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RSDK-10312: Button wrapper (#107)
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7 files changed

+288
-0
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7 files changed

+288
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‎core/sdk/src/main/java/com/viam/sdk/core/resource/ResourceManager.java

+8
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@@ -6,6 +6,7 @@
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import com.viam.component.arm.v1.ArmServiceGrpc;
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import com.viam.component.audioinput.v1.AudioInputServiceGrpc;
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import com.viam.component.board.v1.BoardServiceGrpc;
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import com.viam.component.button.v1.ButtonServiceGrpc;
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import com.viam.component.camera.v1.CameraServiceGrpc;
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import com.viam.component.encoder.v1.EncoderServiceGrpc;
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import com.viam.component.gantry.v1.GantryServiceGrpc;
@@ -17,6 +18,7 @@
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import com.viam.component.sensor.v1.SensorServiceGrpc;
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import com.viam.component.v1.PoseTrackerServiceGrpc;
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import com.viam.sdk.core.component.base.*;
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import com.viam.sdk.core.component.button.*;
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import com.viam.sdk.core.component.arm.*;
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import com.viam.component.servo.v1.ServoServiceGrpc;
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import com.viam.sdk.core.component.audioinput.*;
@@ -99,6 +101,12 @@ public class ResourceManager implements Closeable {
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BoardRPCService::new,
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BoardRPCClient::new
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));
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Registry.registerSubtype(new ResourceRegistration<>(
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Button.SUBTYPE,
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ButtonServiceGrpc.SERVICE_NAME,
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ButtonRPCService::new,
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ButtonRPCClient::new
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));
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Registry.registerSubtype(new ResourceRegistration<>(
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Camera.SUBTYPE,
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CameraServiceGrpc.SERVICE_NAME,

‎core/sdk/src/main/kotlin/com/viam/sdk/core/component/button/Button.kt

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package com.viam.sdk.core.component.button
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import com.google.protobuf.Struct
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import com.google.protobuf.Value
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import com.viam.common.v1.Common.*
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import com.viam.sdk.core.component.Component
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import com.viam.sdk.core.resource.Resource
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import com.viam.sdk.core.resource.Subtype
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import com.viam.sdk.core.robot.RobotClient
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/**
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* A Button represents a physical or virtual button that can be pushed.
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*/
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abstract class Button(name: String) : Component(SUBTYPE, named(name)) {
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companion object {
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@JvmField
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val SUBTYPE = Subtype(Subtype.NAMESPACE_RDK, Subtype.RESOURCE_TYPE_COMPONENT, "button")
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/**
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* Get the ResourceName of the component
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* @param name the name of the component
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* @return the component's ResourceName
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*/
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@JvmStatic
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fun named(name: String): ResourceName {
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return Resource.named(SUBTYPE, name)
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}
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/**
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* Get the component with the provided name from the provided robot.
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* @param robot the RobotClient
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* @param name the name of the component
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* @return the component
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*/
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@JvmStatic
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fun fromRobot(robot: RobotClient, name: String): Button {
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return robot.getResource(Button::class.java, named(name))
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}
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}
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/**
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* Push the button.
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* @param extra Additional arguments to the method
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*/
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abstract fun push(extra: Struct)
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/**
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* Push the button.
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*/
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fun push() {
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push(Struct.getDefaultInstance())
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}
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}

‎core/sdk/src/main/kotlin/com/viam/sdk/core/component/button/ButtonRPCClient.kt

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package com.viam.sdk.core.component.button
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import com.google.protobuf.Struct
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import com.google.protobuf.Value
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import com.viam.common.v1.Common
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import com.viam.common.v1.Common.GetGeometriesRequest
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import com.viam.component.button.v1.ButtonServiceGrpc
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import com.viam.component.button.v1.ButtonServiceGrpc.ButtonServiceBlockingStub
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import com.viam.component.button.v1.Button.*
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import com.viam.sdk.core.rpc.Channel
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import java.util.*
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import kotlin.jvm.optionals.getOrDefault
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class ButtonRPCClient(name: String, channel: Channel) : Button(name) {
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private val client: ButtonServiceBlockingStub
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init {
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val client = ButtonServiceGrpc.newBlockingStub(channel)
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if (channel.callCredentials.isPresent) {
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this.client = client.withCallCredentials(channel.callCredentials.get())
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} else {
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this.client = client
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}
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}
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override fun push(extra: Struct) {
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val request = PushRequest.newBuilder().setName(this.name.name).setExtra(extra).build()
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this.client.push(request)
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}
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override fun doCommand(command: Map<String, Value>?): Struct {
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val request = Common.DoCommandRequest.newBuilder().setName(this.name.name)
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.setCommand(Struct.newBuilder().putAllFields(command).build()).build()
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val response = this.client.doCommand(request)
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return response.result
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}
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}

