merge

core/sdk/src/main/java/com/viam/sdk/core/component/sensor/Sensor.java

@@ -28,10 +28,6 @@ public Sensor(final String name) {
     super(SUBTYPE, named(name));
   }
 
-  public Sensor(Subtype subtype, ResourceName name) {
-    super(subtype, name);
-    throw new UnsupportedOperationException();
-  }
 
   /**
    * Get the ResourceName of the component

core/sdk/src/main/java/com/viam/sdk/core/component/servo/Servo.java

@@ -0,0 +1,94 @@
+package com.viam.sdk.core.component.servo;
+
+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;
+
+
+/**
+ * Servo represents a physical servo
+ */
+public abstract class Servo extends Component {
+    public static final Subtype SUBTYPE = new Subtype(
+            Subtype.NAMESPACE_RDK,
+            Subtype.RESOURCE_TYPE_COMPONENT,
+            "servo");
+
+    public Servo(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 Servo fromRobot(final RobotClient robot, final String name) {
+        return robot.getResource(Servo.class, named(name));
+    }
+
+    /**
+     * Move the servo to the provided angle.
+     * @param angle the desired angle of the servo in degrees
+     */
+    public abstract void move(int angle, Struct extra);
+
+    /**
+     * Move the servo to the provided angle.
+     * @param angle the desired angle of the servo in degrees
+     */
+    public void move(int angle){
+        move(angle, Struct.getDefaultInstance());
+    }
+
+    /**
+     * Get the current angle (degrees) of the servo.
+     * @return the current angle of the servo in degrees
+     */
+    public abstract int getPosition(Struct extra);
+
+    /**
+     * Get the current angle (degrees) of the servo.
+     * @return the current angle of the servo in degrees
+     */
+    public int getPosition(){
+        return getPosition(Struct.getDefaultInstance());
+    }
+
+    /**
+     *  Stop the servo. It is assumed that the servo stops immediately.
+     */
+    public abstract void stop(Struct extra);
+
+    /**
+     *  Stop the servo. It is assumed that the servo stops immediately.
+     */
+    public void stop(){
+        stop(Struct.getDefaultInstance());
+    }
+
+
+    /**
+     *  Get if the servo is currently moving.
+     *  @return whether the servo is moving
+     */
+    public abstract boolean isMoving();
+
+
+}
+

core/sdk/src/main/java/com/viam/sdk/core/component/servo/ServoRPCClient.java

@@ -0,0 +1,68 @@
+package com.viam.sdk.core.component.servo;
+
+import com.google.protobuf.Struct;
+import com.google.protobuf.Value;
+import com.viam.common.v1.Common;
+import com.viam.component.servo.v1.ServoServiceGrpc;
+
+import com.viam.sdk.core.rpc.Channel;
+
+import java.util.List;
+import java.util.Map;
+import java.util.Optional;
+
+public class ServoRPCClient extends Servo{
+    private final ServoServiceGrpc.ServoServiceBlockingStub client;
+
+    public ServoRPCClient(final String name, final Channel chan) {
+        super(name);
+        final ServoServiceGrpc.ServoServiceBlockingStub client = ServoServiceGrpc.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 void move(int angle, Struct extra) {
+        com.viam.component.servo.v1.Servo.MoveRequest moveRequest = com.viam.component.servo.v1.Servo.MoveRequest.newBuilder().setName(this.getName().getName()).setAngleDeg(angle).setExtra(extra).build();
+        client.move(moveRequest);
+    }
+
+    @Override
+    public int getPosition(Struct extra) {
+        com.viam.component.servo.v1.Servo.GetPositionRequest getPositionRequest = com.viam.component.servo.v1.Servo.GetPositionRequest.newBuilder().setName(this.getName().getName()).setExtra(extra).build();
+        return client.getPosition(getPositionRequest).getPositionDeg();
+    }
+
+
+    @Override
+    public void stop(Struct extra) {
+        com.viam.component.servo.v1.Servo.StopRequest stopRequest = com.viam.component.servo.v1.Servo.StopRequest.newBuilder().setName(this.getName().getName()).setExtra(extra).build();
+        client.stop(stopRequest);
+    }
+
+    @Override
+    public boolean isMoving() {
+        com.viam.component.servo.v1.Servo.IsMovingRequest isMovingRequest = com.viam.component.servo.v1.Servo.IsMovingRequest.newBuilder().setName(this.getName().getName()).build();
+        return client.isMoving(isMovingRequest).getIsMoving();
+    }
+
+    @Override
+    public List<Common.Geometry> getGeometries(Optional<Struct> extra){
+        Common.GetGeometriesRequest.Builder builder = Common.GetGeometriesRequest.newBuilder().setName(this.getName().getName());
+        extra.ifPresent(builder::setExtra);
+        return client.getGeometries(builder.build()).getGeometriesList();
+
+    }
+}
+

