Draft: RSDK-10311: Switch component (#391)

Author: lia-viam

src/viam/api/CMakeLists.txt

@@ -113,6 +113,16 @@ if (VIAMCPPSDK_USE_DYNAMIC_PROTOS)
     )
   endif()
 
+  # List of names of non-compilable generated code
+  # The Switch component generates protobuf which uses `switch` as a namespace.
+  # This needs to be processed below.
+  set(VIAMCPPSDK_SWITCH_REPLACE_PATHS     
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.grpc.pb.cc
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.grpc.pb.h
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.pb.cc
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.pb.h
+  )
+
   add_custom_command(
     OUTPUT
     # Unfortunately, there isn't a good way to know in advance what
@@ -201,6 +211,10 @@ if (VIAMCPPSDK_USE_DYNAMIC_PROTOS)
     ${PROTO_GEN_DIR}/component/servo/v1/servo.grpc.pb.h
     ${PROTO_GEN_DIR}/component/servo/v1/servo.pb.cc
     ${PROTO_GEN_DIR}/component/servo/v1/servo.pb.h
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.grpc.pb.cc
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.grpc.pb.h
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.pb.cc
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.pb.h
     ${PROTO_GEN_DIR}/google/api/annotations.pb.cc
     ${PROTO_GEN_DIR}/google/api/annotations.pb.h
     ${PROTO_GEN_DIR}/google/api/httpbody.pb.cc
@@ -245,6 +259,9 @@ if (VIAMCPPSDK_USE_DYNAMIC_PROTOS)
     COMMAND ${BUF_COMMAND} generate ${BUF_GOOGLE_API_SOURCE} --template buf.gen.yaml --path google/rpc --path google/api
     COMMAND ${BUF_COMMAND} generate ${BUF_VIAM_GOUTILS_SOURCE} --template buf.gen.yaml
     COMMAND ${BUF_COMMAND} generate ${BUF_VIAM_API_SOURCE} --template buf.gen.yaml --path ${BUF_PROTO_COMPONENTS_JOINED}
+
+    # After generating the protos, include a step to invoke a search-and-replace for switch -> switch_ in the Switch component files
+    COMMAND ${CMAKE_COMMAND} "-DSWITCH_REPLACE_PATHS=\"${VIAMCPPSDK_SWITCH_REPLACE_PATHS}\"" -P ${CMAKE_CURRENT_SOURCE_DIR}/viamcppsdk_replace_switch.cmake 
     MAIN_DEPENDENCY buf.gen.yaml
   )
 
@@ -328,6 +345,8 @@ target_sources(viamapi
     ${PROTO_GEN_DIR}/component/sensor/v1/sensor.pb.cc
     ${PROTO_GEN_DIR}/component/servo/v1/servo.grpc.pb.cc
     ${PROTO_GEN_DIR}/component/servo/v1/servo.pb.cc
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.grpc.pb.cc
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.pb.cc
     ${PROTO_GEN_DIR}/google/api/annotations.pb.cc
     ${PROTO_GEN_DIR}/google/api/http.pb.cc
     ${PROTO_GEN_DIR}/google/api/httpbody.pb.cc
@@ -390,6 +409,8 @@ target_sources(viamapi
       ${PROTO_GEN_DIR}/../../viam/api/component/sensor/v1/sensor.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/servo/v1/servo.grpc.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/servo/v1/servo.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/component/switch/v1/switch.grpc.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/component/switch/v1/switch.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/google/api/annotations.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/google/api/http.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/google/api/httpbody.pb.h

src/viam/api/viamcppsdk_replace_switch.cmake

@@ -0,0 +1,10 @@
+if (NOT SWITCH_REPLACE_PATHS)
+    message(FATAL_ERROR "Please provide SWITCH_REPLACE_PATHS argument to switch replace script")
+endif()
+
+foreach(SOURCE ${SWITCH_REPLACE_PATHS})
+    file(READ "${SOURCE}" _src_text)
+    string(REPLACE "namespace switch " "namespace switch_ " _src_text "${_src_text}")
+    string(REPLACE "::switch::" "::switch_::" _src_text "${_src_text}")
+    file(WRITE "${SOURCE}" "${_src_text}")
+endforeach()

