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lia-viamlia-viam
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RSDK-10311: Button component (#389)
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13 files changed

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-0
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13 files changed

+324
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‎src/viam/api/CMakeLists.txt‎

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

‎src/viam/sdk/CMakeLists.txt‎

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

‎src/viam/sdk/components/button.cpp‎

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

‎src/viam/sdk/components/button.hpp‎

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/// @file components/button.hpp
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///
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/// @brief Defines a `Button` component
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#pragma once
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#include <string>
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#include <viam/sdk/common/proto_value.hpp>
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#include <viam/sdk/components/component.hpp>
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#include <viam/sdk/resource/resource_api.hpp>
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namespace viam {
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namespace sdk {
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/// @defgroup Button Classes related to the Button component.
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/// @class Button button.hpp "components/button.hpp"
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/// @brief A `Button` represents a physical or virtual button.
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/// @ingroup Button
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///
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/// This acts as an abstract parent class to be inherited from by any drivers representing
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/// specific button implementations. This class cannot be used on its own.
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class Button : public Component {
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public:
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/// @brief Push the button.
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inline void push() {
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return push({});
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}
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/// @brief Push the button.
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/// @param extra Any additional arguments to the method.
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virtual void push(const ProtoStruct& extra) = 0;
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/// @brief Send/receive arbitrary commands to the resource.
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/// @param Command the command to execute.
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/// @return The result of the executed command.
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virtual ProtoStruct do_command(const ProtoStruct& command) = 0;
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API api() const override;
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protected:
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explicit Button(std::string name);
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};
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template <>
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struct API::traits<Button> {
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static API api();
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};
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} // namespace sdk
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} // namespace viam

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

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#include <viam/sdk/components/private/button_client.hpp>
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#include <viam/api/component/button/v1/button.grpc.pb.h>
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#include <viam/api/component/button/v1/button.pb.h>
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#include <viam/sdk/common/client_helper.hpp>
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#include <viam/sdk/common/proto_value.hpp>
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namespace viam {
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namespace sdk {
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namespace impl {
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ButtonClient::ButtonClient(std::string name, std::shared_ptr<grpc::Channel> channel)
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: Button(std::move(name)),
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stub_(viam::component::button::v1::ButtonService::NewStub(channel)),
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channel_(std::move(channel)) {}
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void ButtonClient::push(const ProtoStruct& extra) {
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return make_client_helper(this, *stub_, &StubType::Push).with(extra).invoke();
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}
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ProtoStruct ButtonClient::do_command(const ProtoStruct& command) {
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return make_client_helper(this, *stub_, &StubType::DoCommand)
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.with([&](auto& request) { *request.mutable_command() = to_proto(command); })
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.invoke([](auto& response) { return from_proto(response.result()); });
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}
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} // namespace impl
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} // namespace sdk
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} // namespace viam

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

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

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

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

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

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

‎src/viam/sdk/registry/registry.cpp‎

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

‎src/viam/sdk/tests/CMakeLists.txt‎

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

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