RSDK-8714: add Servo wrappers #60
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| package com.viam.sdk.core.component.servo; | ||
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| 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; | ||
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| /** | ||
| * 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"); | ||
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| public Servo(final String name) { | ||
| super(SUBTYPE, named(name)); | ||
| } | ||
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| /** | ||
| * 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); | ||
| } | ||
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| /** | ||
| * 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)); | ||
| } | ||
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| /** | ||
| * 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); | ||
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| /** | ||
| * 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()); | ||
| } | ||
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| /** | ||
| * Get the current angle (degrees) of the servo. | ||
| * @return the current angle of the servo in degrees | ||
| */ | ||
| public abstract int getPosition(Struct extra); | ||
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| /** | ||
| * Get the current angle (degrees) of the servo. | ||
| * @return the current angle of the servo in degrees | ||
| */ | ||
| public int getPosition(){ | ||
| return getPosition(Struct.getDefaultInstance()); | ||
| } | ||
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| /** | ||
| * Stop the servo. It is assumed that the servo stops immediately. | ||
| */ | ||
| public abstract void stop(Struct extra); | ||
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| /** | ||
| * Stop the servo. It is assumed that the servo stops immediately. | ||
| */ | ||
| public void stop(){ | ||
| stop(Struct.getDefaultInstance()); | ||
| } | ||
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| /** | ||
| * Get if the servo is currently moving. | ||
| * @return whether the servo is moving | ||
| */ | ||
| public abstract boolean isMoving(); | ||
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| } | ||
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| package com.viam.sdk.core.component.servo; | ||
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| import com.google.protobuf.Struct; | ||
| import com.google.protobuf.Value; | ||
| import com.viam.common.v1.Common; | ||
| import com.viam.component.servo.v1.ServoServiceGrpc; | ||
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| import com.viam.sdk.core.rpc.Channel; | ||
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| import java.util.List; | ||
| import java.util.Map; | ||
| import java.util.Optional; | ||
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| public class ServoRPCClient extends Servo{ | ||
| private final ServoServiceGrpc.ServoServiceBlockingStub client; | ||
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| 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; | ||
| } | ||
| } | ||
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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 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); | ||
| } | ||
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| @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(); | ||
| } | ||
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| @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); | ||
| } | ||
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| @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(); | ||
| } | ||
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| @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(); | ||
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| } | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
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| 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; | ||
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| import java.util.List; | ||
| import java.util.Optional; | ||
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| public class ServoRPCService extends ServoServiceGrpc.ServoServiceImplBase implements ResourceRPCService<Servo> { | ||
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| private final ResourceManager manager; | ||
| public ServoRPCService(ResourceManager manager) { this.manager = manager; } | ||
| @Override | ||
| public Class<Servo> getResourceClass() { | ||
| return Servo.class; | ||
| } | ||
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| @Override | ||
| public ResourceManager getManager() { | ||
| return manager; | ||
| } | ||
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| @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(); | ||
| } | ||
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| @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(); | ||
| } | ||
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| @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(); | ||
| } | ||
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| @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(); | ||
| } | ||
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| @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) { | ||
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| Servo servo = getResource(Servo.named(request.getName())); | ||
| Struct result = servo.doCommand(request.getCommand().getFieldsMap()); | ||
| responseObserver.onNext(Common.DoCommandResponse.newBuilder().setResult(result).build()); | ||
| responseObserver.onCompleted(); | ||
| } | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,92 @@ | ||
| package com.viam.sdk.core.component.servo | ||
|
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| 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.* | ||
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| class ServoRPCClientTest { | ||
| private lateinit var servo: Servo | ||
| private lateinit var client: ServoRPCClient | ||
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| @JvmField | ||
| @Rule | ||
| val grpcCleanupRule: GrpcCleanupRule = GrpcCleanupRule() | ||
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| @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)) | ||
| } | ||
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| @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) | ||
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| } | ||
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| @Test | ||
| fun stop() { | ||
| client.stop() | ||
| verify(servo).stop(Struct.getDefaultInstance()) | ||
| } | ||
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| @Test | ||
| fun isMoving() { | ||
| `when`(servo.isMoving()).thenReturn(false) | ||
| val isMoving = client.isMoving() | ||
| verify(servo).isMoving() | ||
| assertFalse(isMoving) | ||
| } | ||
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| @Test | ||
| fun getGeometries() { | ||
| doReturn(listOf<Geometry>()).`when`(servo).getGeometries(any()) | ||
| client.getGeometries(Optional.empty()) | ||
| verify(servo).getGeometries(any()) | ||
| } | ||
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| @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) | ||
| } | ||
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| @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) | ||
| } | ||
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| } | ||
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This file is missing
doCommand