core/sdk/src/main/java/com/viam/sdk/core/component/servo/ServoRPCService.java

@@ -0,0 +1,76 @@
+package com.viam.sdk.core.component.servo;
+ import com.google.protobuf.Struct;
+ import com.viam.common.v1.Common;
+ import com.viam.component.servo.v1.ServoServiceGrpc;
+ import com.viam.sdk.core.resource.ResourceRPCService;
+ import com.viam.sdk.core.resource.ResourceManager;
+ import io.grpc.stub.StreamObserver;
+
+ import java.util.List;
+ import java.util.Optional;
+
+
+public class ServoRPCService extends ServoServiceGrpc.ServoServiceImplBase implements ResourceRPCService<Servo> {
+
+    private final ResourceManager manager;
+    public ServoRPCService(ResourceManager manager) { this.manager = manager; }
+    @Override
+    public Class<Servo> getResourceClass() {
+        return Servo.class;
+    }
+
+    @Override
+    public ResourceManager getManager() {
+        return manager;
+    }
+
+    @Override
+    public void move(com.viam.component.servo.v1.Servo.MoveRequest request, StreamObserver<com.viam.component.servo.v1.Servo.MoveResponse> responseObserver) {
+        Servo servo = getResource(Servo.named(request.getName()));
+        servo.move(request.getAngleDeg(), request.getExtra());
+        responseObserver.onNext(com.viam.component.servo.v1.Servo.MoveResponse.newBuilder().build());
+        responseObserver.onCompleted();
+    }
+
+    @Override
+    public void stop(com.viam.component.servo.v1.Servo.StopRequest request, StreamObserver<com.viam.component.servo.v1.Servo.StopResponse> responseObserver) {
+        Servo servo = getResource(Servo.named(request.getName()));
+        servo.stop();
+        responseObserver.onNext(com.viam.component.servo.v1.Servo.StopResponse.newBuilder().build());
+        responseObserver.onCompleted();
+    }
+
+    @Override
+    public void getPosition(com.viam.component.servo.v1.Servo.GetPositionRequest request, StreamObserver<com.viam.component.servo.v1.Servo.GetPositionResponse> responseObserver) {
+        Servo servo = getResource(Servo.named(request.getName()));
+        int position = servo.getPosition(request.getExtra());
+        responseObserver.onNext(com.viam.component.servo.v1.Servo.GetPositionResponse.newBuilder().setPositionDeg(position).build());
+        responseObserver.onCompleted();
+    }
+
+    @Override
+    public void isMoving(com.viam.component.servo.v1.Servo.IsMovingRequest request, StreamObserver<com.viam.component.servo.v1.Servo.IsMovingResponse> responseObserver) {
+        Servo servo = getResource(Servo.named(request.getName()));
+        boolean isMoving = servo.isMoving();
+        responseObserver.onNext(com.viam.component.servo.v1.Servo.IsMovingResponse.newBuilder().setIsMoving(isMoving).build());
+        responseObserver.onCompleted();
+    }
+
+    @Override
+    public void getGeometries(com.viam.common.v1.Common.GetGeometriesRequest request,
+                     StreamObserver<com.viam.common.v1.Common.GetGeometriesResponse> responseObserver){
+        Servo servo = getResource(Servo.named(request.getName()));
+        List<Common.Geometry> geometries = servo.getGeometries(Optional.ofNullable(request.getExtra()));
+        responseObserver.onNext(Common.GetGeometriesResponse.newBuilder().addAllGeometries(geometries).build());
+        responseObserver.onCompleted();
+    }
+    @Override
+    public void doCommand(Common.DoCommandRequest request,
+                          StreamObserver<Common.DoCommandResponse> responseObserver) {
+
+        Servo servo = getResource(Servo.named(request.getName()));
+        Struct result = servo.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

