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feat: add Switch component, ViamSwitchWidget (#348)
* feat: add switch component * feat: create ViamSwitchWidget * feat: add SwitchScreen to robot_example_app * chore: add test for switch component * refactor: run formatter * fix: remove commented out unused code in example app
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14 files changed

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lines changed

‎example/viam_robot_example_app/lib/main.dart‎

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@@ -1,4 +1,4 @@
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import 'package:flutter/material.dart';
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import 'package:flutter/material.dart' hide Switch;
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import 'package:flutter_dotenv/flutter_dotenv.dart';
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import 'package:viam_sdk/viam_sdk.dart';
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import 'package:viam_sdk/widgets.dart';
@@ -95,6 +95,7 @@ class _MyHomePageState extends State<MyHomePage> {
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PowerSensor.subtype.resourceSubtype,
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Sensor.subtype.resourceSubtype,
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Servo.subtype.resourceSubtype,
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Switch.subtype.resourceSubtype,
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].contains(rname.subtype);
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}
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@@ -131,6 +132,9 @@ class _MyHomePageState extends State<MyHomePage> {
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if (rname.subtype == Servo.subtype.resourceSubtype) {
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return ServoScreen(servo: Servo.fromRobot(_robot, rname.name), resourceName: rname);
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}
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if (rname.subtype == Switch.subtype.resourceSubtype) {
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return SwitchScreen(nswitch: Switch.fromRobot(_robot, rname.name), resourceName: rname);
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}
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if (rname.subtype == MovementSensor.subtype.resourceSubtype) {
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return MovementSensorScreen(movementSensor: MovementSensor.fromRobot(_robot, rname.name), resourceName: rname);
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}

‎example/viam_robot_example_app/lib/screens/screens.dart‎

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@@ -7,3 +7,4 @@ export 'power_sensor.dart';
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export 'sensor.dart';
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export 'servo.dart';
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export 'stream.dart';
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export 'switch.dart';

‎example/viam_robot_example_app/lib/screens/switch.dart‎

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import 'package:flutter/material.dart' hide Switch;
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import 'package:flutter/services.dart';
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import 'package:viam_sdk/viam_sdk.dart';
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import 'package:viam_sdk/widgets.dart';
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class SwitchScreen extends StatelessWidget {
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final Switch nswitch;
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final ResourceName resourceName;
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const SwitchScreen({super.key, required this.nswitch, required this.resourceName});
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@override
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Widget build(BuildContext context) {
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return Scaffold(
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appBar: AppBar(
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title: Text(resourceName.name.toUpperCase()),
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),
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body: Center(
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child: Column(
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children: [
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const SizedBox(height: 8),
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Text(
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'${resourceName.namespace}:${resourceName.type}:${resourceName.subtype}/${resourceName.name}',
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style: const TextStyle(fontWeight: FontWeight.w300),
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),
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const SizedBox(height: 8),
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ViamSwitchWidget(nswitch: nswitch),
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],
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),
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),
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);
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}
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}

‎example/viam_robot_example_app/macos/Runner.xcodeproj/xcshareddata/xcschemes/Runner.xcscheme‎

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@@ -48,6 +48,7 @@
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ignoresPersistentStateOnLaunch = "NO"
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debugDocumentVersioning = "YES"
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debugServiceExtension = "internal"
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enableGPUValidationMode = "1"
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allowLocationSimulation = "YES">
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<BuildableProductRunnable
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runnableDebuggingMode = "0">

‎example/viam_robot_example_app/macos/Runner/AppDelegate.swift‎

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@@ -1,9 +1,13 @@
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import Cocoa
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import FlutterMacOS
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4-
@NSApplicationMain
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@main
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class AppDelegate: FlutterAppDelegate {
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override func applicationShouldTerminateAfterLastWindowClosed(_ sender: NSApplication) -> Bool {
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return true
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}
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override func applicationSupportsSecureRestorableState(_ app: NSApplication) -> Bool {
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return true
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}
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}

