RSDK-10311: Button component

src/viam/api/CMakeLists.txt

@@ -153,6 +153,10 @@ if (VIAMCPPSDK_USE_DYNAMIC_PROTOS)
     ${PROTO_GEN_DIR}/component/board/v1/board.grpc.pb.h
     ${PROTO_GEN_DIR}/component/board/v1/board.pb.cc
     ${PROTO_GEN_DIR}/component/board/v1/board.pb.h
+    ${PROTO_GEN_DIR}/component/button/v1/button.grpc.pb.cc
+    ${PROTO_GEN_DIR}/component/button/v1/button.grpc.pb.h
+    ${PROTO_GEN_DIR}/component/button/v1/button.pb.cc
+    ${PROTO_GEN_DIR}/component/button/v1/button.pb.h
     ${PROTO_GEN_DIR}/component/camera/v1/camera.grpc.pb.cc
     ${PROTO_GEN_DIR}/component/camera/v1/camera.grpc.pb.h
     ${PROTO_GEN_DIR}/component/camera/v1/camera.pb.cc
@@ -300,6 +304,8 @@ target_sources(viamapi
     ${PROTO_GEN_DIR}/component/base/v1/base.pb.cc
     ${PROTO_GEN_DIR}/component/board/v1/board.grpc.pb.cc
     ${PROTO_GEN_DIR}/component/board/v1/board.pb.cc
+    ${PROTO_GEN_DIR}/component/button/v1/button.grpc.pb.cc
+    ${PROTO_GEN_DIR}/component/button/v1/button.pb.cc
     ${PROTO_GEN_DIR}/component/camera/v1/camera.grpc.pb.cc
     ${PROTO_GEN_DIR}/component/camera/v1/camera.pb.cc
     ${PROTO_GEN_DIR}/component/encoder/v1/encoder.grpc.pb.cc
@@ -360,6 +366,8 @@ target_sources(viamapi
       ${PROTO_GEN_DIR}/../../viam/api/component/base/v1/base.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/board/v1/board.grpc.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/board/v1/board.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/component/button/v1/button.grpc.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/component/button/v1/button.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/camera/v1/camera.grpc.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/camera/v1/camera.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/encoder/v1/encoder.grpc.pb.h

src/viam/sdk/CMakeLists.txt

@@ -61,6 +61,7 @@ target_sources(viamsdk
     components/arm.cpp
     components/base.cpp
     components/board.cpp
+    components/button.cpp
     components/camera.cpp
     components/component.cpp
     components/encoder.cpp
@@ -78,6 +79,8 @@ target_sources(viamsdk
     components/private/board_client.cpp
     components/private/board_server.cpp
     components/private/camera_client.cpp
+    components/private/button_client.cpp
+    components/private/button_server.cpp
     components/private/camera_server.cpp
     components/private/encoder.cpp
     components/private/encoder_client.cpp
@@ -157,6 +160,7 @@ target_sources(viamsdk
       ../../viam/sdk/components/arm.hpp
       ../../viam/sdk/components/base.hpp
       ../../viam/sdk/components/board.hpp
+      ../../viam/sdk/components/button.hpp
       ../../viam/sdk/components/camera.hpp
       ../../viam/sdk/components/component.hpp
       ../../viam/sdk/components/encoder.hpp

src/viam/sdk/components/button.cpp

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

src/viam/sdk/components/button.hpp

@@ -0,0 +1,51 @@
+/// @file components/button.hpp
+///
+/// @brief Defines a `Button` component
+#pragma once
+
+#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 Button Classes related to the Button component.
+
+/// @class Button button.hpp "components/button.hpp"
+/// @brief A `Button` represents a physical or virtual button.
+/// @ingroup Button
+///
+/// This acts as an abstract parent class to be inherited from by any drivers representing
+/// specific button implementations. This class cannot be used on its own.
+class Button : public Component {
+   public:
+    /// @brief Push the button.
+    inline void push() {
+        return push({});
+    }
+
+    /// @brief Push the button.
+    /// @param extra Any additional arguments to the method.
+    virtual void push(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 Button(std::string name);
+};
+
+template <>
+struct API::traits<Button> {
+    static API api();
+};
+
+}  // namespace sdk
+}  // namespace viam

