RSDK-7750: Add SetRPM to c++ SDK (#241)

src/viam/examples/modules/complex/proto/buf.lock

@@ -4,5 +4,5 @@ deps:
   - remote: buf.build
     owner: googleapis
     repository: googleapis
-    commit: b70d5bc6e99147928d9d4455fd60fc7a
+    commit: f0e53af8f2fc4556b94f482688b57223
     digest: shake256:de26a277fc28b8b411ecf58729d78d32fcf15090ffd998a4469225b17889bfb51442eaab04bb7a8d88d203ecdf0a9febd4ffd52c18ed1c2229160c7bd353ca95

src/viam/sdk/components/motor.hpp

@@ -116,6 +116,19 @@ class Motor : public Component, public Stoppable {
     /// @throws `Exception` if position reporting is not supported
     virtual void go_to(double rpm, double position_revolutions, const AttributeMap& extra) = 0;
 
+    /// @brief Move the motor indefinitely at a specified speed which is expressed in RPM.
+    /// @param rpm Speed of motor travel in rotations per minute
+    /// @throws `Exception` if position reporting is not supported
+    inline void set_rpm(double rpm) {
+        return set_rpm(rpm, {});
+    }
+
+    /// @brief Move the motor indefinitely at a specified speed which is expressed in RPM.
+    /// @param rpm Speed of motor travel in rotations per minute
+    /// @param extra Any additional arguments to the method.
+    /// @throws `Exception` if position reporting is not supported
+    virtual void set_rpm(double rpm, const AttributeMap& extra) = 0;
+
     /// @brief Sets the current position of the motor as the new zero position.
     /// @param offset Motor position
     /// @throws `Exception` if position reporting is not supported

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

@@ -49,6 +49,12 @@ void MotorClient::go_to(double rpm, double position_revolutions, const Attribute
         .invoke();
 }
 
+void MotorClient::set_rpm(double rpm, const AttributeMap& extra) {
+    return make_client_helper(this, *stub_, &StubType::SetRPM)
+        .with(extra, [&](auto& request) { request.set_rpm(rpm); })
+        .invoke();
+}
+
 void MotorClient::reset_zero_position(double offset, const AttributeMap& extra) {
     return make_client_helper(this, *stub_, &StubType::ResetZeroPosition)
         .with(extra, [&](auto& request) { request.set_offset(offset); })

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

@@ -25,6 +25,7 @@ class MotorClient : public Motor {
     void set_power(double power_pct, const AttributeMap& extra) override;
     void go_for(double rpm, double revolutions, const AttributeMap& extra) override;
     void go_to(double rpm, double position_revolutions, const AttributeMap& extra) override;
+    void set_rpm(double rpm, const AttributeMap& extra) override;
     void reset_zero_position(double offset, const AttributeMap& extra) override;
     position get_position(const AttributeMap& extra) override;
     properties get_properties(const AttributeMap& extra) override;
@@ -51,6 +52,7 @@ class MotorClient : public Motor {
     using Motor::go_to;
     using Motor::reset_zero_position;
     using Motor::set_power;
+    using Motor::set_rpm;
     using Motor::stop;
 
    private:

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

@@ -41,6 +41,13 @@ ::grpc::Status MotorServer::GoTo(::grpc::ServerContext*,
     });
 }
 
+::grpc::Status MotorServer::SetRPM(::grpc::ServerContext*,
+                                   const ::viam::component::motor::v1::SetRPMRequest* request,
+                                   ::viam::component::motor::v1::SetRPMResponse*) noexcept {
+    return make_service_helper<Motor>("MotorServer::SetRPM", this, request)(
+        [&](auto& helper, auto& motor) { motor->set_rpm(request->rpm(), helper.getExtra()); });
+}
+
 ::grpc::Status MotorServer::ResetZeroPosition(
     ::grpc::ServerContext*,
     const ::viam::component::motor::v1::ResetZeroPositionRequest* request,

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

@@ -37,6 +37,10 @@ class MotorServer : public ResourceServer,
                         const ::viam::component::motor::v1::GoToRequest* request,
                         ::viam::component::motor::v1::GoToResponse* response) noexcept override;
 
+    ::grpc::Status SetRPM(::grpc::ServerContext* context,
+                          const ::viam::component::motor::v1::SetRPMRequest* request,
+                          ::viam::component::motor::v1::SetRPMResponse* response) noexcept override;
+
     ::grpc::Status ResetZeroPosition(
         ::grpc::ServerContext* context,
         const ::viam::component::motor::v1::ResetZeroPositionRequest* request,

src/viam/sdk/tests/mocks/mock_motor.cpp

@@ -31,6 +31,11 @@ void MockMotor::go_to(double rpm, double position_revolutions, const AttributeMa
     position_ = position_revolutions;
 }
 
+void MockMotor::set_rpm(double rpm, const AttributeMap&) {
+    power_status_.is_on = rpm != 0.0;
+    position_ += 1;
+}
+
 void MockMotor::reset_zero_position(double offset, const AttributeMap&) {
     position_ -= offset;
 }

src/viam/sdk/tests/mocks/mock_motor.hpp

@@ -15,6 +15,7 @@ class MockMotor : public Motor {
     void set_power(double power_pct, const sdk::AttributeMap& extra) override;
     void go_for(double rpm, double revolutions, const sdk::AttributeMap& extra) override;
     void go_to(double rpm, double position_revolutions, const sdk::AttributeMap& extra) override;
+    void set_rpm(double rpm, const sdk::AttributeMap& extra) override;
     void reset_zero_position(double offset, const sdk::AttributeMap& extra) override;
     Motor::position get_position(const sdk::AttributeMap& extra) override;
     Motor::properties get_properties(const sdk::AttributeMap& extra) override;
@@ -36,6 +37,7 @@ class MockMotor : public Motor {
     using Motor::go_to;
     using Motor::reset_zero_position;
     using Motor::set_power;
+    using Motor::set_rpm;
     using Motor::stop;
 
    private:

src/viam/sdk/tests/test_motor.cpp

@@ -55,6 +55,12 @@ BOOST_AUTO_TEST_CASE(mock_go_to) {
     BOOST_CHECK(motor->get_position() == 1.0);
 }
 
+BOOST_AUTO_TEST_CASE(mock_set_rpm) {
+    std::shared_ptr<MockMotor> motor = MockMotor::get_mock_motor();
+    motor->set_rpm(1.0);
+    BOOST_CHECK(motor->get_power_status().is_on);
+}
+
 BOOST_AUTO_TEST_CASE(mock_reset_zero_position) {
     std::shared_ptr<MockMotor> motor = MockMotor::get_mock_motor();
     motor->go_to(1.0, 1.0);
@@ -142,6 +148,14 @@ BOOST_AUTO_TEST_CASE(test_go_to) {
     });
 }
 
+BOOST_AUTO_TEST_CASE(test_set_rpm) {
+    std::shared_ptr<MockMotor> mock = MockMotor::get_mock_motor();
+    client_to_mock_pipeline<Motor>(mock, [](Motor& client) {
+        client.set_rpm(1.0);
+        BOOST_CHECK(client.get_position() >= 1.0);
+    });
+}
+
 BOOST_AUTO_TEST_CASE(test_reset_zero_position) {
     std::shared_ptr<MockMotor> mock = MockMotor::get_mock_motor();
     client_to_mock_pipeline<Motor>(mock, [](Motor& client) {