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43 changes: 43 additions & 0 deletions
43
core/sdk/src/main/java/com/viam/sdk/core/component/sensor/SensorRPCClient.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,43 @@ | ||
| package com.viam.sdk.core.component.sensor; | ||
|
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| import com.google.protobuf.Struct; | ||
| import com.google.protobuf.Value; | ||
| import com.viam.common.v1.Common; | ||
| import com.viam.common.v1.Common.GetReadingsRequest; | ||
| import com.viam.common.v1.Common.GetReadingsResponse; | ||
| import com.viam.component.sensor.v1.SensorServiceGrpc; | ||
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| import com.viam.sdk.core.rpc.Channel; | ||
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| import java.util.Map; | ||
| import java.util.Optional; | ||
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| public class SensorRPCClient extends Sensor { | ||
| private final SensorServiceGrpc.SensorServiceBlockingStub client; | ||
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| public SensorRPCClient(final String name, final Channel chan) { | ||
| super(name); | ||
| final SensorServiceGrpc.SensorServiceBlockingStub client = SensorServiceGrpc.newBlockingStub(chan); | ||
| if (chan.getCallCredentials().isPresent()) { | ||
| this.client = client.withCallCredentials(chan.getCallCredentials().get()); | ||
| } else { | ||
| this.client = client; | ||
| } | ||
| } | ||
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| @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(); | ||
| } | ||
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| @Override | ||
| public GetReadingsResponse getReadings(final Optional<Struct> extra) { | ||
| final GetReadingsRequest.Builder builder = GetReadingsRequest.newBuilder(). | ||
| setName(getName().getName()); | ||
| extra.ifPresent(builder::setExtra); | ||
| return client.getReadings(builder.build()); | ||
| } | ||
| } |
67 changes: 67 additions & 0 deletions
67
core/sdk/src/main/java/com/viam/sdk/core/component/sensor/SensorRPCService.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,67 @@ | ||
| package com.viam.sdk.core.component.sensor; | ||
|
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| import com.google.protobuf.Struct; | ||
| import com.google.protobuf.Value; | ||
| import com.viam.common.v1.Common; | ||
| import com.viam.common.v1.Common.Geometry; | ||
| import com.viam.common.v1.Common.GetGeometriesResponse; | ||
| import com.viam.common.v1.Common.GetReadingsRequest; | ||
| import com.viam.common.v1.Common.GetReadingsResponse; | ||
| import com.viam.common.v1.Common.Orientation; | ||
| import com.viam.common.v1.Common.Vector3; | ||
| import com.viam.component.movementsensor.v1.MovementSensorServiceGrpc; | ||
| import com.viam.component.movementsensor.v1.Movementsensor.GetAccuracyRequest; | ||
| import com.viam.component.movementsensor.v1.Movementsensor.GetAccuracyResponse; | ||
| import com.viam.component.movementsensor.v1.Movementsensor.GetAngularVelocityRequest; | ||
| import com.viam.component.movementsensor.v1.Movementsensor.GetAngularVelocityResponse; | ||
| import com.viam.component.movementsensor.v1.Movementsensor.GetCompassHeadingRequest; | ||
| import com.viam.component.movementsensor.v1.Movementsensor.GetCompassHeadingResponse; | ||
| import com.viam.component.movementsensor.v1.Movementsensor.GetLinearAccelerationRequest; | ||
| import com.viam.component.movementsensor.v1.Movementsensor.GetLinearAccelerationResponse; | ||
| import com.viam.component.movementsensor.v1.Movementsensor.GetLinearVelocityRequest; | ||
| import com.viam.component.movementsensor.v1.Movementsensor.GetLinearVelocityResponse; | ||
| import com.viam.component.movementsensor.v1.Movementsensor.GetOrientationRequest; | ||
| import com.viam.component.movementsensor.v1.Movementsensor.GetOrientationResponse; | ||
| import com.viam.component.movementsensor.v1.Movementsensor.GetPositionRequest; | ||
| import com.viam.component.movementsensor.v1.Movementsensor.GetPositionResponse; | ||
| import com.viam.component.movementsensor.v1.Movementsensor.GetPropertiesRequest; | ||
| import com.viam.component.movementsensor.v1.Movementsensor.GetPropertiesResponse; | ||
| import com.viam.component.sensor.v1.SensorServiceGrpc; | ||
| import com.viam.sdk.core.resource.ResourceManager; | ||
| import com.viam.sdk.core.resource.ResourceRPCService; | ||
| import io.grpc.stub.StreamObserver; | ||
| import java.util.List; | ||
| import java.util.Map; | ||
| import java.util.Optional; | ||
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| public class SensorRPCService extends SensorServiceGrpc.SensorServiceImplBase | ||
| implements ResourceRPCService<Sensor> { | ||
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| private final ResourceManager manager; | ||
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| public SensorRPCService(final ResourceManager manager) { | ||
| this.manager = manager; | ||
| } | ||
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| @Override | ||
| public void getReadings(GetReadingsRequest request, | ||
| StreamObserver<GetReadingsResponse> responseObserver) { | ||
| final com.viam.sdk.core.component.sensor.Sensor sensor = getResource( | ||
| com.viam.sdk.core.component.sensor.Sensor.named(request.getName()) | ||
| ); | ||
| final GetReadingsResponse result = sensor.getReadings(Optional.of(request.getExtra())); | ||
| responseObserver.onNext(GetReadingsResponse.newBuilder().putAllReadings(result.getReadingsMap()).build()); | ||
| responseObserver.onCompleted(); | ||
| responseObserver.onCompleted(); | ||
| } | ||
|
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| @Override | ||
| public Class<Sensor> getResourceClass() { | ||
| return Sensor.class; | ||
| } | ||
|
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| @Override | ||
| public ResourceManager getManager() { | ||
| return manager; | ||
| } | ||
| } |
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