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

@@ -0,0 +1,30 @@
+#include <viam/sdk/components/private/button_client.hpp>
+
+#include <viam/api/component/button/v1/button.grpc.pb.h>
+#include <viam/api/component/button/v1/button.pb.h>
+
+#include <viam/sdk/common/client_helper.hpp>
+#include <viam/sdk/common/proto_value.hpp>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+ButtonClient::ButtonClient(std::string name, std::shared_ptr<grpc::Channel> channel)
+    : Button(std::move(name)),
+      stub_(viam::component::button::v1::ButtonService::NewStub(channel)),
+      channel_(std::move(channel)) {}
+
+void ButtonClient::push(const ProtoStruct& extra) {
+    return make_client_helper(this, *stub_, &StubType::Push).with(extra).invoke();
+}
+
+ProtoStruct ButtonClient::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/button_client.hpp

@@ -0,0 +1,39 @@
+/// @file components/private/button_client.hpp
+///
+/// @brief Implements a gRPC client for the `Button` component
+#pragma once
+
+#include <memory>
+
+#include <grpcpp/channel.h>
+
+#include <viam/api/component/button/v1/button.grpc.pb.h>
+
+#include <viam/sdk/components/button.hpp>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+/// @class ButtonClient
+/// @brief gRPC client implementation of a `Button` component
+/// @ingroup Button
+class ButtonClient : public Button {
+   public:
+    using interface_type = Button;
+    ButtonClient(std::string name, std::shared_ptr<grpc::Channel> channel);
+
+    void push(const ProtoStruct& extra) override;
+    ProtoStruct do_command(const ProtoStruct& command) override;
+
+    using Button::push;
+
+   private:
+    using StubType = viam::component::button::v1::ButtonService::StubInterface;
+    std::unique_ptr<StubType> stub_;
+    std::shared_ptr<grpc::Channel> channel_;
+};
+
+}  // namespace impl
+}  // namespace sdk
+}  // namespace viam

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

@@ -0,0 +1,31 @@
+#include <viam/sdk/components/private/button_server.hpp>
+
+#include <viam/sdk/common/private/service_helper.hpp>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+ButtonServer::ButtonServer(std::shared_ptr<ResourceManager> manager)
+    : ResourceServer(std::move(manager)) {}
+
+::grpc::Status ButtonServer::Push(::grpc::ServerContext*,
+                                  const ::viam::component::button::v1::PushRequest* request,
+                                  ::viam::component::button::v1::PushResponse*) noexcept {
+    return make_service_helper<Button>("ButtonServer::Push", this, request)(
+        [&](auto& helper, auto& button) { button->push(helper.getExtra()); });
+}
+
+::grpc::Status ButtonServer::DoCommand(::grpc::ServerContext*,
+                                       const ::viam::common::v1::DoCommandRequest* request,
+                                       ::viam::common::v1::DoCommandResponse* response) noexcept {
+    return make_service_helper<Button>(
+        "ButtonServer::DoCommand", this, request)([&](auto&, auto& button) {
+        const ProtoStruct result = button->do_command(from_proto(request->command()));
+        *response->mutable_result() = to_proto(result);
+    });
+}
+
+}  // namespace impl
+}  // namespace sdk
+}  // namespace viam

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

@@ -0,0 +1,36 @@
+/// @file components/private/button_server.hpp
+///
+/// @brief Implements a gRPC server for the `Button` component
+#pragma once
+
+#include <viam/api/component/button/v1/button.grpc.pb.h>
+#include <viam/api/component/button/v1/button.pb.h>
+
+#include <viam/sdk/components/button.hpp>
+#include <viam/sdk/resource/resource_manager.hpp>
+#include <viam/sdk/resource/resource_server_base.hpp>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+class ButtonServer : public ResourceServer,
+                     public viam::component::button::v1::ButtonService::Service {
+   public:
+    using interface_type = Button;
+    using service_type = component::button::v1::ButtonService;
+
+    explicit ButtonServer(std::shared_ptr<ResourceManager> manager);
+
+    ::grpc::Status Push(::grpc::ServerContext* context,
+                        const ::viam::component::button::v1::PushRequest* request,
+                        ::viam::component::button::v1::PushResponse* 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/registry/registry.cpp

