Merge branch 'main' of github.com:viamrobotics/viam-cpp-sdk into feature/switch

Author: lia-viam

CMakeLists.txt

@@ -34,7 +34,7 @@
 # constrained by the version of CMake available on target systems.
 cmake_minimum_required(VERSION 3.25 FATAL_ERROR)
 
-set(CMAKE_PROJECT_VERSION 0.4.0)
+set(CMAKE_PROJECT_VERSION 0.5.0)
 
 # Identify the project.
 project(viam-cpp-sdk

src/viam/api/CMakeLists.txt

@@ -163,6 +163,10 @@ 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
@@ -317,6 +321,8 @@ 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
@@ -379,6 +385,8 @@ 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
@@ -160,6 +163,7 @@ 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/common/proto_value.cpp

@@ -76,49 +76,37 @@ bool ProtoValue::is_null() const {
 }
 
 template <typename T>
-std::enable_if_t<std::is_scalar<T>{}, T&> ProtoValue::get_unchecked() {
+T& ProtoValue::get_unchecked() & {
     assert(this->is_a<T>());
     return *(this->self_.template get<T>());
 }
 
-template <typename T>
-std::enable_if_t<std::is_scalar<T>{}, T> ProtoValue::get_unchecked() const {
-    assert(this->is_a<T>());
-    return *(this->self_.template get<T>());
-}
-
-template bool& ProtoValue::get_unchecked<bool>();
-template double& ProtoValue::get_unchecked<double>();
-
-template bool ProtoValue::get_unchecked<bool>() const;
-template double ProtoValue::get_unchecked<double>() const;
+template bool& ProtoValue::get_unchecked<bool>() &;
+template double& ProtoValue::get_unchecked<double>() &;
+template std::string& ProtoValue::get_unchecked<std::string>() &;
+template ProtoList& ProtoValue::get_unchecked<ProtoList>() &;
+template ProtoStruct& ProtoValue::get_unchecked<ProtoStruct>() &;
 
 template <typename T>
-std::enable_if_t<!std::is_scalar<T>{}, T&> ProtoValue::get_unchecked() & {
+const T& ProtoValue::get_unchecked() const& {
     assert(this->is_a<T>());
     return *(this->self_.template get<T>());
 }
 
-template <typename T>
-std::enable_if_t<!std::is_scalar<T>{}, T const&> ProtoValue::get_unchecked() const& {
-    assert(this->is_a<T>());
-    return *(this->self_.template get<T>());
-}
+template const bool& ProtoValue::get_unchecked<bool>() const&;
+template const double& ProtoValue::get_unchecked<double>() const&;
+template std::string const& ProtoValue::get_unchecked<std::string>() const&;
+template ProtoList const& ProtoValue::get_unchecked<ProtoList>() const&;
+template ProtoStruct const& ProtoValue::get_unchecked<ProtoStruct>() const&;
 
 template <typename T>
-std::enable_if_t<!std::is_scalar<T>{}, T&&> ProtoValue::get_unchecked() && {
+T&& ProtoValue::get_unchecked() && {
     assert(this->is_a<T>());
     return std::move(*(this->self_.template get<T>()));
 }
 
-template std::string& ProtoValue::get_unchecked<std::string>() &;
-template ProtoList& ProtoValue::get_unchecked<ProtoList>() &;
-template ProtoStruct& ProtoValue::get_unchecked<ProtoStruct>() &;
-
-template std::string const& ProtoValue::get_unchecked<std::string>() const&;
-template ProtoList const& ProtoValue::get_unchecked<ProtoList>() const&;
-template ProtoStruct const& ProtoValue::get_unchecked<ProtoStruct>() const&;
-
+template bool&& ProtoValue::get_unchecked<bool>() &&;
+template double&& ProtoValue::get_unchecked<double>() &&;
 template std::string&& ProtoValue::get_unchecked<std::string>() &&;
 template ProtoList&& ProtoValue::get_unchecked<ProtoList>() &&;
 template ProtoStruct&& ProtoValue::get_unchecked<ProtoStruct>() &&;

src/viam/sdk/common/proto_value.hpp

@@ -136,29 +136,16 @@ class ProtoValue {
     T const* get() const;
 
     /// @brief Return a reference to the underlying T, without checking.
-    /// @tparam T a bool or double
     template <typename T>
-    std::enable_if_t<std::is_scalar<T>{}, T&> get_unchecked();
-
-    /// @brief Return the underlying T by value, without checking.
-    /// @tparam T a bool or double.
-    template <typename T>
-    std::enable_if_t<std::is_scalar<T>{}, T> get_unchecked() const;
-
-    /// @brief Return a mutable reference to the underlying T, without checking
-    /// @tparam T a std::string, ProtoList, or ProtoStruct.
-    template <typename T>
-    std::enable_if_t<!std::is_scalar<T>{}, T&> get_unchecked() &;
+    T& get_unchecked() &;
 
     /// @brief Return an immutable reference to the underlying T, without checking.
-    /// @tparam T a std::string, ProtoList, or ProtoStruct.
     template <typename T>
-    std::enable_if_t<!std::is_scalar<T>{}, T const&> get_unchecked() const&;
+    const T& get_unchecked() const&;
 
     /// @brief Return an rvalue reference to the underlying T, without checking.
-    /// @tparam T a std::string, ProtoList, or ProtoStruct.
     template <typename T>
-    std::enable_if_t<!std::is_scalar<T>{}, T&&> get_unchecked() &&;
+    T&& get_unchecked() &&;
 
     ///@}
 
@@ -295,22 +282,21 @@ extern template ProtoValue::ProtoValue(ProtoList) noexcept(
 extern template ProtoValue::ProtoValue(ProtoStruct m) noexcept(
     std::is_nothrow_move_constructible<ProtoStruct>{});
 
-// -- Template specialization declarations of get_unchecked: POD types -- //
-extern template bool& ProtoValue::get_unchecked<bool>();
-extern template double& ProtoValue::get_unchecked<double>();
-
-extern template bool ProtoValue::get_unchecked<bool>() const;
-extern template double ProtoValue::get_unchecked<double>() const;
-
-// -- Template specialization declarations of get_unchecked: string and recursive types -- //
+// -- Template specialization declarations of get_unchecked -- //
+extern template bool& ProtoValue::get_unchecked<bool>() &;
+extern template double& ProtoValue::get_unchecked<double>() &;
 extern template std::string& ProtoValue::get_unchecked<std::string>() &;
 extern template ProtoList& ProtoValue::get_unchecked<ProtoList>() &;
 extern template ProtoStruct& ProtoValue::get_unchecked<ProtoStruct>() &;
 
+extern template bool const& ProtoValue::get_unchecked<bool>() const&;
+extern template double const& ProtoValue::get_unchecked<double>() const&;
 extern template std::string const& ProtoValue::get_unchecked<std::string>() const&;
 extern template ProtoList const& ProtoValue::get_unchecked<ProtoList>() const&;
 extern template ProtoStruct const& ProtoValue::get_unchecked<ProtoStruct>() const&;
 
+extern template bool&& ProtoValue::get_unchecked<bool>() &&;
+extern template double&& ProtoValue::get_unchecked<double>() &&;
 extern template std::string&& ProtoValue::get_unchecked<std::string>() &&;
 extern template ProtoList&& ProtoValue::get_unchecked<ProtoList>() &&;
 extern template ProtoStruct&& ProtoValue::get_unchecked<ProtoStruct>() &&;

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