‎lib/src/components/switch/client.dart‎

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import 'package:grpc/grpc_connection_interface.dart';
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import '../../gen/common/v1/common.pb.dart';
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import '../../gen/component/nswitch/v1/switch.pbgrpc.dart';
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import '../../gen/google/protobuf/struct.pb.dart';
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import '../../resource/base.dart';
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import '../../utils.dart';
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import 'switch.dart';
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/// {@category Components}
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/// gRPC client for the [Switch] component.
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class SwitchClient extends Switch implements ResourceRPCClient {
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@override
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final String name;
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@override
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ClientChannelBase channel;
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@override
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SwitchServiceClient get client => SwitchServiceClient(channel);
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SwitchClient(this.name, this.channel);
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@override
25+
Future<void> setPosition(int position, {Map<String, dynamic>? extra}) async {
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final request = SetPositionRequest()
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..name = name
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..position = position
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..extra = extra?.toStruct() ?? Struct();
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await client.setPosition(request);
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}
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33+
@override
34+
Future<int> getPosition({Map<String, dynamic>? extra}) async {
35+
final request = GetPositionRequest()
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..name = name
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..extra = extra?.toStruct() ?? Struct();
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final response = await client.getPosition(request);
39+
return response.position;
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}
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42+
@override
43+
Future<int> getNumberOfPositions({Map<String, dynamic>? extra}) async {
44+
final request = GetNumberOfPositionsRequest()
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..name = name
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..extra = extra?.toStruct() ?? Struct();
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final response = await client.getNumberOfPositions(request);
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return response.numberOfPositions;
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}
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51+
@override
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Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
53+
final request = DoCommandRequest()
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..name = name
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..command = command.toStruct();
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final response = await client.doCommand(request);
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return response.result.toMap();
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}
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}

‎lib/src/components/switch/service.dart‎

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import 'package:grpc/grpc.dart';
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import '../../gen/common/v1/common.pb.dart';
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import '../../gen/component/nswitch/v1/switch.pbgrpc.dart';
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import '../../resource/manager.dart';
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import '../../utils.dart';
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import 'switch.dart';
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/// {@category Components}
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/// gRPC Service for a [Switch]
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class SwitchService extends SwitchServiceBase {
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final ResourceManager _manager;
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SwitchService(this._manager);
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Switch _fromManager(String name) {
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try {
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return _manager.getResource(Switch.getResourceName(name));
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} catch (e) {
20+
throw GrpcError.notFound(e.toString());
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}
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}
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@override
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Future<SetPositionResponse> setPosition(ServiceCall call, SetPositionRequest request) async {
26+
final nswitch = _fromManager(request.name);
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await nswitch.setPosition(request.position, extra: request.extra.toMap());
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return SetPositionResponse();
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}
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@override
32+
Future<DoCommandResponse> doCommand(ServiceCall call, DoCommandRequest request) async {
33+
final nswitch = _fromManager(request.name);
34+
final result = await nswitch.doCommand(request.command.toMap());
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return DoCommandResponse()..result = result.toStruct();
36+
}
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38+
@override
39+
Future<GetPositionResponse> getPosition(ServiceCall call, GetPositionRequest request) async {
40+
final nswitch = _fromManager(request.name);
41+
final position = await nswitch.getPosition(extra: request.extra.toMap());
42+
return GetPositionResponse()..position = position;
43+
}
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45+
@override
46+
Future<GetNumberOfPositionsResponse> getNumberOfPositions(ServiceCall call, GetNumberOfPositionsRequest request) async {
47+
final nswitch = _fromManager(request.name);
48+
final numberOfPositions = await nswitch.getNumberOfPositions();
49+
return GetNumberOfPositionsResponse()..numberOfPositions = numberOfPositions;
50+
}
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}

