add test and fix compilation errors

Author: gvaradarajan

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

@@ -32,11 +32,9 @@ Gripper::holding_status GripperClient::is_holding_something(const ProtoStruct& e
         .invoke([](auto& response) {
             Gripper::holding_status holding_status;
             holding_status.is_holding_something = response.is_holding_something();
-            if response
-                .has_meta() {
-                    holding_status.meta = from_proto(response.meta());
-                }
-            else {
+            if (response.has_meta()) {
+                holding_status.meta = from_proto(response.meta());
+            } else {
                 holding_status.meta = {};
             }
             return holding_status;

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

@@ -32,7 +32,7 @@ ::grpc::Status GripperServer::IsHoldingSomething(
     ::viam::component::gripper::v1::IsHoldingSomethingResponse* response) noexcept {
     return make_service_helper<Gripper>(
         "GripperServer::IsHoldingSomething", this, request)([&](auto& helper, auto& gripper) {
-        Gripper::holding_status res = gripper->is_holding_something(helper.getExtra());
+        const Gripper::holding_status res = gripper->is_holding_something(helper.getExtra());
         response->set_is_holding_something(res.is_holding_something);
         *(response->mutable_meta()) = to_proto(res.meta);
     });

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

@@ -28,10 +28,10 @@ bool MockGripper::is_moving() {
     return false;
 }
 
-Gripper::holding_status MockGripper::is_holding_something(const ProtoStruct&) {
+Gripper::holding_status MockGripper::is_holding_something(const ProtoStruct& extra) {
     Gripper::holding_status res;
     res.is_holding_something = false;
-    res.meta = {};
+    res.meta = extra;
     return res;
 }
 

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

@@ -17,8 +17,7 @@ class MockGripper : public sdk::Gripper {
 
     void open(const sdk::ProtoStruct& extra) override;
     bool grab(const sdk::ProtoStruct& extra) override;
-    Gripper::holding_status MockGripper::is_holding_something(
-        const sdk::ProtoStruct& extra) override;
+    Gripper::holding_status is_holding_something(const sdk::ProtoStruct& extra) override;
     void stop(const sdk::ProtoStruct& extra) override;
     bool is_moving() override;
     sdk::ProtoStruct do_command(const sdk::ProtoStruct& command) override;

src/viam/sdk/tests/test_gripper.cpp

@@ -8,6 +8,8 @@
 
 BOOST_TEST_DONT_PRINT_LOG_VALUE(std::vector<viam::sdk::GeometryConfig>)
 
+BOOST_TEST_DONT_PRINT_LOG_VALUE(viam::sdk::ProtoValue)
+
 namespace viam {
 namespace sdktests {
 
@@ -38,6 +40,18 @@ BOOST_AUTO_TEST_CASE(test_grab) {
     client_to_mock_pipeline<Gripper>(mock, [](Gripper& client) { BOOST_CHECK(client.grab()); });
 }
 
+BOOST_AUTO_TEST_CASE(test_is_holding_something) {
+    std::shared_ptr<MockGripper> mock = MockGripper::get_mock_gripper();
+    client_to_mock_pipeline<Gripper>(mock, [](Gripper& client) {
+        const ProtoStruct extra = {
+            {"BEEP", "BOOP"},
+        };
+        Gripper::holding_status holding_status = client.is_holding_something(extra);
+        BOOST_CHECK_EQUAL(holding_status.is_holding_something, false);
+        BOOST_CHECK_EQUAL(holding_status.meta["BEEP"], ProtoValue("BOOP"));
+    });
+}
+
 BOOST_AUTO_TEST_CASE(test_stop) {
     std::shared_ptr<MockGripper> mock = MockGripper::get_mock_gripper();
     client_to_mock_pipeline<Gripper>(mock, [&](Gripper& client) {