‎core/sdk/src/main/kotlin/com/viam/sdk/core/component/button/ButtonRPCService.kt

+39
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package com.viam.sdk.core.component.button
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3+
import com.viam.common.v1.Common.*
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import com.viam.component.button.v1.Button.*
5+
import com.viam.component.button.v1.ButtonServiceGrpc
6+
import com.viam.sdk.core.resource.ResourceManager
7+
import com.viam.sdk.core.resource.ResourceRPCService
8+
import io.grpc.stub.StreamObserver
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internal class ButtonRPCService(private val manager: ResourceManager) : ButtonServiceGrpc.ButtonServiceImplBase(),
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ResourceRPCService<Button> {
12+
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override fun push(
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request: PushRequest,
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responseObserver: StreamObserver<PushResponse>
16+
) {
17+
val button = getResource(Button.named(request.name))
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button.push(request.extra)
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responseObserver.onNext(PushResponse.newBuilder().build())
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responseObserver.onCompleted()
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}
22+
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override fun doCommand(
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request: DoCommandRequest, responseObserver: StreamObserver<DoCommandResponse>
25+
) {
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val button = getResource(Button.named(request.name))
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val result = button.doCommand(request.command.fieldsMap)
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responseObserver.onNext(DoCommandResponse.newBuilder().setResult(result).build())
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responseObserver.onCompleted()
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}
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override fun getResourceClass(): Class<Button> {
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return Button::class.java
34+
}
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36+
override fun getManager(): ResourceManager {
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return this.manager
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}
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}

‎core/sdk/src/test/kotlin/com/viam/sdk/core/component/button/ButtonRPCClientTest.kt

+56
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1+
package com.viam.sdk.core.component.button
2+
3+
import com.google.protobuf.Struct
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import com.google.protobuf.Value
5+
import com.viam.sdk.core.resource.ResourceManager
6+
import com.viam.sdk.core.rpc.BasicManagedChannel
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import io.grpc.inprocess.InProcessChannelBuilder
8+
import io.grpc.inprocess.InProcessServerBuilder
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import io.grpc.testing.GrpcCleanupRule
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import org.junit.Rule
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import org.junit.jupiter.api.Assertions.assertEquals
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import org.junit.jupiter.api.BeforeEach
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import org.junit.jupiter.api.Test
14+
import org.mockito.Mockito.*
15+
import java.util.*
16+
17+
class ButtonRPCClientTest {
18+
private lateinit var button: Button
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private lateinit var client: ButtonRPCClient
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@JvmField
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@Rule
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val grpcCleanupRule: GrpcCleanupRule = GrpcCleanupRule()
24+
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@BeforeEach
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fun setup() {
27+
button = mock(
28+
Button::class.java, withSettings().useConstructor("mock-button").defaultAnswer(
29+
CALLS_REAL_METHODS
30+
)
31+
)
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val resourceManager = ResourceManager(listOf(button))
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val service = ButtonRPCService(resourceManager)
34+
val serviceName = InProcessServerBuilder.generateName()
35+
grpcCleanupRule.register(
36+
InProcessServerBuilder.forName(serviceName).directExecutor().addService(service).build().start()
37+
)
38+
val channel = grpcCleanupRule.register(InProcessChannelBuilder.forName(serviceName).directExecutor().build())
39+
client = ButtonRPCClient("mock-button", BasicManagedChannel(channel))
40+
}
41+
42+
@Test
43+
fun push() {
44+
client.push()
45+
verify(button).push(Struct.getDefaultInstance())
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}
47+
48+
@Test
49+
fun doCommand() {
50+
val command = mapOf("foo" to Value.newBuilder().setStringValue("bar").build())
51+
doReturn(Struct.newBuilder().putAllFields(command).build()).`when`(button).doCommand(anyMap())
52+
val response = client.doCommand(command)
53+
verify(button).doCommand(command)
54+
assertEquals(command, response.fieldsMap)
55+
}
56+
}

