Motor (#29)

Author: njooma

core/sdk/build.gradle

@@ -26,6 +26,7 @@ dependencies {
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
     testImplementation "io.grpc:grpc-testing:1.63.0"
     testImplementation "io.grpc:grpc-inprocess:1.63.0"
+    testImplementation 'org.mockito:mockito-core:5.12.0'
     implementation "org.jetbrains.kotlin:kotlin-stdlib-jdk8:$kotlin_version"
 }
 

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

@@ -20,6 +20,7 @@ typealias Tick = StreamTicksResponse
  */
 abstract class Board(name: String) : Component(SUBTYPE, named(name)) {
     companion object {
+        @JvmStatic
         val SUBTYPE =
             Subtype(Subtype.NAMESPACE_RDK, Subtype.RESOURCE_TYPE_COMPONENT, "board")
 
@@ -28,6 +29,7 @@ abstract class Board(name: String) : Component(SUBTYPE, named(name)) {
          * @param name the name of the component
          * @return     the component's ResourceName
          */
+        @JvmStatic
         fun named(name: String): ResourceName {
             return Resource.named(SUBTYPE, name)
         }
@@ -38,6 +40,7 @@ abstract class Board(name: String) : Component(SUBTYPE, named(name)) {
          * @param name  the name of the component
          * @return      the component
          */
+        @JvmStatic
         fun fromRobot(robot: RobotClient, name: String): Board {
             return robot.getResource(Board::class.java, named(name))
         }

core/sdk/src/main/java/com/viam/sdk/core/component/board/BoardRPCService.kt

@@ -3,6 +3,7 @@ package com.viam.sdk.core.component.board
 import com.viam.common.v1.Common
 import com.viam.common.v1.Common.DoCommandResponse
 import com.viam.common.v1.Common.GetGeometriesResponse
+import com.viam.component.board.v1.Board.*
 import com.viam.component.board.v1.BoardServiceGrpc
 import com.viam.sdk.core.resource.ResourceManager
 import com.viam.sdk.core.resource.ResourceRPCService
@@ -12,110 +13,108 @@ import java.util.*
 import kotlin.time.DurationUnit
 import kotlin.time.toDuration
 
-class BoardRPCService(private val manager: ResourceManager) :
-    BoardServiceGrpc.BoardServiceImplBase(), ResourceRPCService<Board> {
+class BoardRPCService(private val manager: ResourceManager) : BoardServiceGrpc.BoardServiceImplBase(),
+    ResourceRPCService<Board> {
 
     override fun setGPIO(
-        request: com.viam.component.board.v1.Board.SetGPIORequest,
-        responseObserver: StreamObserver<com.viam.component.board.v1.Board.SetGPIOResponse>
+        request: SetGPIORequest,
+        responseObserver: StreamObserver<SetGPIOResponse>
     ) {
         val board = getResource(Board.named(request.name))
         board.setGpioState(request.pin, request.high, Optional.of(request.extra))
         responseObserver.onNext(
-            com.viam.component.board.v1.Board.SetGPIOResponse.newBuilder().build()
+            SetGPIOResponse.newBuilder().build()
         )
         responseObserver.onCompleted()
     }
 
     override fun getGPIO(
-        request: com.viam.component.board.v1.Board.GetGPIORequest,
-        responseObserver: StreamObserver<com.viam.component.board.v1.Board.GetGPIOResponse>
+        request: GetGPIORequest,
+        responseObserver: StreamObserver<GetGPIOResponse>
     ) {
         val board = getResource(Board.named(request.name))
         val state = board.getGpioState(request.pin, Optional.of(request.extra))
         responseObserver.onNext(
-            com.viam.component.board.v1.Board.GetGPIOResponse.newBuilder().setHigh(state).build()
+            GetGPIOResponse.newBuilder().setHigh(state).build()
         )
         responseObserver.onCompleted()
     }
 
     override fun setPWM(
-        request: com.viam.component.board.v1.Board.SetPWMRequest,
-        responseObserver: StreamObserver<com.viam.component.board.v1.Board.SetPWMResponse>
+        request: SetPWMRequest,
+        responseObserver: StreamObserver<SetPWMResponse>
     ) {
         val board = getResource(Board.named(request.name))
         board.setPwm(request.pin, request.dutyCyclePct, Optional.of(request.extra))
         responseObserver.onNext(
-            com.viam.component.board.v1.Board.SetPWMResponse.newBuilder().build()
+            SetPWMResponse.newBuilder().build()
         )
         responseObserver.onCompleted()
     }
 
     override fun pWM(
-        request: com.viam.component.board.v1.Board.PWMRequest,
-        responseObserver: StreamObserver<com.viam.component.board.v1.Board.PWMResponse>
+        request: PWMRequest,
+        responseObserver: StreamObserver<PWMResponse>
     ) {
         val board = getResource(Board.named(request.name))
         val pwm = board.getPwm(request.pin, Optional.of(request.extra))
         responseObserver.onNext(
-            com.viam.component.board.v1.Board.PWMResponse.newBuilder().setDutyCyclePct(pwm).build()
+            PWMResponse.newBuilder().setDutyCyclePct(pwm).build()
         )
         responseObserver.onCompleted()
     }
 
     override fun setPWMFrequency(
-        request: com.viam.component.board.v1.Board.SetPWMFrequencyRequest,
-        responseObserver: StreamObserver<com.viam.component.board.v1.Board.SetPWMFrequencyResponse>
+        request: SetPWMFrequencyRequest,
+        responseObserver: StreamObserver<SetPWMFrequencyResponse>
     ) {
         val board = getResource(Board.named(request.name))
         board.setPwmFrequency(request.pin, request.frequencyHz.toInt(), Optional.of(request.extra))
         responseObserver.onNext(
-            com.viam.component.board.v1.Board.SetPWMFrequencyResponse.newBuilder().build()
+            SetPWMFrequencyResponse.newBuilder().build()
         )
         responseObserver.onCompleted()
     }
 
