APP-7497: Add Button client, server, and fake model

Author: ethanlookpotts

components/button/button.go

@@ -0,0 +1,50 @@
+// Package button defines a button on your machine.
+package button
+
+import (
+	"context"
+
+	pb "go.viam.com/api/component/button/v1"
+
+	"go.viam.com/rdk/resource"
+	"go.viam.com/rdk/robot"
+)
+
+func init() {
+	resource.RegisterAPI(API, resource.APIRegistration[Button]{
+		RPCServiceServerConstructor: NewRPCServiceServer,
+		RPCServiceHandler:           pb.RegisterButtonServiceHandlerFromEndpoint,
+		RPCServiceDesc:              &pb.ButtonService_ServiceDesc,
+		RPCClient:                   NewClientFromConn,
+	})
+}
+
+// SubtypeName is a constant that identifies the component resource API string.
+const SubtypeName = "button"
+
+// API is a variable that identifies the component resource API.
+var API = resource.APINamespaceRDK.WithComponentType(SubtypeName)
+
+// Named is a helper for getting the named grippers's typed resource name.
+func Named(name string) resource.Name {
+	return resource.NewName(API, name)
+}
+
+// A Button represents a physical button.
+type Button interface {
+	resource.Resource
+
+	// Push pushes the button.
+	// This will block until done or a new operation cancels this one.
+	Push(ctx context.Context, extra map[string]interface{}) error
+}
+
+// FromRobot is a helper for getting the named Button from the given Robot.
+func FromRobot(r robot.Robot, name string) (Button, error) {
+	return robot.ResourceFromRobot[Button](r, Named(name))
+}
+
+// NamesFromRobot is a helper for getting all gripper names from the given Robot.
+func NamesFromRobot(r robot.Robot) []string {
+	return robot.NamesByAPI(r, API)
+}

components/button/button_test.go

@@ -0,0 +1,31 @@
+package button_test
+
+import (
+	"context"
+	"testing"
+
+	"go.viam.com/test"
+
+	"go.viam.com/rdk/components/button"
+	"go.viam.com/rdk/components/button/fake"
+	"go.viam.com/rdk/resource"
+)
+
+const (
+	testButtonName    = "button1"
+	testButtonName2   = "button2"
+	failButtonName    = "button3"
+	missingButtonName = "button4"
+)
+
+func TestGetGeometries(t *testing.T) {
+	cfg := resource.Config{
+		Name: "fakeButton",
+		API:  button.API,
+	}
+	button, err := fake.NewButton(context.Background(), nil, cfg, nil)
+	test.That(t, err, test.ShouldBeNil)
+
+	err = button.Push(context.Background(), nil)
+	test.That(t, err, test.ShouldBeNil)
+}

components/button/client.go

@@ -0,0 +1,57 @@
+// Package button contains a gRPC based button client.
+package button
+
+import (
+	"context"
+
+	pb "go.viam.com/api/component/button/v1"
+	"go.viam.com/utils/protoutils"
+	"go.viam.com/utils/rpc"
+
+	"go.viam.com/rdk/logging"
+	rprotoutils "go.viam.com/rdk/protoutils"
+	"go.viam.com/rdk/resource"
+)
+
+// client implements GripperServiceClient.
+type client struct {
+	resource.Named
+	resource.TriviallyReconfigurable
+	resource.TriviallyCloseable
+	name   string
+	client pb.ButtonServiceClient
+	logger logging.Logger
+}
+
+// NewClientFromConn constructs a new Client from connection passed in.
+func NewClientFromConn(
+	ctx context.Context,
+	conn rpc.ClientConn,
+	remoteName string,
+	name resource.Name,
+	logger logging.Logger,
+) (Button, error) {
+	c := pb.NewButtonServiceClient(conn)
+	return &client{
+		Named:  name.PrependRemote(remoteName).AsNamed(),
+		name:   name.ShortName(),
+		client: c,
+		logger: logger,
+	}, nil
+}
+
+func (c *client) Push(ctx context.Context, extra map[string]interface{}) error {
+	ext, err := protoutils.StructToStructPb(extra)
+	if err != nil {
+		return err
+	}
+	_, err = c.client.Push(ctx, &pb.PushRequest{
+		Name:  c.name,
+		Extra: ext,
+	})
+	return err
+}
+
+func (c *client) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error) {
+	return rprotoutils.DoFromResourceClient(ctx, c.client, c.name, cmd)
+}

