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141 changes: 141 additions & 0 deletions
141
core/sdk/src/main/java/com/viam/sdk/core/component/board/Board.kt
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| package com.viam.sdk.core.component.board | ||
|
|
||
| import com.google.protobuf.Struct | ||
| import com.viam.common.v1.Common.ResourceName | ||
| import com.viam.component.board.v1.Board.PowerMode | ||
| import com.viam.component.board.v1.Board.StreamTicksResponse | ||
| 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.* | ||
| import java.util.stream.Stream | ||
| import kotlin.time.Duration | ||
|
|
||
| typealias Tick = StreamTicksResponse | ||
|
|
||
| /** | ||
| * A Board represents a physical general purpose board that contains various | ||
| * components such as analog readers and digital interrupts. | ||
| */ | ||
| abstract class Board(name: String) : Component(SUBTYPE, named(name)) { | ||
| companion object { | ||
| val SUBTYPE = | ||
| Subtype(Subtype.NAMESPACE_RDK, Subtype.RESOURCE_TYPE_COMPONENT, "board") | ||
|
|
||
| /** | ||
| * Get the ResourceName of the component | ||
| * @param name the name of the component | ||
| * @return the component's ResourceName | ||
| */ | ||
| fun named(name: String): ResourceName { | ||
| 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 | ||
| */ | ||
| fun fromRobot(robot: RobotClient, name: String): Board { | ||
| return robot.getResource(Board::class.java, named(name)) | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * Set the high/low state of the given pin of a board. | ||
| * @param pin the name of the GPIO pin | ||
| * @param high when true, sets the pin to high. When false, sets the pin to low. | ||
| */ | ||
| abstract fun setGpioState(pin: String, high: Boolean, extra: Optional<Struct>) | ||
|
|
||
| /** | ||
| * Get the high/low state of the given pin of a board. | ||
| * @param pin the name of the GPIO pin | ||
| * @return the state of the pin: true if high, false otherwise. | ||
| */ | ||
| abstract fun getGpioState(pin: String, extra: Optional<Struct>): Boolean | ||
|
|
||
| /** | ||
| * Set the duty cycle of the given pin of a board. | ||
| * @param pin the name of the GPIO pin | ||
| * @param dutyCyclePct the duty cycle percent | ||
| */ | ||
| abstract fun setPwm(pin: String, dutyCyclePct: Double, extra: Optional<Struct>) | ||
|
|
||
| /** | ||
| * Get the duty cycle of the given pin of a board. | ||
| * @param pin the name of the pin | ||
| * @returns the duty cycle percent | ||
| */ | ||
| abstract fun getPwm(pin: String, extra: Optional<Struct>): Double | ||
|
|
||
| /** | ||
| * Set the PWM frequency of the given pin of a board. | ||
| * @param pin the name of the pin | ||
| * @param frequencyHz the frequency to set | ||
| */ | ||
| abstract fun setPwmFrequency(pin: String, frequencyHz: Int, extra: Optional<Struct>) | ||
|
|
||
| /** | ||
| * Get the PWM frequency of the given pin of a board. | ||
| * @param pin the name of the pin | ||
| * @returns the frequency of the pin in Hz | ||
| */ | ||
| abstract fun getPwmFrequency(pin: String, extra: Optional<Struct>): Int | ||
|
|
||
| /** | ||
| * Write analog value to pin. | ||
| * @param pin the name of the pin | ||
| * @param value the value to set | ||
| */ | ||
| abstract fun writeAnalog(pin: String, value: Int, extra: Optional<Struct>) | ||
|
|
||
| /** | ||
| * Read the current value of an analog reader of a board. | ||
| * @param analogReader the name of the analog reader | ||
| * @returns the current value of the analog reader | ||
| */ | ||
| abstract fun getAnalogReaderValue(analogReader: String, extra: Optional<Struct>): Int | ||
|
|
||
| /** | ||
