sensor rpc

core/sdk/src/main/java/com/viam/sdk/core/component/sensor/Sensor.java

@@ -3,6 +3,7 @@
 import com.google.protobuf.Struct;
 import com.google.protobuf.Value;
 import com.viam.common.v1.Common;
+import com.viam.common.v1.Common.GetReadingsResponse;
 import com.viam.common.v1.Common.ResourceName;
 import com.viam.sdk.core.component.Component;
 import com.viam.sdk.core.component.generic.Generic;
@@ -23,6 +24,10 @@ public abstract class Sensor extends Component {
       Subtype.RESOURCE_TYPE_COMPONENT,
       "sensor");
 
+  public Sensor(final String name) {
+    super(SUBTYPE, named(name));
+  }
+
   public Sensor(Subtype subtype, ResourceName name) {
     super(subtype, name);
     throw new UnsupportedOperationException();
@@ -47,4 +52,6 @@ public static Common.ResourceName named(final String name) {
   public static Sensor fromRobot(final RobotClient robot, final String name) {
     return robot.getResource(Sensor.class, named(name));
   }
+
+  public abstract GetReadingsResponse getReadings(final Optional<Struct> extra);
 }

core/sdk/src/main/java/com/viam/sdk/core/component/sensor/SensorRPCClient.java

@@ -0,0 +1,43 @@
+package com.viam.sdk.core.component.sensor;
+
+import com.google.protobuf.Struct;
+import com.google.protobuf.Value;
+import com.viam.common.v1.Common;
+import com.viam.common.v1.Common.GetReadingsRequest;
+import com.viam.common.v1.Common.GetReadingsResponse;
+import com.viam.component.sensor.v1.SensorServiceGrpc;
+
+import com.viam.sdk.core.rpc.Channel;
+
+import java.util.Map;
+import java.util.Optional;
+
+public class SensorRPCClient extends Sensor {
+    private final SensorServiceGrpc.SensorServiceBlockingStub client;
+
+    public SensorRPCClient(final String name, final Channel chan) {
+        super(name);
+        final SensorServiceGrpc.SensorServiceBlockingStub client = SensorServiceGrpc.newBlockingStub(chan);
+        if (chan.getCallCredentials().isPresent()) {
+            this.client = client.withCallCredentials(chan.getCallCredentials().get());
+        } else {
+            this.client = client;
+        }
+    }
+
+    @Override
+    public Struct doCommand(final Map<String, Value> command) {
+        return client.doCommand(Common.DoCommandRequest.newBuilder().
+                setName(getName().getName()).
+                setCommand(Struct.newBuilder().putAllFields(command).build()).
+                build()).getResult();
+    }
+
+    @Override
+    public GetReadingsResponse getReadings(final Optional<Struct> extra) {
+        final GetReadingsRequest.Builder builder = GetReadingsRequest.newBuilder().
+                setName(getName().getName());
+        extra.ifPresent(builder::setExtra);
+        return client.getReadings(builder.build());
+    }
+}