src/viam/sdk/CMakeLists.txt

@@ -113,8 +113,11 @@ target_sources(viamsdk
     components/private/sensor_server.cpp
     components/private/servo_client.cpp
     components/private/servo_server.cpp
+    components/private/switch_client.cpp
+    components/private/switch_server.cpp
     components/sensor.cpp
     components/servo.cpp
+    components/switch.cpp
     config/resource.cpp
     module/handler_map.cpp
     module/module.cpp
@@ -183,6 +186,7 @@ target_sources(viamsdk
       ../../viam/sdk/components/power_sensor.hpp
       ../../viam/sdk/components/sensor.hpp
       ../../viam/sdk/components/servo.hpp
+      ../../viam/sdk/components/switch.hpp
       ../../viam/sdk/config/resource.hpp
       ../../viam/sdk/module/handler_map.hpp
       ../../viam/sdk/module/module.hpp

src/viam/sdk/components/private/switch_client.cpp

@@ -0,0 +1,43 @@
+#include <viam/sdk/components/private/switch_client.hpp>
+
+#include <viam/api/component/switch/v1/switch.grpc.pb.h>
+#include <viam/api/component/switch/v1/switch.pb.h>
+
+#include <viam/sdk/common/client_helper.hpp>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+SwitchClient::SwitchClient(std::string name, std::shared_ptr<grpc::Channel> channel)
+    : Switch(std::move(name)),
+      stub_(viam::component::switch_::v1::SwitchService::NewStub(channel)),
+      channel_(std::move(channel)) {}
+
+void SwitchClient::set_position(uint32_t position, const ProtoStruct& extra) {
+    make_client_helper(this, *stub_, &StubType::SetPosition)
+        .with(extra, [&](auto& request) { request.set_position(position); })
+        .invoke();
+}
+
+uint32_t SwitchClient::get_position(const ProtoStruct& extra) {
+    return make_client_helper(this, *stub_, &StubType::GetPosition)
+        .with(extra)
+        .invoke([](auto& response) { return response.position(); });
+}
+
+uint32_t SwitchClient::get_number_of_positions(const ProtoStruct& extra) {
+    return make_client_helper(this, *stub_, &StubType::GetNumberOfPositions)
+        .with(extra)
+        .invoke([](auto& response) { return response.number_of_positions(); });
+}
+
+ProtoStruct SwitchClient::do_command(const ProtoStruct& command) {
+    return make_client_helper(this, *stub_, &StubType::DoCommand)
+        .with([&](auto& request) { *request.mutable_command() = to_proto(command); })
+        .invoke([](auto& response) { return from_proto(response.result()); });
+}
+
+}  // namespace impl
+}  // namespace sdk
+}  // namespace viam

src/viam/sdk/components/private/switch_client.hpp

@@ -0,0 +1,43 @@
+/// @file components/private/switch_client.hpp
+///
+/// @brief Implements a gRPC client for the `Switch` component
+#pragma once
+
+#include <grpcpp/channel.h>
+
+#include <viam/api/component/switch/v1/switch.grpc.pb.h>
+
+#include <viam/sdk/components/switch.hpp>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+/// @class SwitchClient
+/// @brief gRPC client implementation of a `Switch` component.
+/// @ingroup Switch
+class SwitchClient : public Switch {
+   public:
+    using interface_type = Switch;
+    SwitchClient(std::string name, std::shared_ptr<grpc::Channel> channel);
+
+    void set_position(uint32_t position, const ProtoStruct& extra) override;
+    uint32_t get_position(const ProtoStruct& extra) override;
+    uint32_t get_number_of_positions(const ProtoStruct& extra) override;
+    ProtoStruct do_command(const ProtoStruct& command) override;
+
+    // Using declarations to introduce convenience overloads of interface which do not need to be
+    // passed the ProtoStruct parameter.
+    using Switch::get_number_of_positions;
+    using Switch::get_position;
+    using Switch::set_position;
+
+   private:
+    using StubType = viam::component::switch_::v1::SwitchService::StubInterface;
+    std::unique_ptr<StubType> stub_;
+    std::shared_ptr<grpc::Channel> channel_;
+};
+
+}  // namespace impl
+}  // namespace sdk
+}  // namespace viam

