diff --git a/src/viam/examples/camera/example_camera.cpp b/src/viam/examples/camera/example_camera.cpp index 32e447325..084665adc 100644 --- a/src/viam/examples/camera/example_camera.cpp +++ b/src/viam/examples/camera/example_camera.cpp @@ -3,8 +3,7 @@ #include #include -#include -#include +#include #include #include #include diff --git a/src/viam/examples/dial/example_dial.cpp b/src/viam/examples/dial/example_dial.cpp index 4ea1f9289..aa54130fa 100644 --- a/src/viam/examples/dial/example_dial.cpp +++ b/src/viam/examples/dial/example_dial.cpp @@ -17,7 +17,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/viam/examples/dial_api_key/example_dial_api_key.cpp b/src/viam/examples/dial_api_key/example_dial_api_key.cpp index 1659b476d..09135b191 100644 --- a/src/viam/examples/dial_api_key/example_dial_api_key.cpp +++ b/src/viam/examples/dial_api_key/example_dial_api_key.cpp @@ -17,7 +17,6 @@ #include #include -#include #include #include #include diff --git a/src/viam/examples/mlmodel/example_audio_classification_client.cpp b/src/viam/examples/mlmodel/example_audio_classification_client.cpp index 67d4af102..51d1e46c0 100644 --- a/src/viam/examples/mlmodel/example_audio_classification_client.cpp +++ b/src/viam/examples/mlmodel/example_audio_classification_client.cpp @@ -29,7 +29,7 @@ #include #include -#include +#include namespace { diff --git a/src/viam/examples/modules/complex/base/impl.cpp b/src/viam/examples/modules/complex/base/impl.cpp index d31a3ea92..d18c45a7a 100644 --- a/src/viam/examples/modules/complex/base/impl.cpp +++ b/src/viam/examples/modules/complex/base/impl.cpp @@ -7,7 +7,7 @@ #include -#include +#include #include #include #include diff --git a/src/viam/examples/modules/complex/base/impl.hpp b/src/viam/examples/modules/complex/base/impl.hpp index 0e371a79d..c4a60adcc 100644 --- a/src/viam/examples/modules/complex/base/impl.hpp +++ b/src/viam/examples/modules/complex/base/impl.hpp @@ -1,8 +1,8 @@ #pragma once -#include +#include #include -#include +#include #include #include #include diff --git a/src/viam/examples/modules/complex/client.cpp b/src/viam/examples/modules/complex/client.cpp index 218d39805..3c8e0eada 100644 --- a/src/viam/examples/modules/complex/client.cpp +++ b/src/viam/examples/modules/complex/client.cpp @@ -16,7 +16,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/viam/examples/modules/complex/main.cpp b/src/viam/examples/modules/complex/main.cpp index c8f447224..9b746bfff 100644 --- a/src/viam/examples/modules/complex/main.cpp +++ b/src/viam/examples/modules/complex/main.cpp @@ -9,7 +9,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/viam/examples/modules/complex/test_complex_module.cpp b/src/viam/examples/modules/complex/test_complex_module.cpp index 840b42411..f09ff15de 100644 --- a/src/viam/examples/modules/complex/test_complex_module.cpp +++ b/src/viam/examples/modules/complex/test_complex_module.cpp @@ -87,7 +87,7 @@ BOOST_AUTO_TEST_SUITE(test_gizmo_client_server) BOOST_AUTO_TEST_CASE(test_do_one) { const auto mock = test_gizmo_impl::get_gizmo(); - client_to_mock_pipeline(mock, [](Gizmo& client) { + client_to_mock_pipeline(mock, [](Gizmo& client) { BOOST_CHECK(client.do_one("foo")); BOOST_CHECK(!client.do_one("bar")); }); @@ -95,7 +95,7 @@ BOOST_AUTO_TEST_CASE(test_do_one) { BOOST_AUTO_TEST_CASE(test_do_one_client_stream) { const auto mock = test_gizmo_impl::get_gizmo(); - client_to_mock_pipeline(mock, [](Gizmo& client) { + client_to_mock_pipeline(mock, [](Gizmo& client) { BOOST_CHECK(client.do_one_client_stream({"foo", "foo"})); BOOST_CHECK(!client.do_one_client_stream({"foo", "bar"})); }); @@ -103,7 +103,7 @@ BOOST_AUTO_TEST_CASE(test_do_one_client_stream) { BOOST_AUTO_TEST_CASE(test_do_one_server_stream) { const auto mock = test_gizmo_impl::get_gizmo(); - client_to_mock_pipeline(mock, [](Gizmo& client) { + client_to_mock_pipeline(mock, [](Gizmo& client) { std::vector ret1 = {true, false, true, false}; std::vector ret2 = {false, false, true, false}; BOOST_CHECK(client.do_one_server_stream("foo") == ret1); @@ -113,7 +113,7 @@ BOOST_AUTO_TEST_CASE(test_do_one_server_stream) { BOOST_AUTO_TEST_CASE(test_do_one_bidi_stream) { const auto mock = test_gizmo_impl::get_gizmo(); - client_to_mock_pipeline(mock, [](Gizmo& client) { + client_to_mock_pipeline(mock, [](Gizmo& client) { std::vector ret1 = {true, false}; std::vector ret2 = {false, true}; BOOST_CHECK(client.do_one_bidi_stream({"foo", "bar"}) == ret1); @@ -123,7 +123,7 @@ BOOST_AUTO_TEST_CASE(test_do_one_bidi_stream) { BOOST_AUTO_TEST_CASE(test_do_two) { const auto mock = test_gizmo_impl::get_gizmo(); - client_to_mock_pipeline(mock, [](Gizmo& client) { + client_to_mock_pipeline(mock, [](Gizmo& client) { BOOST_CHECK(client.do_two(true) == "arg1=true"); BOOST_CHECK(client.do_two(false) == "arg1=false"); }); @@ -151,7 +151,7 @@ BOOST_AUTO_TEST_SUITE(test_summation_client_server) BOOST_AUTO_TEST_CASE(test_sum) { const auto mock = test_summation_impl::get_summation(); - client_to_mock_pipeline(mock, [](Summation& client) { + client_to_mock_pipeline(mock, [](Summation& client) { double sum = client.sum({0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0}); BOOST_CHECK(sum == 45); }); diff --git a/src/viam/examples/modules/simple/main.cpp b/src/viam/examples/modules/simple/main.cpp index 2e2c0a587..8e0ef8dd4 100644 --- a/src/viam/examples/modules/simple/main.cpp +++ b/src/viam/examples/modules/simple/main.cpp @@ -18,7 +18,7 @@ #include #include #include -#include +#include #include using namespace viam::sdk; diff --git a/src/viam/examples/modules/tflite/main.cpp b/src/viam/examples/modules/tflite/main.cpp index 4ac408e05..89aa2f848 100644 --- a/src/viam/examples/modules/tflite/main.cpp +++ b/src/viam/examples/modules/tflite/main.cpp @@ -33,8 +33,7 @@ #include #include #include -#include -#include +#include namespace { diff --git a/src/viam/examples/motor/example_motor.cpp b/src/viam/examples/motor/example_motor.cpp index 815f44367..d092acab0 100644 --- a/src/viam/examples/motor/example_motor.cpp +++ b/src/viam/examples/motor/example_motor.cpp @@ -4,8 +4,7 @@ #include #include -#include -#include +#include #include #include #include diff --git a/src/viam/sdk/CMakeLists.txt b/src/viam/sdk/CMakeLists.txt index f5eb7b7cd..b03f1987d 100644 --- a/src/viam/sdk/CMakeLists.txt +++ b/src/viam/sdk/CMakeLists.txt @@ -44,37 +44,37 @@ target_sources(viamsdk common/service_helper.cpp common/utils.cpp common/world_state.cpp - components/base/base.cpp - components/base/client.cpp - components/base/server.cpp - components/board/board.cpp - components/board/client.cpp - components/board/server.cpp - components/camera/camera.cpp - components/camera/client.cpp - components/camera/server.cpp + components/base.cpp + components/board.cpp + components/camera.cpp components/component.cpp - components/encoder/client.cpp - components/encoder/encoder.cpp - components/encoder/server.cpp - components/generic/client.cpp - components/generic/generic.cpp - components/generic/server.cpp - components/motor/motor.cpp - components/motor/client.cpp - components/motor/server.cpp - components/movement_sensor/client.cpp - components/movement_sensor/movement_sensor.cpp - components/movement_sensor/server.cpp - components/power_sensor/client.cpp - components/power_sensor/power_sensor.cpp - components/power_sensor/server.cpp - components/sensor/client.cpp - components/sensor/sensor.cpp - components/sensor/server.cpp - components/servo/client.cpp - components/servo/server.cpp - components/servo/servo.cpp + components/encoder.cpp + components/generic.cpp + components/motor.cpp + components/movement_sensor.cpp + components/power_sensor.cpp + components/private/base_client.cpp + components/private/base_server.cpp + components/private/board_client.cpp + components/private/board_server.cpp + components/private/camera_client.cpp + components/private/camera_server.cpp + components/private/encoder_client.cpp + components/private/encoder_server.cpp + components/private/generic_client.cpp + components/private/generic_server.cpp + components/private/motor_client.cpp + components/private/motor_server.cpp + components/private/movement_sensor_client.cpp + components/private/movement_sensor_server.cpp + components/private/power_sensor_client.cpp + components/private/power_sensor_server.cpp + components/private/sensor_client.cpp + components/private/sensor_server.cpp + components/private/servo_client.cpp + components/private/servo_server.cpp + components/sensor.cpp + components/servo.cpp config/resource.cpp module/handler_map.cpp module/module.cpp @@ -92,20 +92,20 @@ target_sources(viamsdk robot/service.cpp rpc/dial.cpp rpc/server.cpp - services/generic/client.cpp - services/generic/generic.cpp - services/generic/server.cpp - services/mlmodel/client.cpp - services/mlmodel/mlmodel.cpp - services/mlmodel/private/proto.cpp - services/mlmodel/server.cpp - services/motion/client.cpp - services/motion/motion.cpp - services/motion/server.cpp + services/generic.cpp + services/mlmodel.cpp + services/motion.cpp + services/private/generic_client.cpp + services/private/generic_server.cpp + services/private/mlmodel.cpp + services/private/mlmodel_client.cpp + services/private/mlmodel_server.cpp + services/private/motion_client.cpp + services/private/motion_server.cpp services/service.cpp spatialmath/geometry.cpp - spatialmath/orientation_types.cpp spatialmath/orientation.cpp + spatialmath/orientation_types.cpp PUBLIC FILE_SET viamsdk_public_includes TYPE HEADERS BASE_DIRS ../.. @@ -118,37 +118,17 @@ target_sources(viamsdk ../../viam/sdk/common/service_helper.hpp ../../viam/sdk/common/utils.hpp ../../viam/sdk/common/world_state.hpp - ../../viam/sdk/components/base/base.hpp - ../../viam/sdk/components/base/client.hpp - ../../viam/sdk/components/base/server.hpp - ../../viam/sdk/components/board/board.hpp - ../../viam/sdk/components/board/client.hpp - ../../viam/sdk/components/board/server.hpp - ../../viam/sdk/components/camera/camera.hpp - ../../viam/sdk/components/camera/client.hpp - ../../viam/sdk/components/camera/server.hpp + ../../viam/sdk/components/base.hpp + ../../viam/sdk/components/board.hpp + ../../viam/sdk/components/camera.hpp ../../viam/sdk/components/component.hpp - ../../viam/sdk/components/encoder/client.hpp - ../../viam/sdk/components/encoder/encoder.hpp - ../../viam/sdk/components/encoder/server.hpp - ../../viam/sdk/components/generic/client.hpp - ../../viam/sdk/components/generic/generic.hpp - ../../viam/sdk/components/generic/server.hpp - ../../viam/sdk/components/motor/motor.hpp - ../../viam/sdk/components/motor/client.hpp - ../../viam/sdk/components/motor/server.hpp - ../../viam/sdk/components/movement_sensor/client.hpp - ../../viam/sdk/components/movement_sensor/movement_sensor.hpp - ../../viam/sdk/components/movement_sensor/server.hpp - ../../viam/sdk/components/power_sensor/client.hpp - ../../viam/sdk/components/power_sensor/power_sensor.hpp - ../../viam/sdk/components/power_sensor/server.hpp - ../../viam/sdk/components/sensor/client.hpp - ../../viam/sdk/components/sensor/sensor.hpp - ../../viam/sdk/components/sensor/server.hpp - ../../viam/sdk/components/servo/client.hpp - ../../viam/sdk/components/servo/server.hpp - ../../viam/sdk/components/servo/servo.hpp + ../../viam/sdk/components/encoder.hpp + ../../viam/sdk/components/generic.hpp + ../../viam/sdk/components/motor.hpp + ../../viam/sdk/components/movement_sensor.hpp + ../../viam/sdk/components/power_sensor.hpp + ../../viam/sdk/components/sensor.hpp + ../../viam/sdk/components/servo.hpp ../../viam/sdk/config/resource.hpp ../../viam/sdk/module/handler_map.hpp ../../viam/sdk/module/module.hpp @@ -166,19 +146,13 @@ target_sources(viamsdk ../../viam/sdk/robot/service.hpp ../../viam/sdk/rpc/dial.hpp ../../viam/sdk/rpc/server.hpp - ../../viam/sdk/services/generic/client.hpp - ../../viam/sdk/services/generic/generic.hpp - ../../viam/sdk/services/generic/server.hpp - ../../viam/sdk/services/mlmodel/client.hpp - ../../viam/sdk/services/mlmodel/mlmodel.hpp - ../../viam/sdk/services/mlmodel/server.hpp - ../../viam/sdk/services/motion/client.hpp - ../../viam/sdk/services/motion/motion.hpp - ../../viam/sdk/services/motion/server.hpp + ../../viam/sdk/services/generic.hpp + ../../viam/sdk/services/mlmodel.hpp + ../../viam/sdk/services/motion.hpp ../../viam/sdk/services/service.hpp ../../viam/sdk/spatialmath/geometry.hpp - ../../viam/sdk/spatialmath/orientation_types.hpp ../../viam/sdk/spatialmath/orientation.hpp + ../../viam/sdk/spatialmath/orientation_types.hpp ) set_target_properties( diff --git a/src/viam/sdk/components/base/base.cpp b/src/viam/sdk/components/base.cpp similarity index 96% rename from src/viam/sdk/components/base/base.cpp rename to src/viam/sdk/components/base.cpp index d2740fdb9..6a4e56582 100644 --- a/src/viam/sdk/components/base/base.cpp +++ b/src/viam/sdk/components/base.cpp @@ -1,4 +1,4 @@ -#include +#include #include diff --git a/src/viam/sdk/components/base/base.hpp b/src/viam/sdk/components/base.hpp similarity index 98% rename from src/viam/sdk/components/base/base.hpp rename to src/viam/sdk/components/base.hpp index 168802d99..a776f00fe 100644 --- a/src/viam/sdk/components/base/base.hpp +++ b/src/viam/sdk/components/base.hpp @@ -1,4 +1,4 @@ -/// @file components/base/base.hpp +/// @file components/base.hpp /// /// @brief Defines a `Base` component. #pragma once @@ -18,7 +18,7 @@ namespace sdk { /// @defgroup Base Classes related to the Base component. -/// @class Base base.hpp "components/base/base.hpp" +/// @class Base base.hpp "components/base.hpp" /// @brief A `Base` is the platform that the other parts of a mobile robot attach to. /// @ingroup Base /// diff --git a/src/viam/sdk/components/board/board.cpp b/src/viam/sdk/components/board.cpp similarity index 98% rename from src/viam/sdk/components/board/board.cpp rename to src/viam/sdk/components/board.cpp