‎core/sdk/src/test/kotlin/com/viam/sdk/core/component/button/ButtonRPCServiceTest.kt

+66
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1+
package com.viam.sdk.core.component.button
2+
3+
import com.google.protobuf.Struct
4+
import com.google.protobuf.Value
5+
import com.viam.common.v1.Common
6+
import com.viam.component.button.v1.Button.*
7+
import com.viam.component.button.v1.ButtonServiceGrpc
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import com.viam.component.button.v1.ButtonServiceGrpc.ButtonServiceBlockingStub
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import com.viam.sdk.core.resource.ResourceManager
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import io.grpc.inprocess.InProcessChannelBuilder
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import io.grpc.inprocess.InProcessServerBuilder
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import io.grpc.testing.GrpcCleanupRule
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import org.junit.Rule
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import org.junit.jupiter.api.Assertions.assertEquals
15+
import org.junit.jupiter.api.BeforeEach
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import org.junit.jupiter.api.Test
17+
import org.mockito.Mockito.*
18+
19+
class ButtonRPCServiceTest {
20+
21+
private lateinit var button: Button
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private lateinit var client: ButtonServiceBlockingStub
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@JvmField
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@Rule
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val grpcCleanupRule: GrpcCleanupRule = GrpcCleanupRule()
27+
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@BeforeEach
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fun setup() {
30+
button = mock(
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Button::class.java, withSettings().useConstructor("mock-button").defaultAnswer(
32+
CALLS_REAL_METHODS
33+
)
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)
35+
36+
val resourceManager = ResourceManager(listOf(button))
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val service = ButtonRPCService(resourceManager)
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val serviceName = InProcessServerBuilder.generateName()
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grpcCleanupRule.register(
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InProcessServerBuilder.forName(serviceName).directExecutor().addService(service).build().start()
41+
)
42+
client = ButtonServiceGrpc.newBlockingStub(
43+
grpcCleanupRule.register(
44+
InProcessChannelBuilder.forName(serviceName).build()
45+
)
46+
)
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}
48+
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@Test
50+
fun push() {
51+
val request = PushRequest.newBuilder().setName(button.name.name).build()
52+
client.push(request)
53+
verify(button).push(Struct.getDefaultInstance())
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}
55+
56+
@Test
57+
fun doCommand() {
58+
val command =
59+
Struct.newBuilder().putAllFields(mapOf("foo" to Value.newBuilder().setStringValue("bar").build())).build()
60+
doReturn(command).`when`(button).doCommand(anyMap())
61+
val request = Common.DoCommandRequest.newBuilder().setName(button.name.name).setCommand(command).build()
62+
val response = client.doCommand(request)
63+
verify(button).doCommand(command.fieldsMap)
64+
assertEquals(command, response.result)
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}
66+
}

‎core/sdk/src/test/kotlin/com/viam/sdk/core/component/button/ButtonTest.kt

+29
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@@ -0,0 +1,29 @@
1+
package com.viam.sdk.core.component.button
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3+
import com.google.protobuf.Struct
4+
import org.junit.jupiter.api.BeforeEach
5+
import org.junit.jupiter.api.Test
6+
import org.mockito.Answers
7+
import org.mockito.Mockito.*
8+
9+
class ButtonTest {
10+
private lateinit var button: Button
11+
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@BeforeEach
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fun setup() {
14+
button = mock(Button::class.java, Answers.CALLS_REAL_METHODS)
15+
}
16+
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@Test
18+
fun push() {
19+
button.push()
20+
verify(button).push()
21+
}
22+
23+
@Test
24+
fun pushWithExtra() {
25+
val extra = Struct.getDefaultInstance()
26+
button.push(extra)
27+
verify(button).push(extra)
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}
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}

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