src/viam/sdk/components/private/switch_server.cpp

@@ -0,0 +1,54 @@
+#include <viam/sdk/components/private/switch_server.hpp>
+
+#include <viam/sdk/common/private/service_helper.hpp>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+SwitchServer::SwitchServer(std::shared_ptr<ResourceManager> manager)
+    : ResourceServer(std::move(manager)) {}
+
+::grpc::Status SwitchServer::SetPosition(
+    ::grpc::ServerContext*,
+    const ::viam::component::switch_::v1::SetPositionRequest* request,
+    ::viam::component::switch_::v1::SetPositionResponse*) noexcept {
+    return make_service_helper<Switch>(
+        "SwitchServer::SetPosition", this, request)([&](auto& helper, auto& switch_) {
+        switch_->set_position(request->position(), helper.getExtra());
+    });
+}
+
+::grpc::Status SwitchServer::GetPosition(
+    ::grpc::ServerContext*,
+    const ::viam::component::switch_::v1::GetPositionRequest* request,
+    ::viam::component::switch_::v1::GetPositionResponse* response) noexcept {
+    return make_service_helper<Switch>(
+        "SwitchServer::GetPosition", this, request)([&](auto& helper, auto& switch_) {
+        response->set_position(switch_->get_position(helper.getExtra()));
+    });
+}
+
+::grpc::Status SwitchServer::GetNumberOfPositions(
+    ::grpc::ServerContext*,
+    const ::viam::component::switch_::v1::GetNumberOfPositionsRequest* request,
+    ::viam::component::switch_::v1::GetNumberOfPositionsResponse* response) noexcept {
+    return make_service_helper<Switch>(
+        "SwitchServer::GetNumberOfPositions", this, request)([&](auto& helper, auto& switch_) {
+        response->set_number_of_positions(switch_->get_number_of_positions(helper.getExtra()));
+    });
+}
+
+::grpc::Status SwitchServer::DoCommand(::grpc::ServerContext*,
+                                       const ::viam::common::v1::DoCommandRequest* request,
+                                       ::viam::common::v1::DoCommandResponse* response) noexcept {
+    return make_service_helper<Switch>(
+        "SwitchServer::DoCommand", this, request)([&](auto&, auto& switch_) {
+        const ProtoStruct result = switch_->do_command(from_proto(request->command()));
+        *response->mutable_result() = to_proto(result);
+    });
+}
+
+}  // namespace impl
+}  // namespace sdk
+}  // namespace viam

src/viam/sdk/components/private/switch_server.hpp

@@ -0,0 +1,50 @@
+/// @file components/private/switch_server.hpp
+///
+/// @brief Implements a gRPC server for the `Switch` component
+#pragma once
+
+#include <viam/api/component/switch/v1/switch.grpc.pb.h>
+#include <viam/api/component/switch/v1/switch.pb.h>
+
+#include <viam/sdk/components/switch.hpp>
+#include <viam/sdk/resource/resource_manager.hpp>
+#include <viam/sdk/resource/resource_server_base.hpp>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+/// @class SwitchServer
+/// @brief gRPC server implementation of a `Switch` component.
+/// @ingroup Switch
+class SwitchServer : public ResourceServer,
+                     public viam::component::switch_::v1::SwitchService::Service {
+   public:
+    using interface_type = Switch;
+    using service_type = component::switch_::v1::SwitchService;
+
+    explicit SwitchServer(std::shared_ptr<ResourceManager> manager);
+
+    ::grpc::Status SetPosition(
+        ::grpc::ServerContext* context,
+        const ::viam::component::switch_::v1::SetPositionRequest* request,
+        ::viam::component::switch_::v1::SetPositionResponse* response) noexcept override;
+
+    ::grpc::Status GetPosition(
+        ::grpc::ServerContext* context,
+        const ::viam::component::switch_::v1::GetPositionRequest* request,
+        ::viam::component::switch_::v1::GetPositionResponse* response) noexcept override;
+
+    ::grpc::Status GetNumberOfPositions(
+        ::grpc::ServerContext* context,
+        const ::viam::component::switch_::v1::GetNumberOfPositionsRequest* request,
+        ::viam::component::switch_::v1::GetNumberOfPositionsResponse* response) noexcept override;
+
+    ::grpc::Status DoCommand(::grpc::ServerContext* context,
+                             const ::viam::common::v1::DoCommandRequest* request,
+                             ::viam::common::v1::DoCommandResponse* response) noexcept override;
+};
+
+}  // namespace impl
+}  // namespace sdk
+}  // namespace viam

