Add testing to :core:sdk

.github/workflows/generate-docs.yml

@@ -0,0 +1,37 @@
+name: Generate Documentation
+
+on:
+  workflow_dispatch:
+  push:
+    branches: [main]
+
+jobs:
+  generate-docs:
+    if: github.repository_owner == 'viamrobotics'
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Setup Java JDK
+        uses: actions/setup-java@v4
+        with:
+          java-version: '17'
+          distribution: 'temurin'
+
+      - name: Generate docs
+        run: ./gradlew javadoc
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: html-docs
+          path: build/docs/javadoc
+
+      - name: Deploy
+        uses: peaceiris/actions-gh-pages@v3
+        if: github.ref == 'refs/heads/main'
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: build/docs/javadoc
+          publish_branch: docs-gh_pages
+          cname: java.viam.dev

.github/workflows/license-finder.yml

@@ -19,7 +19,7 @@ jobs:
       - uses: actions/checkout@v4
 
       - name: Setup Java JDK
-        uses: actions/setup-java@v4.2.1
+        uses: actions/setup-java@v4
         with:
           java-version: '17'
           distribution: 'temurin'

.github/workflows/test.yml

@@ -0,0 +1,27 @@
+name: Test
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches: ["main"]
+
+jobs:
+  license_finder:
+    if: github.repository_owner == 'viamrobotics'
+    name: Test
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Setup Java JDK
+        uses: actions/setup-java@v4
+        with:
+          java-version: '17'
+          distribution: 'temurin'
+
+      - name: Setup Android SDK
+        uses: android-actions/setup-android@v3
+
+      - name: Test
+        run: ./gradlew test

build.gradle

@@ -1,6 +1,22 @@
+plugins {
+    id "io.freefair.aggregate-javadoc" version "8.6"
+}
+
 group 'com.viam'
 version '0.0.1'
 
+repositories {
+    google()
+    mavenLocal()
+    mavenCentral()
+}
+
+dependencies {
+    javadoc project(':core:viam-core-sdk')
+    javadoc project(':core:services:viam-core-sdk-mlmodel-service')
+    javadoc project(':java:viam-java-sdk')
+}
+
 subprojects {
     group = rootProject.group
     version = rootProject.version

core/sdk/build.gradle

@@ -14,6 +14,15 @@ dependencies {
     implementation 'com.google.api.grpc:proto-google-common-protos:2.34.0'
     implementation 'com.google.protobuf:protobuf-java-util:3.25.3'
     api 'org.apache.tomcat:annotations-api:6.0.53' // necessary for Java 9+
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.2'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+}
+
+test {
+    useJUnitPlatform()
+    testLogging {
+        events "passed", "skipped", "failed"
+    }
 }
 
 sourceSets {

core/sdk/src/main/java/com/viam/sdk/core/component/movementsensor/MovementSensor.java

@@ -92,7 +92,7 @@ public static MovementSensor fromRobot(final RobotClient robot, final String nam
   public abstract GetAccuracyResponse getAccuracy(final Optional<Struct> extra);
 
   /**
-   * Get the current linear acceleration as a ``Vector3`` with x, y, and z axes represented in m/sec^2
+   * Get the current linear acceleration as a Vector3 with x, y, and z axes represented in m/sec^2
    *
    * @return the Vector3 representation of the linear acceleration in m/sec^2
    */

core/sdk/src/test/java/com/viam/sdk/core/component/ComponentTest.java

@@ -0,0 +1,43 @@
+package com.viam.sdk.core.component;
+
+import com.google.protobuf.Struct;
+import com.viam.common.v1.Common;
+import com.viam.sdk.core.exception.MethodNotImplementedException;
+import com.viam.sdk.core.resource.Subtype;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+import java.util.List;
+import java.util.Optional;
+
+import static org.junit.jupiter.api.Assertions.*;
+
+class ComponentTest {
+
+    private Component component;
+
+    @BeforeEach
+    void setup() {
+        Subtype subtype = new Subtype("testNamespace", "testType", "testSubtype");
+        Common.ResourceName resourceName = Common.ResourceName.newBuilder().
+                setNamespace(subtype.getNamespace()).
+                setType(subtype.getResourceType()).
+                setSubtype(subtype.getResourceSubtype()).
+                setName("testComponent").
+                build();
+        component = new Component(subtype, resourceName) {
+            @Override
+            public List<Common.Geometry> getGeometries(Optional<Struct> extra) {
+                return super.getGeometries(extra);
+            }
+        };
+    }
+
+    @Test
+    void getGeometries() {
+        Exception exception = assertThrows(MethodNotImplementedException.class, () -> {
+            component.getGeometries(Optional.empty());
+        });
+        assertTrue(exception.getMessage().contains("get_geometries"));
+    }
+}

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,7 @@
-#Wed Feb 14 11:39:39 EST 2024
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.7-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

gradlew

@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
-
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,18 +198,28 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
         -classpath "$CLASSPATH" \
         org.gradle.wrapper.GradleWrapperMain \
         "$@"
 
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
 # Use "xargs" to parse quoted args.
 #
 # With -n1 it outputs one arg per line, with the quotes and backslashes removed.

gradlew.bat

@@ -14,7 +14,7 @@
 @rem limitations under the License.
 @rem
 
-@if "%DEBUG%" == "" @echo off
+@if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
 @rem
 @rem  Gradle startup script for Windows
@@ -25,7 +25,8 @@
 if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
-if "%DIRNAME%" == "" set DIRNAME=.
+if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
@@ -40,7 +41,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto execute
+if %ERRORLEVEL% equ 0 goto execute
 
 echo.
 echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -75,13 +76,15 @@ set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
 :end
 @rem End local scope for the variables with windows NT shell
-if "%ERRORLEVEL%"=="0" goto mainEnd
+if %ERRORLEVEL% equ 0 goto mainEnd
 
 :fail
 rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
 rem the _cmd.exe /c_ return code!
-if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
-exit /b 1
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
 
 :mainEnd
 if "%OS%"=="Windows_NT" endlocal