Add default extra methods to board (#44)

core/sdk/src/main/kotlin/com/viam/sdk/core/component/board/Board.kt

@@ -21,8 +21,7 @@ typealias Tick = StreamTicksResponse
 abstract class Board(name: String) : Component(SUBTYPE, named(name)) {
     companion object {
         @JvmField
-        val SUBTYPE =
-            Subtype(Subtype.NAMESPACE_RDK, Subtype.RESOURCE_TYPE_COMPONENT, "board")
+        val SUBTYPE = Subtype(Subtype.NAMESPACE_RDK, Subtype.RESOURCE_TYPE_COMPONENT, "board")
 
         /**
          * Get the ResourceName of the component
@@ -51,94 +50,190 @@ abstract class Board(name: String) : Component(SUBTYPE, named(name)) {
      * @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>)
+    abstract fun setGpioState(pin: String, high: Boolean, extra: Struct)
+
+    /**
+     * 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.
+     */
+    fun setGpioState(pin: String, high: Boolean) {
+        return setGpioState(pin, high, Struct.getDefaultInstance())
+    }
 
     /**
      * 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
+    abstract fun getGpioState(pin: String, extra: Struct): Boolean
+
+    /**
+     * 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.
+     */
+    fun getGpioState(pin: String): Boolean {
+        return getGpioState(pin, Struct.getDefaultInstance())
+    }
+
+    /**
+     * 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: Struct)
 
     /**
      * 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>)
+    fun setPwm(pin: String, dutyCyclePct: Double) {
+        return setPwm(pin, dutyCyclePct, Struct.getDefaultInstance())
+    }
+
+    /**
+     * 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: Struct): Double
 
     /**
      * 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
+    fun getPwm(pin: String): Double {
+        return getPwm(pin, Struct.getDefaultInstance())
+    }
 
     /**
      * 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>)
+    abstract fun setPwmFrequency(pin: String, frequencyHz: Int, extra: Struct)
+
+    /**
+     * Set the PWM frequency of the given pin of a board.
+     * @param pin         the name of the pin
+     * @param frequencyHz the frequency to set
+     */
+    fun setPwmFrequency(pin: String, frequencyHz: Int) {
+        return setPwmFrequency(pin, frequencyHz, Struct.getDefaultInstance())
+    }
+
+    /**
+     * 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: Struct): Int
 
     /**
      * 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
+    fun getPwmFrequency(pin: String): Int {
+        return getPwmFrequency(pin, Struct.getDefaultInstance())
+    }
 
     /**
      * 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>)
+    abstract fun writeAnalog(pin: String, value: Int, extra: Struct)
+
+    /**
+     * Write analog value to pin.
+     * @param pin   the name of the pin
+     * @param value the value to set
+     */
+    fun writeAnalog(pin: String, value: Int) {
+        return writeAnalog(pin, value, Struct.getDefaultInstance())
+    }
 
     /**
      * 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
+    abstract fun getAnalogReaderValue(analogReader: String, extra: Struct): Int
+
+    /**
+     * 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
+     */
+    fun getAnalogReaderValue(analogReader: String): Int {
+        return getAnalogReaderValue(analogReader, Struct.getDefaultInstance())
+    }
+
+    /**
+     * 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: 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
+    fun getDigitalInterruptValue(digitalInterrupt: String): Int {
+        return getDigitalInterruptValue(digitalInterrupt, Struct.getDefaultInstance())
+    }
 
     /**
      * 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>
+    abstract fun streamTicks(interrupts: List<String>, extra: Struct): Iterator<Tick>
+
+    /**
+     * Stream digital interrupts ticks.
+     * @param interrupts the list of digital interrupts names from which to receive ticks
+     * @returns          a [Stream] of [Tick] objects
+     */
+    fun streamTicks(interrupts: List<String>): Iterator<Tick> {
+        return streamTicks(interrupts, Struct.getDefaultInstance())
+    }
+
+    /**
+     * 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: Struct)
 