core/sdk/src/main/java/com/viam/sdk/core/component/sensor/SensorRPCService.java

@@ -0,0 +1,66 @@
+package com.viam.sdk.core.component.sensor;
+
+import com.google.protobuf.Struct;
+import com.google.protobuf.Value;
+import com.viam.common.v1.Common;
+import com.viam.common.v1.Common.Geometry;
+import com.viam.common.v1.Common.GetGeometriesResponse;
+import com.viam.common.v1.Common.GetReadingsRequest;
+import com.viam.common.v1.Common.GetReadingsResponse;
+import com.viam.common.v1.Common.Orientation;
+import com.viam.common.v1.Common.Vector3;
+import com.viam.component.movementsensor.v1.MovementSensorServiceGrpc;
+import com.viam.component.movementsensor.v1.Movementsensor.GetAccuracyRequest;
+import com.viam.component.movementsensor.v1.Movementsensor.GetAccuracyResponse;
+import com.viam.component.movementsensor.v1.Movementsensor.GetAngularVelocityRequest;
+import com.viam.component.movementsensor.v1.Movementsensor.GetAngularVelocityResponse;
+import com.viam.component.movementsensor.v1.Movementsensor.GetCompassHeadingRequest;
+import com.viam.component.movementsensor.v1.Movementsensor.GetCompassHeadingResponse;
+import com.viam.component.movementsensor.v1.Movementsensor.GetLinearAccelerationRequest;
+import com.viam.component.movementsensor.v1.Movementsensor.GetLinearAccelerationResponse;
+import com.viam.component.movementsensor.v1.Movementsensor.GetLinearVelocityRequest;
+import com.viam.component.movementsensor.v1.Movementsensor.GetLinearVelocityResponse;
+import com.viam.component.movementsensor.v1.Movementsensor.GetOrientationRequest;
+import com.viam.component.movementsensor.v1.Movementsensor.GetOrientationResponse;
+import com.viam.component.movementsensor.v1.Movementsensor.GetPositionRequest;
+import com.viam.component.movementsensor.v1.Movementsensor.GetPositionResponse;
+import com.viam.component.movementsensor.v1.Movementsensor.GetPropertiesRequest;
+import com.viam.component.movementsensor.v1.Movementsensor.GetPropertiesResponse;
+import com.viam.component.sensor.v1.SensorServiceGrpc;
+import com.viam.sdk.core.resource.ResourceManager;
+import com.viam.sdk.core.resource.ResourceRPCService;
+import io.grpc.stub.StreamObserver;
+import java.util.List;
+import java.util.Map;
+import java.util.Optional;
+
+public class SensorRPCService extends SensorServiceGrpc.SensorServiceImplBase
+        implements ResourceRPCService<Sensor> {
+
+    private final ResourceManager manager;
+
+    public SensorRPCService(final ResourceManager manager) {
+        this.manager = manager;
+    }
+
+    @Override
+    public void getReadings(GetReadingsRequest request,
+                           StreamObserver<GetReadingsResponse> responseObserver) {
+        final com.viam.sdk.core.component.sensor.Sensor sensor = getResource(
+                com.viam.sdk.core.component.sensor.Sensor.named(request.getName())
+        );
+        final GetReadingsResponse result = sensor.getReadings(Optional.of(request.getExtra()));
+        responseObserver.onNext(GetReadingsResponse.newBuilder().putAllReadings(result.getReadingsMap()).build());
+        responseObserver.onCompleted();
+    }
+
+    @Override
+    public Class<Sensor> getResourceClass() {
+        return Sensor.class;
+    }
+
+    @Override
+    public ResourceManager getManager() {
+        return manager;
+    }
+}

core/sdk/src/main/java/com/viam/sdk/core/resource/ResourceManager.java

@@ -5,6 +5,7 @@
 import com.viam.component.generic.v1.GenericServiceGrpc;
 import com.viam.component.gripper.v1.GripperServiceGrpc;
 import com.viam.component.movementsensor.v1.MovementSensorServiceGrpc;
+import com.viam.component.sensor.v1.SensorServiceGrpc;
 import com.viam.sdk.core.component.generic.Generic;
 import com.viam.sdk.core.component.generic.GenericRPCClient;
 import com.viam.sdk.core.component.generic.GenericRPCService;
@@ -14,6 +15,9 @@
 import com.viam.sdk.core.component.movementsensor.MovementSensor;
 import com.viam.sdk.core.component.movementsensor.MovementSensorRPCClient;
 import com.viam.sdk.core.component.movementsensor.MovementSensorRPCService;
+import com.viam.sdk.core.component.sensor.Sensor;
+import com.viam.sdk.core.component.sensor.SensorRPCClient;
+import com.viam.sdk.core.component.sensor.SensorRPCService;
 import com.viam.sdk.core.exception.DuplicateResourceException;
 import com.viam.sdk.core.exception.ResourceNotFoundException;
 import com.viam.sdk.core.service.datamanager.DataManager;
@@ -163,7 +167,12 @@ public synchronized void close() {
         MovementSensorRPCService::new,
         MovementSensorRPCClient::new
     ));
-
+    Registry.registerSubtype(new ResourceRegistration<>(
+        Sensor.SUBTYPE,
+        SensorServiceGrpc.SERVICE_NAME,
+        SensorRPCService::new,
+        SensorRPCClient::new
+    ));
     Registry.registerSubtype(new ResourceRegistration<>(
         Sensors.SUBTYPE,
         SensorsServiceGrpc.SERVICE_NAME,