Allow joint state and command streams' mocking

Signed-off-by: Michel Hidalgo <[email protected]>

Author: mhidalgo-bdai

spot_wrapper/testing/grpc.py

@@ -14,7 +14,7 @@
 import grpc
 from bosdyn.api.header_pb2 import CommonError
 
-from spot_wrapper.testing.helpers import ForwardingWrapper
+from spot_wrapper.testing.helpers import ForwardingWrapper, cache1
 
 
 def implemented(function: typing.Callable) -> bool:
@@ -273,9 +273,9 @@ class AutoCompletingStreamUnaryRpcHandler(ForwardingWrapper):
     """
 
     def __call__(self, request_iterator: typing.Iterator, context: grpc.ServicerContext) -> typing.Any:
-        *head_requests, tail_request = request_iterator
-        response = self.__wrapped__(iter([*head_requests, tail_request]), context)
-        fill_response_header(tail_request, response)
+        cached_request_iterator = cache1(request_iterator)
+        response = self.__wrapped__(cached_request_iterator, context)
+        fill_response_header(cached_request_iterator.cache, response)
         return response
 
 
@@ -295,9 +295,9 @@ class AutoCompletingStreamStreamRpcHandler(ForwardingWrapper):
     """
 
     def __call__(self, request_iterator: typing.Iterator, context: grpc.ServicerContext) -> typing.Iterator:
-        *head_requests, tail_request = request_iterator
-        for response in self.__wrapped__(iter([*head_requests, tail_request]), context):
-            fill_response_header(tail_request, response)
+        cached_request_iterator = cache1(request_iterator)
+        for response in self.__wrapped__(cached_request_iterator, context):
+            fill_response_header(cached_request_iterator.cache, response)
             yield response
 
 

spot_wrapper/testing/helpers.py

@@ -39,3 +39,26 @@ def walk_resource_tree(resource_tree: ResourceTree) -> typing.Iterable[ResourceT
     yield resource_tree
     for subtree in resource_tree.sub_resources:
         yield from walk_resource_tree(subtree)
+
+
+_T = typing.TypeVar("_T")
+
+
+class cache1(typing.Iterator[_T]):
+    """Iterator wrapper that caches the last item retrieved. """
+
+    def __init__(self, inner: typing.Iterator[_T]):
+        """Initialize cached iterator
+
+        Args:
+            inner: inner iterator to cache
+        """
+        self.__inner = inner
+        self.cache: typing.Optional[_T] = None
+
+    def __iter__(self) -> "cache1":
+        return self
+
+    def __next__(self) -> _T:
+        self.cache = next(self.__inner)
+        return self.cache

spot_wrapper/testing/mocks/__init__.py

@@ -59,14 +59,18 @@
 from bosdyn.api.power_service_pb2_grpc import (
     PowerServiceServicer as PowerCommandServiceServicer,
 )
-from bosdyn.api.robot_command_service_pb2_grpc import RobotCommandServiceServicer
+from bosdyn.api.robot_command_service_pb2_grpc import (
+    RobotCommandServiceServicer,
+    RobotCommandStreamingService,
+)
 from bosdyn.api.robot_id_service_pb2_grpc import RobotIdServiceServicer
-from bosdyn.api.robot_state_service_pb2_grpc import RobotStateServiceServicer
+from bosdyn.api.robot_state_service_pb2_grpc import (
+    RobotStateServiceServicer,
+    RobotStateStreamingService,
+)
 from bosdyn.api.spot.choreography_service_pb2_grpc import ChoreographyServiceServicer
 from bosdyn.api.spot.door_service_pb2_grpc import DoorServiceServicer
-from bosdyn.api.spot.inverse_kinematics_service_pb2_grpc import (
-    InverseKinematicsServiceServicer,
-)
+from bosdyn.api.spot.inverse_kinematics_service_pb2_grpc import InverseKinematicsServiceServicer
 from bosdyn.api.spot.spot_check_service_pb2_grpc import SpotCheckServiceServicer
 from bosdyn.api.spot_cam.service_pb2_grpc import (
     AudioServiceServicer,
@@ -145,8 +149,10 @@ class BaseMockSpot(
     PtzServiceServicer,
     RemoteMissionServiceServicer,
     RobotCommandServiceServicer,
+    RobotCommandStreamingService,
     RobotIdServiceServicer,
     RobotStateServiceServicer,
+    RobotStateStreamingService,
     SpotCheckServiceServicer,
     StreamQualityServiceServicer,
     TimeSyncServiceServicer,