@@ -19,6 +19,8 @@
 #include <viam/sdk/components/private/base_server.hpp>
 #include <viam/sdk/components/private/board_client.hpp>
 #include <viam/sdk/components/private/board_server.hpp>
+#include <viam/sdk/components/private/button_client.hpp>
+#include <viam/sdk/components/private/button_server.hpp>
 #include <viam/sdk/components/private/camera_client.hpp>
 #include <viam/sdk/components/private/camera_server.hpp>
 #include <viam/sdk/components/private/encoder_client.hpp>
@@ -200,6 +202,7 @@ void Registry::register_resources() {
     register_resource<impl::ArmClient, impl::ArmServer>();
     register_resource<impl::BaseClient, impl::BaseServer>();
     register_resource<impl::BoardClient, impl::BoardServer>();
+    register_resource<impl::ButtonClient, impl::ButtonServer>();
     register_resource<impl::CameraClient, impl::CameraServer>();
     register_resource<impl::EncoderClient, impl::EncoderServer>();
     register_resource<impl::GantryClient, impl::GantryServer>();

src/viam/sdk/tests/CMakeLists.txt

@@ -24,6 +24,7 @@ target_sources(viamsdk_test
     mocks/mock_arm.cpp
     mocks/mock_base.cpp
     mocks/mock_board.cpp
+    mocks/mock_button.cpp
     mocks/mock_encoder.cpp
     mocks/mock_gantry.cpp
     mocks/mock_gripper.cpp
@@ -55,6 +56,7 @@ viamcppsdk_link_viam_api(viamsdk_test PUBLIC)
 viamcppsdk_add_boost_test(test_arm.cpp)
 viamcppsdk_add_boost_test(test_base.cpp)
 viamcppsdk_add_boost_test(test_board.cpp)
+viamcppsdk_add_boost_test(test_button.cpp)
 viamcppsdk_add_boost_test(test_camera.cpp)
 viamcppsdk_add_boost_test(test_common.cpp)
 viamcppsdk_add_boost_test(test_encoder.cpp)

src/viam/sdk/tests/mocks/mock_button.cpp

@@ -0,0 +1,25 @@
+#include <viam/sdk/tests/mocks/mock_button.hpp>
+
+#include <viam/sdk/tests/test_utils.hpp>
+
+namespace viam {
+namespace sdktests {
+namespace button {
+
+using namespace viam::sdk;
+
+std::shared_ptr<MockButton> MockButton::get_mock_button() {
+    return std::make_shared<MockButton>("mock_button");
+}
+
+void MockButton::push(const ProtoStruct&) {
+    peek_push_called = true;
+}
+
+ProtoStruct MockButton::do_command(const ProtoStruct& command) {
+    return (peek_command = command);
+}
+
+}  // namespace button
+}  // namespace sdktests
+}  // namespace viam

src/viam/sdk/tests/mocks/mock_button.hpp

@@ -0,0 +1,27 @@
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include <viam/sdk/components/button.hpp>
+
+namespace viam {
+namespace sdktests {
+namespace button {
+
+class MockButton : public sdk::Button {
+   public:
+    MockButton(std::string name) : Button(std::move(name)) {}
+
+    static std::shared_ptr<MockButton> get_mock_button();
+
+    void push(const sdk::ProtoStruct& extra) override;
+    sdk::ProtoStruct do_command(const sdk::ProtoStruct& command) override;
+
+    bool peek_push_called{false};
+    sdk::ProtoStruct peek_command;
+};
+
+}  // namespace button
+}  // namespace sdktests
+}  // namespace viam