| * Return the current value of the interrupt which is based on the type of Interrupt. | ||
| * @param digitalInterrupt the name of the digital interrupt | ||
| * @returns the current value of the digital reader | ||
| */ | ||
| abstract fun getDigitalInterruptValue( | ||
| digitalInterrupt: String, | ||
| extra: Optional<Struct> | ||
| ): Int | ||
|
|
||
| /** | ||
| * Stream digital interrupts ticks. | ||
| * @param interrupts the list of digital interrupts names from which to receive ticks | ||
| * @returns a [Stream] of [Tick] objects | ||
| */ | ||
| abstract fun streamTicks(interrupts: List<String>, extra: Optional<Struct>): Iterator<Tick> | ||
|
|
||
| /** | ||
| * Add a listener for the digital interrupts. | ||
| * @param interrupts the list of digital interrupts names from which to receive ticks | ||
| * @param tickQueue an object to receive values from the callback | ||
| */ | ||
| abstract fun addCallbacks( | ||
| interrupts: List<String>, | ||
| tickQueue: Queue<Tick>, | ||
| extra: Optional<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 | ||
| */ | ||
| abstract fun setPowerMode( | ||
| powerMode: PowerMode, | ||
| duration: Duration, | ||
| extra: Optional<Struct> | ||
| ) | ||
|
|
||
| } |
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160
core/sdk/src/main/java/com/viam/sdk/core/component/board/BoardRPCClient.kt
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,160 @@ | ||
| package com.viam.sdk.core.component.board | ||
|
|
||
| import com.google.protobuf.Struct | ||
| import com.google.protobuf.Value | ||
| import com.viam.common.v1.Common | ||
| import com.viam.common.v1.Common.GetGeometriesRequest | ||
| import com.viam.component.board.v1.Board.* | ||
| import com.viam.component.board.v1.BoardServiceGrpc | ||
| 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.util.* | ||
| import kotlin.jvm.optionals.getOrDefault | ||
| import kotlin.time.Duration | ||
|
|
||
| /** | ||
| * gRPC Client for a Board component | ||
| */ | ||
| class BoardRPCClient(name: String, channel: Channel) : Board(name) { | ||
| private val client: BoardServiceBlockingStub | ||
|
|
||
| init { | ||
| val client = BoardServiceGrpc.newBlockingStub(channel) | ||
| if (channel.callCredentials.isPresent) { | ||
| this.client = client.withCallCredentials(channel.callCredentials.get()) | ||
| } else { | ||
| this.client = client | ||
| } | ||
| } | ||
|
|
||
| override fun setGpioState(pin: String, high: Boolean, extra: Optional<Struct>) { | ||
| val request = SetGPIORequest.newBuilder() | ||
| .setName(this.name.name) | ||
| .setPin(pin).setHigh(high) | ||
| .setExtra(extra.getOrDefault(Struct.getDefaultInstance())) | ||
| .build() | ||
| this.client.setGPIO(request) | ||
| } | ||
|
|
||
| override fun getGpioState(pin: String, extra: Optional<Struct>): Boolean { | ||
| val request = GetGPIORequest.newBuilder() | ||
| .setName(this.name.name) | ||
| .setPin(pin) | ||
| .setExtra(extra.getOrDefault(Struct.getDefaultInstance())) | ||
| .build() | ||
| return this.client.getGPIO(request).high | ||
| } | ||
|
|
||
| override fun setPwm(pin: String, dutyCyclePct: Double, extra: Optional<Struct>) { | ||
| val request = SetPWMRequest.newBuilder() | ||
| .setName(this.name.name) | ||
| .setPin(pin) | ||
| .setDutyCyclePct(dutyCyclePct) | ||
| .setExtra(extra.getOrDefault(Struct.getDefaultInstance())) | ||
| .build() | ||
| this.client.setPWM(request) | ||
| } | ||
|
|
||
| override fun getPwm(pin: String, extra: Optional<Struct>): Double { | ||
| val request = PWMRequest.newBuilder() | ||
| .setName(this.name.name) | ||
| .setPin(pin) | ||
| .setExtra(extra.getOrDefault(Struct.getDefaultInstance())) | ||
| .build() | ||
| return this.client.pWM(request).dutyCyclePct | ||