‎lib/src/components/switch/switch.dart‎

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import '../../gen/common/v1/common.pb.dart';
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import '../../resource/base.dart';
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import '../../robot/client.dart';
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5+
/// {@category Components}
6+
/// Switch represents a set of finite positions.
7+
///
8+
/// For more information, see [Switch component](https://docs.viam.com/dev/reference/apis/components/switch/).
9+
abstract class Switch extends Resource {
10+
static const Subtype subtype = Subtype(resourceNamespaceRDK, resourceTypeComponent, 'switch');
11+
12+
/// Update the [Switch] to the provided position.
13+
///
14+
/// ```
15+
/// await mySwitch.setPosition(2);
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/// ```
17+
///
18+
/// For more information, see [Switch component](https://docs.viam.com/dev/reference/apis/components/servo/#setposition).
19+
Future<void> setPosition(int position, {Map<String, dynamic>? extra});
20+
21+
/// Get the current position (int) of the [Switch].
22+
///
23+
/// ```
24+
/// var position = await mySwitch.getPosition();
25+
/// ```
26+
///
27+
/// For more information, see [Switch component](https://docs.viam.com/dev/reference/apis/components/switch/#position).
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Future<int> getPosition({Map<String, dynamic>? extra});
29+
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/// Get the number of available positions (int) of the [Switch].
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///
32+
/// ```
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/// await myServo.getNumberOfPositions();
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/// ```
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///
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/// For more information, see [Switch component](https://docs.viam.com/dev/reference/apis/components/servo/#getnumberofpositions).
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Future<int> getNumberOfPositions({Map<String, dynamic>? extra});
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/// Get the [ResourceName] for this [Switch] with the given [name].
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///
41+
/// ```
42+
/// // Example:
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/// var name = Switch.getResourceName('my_switch');
44+
/// ```
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///
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/// For more information, see [Switch component](https://docs.viam.com/dev/reference/apis/components/switch/#getresourcename).
47+
static ResourceName getResourceName(String name) {
48+
return Switch.subtype.getResourceName(name);
49+
}
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/// Get the [Switch] named [name] from the provided robot.
52+
///
53+
/// ```
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/// final mySwitch = Switch.fromRobot(myRobotClient, "my_switch");
55+
/// ```
56+
///
57+
/// For more information, see [Switch component](https://docs.viam.com/dev/reference/apis/components/switch/).
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static Switch fromRobot(RobotClient robot, String name) {
59+
return robot.getResource(Switch.getResourceName(name));
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}
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}

‎lib/src/resource/registry.dart‎

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@@ -24,6 +24,8 @@ import '../components/sensor/client.dart';
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import '../components/sensor/sensor.dart';
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import '../components/servo/client.dart';
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import '../components/servo/servo.dart';
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import '../components/switch/client.dart';
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import '../components/switch/switch.dart';
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import '../resource/base.dart';
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import '../services/discovery.dart';
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import '../services/vision.dart';
@@ -69,6 +71,7 @@ class Registry {
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registerSubtype(ResourceRegistration(PowerSensor.subtype, (name, channel) => PowerSensorClient(name, channel)));
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registerSubtype(ResourceRegistration(Sensor.subtype, (name, channel) => SensorClient(name, channel)));
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registerSubtype(ResourceRegistration(Servo.subtype, (name, channel) => ServoClient(name, channel)));
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registerSubtype(ResourceRegistration(Switch.subtype, (name, channel) => SwitchClient(name, channel)));
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registerSubtype(ResourceRegistration(VisionClient.subtype, (name, channel) => VisionClient(name, channel)));
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registerSubtype(ResourceRegistration(DiscoveryClient.subtype, (name, channel) => DiscoveryClient(name, channel)));
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}

‎lib/viam_sdk.dart‎

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@@ -33,6 +33,8 @@ export 'src/components/sensor/client.dart';
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export 'src/components/sensor/sensor.dart';
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export 'src/components/servo/client.dart';
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export 'src/components/servo/servo.dart';
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export 'src/components/switch/client.dart';
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export 'src/components/switch/switch.dart';
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/// Necessary Protos
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export 'src/gen/common/v1/common.pb.dart'

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