputRPCServiceTest {
     }
 
     @Test
-    fun getProperties(){
-        val properties = PropertiesResponse.newBuilder().setLatency(Duration.newBuilder().setSeconds(3000L).build()).setSampleRate(2).setSampleSize(3).setIsFloat(true).setChannelCount(4).setIsBigEndian(true).setIsInterleaved(true).build()
+    fun getProperties() {
+        val properties =
+            PropertiesResponse.newBuilder().setLatency(Duration.newBuilder().setSeconds(3000L).build()).setSampleRate(2)
+                .setSampleSize(3).setIsFloat(true).setChannelCount(4).setIsBigEndian(true).setIsInterleaved(true)
+                .build()
         `when`(audioInput.getProperties()).thenReturn(properties)
         val request = Audioinput.PropertiesRequest.newBuilder().setName(audioInput.name.name).build()
         val response = client.properties(request)
         verify(audioInput).getProperties()
         assertEquals(properties, response)
     }
+
     @Test
     fun doCommand() {
         val command =

diff --git a/core/sdk/src/test/kotlin/com/viam/sdk/core/component/audioinput/AudioInputTest.kt b/core/sdk/src/test/kotlin/com/viam/sdk/core/component/audioinput/AudioInputTest.kt
@@ -5,7 +5,6 @@ import com.google.protobuf.Duration
 import com.viam.component.audioinput.v1.Audioinput
 import com.viam.component.audioinput.v1.Audioinput.ChunksResponse
 import com.viam.component.audioinput.v1.Audioinput.PropertiesResponse
-import com.viam.sdk.core.component.audioinput.AudioInput
 import org.junit.jupiter.api.Assertions.assertEquals
 import org.junit.jupiter.api.BeforeEach
 import org.junit.jupiter.api.Test
@@ -21,13 +20,17 @@ class AudioInputTest {
     }
 
     @Test
-    fun stream(){
-   
+    fun stream() {
+
         fun createChunks(): MutableList<ChunksResponse> {
             val chunks: MutableList<ChunksResponse> = mutableListOf()
             for (i in 0..5) {
-                val chunk = Audioinput.AudioChunk.newBuilder().setData(ByteString.copyFromUtf8(i.toString())).setLength(2).build()
-                val info = Audioinput.AudioChunkInfo.newBuilder().setChannels(4).setSampleFormat(Audioinput.SampleFormat.SAMPLE_FORMAT_FLOAT32_INTERLEAVED).setSamplingRate(1000L).build()
+                val chunk =
+                    Audioinput.AudioChunk.newBuilder().setData(ByteString.copyFromUtf8(i.toString())).setLength(2)
+                        .build()
+                val info = Audioinput.AudioChunkInfo.newBuilder().setChannels(4)
+                    .setSampleFormat(Audioinput.SampleFormat.SAMPLE_FORMAT_FLOAT32_INTERLEAVED).setSamplingRate(1000L)
+                    .build()
                 val audioChunk = ChunksResponse.newBuilder().setChunk(chunk).setInfo(info).build()
                 chunks.add(audioChunk)
             }
@@ -46,12 +49,15 @@ class AudioInputTest {
 
     @Test
     fun getProperties() {
-        val properties = PropertiesResponse.newBuilder().setLatency(Duration.newBuilder().setSeconds(3000L).build()).setSampleRate(2).setSampleSize(3).setIsFloat(true).setChannelCount(4).setIsBigEndian(true).setIsInterleaved(true).build()
+        val properties =
+            PropertiesResponse.newBuilder().setLatency(Duration.newBuilder().setSeconds(3000L).build()).setSampleRate(2)
+                .setSampleSize(3).setIsFloat(true).setChannelCount(4).setIsBigEndian(true).setIsInterleaved(true)
+                .build()
         `when`(audioinput.getProperties()).thenReturn(properties)
         val response = audioinput.getProperties()
         verify(audioinput).getProperties()
         assertEquals(properties, response)
 
     }
-    
+
 }