merge

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/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();
+
+
+}
+