index 3ad2907b9..6a1b7e934 100644 --- a/src/viam/sdk/components/board/board.cpp +++ b/src/viam/sdk/components/board.cpp @@ -1,4 +1,4 @@ -#include +#include #include diff --git a/src/viam/sdk/components/board/board.hpp b/src/viam/sdk/components/board.hpp similarity index 99% rename from src/viam/sdk/components/board/board.hpp rename to src/viam/sdk/components/board.hpp index 04596af0e..baa0a293e 100644 --- a/src/viam/sdk/components/board/board.hpp +++ b/src/viam/sdk/components/board.hpp @@ -1,4 +1,4 @@ -/// @file components/board/board.hpp +/// @file components/board.hpp /// /// @brief Defines a `Board` component. #pragma once @@ -15,7 +15,7 @@ namespace viam { namespace sdk { -/// @class Board board.hpp "components/board/board.hpp" +/// @class Board board.hpp "components/board.hpp" /// @brief Represents a physical board with gpio pins, digital interrupts, and analog voltage /// reading /// @ingroup Board diff --git a/src/viam/sdk/components/camera/camera.cpp b/src/viam/sdk/components/camera.cpp similarity index 99% rename from src/viam/sdk/components/camera/camera.cpp rename to src/viam/sdk/components/camera.cpp index ecec5be54..78a3accf4 100644 --- a/src/viam/sdk/components/camera/camera.cpp +++ b/src/viam/sdk/components/camera.cpp @@ -1,4 +1,4 @@ -#include +#include #include #include diff --git a/src/viam/sdk/components/camera/camera.hpp b/src/viam/sdk/components/camera.hpp similarity index 98% rename from src/viam/sdk/components/camera/camera.hpp rename to src/viam/sdk/components/camera.hpp index 8826640e5..912a3d917 100644 --- a/src/viam/sdk/components/camera/camera.hpp +++ b/src/viam/sdk/components/camera.hpp @@ -1,4 +1,4 @@ -/// @file components/camera/camera.hpp +/// @file components/camera.hpp /// /// @brief Defines a `Camera` component. #pragma once @@ -19,7 +19,7 @@ namespace viam { namespace sdk { -/// @class Camera camera.hpp "components/camera/camera.hpp" +/// @class Camera camera.hpp "components/camera.hpp" /// @brief A `Camera` represents any physical hardware that can capture frames. /// @ingroup Camera /// diff --git a/src/viam/sdk/components/encoder/encoder.cpp b/src/viam/sdk/components/encoder.cpp similarity index 98% rename from src/viam/sdk/components/encoder/encoder.cpp rename to src/viam/sdk/components/encoder.cpp index c3575ddf5..6c3fbf7ba 100644 --- a/src/viam/sdk/components/encoder/encoder.cpp +++ b/src/viam/sdk/components/encoder.cpp @@ -1,4 +1,4 @@ -#include +#include #include diff --git a/src/viam/sdk/components/encoder/encoder.hpp b/src/viam/sdk/components/encoder.hpp similarity index 98% rename from src/viam/sdk/components/encoder/encoder.hpp rename to src/viam/sdk/components/encoder.hpp index a7e55b859..13586d276 100644 --- a/src/viam/sdk/components/encoder/encoder.hpp +++ b/src/viam/sdk/components/encoder.hpp @@ -1,4 +1,4 @@ -/// @file components/encoder/encoder.hpp +/// @file components/encoder.hpp /// /// @brief Defines a `Encoder` component. #pragma once @@ -14,7 +14,7 @@ namespace viam { namespace sdk { -/// @class Encoder encoder.hpp "components/encoder/encoder.hpp" +/// @class Encoder encoder.hpp "components/encoder.hpp" /// @brief An encoder is a device that is hooked up to motors to report a position /// @ingroup Encoder /// diff --git a/src/viam/sdk/components/generic/generic.cpp b/src/viam/sdk/components/generic.cpp similarity index 91% rename from src/viam/sdk/components/generic/generic.cpp rename to src/viam/sdk/components/generic.cpp index 1e9929d6a..2c6f825f4 100644 --- a/src/viam/sdk/components/generic/generic.cpp +++ b/src/viam/sdk/components/generic.cpp @@ -1,4 +1,4 @@ -#include +#include #include diff --git a/src/viam/sdk/components/generic/generic.hpp b/src/viam/sdk/components/generic.hpp similarity index 93% rename from src/viam/sdk/components/generic/generic.hpp rename to src/viam/sdk/components/generic.hpp index b523837e9..834c5d34f 100644 --- a/src/viam/sdk/components/generic/generic.hpp +++ b/src/viam/sdk/components/generic.hpp @@ -1,4 +1,4 @@ -/// @file generic/generic.hpp +/// @file generic.hpp /// /// @brief Defines `GenericComponent` subtype and component class capable of executing arbitrary /// commands. @@ -13,7 +13,7 @@ namespace viam { namespace sdk { -/// @class GenericComponent generic.hpp "components/generic/generic.hpp" +/// @class GenericComponent generic.hpp "components/generic.hpp" /// @brief A `GenericComponent` represents any component that can execute arbitrary commands. /// @ingroup GenericComponent /// diff --git a/src/viam/sdk/components/motor/motor.cpp b/src/viam/sdk/components/motor.cpp similarity index 97% rename from src/viam/sdk/components/motor/motor.cpp rename to src/viam/sdk/components/motor.cpp index 34264eec7..906992717 100644 --- a/src/viam/sdk/components/motor/motor.cpp +++ b/src/viam/sdk/components/motor.cpp @@ -1,4 +1,4 @@ -#include +#include #include diff --git a/src/viam/sdk/components/motor/motor.hpp b/src/viam/sdk/components/motor.hpp similarity index 98% rename from src/viam/sdk/components/motor/motor.hpp rename to src/viam/sdk/components/motor.hpp index 4626e1cd9..a4794e908 100644 --- a/src/viam/sdk/components/motor/motor.hpp +++ b/src/viam/sdk/components/motor.hpp @@ -1,4 +1,4 @@ -/// @file components/motor/motor.hpp +/// @file components/motor.hpp /// /// @brief Defines a `Motor` component. #pragma once @@ -15,7 +15,7 @@ namespace viam { namespace sdk { -/// @class Motor motor.hpp "components/motor/motor.hpp" +/// @class Motor motor.hpp "components/motor.hpp" /// @brief A `Motor` represents physical hardware that controls the rotation of an axle /// @ingroup Motor /// diff --git a/src/viam/sdk/components/movement_sensor/movement_sensor.cpp b/src/viam/sdk/components/movement_sensor.cpp similarity index 98% rename from src/viam/sdk/components/movement_sensor/movement_sensor.cpp rename to src/viam/sdk/components/movement_sensor.cpp index 141c1d74f..27a235c26 100644 --- a/src/viam/sdk/components/movement_sensor/movement_sensor.cpp +++ b/src/viam/sdk/components/movement_sensor.cpp @@ -1,4 +1,4 @@ -#include +#include #include diff --git a/src/viam/sdk/components/movement_sensor/movement_sensor.hpp b/src/viam/sdk/components/movement_sensor.hpp similarity index 98% rename from src/viam/sdk/components/movement_sensor/movement_sensor.hpp rename to src/viam/sdk/components/movement_sensor.hpp index cb2839abd..731fe4b64 100644 --- a/src/viam/sdk/components/movement_sensor/movement_sensor.hpp +++ b/src/viam/sdk/components/movement_sensor.hpp @@ -1,4 +1,4 @@ -/// @file components/movement_sensor/movement_sensor.hpp +/// @file components/movement_sensor.hpp /// /// @brief Defines a `MovementSensor` component. #pragma once @@ -18,7 +18,7 @@ namespace sdk { /// @defgroup MovementSensor Classes related to the MovementSensor component. -/// @class MovementSensor movement_sensor.hpp "components/movement_sensor/movement_sensor.hpp" +/// @class MovementSensor movement_sensor.hpp "components/movement_sensor.hpp" /// @ingroup MovementSensor /// /// This acts as an abstract base class to be inherited from by any drivers representing diff --git a/src/viam/sdk/components/power_sensor/power_sensor.cpp b/src/viam/sdk/components/power_sensor.cpp similarity index 96% rename from src/viam/sdk/components/power_sensor/power_sensor.cpp rename to src/viam/sdk/components/power_sensor.cpp index c7e48c5f4..e2c3fb7ff 100644 --- a/src/viam/sdk/components/power_sensor/power_sensor.cpp +++ b/src/viam/sdk/components/power_sensor.cpp @@ -1,4 +1,4 @@ -#include +#include #include #include diff --git a/src/viam/sdk/components/power_sensor/power_sensor.hpp b/src/viam/sdk/components/power_sensor.hpp similarity index 98% rename from src/viam/sdk/components/power_sensor/power_sensor.hpp rename to src/viam/sdk/components/power_sensor.hpp index 92039387d..1149969bf 100644 --- a/src/viam/sdk/components/power_sensor/power_sensor.hpp +++ b/src/viam/sdk/components/power_sensor.hpp @@ -1,4 +1,4 @@ -/// @file components/power_sensor/power_sensor.hpp +/// @file components/power_sensor.hpp /// /// @brief Defines a `PowerSensor` component. #pragma once @@ -18,7 +18,7 @@ namespace sdk { /// @defgroup PowerSensor Classes related to the PowerSensor component. -/// @class PowerSensor power_sensor.hpp "components/power_sensor/power_sensor.hpp" +/// @class PowerSensor power_sensor.hpp "components/power_sensor.hpp" /// @ingroup PowerSensor /// /// This acts as an abstract base class to be inherited from by any drivers representing diff --git a/src/viam/sdk/components/base/client.cpp b/src/viam/sdk/components/private/base_client.cpp similarity index 96% rename from src/viam/sdk/components/base/client.cpp rename to src/viam/sdk/components/private/base_client.cpp index 41fc21935..b725c4d25 100644 --- a/src/viam/sdk/components/base/client.cpp +++ b/src/viam/sdk/components/private/base_client.cpp @@ -1,4 +1,4 @@ -#include +#include #include #include @@ -13,13 +13,14 @@ #include #include #include -#include +#include #include #include #include namespace viam { namespace sdk { +namespace impl { BaseClient::BaseClient(std::string name, std::shared_ptr channel) : Base(std::move(name)), @@ -98,5 +99,6 @@ AttributeMap BaseClient::do_command(const AttributeMap& command) { .invoke([](auto& response) { return struct_to_map(response.result()); }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/base/client.hpp b/src/viam/sdk/components/private/base_client.hpp similarity index 93% rename from src/viam/sdk/components/base/client.hpp rename to src/viam/sdk/components/private/base_client.hpp index ffcf62ac3..166f6cdb7 100644 --- a/src/viam/sdk/components/base/client.hpp +++ b/src/viam/sdk/components/private/base_client.hpp @@ -1,4 +1,4 @@ -/// @file components/base/client.hpp +/// @file components/private/base_client.hpp /// /// @brief Implements a gRPC client for the `Base` component. #pragma once @@ -9,13 +9,14 @@ #include #include -#include -#include +#include +#include #include #include namespace viam { namespace sdk { +namespace impl { /// @class BaseClient /// @brief gRPC client implementation of a `Base` component. @@ -61,5 +62,6 @@ class BaseClient : public Base { std::shared_ptr channel_; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/base/server.cpp b/src/viam/sdk/components/private/base_server.cpp similarity index 97% rename from src/viam/sdk/components/base/server.cpp rename to src/viam/sdk/components/private/base_server.cpp index e91acbc03..d2041674d 100644 --- a/src/viam/sdk/components/base/server.cpp +++ b/src/viam/sdk/components/private/base_server.cpp @@ -1,16 +1,17 @@ -#include +#include #include #include #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { BaseServer::BaseServer(std::shared_ptr manager) : ResourceServer(std::move(manager)){}; @@ -110,5 +111,6 @@ ::grpc::Status BaseServer::DoCommand(grpc::ServerContext*, }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/base/server.hpp b/src/viam/sdk/components/private/base_server.hpp similarity index 95% rename from src/viam/sdk/components/base/server.hpp rename to src/viam/sdk/components/private/base_server.hpp index c1046c27a..c061cc45b 100644 --- a/src/viam/sdk/components/base/server.hpp +++ b/src/viam/sdk/components/private/base_server.hpp @@ -1,4 +1,4 @@ -/// @file components/base/server.hpp +/// @file components/private/base_server.hpp /// /// @brief Implements a gRPC server for the `Base` component. #pragma once @@ -7,12 +7,13 @@ #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { /// @class BaseServer /// @brief gRPC server implementation of a `Base` component. @@ -66,5 +67,6 @@ class BaseServer : public ResourceServer, public viam::component::base::v1::Base viam::common::v1::DoCommandResponse* response) noexcept override; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/board/client.cpp b/src/viam/sdk/components/private/board_client.cpp similarity index 97% rename from src/viam/sdk/components/board/client.cpp rename to src/viam/sdk/components/private/board_client.cpp index f96f2807d..4644278a7 100644 --- a/src/viam/sdk/components/board/client.cpp +++ b/src/viam/sdk/components/private/board_client.cpp @@ -1,4 +1,4 @@ -#include +#include #include #include @@ -12,12 +12,13 @@ #include #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { BoardClient::BoardClient(std::string name, std::shared_ptr channel) : Board(std::move(name)), @@ -156,5 +157,6 @@ std::vector BoardClient::get_geometries(const AttributeMap& extr .invoke([](auto& response) { return GeometryConfig::from_proto(response); }); }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/board/client.hpp b/src/viam/sdk/components/private/board_client.hpp similarity index 94% rename from src/viam/sdk/components/board/client.hpp rename to src/viam/sdk/components/private/board_client.hpp index b754beb2e..5c0914c8e 100644 --- a/src/viam/sdk/components/board/client.hpp +++ b/src/viam/sdk/components/private/board_client.hpp @@ -1,4 +1,4 @@ -/// @file components/board/client.hpp +/// @file components/private/board_client.hpp /// /// @brief Implements a gRPC client for the `Board` component. #pragma once @@ -7,13 +7,14 @@ #include -#include -#include +#include +#include #include #include namespace viam { namespace sdk { +namespace impl { /// @class BoardClient /// @brief gRPC client implementation of a `Board` component. @@ -72,5 +73,6 @@ class BoardClient : public Board { const std::shared_ptr channel_; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/board/server.cpp b/src/viam/sdk/components/private/board_server.cpp similarity index 98% rename from src/viam/sdk/components/board/server.cpp rename to src/viam/sdk/components/private/board_server.cpp index 40973ffdf..8f5a179f9 100644 --- a/src/viam/sdk/components/board/server.cpp +++ b/src/viam/sdk/components/private/board_server.cpp @@ -1,14 +1,15 @@ -#include +#include #include #include -#include +#include #include #include #include namespace viam { namespace sdk { +namespace impl { BoardServer::BoardServer(std::shared_ptr manager) : ResourceServer(std::move(manager)){}; @@ -202,5 +203,6 @@ ::grpc::Status BoardServer::GetGeometries( }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/board/server.hpp b/src/viam/sdk/components/private/board_server.hpp similarity index 96% rename from src/viam/sdk/components/board/server.hpp rename to src/viam/sdk/components/private/board_server.hpp index 4ad282243..49c41b757 100644 --- a/src/viam/sdk/components/board/server.hpp +++ b/src/viam/sdk/components/private/board_server.hpp @@ -1,4 +1,4 @@ -/// @file components/board/server.hpp +/// @file components/private/board_server.hpp /// /// @brief Implements a gRPC server for the `Board` component. #pragma once @@ -6,12 +6,13 @@ #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { /// @class BoardServer /// @brief gRPC server implementation of a `Board` component. @@ -84,5 +85,6 @@ class BoardServer : public ResourceServer, ::viam::common::v1::GetGeometriesResponse* response) noexcept override; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/camera/client.cpp b/src/viam/sdk/components/private/camera_client.cpp similarity index 94% rename from src/viam/sdk/components/camera/client.cpp rename to src/viam/sdk/components/private/camera_client.cpp index c43391dfe..bee8cb86a 100644 --- a/src/viam/sdk/components/camera/client.cpp +++ b/src/viam/sdk/components/private/camera_client.cpp @@ -1,4 +1,4 @@ -#include +#include #include #include @@ -10,12 +10,13 @@ #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { CameraClient::CameraClient(std::string name, std::shared_ptr channel) : Camera(std::move(name)), @@ -62,5 +63,6 @@ Camera::properties CameraClient::get_properties() { }); }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/camera/client.hpp b/src/viam/sdk/components/private/camera_client.hpp similarity index 93% rename from src/viam/sdk/components/camera/client.hpp rename to src/viam/sdk/components/private/camera_client.hpp index aa7cdbbea..2c40855f0 100644 --- a/src/viam/sdk/components/camera/client.hpp +++ b/src/viam/sdk/components/private/camera_client.hpp @@ -1,4 +1,4 @@ -/// @file components/camera/client.hpp +/// @file components/private/camera_client.hpp /// /// @brief Implements a gRPC client for the `Camera` component. #pragma once @@ -8,13 +8,14 @@ #include #include -#include -#include +#include +#include #include #include namespace viam { namespace sdk { +namespace impl { /// @class CameraClient /// @brief gRPC client implementation of a `Camera` component. @@ -57,5 +58,6 @@ class CameraClient : public Camera { std::shared_ptr channel_; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/camera/server.cpp b/src/viam/sdk/components/private/camera_server.cpp similarity index 97% rename from src/viam/sdk/components/camera/server.cpp rename to src/viam/sdk/components/private/camera_server.cpp index 1cb3e7153..885a9992c 100644 --- a/src/viam/sdk/components/camera/server.cpp +++ b/src/viam/sdk/components/private/camera_server.cpp @@ -1,17 +1,18 @@ -#include +#include #include #include #include #include -#include +#include #include #include #include namespace viam { namespace sdk { +namespace impl { CameraServer::CameraServer(std::shared_ptr manager) : ResourceServer(std::move(manager)){}; @@ -116,5 +117,6 @@ ::grpc::Status CameraServer::GetProperties( }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/camera/server.hpp b/src/viam/sdk/components/private/camera_server.hpp similarity index 95% rename from src/viam/sdk/components/camera/server.hpp rename to src/viam/sdk/components/private/camera_server.hpp index c042b75c5..b1c275ccd 100644 --- a/src/viam/sdk/components/camera/server.hpp +++ b/src/viam/sdk/components/private/camera_server.hpp @@ -1,4 +1,4 @@ -/// @file components/camera/server.hpp +/// @file components/private/camera_server.hpp /// /// @brief Implements a gRPC server for the `Camera` component. #pragma once @@ -6,12 +6,13 @@ #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { /// @class CameraServer /// @brief gRPC server implementation of a `Camera` component. @@ -51,5 +52,6 @@ class CameraServer : public ResourceServer, ::viam::component::camera::v1::GetPropertiesResponse* response) noexcept override; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/encoder/client.cpp b/src/viam/sdk/components/private/encoder_client.cpp similarity index 93% rename from src/viam/sdk/components/encoder/client.cpp rename to src/viam/sdk/components/private/encoder_client.cpp index e5e5ea0fc..9da44785b 100644 --- a/src/viam/sdk/components/encoder/client.cpp +++ b/src/viam/sdk/components/private/encoder_client.cpp @@ -1,4 +1,4 @@ -#include +#include #include #include @@ -11,12 +11,13 @@ #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { EncoderClient::EncoderClient(std::string name, std::shared_ptr channel) : Encoder(std::move(name)), @@ -52,5 +53,6 @@ AttributeMap EncoderClient::do_command(const AttributeMap& command) { .invoke([](auto& response) { return struct_to_map(response.result()); }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/encoder/client.hpp b/src/viam/sdk/components/private/encoder_client.hpp similarity index 91% rename from src/viam/sdk/components/encoder/client.hpp rename to src/viam/sdk/components/private/encoder_client.hpp index 03c5da9b5..dd40de3b3 100644 --- a/src/viam/sdk/components/encoder/client.hpp +++ b/src/viam/sdk/components/private/encoder_client.hpp @@ -1,4 +1,4 @@ -/// @file components/encoder/client.hpp +/// @file components/private/encoder_client.hpp /// /// @brief Implements a gRPC client for the `Encoder` component. #pragma once @@ -7,13 +7,14 @@ #include -#include -#include +#include +#include #include #include namespace viam { namespace sdk { +namespace impl { /// @class EncoderClient /// @brief gRPC client implementation of a `Encoder` component. @@ -48,5 +49,6 @@ class EncoderClient : public Encoder { std::shared_ptr channel_; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/encoder/server.cpp b/src/viam/sdk/components/private/encoder_server.cpp similarity index 95% rename from src/viam/sdk/components/encoder/server.cpp rename to src/viam/sdk/components/private/encoder_server.cpp index 0cb8a06e1..b89327740 100644 --- a/src/viam/sdk/components/encoder/server.cpp +++ b/src/viam/sdk/components/private/encoder_server.cpp @@ -1,13 +1,14 @@ -#include +#include #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { EncoderServer::EncoderServer(std::shared_ptr manager) : ResourceServer(std::move(manager)){}; @@ -68,5 +69,6 @@ ::grpc::Status EncoderServer::DoCommand(grpc::ServerContext*, }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/encoder/server.hpp b/src/viam/sdk/components/private/encoder_server.hpp similarity index 93% rename from src/viam/sdk/components/encoder/server.hpp rename to src/viam/sdk/components/private/encoder_server.hpp