| } | ||
|
|
||
| override fun setPwmFrequency(pin: String, frequencyHz: Int, extra: Optional<Struct>) { | ||
| val request = SetPWMFrequencyRequest.newBuilder() | ||
| .setName(this.name.name) | ||
| .setPin(pin) | ||
| .setFrequencyHz(frequencyHz.toLong()) | ||
| .setExtra(extra.getOrDefault(Struct.getDefaultInstance())) | ||
| .build() | ||
| this.client.setPWMFrequency(request) | ||
| } | ||
|
|
||
| override fun getPwmFrequency(pin: String, extra: Optional<Struct>): Int { | ||
| val request = PWMFrequencyRequest.newBuilder() | ||
| .setName(this.name.name) | ||
| .setPin(pin) | ||
| .setExtra(extra.getOrDefault(Struct.getDefaultInstance())) | ||
| .build() | ||
| return this.client.pWMFrequency(request).frequencyHz.toInt() | ||
| } | ||
|
|
||
| override fun writeAnalog(pin: String, value: Int, extra: Optional<Struct>) { | ||
| val request = WriteAnalogRequest.newBuilder() | ||
| .setName(this.name.name) | ||
| .setPin(pin) | ||
| .setValue(value) | ||
| .setExtra(extra.getOrDefault(Struct.getDefaultInstance())) | ||
| .build() | ||
| this.client.writeAnalog(request) | ||
| } | ||
|
|
||
| override fun getAnalogReaderValue(analogReader: String, extra: Optional<Struct>): Int { | ||
| val request = ReadAnalogReaderRequest.newBuilder() | ||
| .setBoardName(this.name.name) | ||
| .setAnalogReaderName(analogReader) | ||
| .setExtra(extra.getOrDefault(Struct.getDefaultInstance())) | ||
| .build() | ||
| return this.client.readAnalogReader(request).value | ||
| } | ||
|
|
||
| override fun getDigitalInterruptValue(digitalInterrupt: String, extra: Optional<Struct>): Int { | ||
| val request = GetDigitalInterruptValueRequest.newBuilder() | ||
| .setBoardName(this.name.name) | ||
| .setDigitalInterruptName(digitalInterrupt) | ||
| .setExtra(extra.getOrDefault(Struct.getDefaultInstance())) | ||
| .build() | ||
| return this.client.getDigitalInterruptValue(request).value.toInt() | ||
| } | ||
|
|
||
| override fun streamTicks(interrupts: List<String>, extra: Optional<Struct>): Iterator<Tick> { | ||
| val request = StreamTicksRequest.newBuilder() | ||
| .setName(this.name.name) | ||
| .addAllPinNames(interrupts) | ||
| .setExtra(extra.getOrDefault(Struct.getDefaultInstance())) | ||
| .build() | ||
| return this.client.streamTicks(request) | ||
| } | ||
|
|
||
| override fun addCallbacks( | ||
| interrupts: List<String>, | ||
| tickQueue: Queue<Tick>, | ||
| extra: Optional<Struct> | ||
| ) { | ||
| throw MethodNotImplementedException("BoardRPCClient.addCallbacks") | ||
| } | ||
|
|
||
| override fun setPowerMode( | ||
| powerMode: PowerMode, | ||
| duration: Duration, | ||
| extra: Optional<Struct> | ||
| ) { | ||
| val request = SetPowerModeRequest.newBuilder() | ||
| .setName(this.name.name) | ||
| .setPowerMode(powerMode) | ||
| .setDuration(Durations.fromNanos(duration.inWholeNanoseconds)) | ||
| .setExtra(extra.getOrDefault(Struct.getDefaultInstance())) | ||
| .build() | ||
| this.client.setPowerMode(request) | ||
| } | ||
|
|
||
| override fun doCommand(command: Map<String, Value>?): Struct { | ||
| val request = Common.DoCommandRequest.newBuilder().setName(this.name.name) | ||
| .setCommand(Struct.newBuilder().putAllFields(command).build()).build() | ||
| val response = this.client.doCommand(request) | ||
| return response.result | ||
| } | ||
|
|
||
| override fun getGeometries(extra: Optional<Struct>): List<Common.Geometry> { | ||
| val request = GetGeometriesRequest.newBuilder().setName(this.name.name) | ||
| .setExtra(extra.getOrDefault(Struct.getDefaultInstance())).build() | ||
| val response = this.client.getGeometries(request) | ||
| return response.geometriesList | ||
| } | ||
| } |
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