@@ -11,6 +11,7 @@
 import com.viam.component.movementsensor.v1.MovementSensorServiceGrpc;
 import com.viam.component.sensor.v1.SensorServiceGrpc;
 import com.viam.sdk.core.component.arm.*;
+import com.viam.component.servo.v1.ServoServiceGrpc;
 import com.viam.sdk.core.component.board.Board;
 import com.viam.sdk.core.component.board.BoardRPCClient;
 import com.viam.sdk.core.component.board.BoardRPCService;
@@ -32,6 +33,9 @@
 import com.viam.sdk.core.component.sensor.Sensor;
 import com.viam.sdk.core.component.sensor.SensorRPCClient;
 import com.viam.sdk.core.component.sensor.SensorRPCService;
+import com.viam.sdk.core.component.servo.Servo;
+import com.viam.sdk.core.component.servo.ServoRPCClient;
+import com.viam.sdk.core.component.servo.ServoRPCService;
 import com.viam.sdk.core.exception.DuplicateResourceException;
 import com.viam.sdk.core.exception.ResourceNotFoundException;
 import com.viam.sdk.core.service.datamanager.DataManager;
@@ -103,6 +107,12 @@ public class ResourceManager implements Closeable {
                 ArmRPCService::new,
                 ArmRPCClient::new
         ));
+        Registry.registerSubtype(new ResourceRegistration<>(
+                Servo.SUBTYPE,
+                ServoServiceGrpc.SERVICE_NAME,
+                ServoRPCService::new,
+                ServoRPCClient::new
+        ));
 
         // SERVICES
         Registry.registerSubtype(new ResourceRegistration<>(

core/sdk/src/test/kotlin/com/viam/sdk/core/component/servo/ServoRPCClientTest.kt

@@ -0,0 +1,92 @@
+package com.viam.sdk.core.component.servo
+
+import com.google.protobuf.Struct
+import com.google.protobuf.Value
+import com.viam.common.v1.Common.Geometry
+import com.viam.sdk.core.resource.ResourceManager
+import com.viam.sdk.core.rpc.BasicManagedChannel
+import io.grpc.inprocess.InProcessChannelBuilder
+import io.grpc.inprocess.InProcessServerBuilder
+import io.grpc.testing.GrpcCleanupRule
+import org.junit.Rule
+import org.junit.jupiter.api.Assertions.assertEquals
+import org.junit.jupiter.api.Assertions.assertFalse
+import org.junit.jupiter.api.BeforeEach
+import org.junit.jupiter.api.Test
+import org.mockito.Mockito.*
+import java.util.*
+
+class ServoRPCClientTest {
+    private lateinit var servo: Servo
+    private lateinit var client: ServoRPCClient
+
+    @JvmField
+    @Rule
+    val grpcCleanupRule: GrpcCleanupRule = GrpcCleanupRule()
+
+    @BeforeEach
+    fun setup() {
+        servo = mock(
+            Servo::class.java, withSettings().useConstructor("mock-servo").defaultAnswer(
+                CALLS_REAL_METHODS
+            )
+        )
+        val resourceManager = ResourceManager(listOf(servo))
+        val service = ServoRPCService(resourceManager)
+        val serviceName = InProcessServerBuilder.generateName()
+        grpcCleanupRule.register(
+            InProcessServerBuilder.forName(serviceName).directExecutor().addService(service).build().start()
+        )
+        val channel = grpcCleanupRule.register(InProcessChannelBuilder.forName(serviceName).directExecutor().build())
+        client = ServoRPCClient("mock-servo", BasicManagedChannel(channel))
+    }
+
+    @Test
+    fun move(){
+        val extra =
+            Struct.newBuilder().putAllFields(mapOf("foo" to Value.newBuilder().setStringValue("bar").build())).build()
+        client.move(20, extra)
+        verify(servo).move(20, extra)
+
+    }
+
+    @Test
+    fun stop() {
+        client.stop()
+        verify(servo).stop(Struct.getDefaultInstance())
+    }
+
+    @Test
+    fun isMoving() {
+        `when`(servo.isMoving()).thenReturn(false)
+        val isMoving = client.isMoving()
+        verify(servo).isMoving()
+        assertFalse(isMoving)
+    }
+
+    @Test
+    fun getGeometries() {
+        doReturn(listOf<Geometry>()).`when`(servo).getGeometries(any())
+        client.getGeometries(Optional.empty())
+        verify(servo).getGeometries(any())
+    }
+
+    @Test
+    fun getPosition() {
+        `when`(servo.getPosition(any(Struct::class.java) ?: Struct.getDefaultInstance())).thenReturn(80)
+        val pos = client.getPosition()
+        verify(servo).getPosition(Struct.getDefaultInstance())
+        assertEquals(80, pos)
+    }
+
+    @Test
+    fun doCommand() {
+        val command = mapOf("foo" to Value.newBuilder().setStringValue("bar").build())
+        doReturn(Struct.newBuilder().putAllFields(command).build()).`when`(servo).doCommand(anyMap())
+        val response = client.doCommand(command)
+        verify(servo).doCommand(command)
+        assertEquals(command, response.fieldsMap)
+    }
+
+
+}