     override fun pWMFrequency(
-        request: com.viam.component.board.v1.Board.PWMFrequencyRequest,
-        responseObserver: StreamObserver<com.viam.component.board.v1.Board.PWMFrequencyResponse>
+        request: PWMFrequencyRequest,
+        responseObserver: StreamObserver<PWMFrequencyResponse>
     ) {
         val board = getResource(Board.named(request.name))
         val freq = board.getPwmFrequency(request.pin, Optional.of(request.extra))
         responseObserver.onNext(
-            com.viam.component.board.v1.Board.PWMFrequencyResponse.newBuilder()
-                .setFrequencyHz(freq.toLong()).build()
+            PWMFrequencyResponse.newBuilder().setFrequencyHz(freq.toLong()).build()
         )
         responseObserver.onCompleted()
     }
 
     override fun writeAnalog(
-        request: com.viam.component.board.v1.Board.WriteAnalogRequest,
-        responseObserver: StreamObserver<com.viam.component.board.v1.Board.WriteAnalogResponse>
+        request: WriteAnalogRequest,
+        responseObserver: StreamObserver<WriteAnalogResponse>
     ) {
         val board = getResource(Board.named(request.name))
         board.writeAnalog(request.pin, request.value, Optional.of(request.extra))
         responseObserver.onNext(
-            com.viam.component.board.v1.Board.WriteAnalogResponse.newBuilder().build()
+            WriteAnalogResponse.newBuilder().build()
         )
         responseObserver.onCompleted()
     }
 
     override fun readAnalogReader(
-        request: com.viam.component.board.v1.Board.ReadAnalogReaderRequest,
-        responseObserver: StreamObserver<com.viam.component.board.v1.Board.ReadAnalogReaderResponse>
+        request: ReadAnalogReaderRequest,
+        responseObserver: StreamObserver<ReadAnalogReaderResponse>
     ) {
         val board = getResource(Board.named(request.boardName))
         val value = board.getAnalogReaderValue(request.analogReaderName, Optional.of(request.extra))
         responseObserver.onNext(
-            com.viam.component.board.v1.Board.ReadAnalogReaderResponse.newBuilder().setValue(value)
-                .build()
+            ReadAnalogReaderResponse.newBuilder().setValue(value).build()
         )
         responseObserver.onCompleted()
     }
 
     override fun streamTicks(
-        request: com.viam.component.board.v1.Board.StreamTicksRequest,
-        responseObserver: StreamObserver<com.viam.component.board.v1.Board.StreamTicksResponse>
+        request: StreamTicksRequest,
+        responseObserver: StreamObserver<StreamTicksResponse>
     ) {
         val board = getResource(Board.named(request.name))
         val ticksStream = board.streamTicks(request.pinNamesList, Optional.of(request.extra))
@@ -126,8 +125,8 @@ class BoardRPCService(private val manager: ResourceManager) :
     }
 
     override fun setPowerMode(
-        request: com.viam.component.board.v1.Board.SetPowerModeRequest,
-        responseObserver: StreamObserver<com.viam.component.board.v1.Board.SetPowerModeResponse>
+        request: SetPowerModeRequest,
+        responseObserver: StreamObserver<SetPowerModeResponse>
     ) {
         val board = getResource(Board.named(request.name))
         board.setPowerMode(
@@ -136,28 +135,26 @@ class BoardRPCService(private val manager: ResourceManager) :
             Optional.of(request.extra)
         )
         responseObserver.onNext(
-            com.viam.component.board.v1.Board.SetPowerModeResponse.newBuilder().build()
+            SetPowerModeResponse.newBuilder().build()
         )
         responseObserver.onCompleted()
     }
 
     override fun getDigitalInterruptValue(
-        request: com.viam.component.board.v1.Board.GetDigitalInterruptValueRequest,
-        responseObserver: StreamObserver<com.viam.component.board.v1.Board.GetDigitalInterruptValueResponse>
+        request: GetDigitalInterruptValueRequest,
+        responseObserver: StreamObserver<GetDigitalInterruptValueResponse>
     ) {
         val board = getResource(Board.named(request.boardName))
-        val value =
-            board.getDigitalInterruptValue(request.digitalInterruptName, Optional.of(request.extra))
+        val value = board.getDigitalInterruptValue(request.digitalInterruptName, Optional.of(request.extra))
         responseObserver.onNext(
-            com.viam.component.board.v1.Board.GetDigitalInterruptValueResponse.newBuilder()
-                .setValue(value.toLong()).build()
+            GetDigitalInterruptValueResponse.newBuilder().setValue(value.toLong())
+                .build()
         )
         responseObserver.onCompleted()
     }
 
     override fun doCommand(
-        request: Common.DoCommandRequest,
-        responseObserver: StreamObserver<DoCommandResponse>
+        request: Common.DoCommandRequest, responseObserver: StreamObserver<DoCommandResponse>
     ) {
         val board = getResource(Board.named(request.name))
         val result = board.doCommand(request.command.fieldsMap)
@@ -166,8 +163,7 @@ class BoardRPCService(private val manager: ResourceManager) :
     }
 
     override fun getGeometries(
-        request: Common.GetGeometriesRequest,
-        responseObserver: StreamObserver<GetGeometriesResponse>
+        request: Common.GetGeometriesRequest, responseObserver: StreamObserver<GetGeometriesResponse>
     ) {
         val board = getResource(Board.named(request.name))
         val result = board.getGeometries(Optional.of(request.extra))