     /**
      * 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>
-    )
+    fun addCallbacks(interrupts: List<String>, tickQueue: Queue<Tick>) {
+        return addCallbacks(interrupts, tickQueue, 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
      */
-    abstract fun setPowerMode(
-        powerMode: PowerMode,
-        duration: Duration,
-        extra: Optional<Struct>
-    )
+    abstract fun setPowerMode(powerMode: PowerMode, duration: Duration, 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) {
+        return setPowerMode(powerMode, duration, Struct.getDefaultInstance())
+    }
 }

core/sdk/src/main/kotlin/com/viam/sdk/core/component/board/BoardRPCClient.kt

@@ -29,118 +29,77 @@ class BoardRPCClient(name: String, channel: Channel) : Board(name) {
         }
     }
 
-    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()
+    override fun setGpioState(pin: String, high: Boolean, extra: Struct) {
+        val request =
+            SetGPIORequest.newBuilder().setName(this.name.name).setPin(pin).setHigh(high).setExtra(extra).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()
+    override fun getGpioState(pin: String, extra: Struct): Boolean {
+        val request = GetGPIORequest.newBuilder().setName(this.name.name).setPin(pin).setExtra(extra).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()
+    override fun setPwm(pin: String, dutyCyclePct: Double, extra: Struct) {
+        val request =
+            SetPWMRequest.newBuilder().setName(this.name.name).setPin(pin).setDutyCyclePct(dutyCyclePct).setExtra(extra)
+                .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()
+    override fun getPwm(pin: String, extra: Struct): Double {
+        val request = PWMRequest.newBuilder().setName(this.name.name).setPin(pin).setExtra(extra).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()
+    override fun setPwmFrequency(pin: String, frequencyHz: Int, extra: Struct) {
+        val request =
+            SetPWMFrequencyRequest.newBuilder().setName(this.name.name).setPin(pin).setFrequencyHz(frequencyHz.toLong())
+                .setExtra(extra).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()
+    override fun getPwmFrequency(pin: String, extra: Struct): Int {
+        val request = PWMFrequencyRequest.newBuilder().setName(this.name.name).setPin(pin).setExtra(extra).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()
+    override fun writeAnalog(pin: String, value: Int, extra: Struct) {
+        val request =
+            WriteAnalogRequest.newBuilder().setName(this.name.name).setPin(pin).setValue(value).setExtra(extra).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()
+    override fun getAnalogReaderValue(analogReader: String, extra: Struct): Int {
+        val request =
+            ReadAnalogReaderRequest.newBuilder().setBoardName(this.name.name).setAnalogReaderName(analogReader)
+                .setExtra(extra).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()
+    override fun getDigitalInterruptValue(digitalInterrupt: String, extra: Struct): Int {
+        val request = GetDigitalInterruptValueRequest.newBuilder().setBoardName(this.name.name)
+            .setDigitalInterruptName(digitalInterrupt).setExtra(extra).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()
+    override fun streamTicks(interrupts: List<String>, extra: Struct): Iterator<Tick> {
+        val request =
+            StreamTicksRequest.newBuilder().setName(this.name.name).addAllPinNames(interrupts).setExtra(extra).build()
         return this.client.streamTicks(request)
     }
 
     override fun addCallbacks(
-        interrupts: List<String>,
-        tickQueue: Queue<Tick>,
-        extra: Optional<Struct>
+        interrupts: List<String>, tickQueue: Queue<Tick>, extra: Struct
     ) {
         throw MethodNotImplementedException("BoardRPCClient.addCallbacks")
     }
 
     override fun setPowerMode(
-        powerMode: PowerMode,
-        duration: Duration,
-        extra: Optional<Struct>
+        powerMode: PowerMode, duration: Duration, extra: Struct
     ) {
-        val request = SetPowerModeRequest.newBuilder()
-            .setName(this.name.name)
-            .setPowerMode(powerMode)
-            .setDuration(Durations.fromNanos(duration.inWholeNanoseconds))
-            .setExtra(extra.getOrDefault(Struct.getDefaultInstance()))
-            .build()
+        val request = SetPowerModeRequest.newBuilder().setName(this.name.name).setPowerMode(powerMode)
+            .setDuration(Durations.fromNanos(duration.inWholeNanoseconds)).setExtra(extra).build()
         this.client.setPowerMode(request)
     }