components/button/client_test.go

@@ -0,0 +1,103 @@
+package button_test
+
+import (
+	"context"
+	"net"
+	"testing"
+
+	"go.viam.com/test"
+	"go.viam.com/utils/rpc"
+
+	"go.viam.com/rdk/components/button"
+	viamgrpc "go.viam.com/rdk/grpc"
+	"go.viam.com/rdk/logging"
+	"go.viam.com/rdk/resource"
+	"go.viam.com/rdk/testutils"
+	"go.viam.com/rdk/testutils/inject"
+)
+
+func TestClient(t *testing.T) {
+	logger := logging.NewTestLogger(t)
+	listener1, err := net.Listen("tcp", "localhost:0")
+	test.That(t, err, test.ShouldBeNil)
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
+	test.That(t, err, test.ShouldBeNil)
+
+	var buttonPushed string
+	var extraOptions map[string]interface{}
+
+	injectButton := &inject.Button{}
+	injectButton.PushFunc = func(ctx context.Context, extra map[string]interface{}) error {
+		extraOptions = extra
+		buttonPushed = testButtonName
+		return nil
+	}
+
+	injectButton2 := &inject.Button{}
+	injectButton2.PushFunc = func(ctx context.Context, extra map[string]interface{}) error {
+		buttonPushed = failButtonName
+		return errCantPush
+	}
+
+	buttonSvc, err := resource.NewAPIResourceCollection(
+		button.API,
+		map[resource.Name]button.Button{button.Named(testButtonName): injectButton, button.Named(failButtonName): injectButton2})
+	test.That(t, err, test.ShouldBeNil)
+	resourceAPI, ok, err := resource.LookupAPIRegistration[button.Button](button.API)
+	test.That(t, err, test.ShouldBeNil)
+	test.That(t, ok, test.ShouldBeTrue)
+	test.That(t, resourceAPI.RegisterRPCService(context.Background(), rpcServer, buttonSvc), test.ShouldBeNil)
+
+	injectButton.DoFunc = testutils.EchoFunc
+
+	go rpcServer.Serve(listener1)
+	defer rpcServer.Stop()
+
+	// failing
+	t.Run("Failing client", func(t *testing.T) {
+		cancelCtx, cancel := context.WithCancel(context.Background())
+		cancel()
+		_, err := viamgrpc.Dial(cancelCtx, listener1.Addr().String(), logger)
+		test.That(t, err, test.ShouldNotBeNil)
+		test.That(t, err, test.ShouldBeError, context.Canceled)
+	})
+
+	// working
+	t.Run("button client 1", func(t *testing.T) {
+		conn, err := viamgrpc.Dial(context.Background(), listener1.Addr().String(), logger)
+		test.That(t, err, test.ShouldBeNil)
+		button1Client, err := button.NewClientFromConn(context.Background(), conn, "", button.Named(testButtonName), logger)
+		test.That(t, err, test.ShouldBeNil)
+
+		// DoCommand
+		resp, err := button1Client.DoCommand(context.Background(), testutils.TestCommand)
+		test.That(t, err, test.ShouldBeNil)
+		test.That(t, resp["command"], test.ShouldEqual, testutils.TestCommand["command"])
+		test.That(t, resp["data"], test.ShouldEqual, testutils.TestCommand["data"])
+
+		extra := map[string]interface{}{"foo": "Push"}
+		err = button1Client.Push(context.Background(), extra)
+		test.That(t, err, test.ShouldBeNil)
+		test.That(t, extraOptions, test.ShouldResemble, extra)
+		test.That(t, buttonPushed, test.ShouldEqual, testButtonName)
+
+		test.That(t, button1Client.Close(context.Background()), test.ShouldBeNil)
+		test.That(t, conn.Close(), test.ShouldBeNil)
+	})
+
+	t.Run("button client 2", func(t *testing.T) {
+		conn, err := viamgrpc.Dial(context.Background(), listener1.Addr().String(), logger)
+		test.That(t, err, test.ShouldBeNil)
+		client2, err := resourceAPI.RPCClient(context.Background(), conn, "", button.Named(failButtonName), logger)
+		test.That(t, err, test.ShouldBeNil)
+
+		extra := map[string]interface{}{}
+		err = client2.Push(context.Background(), extra)
+		test.That(t, err, test.ShouldNotBeNil)
+		test.That(t, err.Error(), test.ShouldContainSubstring, errCantPush.Error())
+		test.That(t, buttonPushed, test.ShouldEqual, failButtonName)
+
+		test.That(t, client2.Close(context.Background()), test.ShouldBeNil)
+		test.That(t, conn.Close(), test.ShouldBeNil)
+	})
+}