index 131a871c7..68a37f152 100644 --- a/src/viam/sdk/components/encoder/server.hpp +++ b/src/viam/sdk/components/private/encoder_server.hpp @@ -1,4 +1,4 @@ -/// @file components/encoder/server.hpp +/// @file components/private/encoder_server.hpp /// /// @brief Implements a gRPC server for the `Encoder` component. #pragma once @@ -6,12 +6,13 @@ #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { /// @class EncoderServer /// @brief gRPC server implementation of a `Encoder` component. @@ -48,5 +49,6 @@ class EncoderServer : public ResourceServer, viam::common::v1::DoCommandResponse* response) noexcept override; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/generic/client.cpp b/src/viam/sdk/components/private/generic_client.cpp similarity index 93% rename from src/viam/sdk/components/generic/client.cpp rename to src/viam/sdk/components/private/generic_client.cpp index 7a611423e..dc8b870d9 100644 --- a/src/viam/sdk/components/generic/client.cpp +++ b/src/viam/sdk/components/private/generic_client.cpp @@ -1,4 +1,4 @@ -#include +#include #include @@ -13,6 +13,7 @@ namespace viam { namespace sdk { +namespace impl { GenericComponentClient::GenericComponentClient(std::string name, std::shared_ptr channel) @@ -32,5 +33,6 @@ std::vector GenericComponentClient::get_geometries(const Attribu .invoke([](auto& response) { return GeometryConfig::from_proto(response); }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/generic/client.hpp b/src/viam/sdk/components/private/generic_client.hpp similarity index 91% rename from src/viam/sdk/components/generic/client.hpp rename to src/viam/sdk/components/private/generic_client.hpp index eb16e38ed..f30dcbf34 100644 --- a/src/viam/sdk/components/generic/client.hpp +++ b/src/viam/sdk/components/private/generic_client.hpp @@ -1,4 +1,4 @@ -/// @file components/generic/client.hpp +/// @file components/private/generic_client.hpp /// /// @brief Implements a gRPC client for the `GenericComponent`. #pragma once @@ -7,11 +7,12 @@ #include -#include +#include #include namespace viam { namespace sdk { +namespace impl { /// @class GenericComponentClient /// @brief gRPC client implementation of a `GenericComponent`. @@ -38,5 +39,6 @@ class GenericComponentClient : public GenericComponent { std::shared_ptr channel_; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/generic/server.cpp b/src/viam/sdk/components/private/generic_server.cpp similarity index 90% rename from src/viam/sdk/components/generic/server.cpp rename to src/viam/sdk/components/private/generic_server.cpp index 7a50a0360..e2fcf31ae 100644 --- a/src/viam/sdk/components/generic/server.cpp +++ b/src/viam/sdk/components/private/generic_server.cpp @@ -1,11 +1,12 @@ -#include +#include #include -#include +#include #include namespace viam { namespace sdk { +namespace impl { GenericComponentServer::GenericComponentServer(std::shared_ptr manager) : ResourceServer(std::move(manager)){}; @@ -33,5 +34,6 @@ ::grpc::Status GenericComponentServer::GetGeometries( }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/generic/server.hpp b/src/viam/sdk/components/private/generic_server.hpp similarity index 91% rename from src/viam/sdk/components/generic/server.hpp rename to src/viam/sdk/components/private/generic_server.hpp index bd59e7715..8dad1279b 100644 --- a/src/viam/sdk/components/generic/server.hpp +++ b/src/viam/sdk/components/private/generic_server.hpp @@ -1,4 +1,4 @@ -/// @file components/generic/server.hpp +/// @file components/private/generic_server.hpp /// /// @brief Implements a gRPC server for the `GenericComponent`. #pragma once @@ -6,12 +6,13 @@ #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { /// @class GenericComponentServer /// @brief gRPC server implementation of a `GenericComponent`. @@ -32,5 +33,6 @@ class GenericComponentServer : public ResourceServer, ::viam::common::v1::GetGeometriesResponse* response) noexcept override; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/motor/client.cpp b/src/viam/sdk/components/private/motor_client.cpp similarity index 96% rename from src/viam/sdk/components/motor/client.cpp rename to src/viam/sdk/components/private/motor_client.cpp index 298578038..6c247e171 100644 --- a/src/viam/sdk/components/motor/client.cpp +++ b/src/viam/sdk/components/private/motor_client.cpp @@ -1,4 +1,4 @@ -#include +#include #include #include @@ -10,12 +10,13 @@ #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { MotorClient::MotorClient(std::string name, std::shared_ptr channel) : Motor(std::move(name)), @@ -94,5 +95,6 @@ AttributeMap MotorClient::do_command(const AttributeMap& command) { .invoke([](auto& response) { return struct_to_map(response.result()); }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/motor/client.hpp b/src/viam/sdk/components/private/motor_client.hpp similarity index 93% rename from src/viam/sdk/components/motor/client.hpp rename to src/viam/sdk/components/private/motor_client.hpp index fc9769b4d..b8d97c86e 100644 --- a/src/viam/sdk/components/motor/client.hpp +++ b/src/viam/sdk/components/private/motor_client.hpp @@ -1,4 +1,4 @@ -/// @file components/motor/client.hpp +/// @file components/private/motor_client.hpp /// /// @brief Implements a gRPC client for the `Motor` component. #pragma once @@ -7,12 +7,13 @@ #include -#include -#include +#include +#include #include namespace viam { namespace sdk { +namespace impl { /// @class MotorClient /// @brief gRPC client implementation of a `Motor` component. @@ -58,5 +59,6 @@ class MotorClient : public Motor { std::shared_ptr channel_; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/motor/server.cpp b/src/viam/sdk/components/private/motor_server.cpp similarity index 97% rename from src/viam/sdk/components/motor/server.cpp rename to src/viam/sdk/components/private/motor_server.cpp index 332f530a0..691e9a7cb 100644 --- a/src/viam/sdk/components/motor/server.cpp +++ b/src/viam/sdk/components/private/motor_server.cpp @@ -1,14 +1,15 @@ -#include +#include #include #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { MotorServer::MotorServer(std::shared_ptr manager) : ResourceServer(std::move(manager)){}; @@ -125,5 +126,6 @@ ::grpc::Status MotorServer::DoCommand(grpc::ServerContext*, }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/motor/server.hpp b/src/viam/sdk/components/private/motor_server.hpp similarity index 96% rename from src/viam/sdk/components/motor/server.hpp rename to src/viam/sdk/components/private/motor_server.hpp index eb4c4db05..2e12ed949 100644 --- a/src/viam/sdk/components/motor/server.hpp +++ b/src/viam/sdk/components/private/motor_server.hpp @@ -1,4 +1,4 @@ -/// @file components/motor/server.hpp +/// @file components/private/motor_server.hpp /// /// @brief Implements a gRPC server for the `Motor` component. #pragma once @@ -6,12 +6,13 @@ #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { /// @class MotorServer /// @brief gRPC server implementation of