src/viam/sdk/components/switch.cpp

@@ -0,0 +1,19 @@
+#include <viam/sdk/components/switch.hpp>
+
+#include <viam/sdk/common/utils.hpp>
+
+namespace viam {
+namespace sdk {
+
+API Switch::api() const {
+    return API::get<Switch>();
+}
+
+API API::traits<Switch>::api() {
+    return {kRDK, kComponent, "switch"};
+}
+
+Switch::Switch(std::string name) : Component(std::move(name)) {}
+
+}  // namespace sdk
+}  // namespace viam

src/viam/sdk/components/switch.hpp

@@ -0,0 +1,77 @@
+/// @file components/switch.hpp
+///
+/// @brief Defines a `Switch` component
+#pragma once
+
+#include <cstdint>
+
+#include <string>
+
+#include <viam/sdk/common/proto_value.hpp>
+#include <viam/sdk/components/component.hpp>
+#include <viam/sdk/resource/resource_api.hpp>
+
+namespace viam {
+namespace sdk {
+
+/// @defgroup Switch Classes related to the Switch component.
+
+/// @class Switch switch.hpp "components/switch.hpp"
+/// @brief A `Switch` represents a physical switch with multiple positions.
+/// @ingroup Switch
+///
+/// This acts as an abstract parent class to be inherited from by any drivers representing
+/// specific switch implementations. This class cannot be used on its own.
+class Switch : public Component {
+   public:
+    /// @brief Set the position of the switch.
+    /// @param position The position to set the switch to.
+    inline void set_position(uint32_t position) {
+        set_position(position, {});
+    }
+
+    /// @brief Set the position of the switch.
+    /// @param position The position to set the switch to.
+    /// @param extra Any additional arguments to the method.
+    virtual void set_position(uint32_t position, const ProtoStruct& extra) = 0;
+
+    /// @brief Get the current position of the switch.
+    /// @return The current position of the switch.
+    inline uint32_t get_position() {
+        return get_position({});
+    }
+
+    /// @brief Get the current position of the switch.
+    /// @param extra Any additional arguments to the method.
+    /// @return The current position of the switch.
+    virtual uint32_t get_position(const ProtoStruct& extra) = 0;
+
+    /// @brief Get the number of positions that the switch supports.
+    /// @return The number of positions that the switch supports.
+    inline uint32_t get_number_of_positions() {
+        return get_number_of_positions({});
+    }
+
+    /// @brief Get the number of positions that the switch supports.
+    /// @param extra Any additional arguments to the method.
+    /// @return The number of positions that the switch supports.
+    virtual uint32_t get_number_of_positions(const ProtoStruct& extra) = 0;
+
+    /// @brief Send/receive arbitrary commands to the resource.
+    /// @param command The command to execute.
+    /// @return The result of the executed command.
+    virtual ProtoStruct do_command(const ProtoStruct& command) = 0;
+
+    API api() const override;
+
+   protected:
+    explicit Switch(std::string name);
+};
+
+template <>
+struct API::traits<Switch> {
+    static API api();
+};
+
+}  // namespace sdk
+}  // namespace viam

src/viam/sdk/registry/registry.cpp

@@ -43,6 +43,8 @@
 #include <viam/sdk/components/private/sensor_server.hpp>
 #include <viam/sdk/components/private/servo_client.hpp>
 #include <viam/sdk/components/private/servo_server.hpp>
+#include <viam/sdk/components/private/switch_client.hpp>
+#include <viam/sdk/components/private/switch_server.hpp>
 #include <viam/sdk/resource/resource.hpp>
 #include <viam/sdk/resource/resource_api.hpp>
 #include <viam/sdk/services/private/discovery_client.hpp>
@@ -214,6 +216,7 @@ void Registry::register_resources() {
     register_resource<impl::PowerSensorClient, impl::PowerSensorServer>();
     register_resource<impl::SensorClient, impl::SensorServer>();
     register_resource<impl::ServoClient, impl::ServoServer>();
+    register_resource<impl::SwitchClient, impl::SwitchServer>();
 
     // Register all services
     register_resource<impl::DiscoveryClient, impl::DiscoveryServer>();