components/button/fake/button.go

@@ -0,0 +1,58 @@
+// Package fake implements a fake button.
+package fake
+
+import (
+	"context"
+	"sync"
+
+	"go.viam.com/rdk/components/button"
+	"go.viam.com/rdk/logging"
+	"go.viam.com/rdk/resource"
+)
+
+var model = resource.DefaultModelFamily.WithModel("fake")
+
+// Config is the config for a fake button.
+type Config struct {
+	resource.TriviallyValidateConfig
+}
+
+func init() {
+	resource.RegisterComponent(button.API, model, resource.Registration[button.Button, *Config]{Constructor: NewButton})
+}
+
+// Button is a fake button that logs when it is pressed
+type Button struct {
+	resource.Named
+	resource.TriviallyCloseable
+	mu     sync.Mutex
+	logger logging.Logger
+}
+
+// NewButton instantiates a new button of the fake model type.
+func NewButton(
+	ctx context.Context, deps resource.Dependencies, conf resource.Config, logger logging.Logger,
+) (button.Button, error) {
+	b := &Button{
+		Named:  conf.ResourceName().AsNamed(),
+		logger: logger,
+	}
+	if err := b.Reconfigure(ctx, deps, conf); err != nil {
+		return nil, err
+	}
+	return b, nil
+}
+
+// Reconfigure reconfigures the button atomically and in place.
+func (b *Button) Reconfigure(_ context.Context, _ resource.Dependencies, conf resource.Config) error {
+	b.mu.Lock()
+	defer b.mu.Unlock()
+
+	return nil
+}
+
+// Push logs the push
+func (b *Button) Push(ctx context.Context, extra map[string]interface{}) error {
+	b.logger.Info("pushed button")
+	return nil
+}

components/button/register/register.go

@@ -0,0 +1,7 @@
+// Package register registers all relevant buttons and also API specific functions
+package register
+
+import (
+	// for buttons.
+	_ "go.viam.com/rdk/components/button/fake"
+)

components/button/server.go

@@ -0,0 +1,44 @@
+// Package button contains a gRPC based button service server.
+package button
+
+import (
+	"context"
+
+	commonpb "go.viam.com/api/common/v1"
+	pb "go.viam.com/api/component/button/v1"
+
+	"go.viam.com/rdk/protoutils"
+	"go.viam.com/rdk/resource"
+)
+
+// serviceServer implements the ButtonService from button.proto.
+type serviceServer struct {
+	pb.UnimplementedButtonServiceServer
+	coll resource.APIResourceCollection[Button]
+}
+
+// NewRPCServiceServer constructs an gripper gRPC service server.
+// It is intentionally untyped to prevent use outside of tests.
+func NewRPCServiceServer(coll resource.APIResourceCollection[Button]) interface{} {
+	return &serviceServer{coll: coll}
+}
+
+// Pushes a button
+func (s *serviceServer) Push(ctx context.Context, req *pb.PushRequest) (*pb.PushResponse, error) {
+	button, err := s.coll.Resource(req.Name)
+	if err != nil {
+		return nil, err
+	}
+	return &pb.PushResponse{}, button.Push(ctx, req.Extra.AsMap())
+}
+
+// DoCommand receives arbitrary commands.
+func (s *serviceServer) DoCommand(ctx context.Context,
+	req *commonpb.DoCommandRequest,
+) (*commonpb.DoCommandResponse, error) {
+	gripper, err := s.coll.Resource(req.GetName())
+	if err != nil {
+		return nil, err
+	}
+	return protoutils.DoFromResourceServer(ctx, gripper, req)
+}