a `Motor` component. @@ -75,5 +76,6 @@ class MotorServer : public ResourceServer, viam::common::v1::DoCommandResponse* response) noexcept override; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/movement_sensor/client.cpp b/src/viam/sdk/components/private/movement_sensor_client.cpp similarity index 96% rename from src/viam/sdk/components/movement_sensor/client.cpp rename to src/viam/sdk/components/private/movement_sensor_client.cpp index ad1c0bc92..b97ce59a3 100644 --- a/src/viam/sdk/components/movement_sensor/client.cpp +++ b/src/viam/sdk/components/private/movement_sensor_client.cpp @@ -1,4 +1,4 @@ -#include +#include #include #include @@ -12,12 +12,13 @@ #include #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { MovementSensorClient::MovementSensorClient(std::string name, std::shared_ptr channel) : MovementSensor(std::move(name)), @@ -94,5 +95,6 @@ std::vector MovementSensorClient::get_geometries(const Attribute .invoke([](auto& response) { return GeometryConfig::from_proto(response); }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/movement_sensor/client.hpp b/src/viam/sdk/components/private/movement_sensor_client.hpp similarity index 90% rename from src/viam/sdk/components/movement_sensor/client.hpp rename to src/viam/sdk/components/private/movement_sensor_client.hpp index 5f23e2117..379e13715 100644 --- a/src/viam/sdk/components/movement_sensor/client.hpp +++ b/src/viam/sdk/components/private/movement_sensor_client.hpp @@ -1,4 +1,4 @@ -/// @file components/movement_sensor/client.hpp +/// @file components/private/movement_sensor_client.hpp /// /// @brief Implements a gRPC client for the `MovementSensor` component. #pragma once @@ -8,13 +8,14 @@ #include #include -#include -#include +#include +#include #include #include namespace viam { namespace sdk { +namespace impl { /// @class MovementSensorClient /// @brief gRPC client implementation of a `MovementSensor` component. @@ -50,5 +51,6 @@ class MovementSensorClient : public MovementSensor { std::shared_ptr channel_; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/movement_sensor/server.cpp b/src/viam/sdk/components/private/movement_sensor_server.cpp similarity index 97% rename from src/viam/sdk/components/movement_sensor/server.cpp rename to src/viam/sdk/components/private/movement_sensor_server.cpp index d17634b83..2da24b77a 100644 --- a/src/viam/sdk/components/movement_sensor/server.cpp +++ b/src/viam/sdk/components/private/movement_sensor_server.cpp @@ -1,9 +1,9 @@ -#include +#include #include #include #include -#include +#include #include #include @@ -11,6 +11,7 @@ using namespace viam::component::movementsensor::v1; namespace viam { namespace sdk { +namespace impl { MovementSensorServer::MovementSensorServer(std::shared_ptr manager) : ResourceServer(std::move(manager)){}; @@ -140,5 +141,6 @@ ::grpc::Status MovementSensorServer::GetGeometries( }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/movement_sensor/server.hpp b/src/viam/sdk/components/private/movement_sensor_server.hpp similarity index 95% rename from src/viam/sdk/components/movement_sensor/server.hpp rename to src/viam/sdk/components/private/movement_sensor_server.hpp index 023954c3e..e972b3adf 100644 --- a/src/viam/sdk/components/movement_sensor/server.hpp +++ b/src/viam/sdk/components/private/movement_sensor_server.hpp @@ -1,4 +1,4 @@ -/// @file components/movement_sensor/server.hpp +/// @file components/private/movement_sensor_server.hpp /// /// @brief Implements a gRPC server for the `MovementSensor` component. #pragma once @@ -6,12 +6,13 @@ #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { /// @class MovementSensorServer /// @brief gRPC server implementation of a `MovementSensor` component. @@ -78,5 +79,6 @@ class MovementSensorServer ::viam::common::v1::GetGeometriesResponse* response) noexcept override; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/power_sensor/client.cpp b/src/viam/sdk/components/private/power_sensor_client.cpp similarity index 93% rename from src/viam/sdk/components/power_sensor/client.cpp rename to src/viam/sdk/components/private/power_sensor_client.cpp index 38b97b922..a21b816a3 100644 --- a/src/viam/sdk/components/power_sensor/client.cpp +++ b/src/viam/sdk/components/private/power_sensor_client.cpp @@ -1,4 +1,4 @@ -#include +#include #include #include @@ -11,7 +11,7 @@ #include #include -#include +#include #include #include @@ -19,6 +19,7 @@ using namespace viam::component::powersensor::v1; namespace viam { namespace sdk { +namespace impl { PowerSensorClient::PowerSensorClient(std::string name, std::shared_ptr channel) : PowerSensor(std::move(name)), @@ -62,5 +63,6 @@ AttributeMap PowerSensorClient::do_command(const AttributeMap& command) { .invoke([](auto& response) { return struct_to_map(response.result()); }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/power_sensor/client.hpp b/src/viam/sdk/components/private/power_sensor_client.hpp similarity index 86% rename from src/viam/sdk/components/power_sensor/client.hpp rename to src/viam/sdk/components/private/power_sensor_client.hpp index 3d638f1cc..f808a89e3 100644 --- a/src/viam/sdk/components/power_sensor/client.hpp +++ b/src/viam/sdk/components/private/power_sensor_client.hpp @@ -1,4 +1,4 @@ -/// @file components/power_sensor/client.hpp +/// @file components/private/power_sensor_client.hpp /// /// @brief Implements a gRPC client for the `PowerSensor` component. #pragma once @@ -7,13 +7,14 @@ #include -#include -#include +#include +#include #include #include namespace viam { namespace sdk { +namespace impl { /// @class PowerSensorClient /// @brief gRPC client implementation of a `PowerSensor` component. @@ -39,5 +40,6 @@ class PowerSensorClient : public PowerSensor { std::shared_ptr channel_; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/power_sensor/server.cpp b/src/viam/sdk/components/private/power_sensor_server.cpp similarity index 95% rename from src/viam/sdk/components/power_sensor/server.cpp rename to src/viam/sdk/components/private/power_sensor_server.cpp index c0d1855a3..3e74202f7 100644 --- a/src/viam/sdk/components/power_sensor/server.cpp +++ b/src/viam/sdk/components/private/power_sensor_server.cpp @@ -1,8 +1,8 @@ -#include +#include #include #include -#include +#include #include #include @@ -10,6 +10,7 @@ using namespace viam::component::powersensor::v1; namespace viam { namespace sdk { +namespace impl { PowerSensorServer::PowerSensorServer(std::shared_ptr manager) : ResourceServer(std::move(manager)){}; @@ -68,5 +69,6 @@ ::grpc::Status PowerSensorServer::DoCommand( }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/power_sensor/server.hpp b/src/viam/sdk/components/private/power_sensor_server.hpp similarity index 93% rename from src/viam/sdk/components/power_sensor/server.hpp rename to src/viam/sdk/components/private/power_sensor_server.hpp index 0ae682916..146545d84 100644 --- a/src/viam/sdk/components/power_sensor/server.hpp +++ b/src/viam/sdk/components/private/power_sensor_server.hpp @@ -1,4 +1,4 @@ -/// @file components/power_sensor/server.hpp +/// @file components/private/power_sensor_server.hpp /// /// @brief Implements a gRPC server for the `PowerSensor` component. #pragma once @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include @@ -14,6 +14,7 @@ using namespace viam::component::powersensor::v1; namespace viam { namespace sdk { +namespace impl { /// @class PowerSensorServer /// @brief gRPC server implementation of a `PowerSensor` component. @@ -45,5 +46,6 @@ class PowerSensorServer : public ResourceServer, public PowerSensorService::Serv viam::common::v1::DoCommandResponse* response) noexcept override; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/sensor/client.cpp b/src/viam/sdk/components/private/sensor_client.cpp similarity index 92% rename from src/viam/sdk/components/sensor/client.cpp rename to src/viam/sdk/components/private/sensor_client.cpp index 10917de86..449fcb201 100644 --- a/src/viam/sdk/components/sensor/client.cpp +++ b/src/viam/sdk/components/private/sensor_client.cpp @@ -1,4 +1,4 @@ -#include +#include #include #include @@ -11,11 +11,12 @@ #include #include -#include +#include #include namespace viam { namespace sdk { +namespace impl { SensorClient::SensorClient(std::string name, std::shared_ptr channel) : Sensor(std::move(name)), @@ -49,5 +50,6 @@ std::vector SensorClient::get_geometries(const AttributeMap& ext .invoke([](auto& response) { return GeometryConfig::from_proto(response); }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/sensor/client.hpp b/src/viam/sdk/components/private/sensor_client.hpp similarity index 84% rename from src/viam/sdk/components/sensor/client.hpp rename to src/viam/sdk/components/private/sensor_client.hpp index aca78a2d0..54e762f0b 100644 --- a/src/viam/sdk/components/sensor/client.hpp +++ b/src/viam/sdk/components/private/sensor_client.hpp @@ -1,4 +1,4 @@ -/// @file components/sensor/client.hpp +/// @file components/private/sensor_client.hpp /// /// @brief Implements a gRPC client for the `Sensor` component. #pragma once @@ -7,12 +7,13 @@ #include -#include -#include +#include +#include #include namespace viam { namespace sdk { +namespace impl { /// @class SensorClient /// @brief gRPC client implementation of a `Sensor` component. @@ -34,5 +35,6 @@ class SensorClient : public Sensor { std::shared_ptr channel_; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/sensor/server.cpp b/src/viam/sdk/components/private/sensor_server.cpp similarity index 93% rename from src/viam/sdk/components/sensor/server.cpp rename to src/viam/sdk/components/private/sensor_server.cpp index d49ff0fdf..46073760a 100644 --- a/src/viam/sdk/components/sensor/server.cpp +++ b/src/viam/sdk/components/private/sensor_server.cpp @@ -1,8 +1,8 @@ -#include +#include #include #include -#include +#include #include #include @@ -10,6 +10,7 @@ using namespace viam::common::v1; namespace viam { namespace sdk { +namespace impl { SensorServer::SensorServer(std::shared_ptr manager) : ResourceServer(std::move(manager)){}; @@ -48,5 +49,6 @@ ::grpc::Status SensorServer::GetGeometries(::grpc::ServerContext*, }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/sensor/server.hpp b/src/viam/sdk/components/private/sensor_server.hpp similarity index 91% rename from src/viam/sdk/components/sensor/server.hpp rename to src/viam/sdk/components/private/sensor_server.hpp index c581e4e4f..16094c7c9 100644 --- a/src/viam/sdk/components/sensor/server.hpp +++ b/src/viam/sdk/components/private/sensor_server.hpp @@ -1,4 +1,4 @@ -/// @file components/sensor/server.hpp +/// @file components/private/sensor_server.hpp /// /// @brief Implements a gRPC server for the `Sensor` component. #pragma once @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include @@ -14,6 +14,7 @@ using namespace viam::common::v1; namespace viam { namespace sdk { +namespace impl { /// @class SensorServer /// @brief gRPC server implementation of a `Sensor` component. @@ -38,5 +39,6 @@ class SensorServer : public ResourceServer, GetGeometriesResponse* response) noexcept override; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/servo/client.cpp b/src/viam/sdk/components/private/servo_client.cpp similarity index 93% rename from src/viam/sdk/components/servo/client.cpp rename to src/viam/sdk/components/private/servo_client.cpp index 9a5c16956..351c2df14 100644 --- a/src/viam/sdk/components/servo/client.cpp +++ b/src/viam/sdk/components/private/servo_client.cpp @@ -1,4 +1,4 @@ -#include +#include #include #include @@ -10,12 +10,13 @@ #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { ServoClient::ServoClient(std::string name, std::shared_ptr channel) : Servo(std::move(name)), @@ -56,5 +57,6 @@ AttributeMap ServoClient::do_command(const AttributeMap& command) { .invoke([](auto& response) { return struct_to_map(response.result()); }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/servo/client.hpp b/src/viam/sdk/components/private/servo_client.hpp similarity index 87% rename from src/viam/sdk/components/servo/client.hpp rename to src/viam/sdk/components/private/servo_client.hpp index df7d1f238..1c77f7523 100644 --- a/src/viam/sdk/components/servo/client.hpp +++ b/src/viam/sdk/components/private/servo_client.hpp @@ -1,4 +1,4 @@ -/// @file components/servo/client.hpp +/// @file components/private/servo_client.hpp /// /// @brief Implements a gRPC client for the `Servo` component. #pragma once @@ -7,13 +7,14 @@ #include -#include -#include +#include +#include #include #include namespace viam { namespace sdk { +namespace impl { /// @class ServoClient /// @brief gRPC client implementation of a `Servo` component. @@ -38,5 +39,7 @@ class ServoClient : public Servo { std::unique_ptr stub_; std::shared_ptr channel_; }; + +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/servo/server.cpp b/src/viam/sdk/components/private/servo_server.cpp similarity index 95% rename from src/viam/sdk/components/servo/server.cpp rename to src/viam/sdk/components/private/servo_server.cpp index 284f0fa0f..8bbe7d00a 100644 --- a/src/viam/sdk/components/servo/server.cpp +++ b/src/viam/sdk/components/private/servo_server.cpp @@ -1,13 +1,14 @@ -#include +#include #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { ServoServer::ServoServer(std::shared_ptr manager) : ResourceServer(std::move(manager)){}; @@ -71,5 +72,6 @@ ::grpc::Status ServoServer::DoCommand(grpc::ServerContext*, }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/servo/server.hpp b/src/viam/sdk/components/private/servo_server.hpp similarity index 94% rename from src/viam/sdk/components/servo/server.hpp rename to src/viam/sdk/components/private/servo_server.hpp index 4556ce311..675b4bc53 100644 --- a/src/viam/sdk/components/servo/server.hpp +++ b/src/viam/sdk/components/private/servo_server.hpp @@ -1,4 +1,4 @@ -/// @file components/servo/server.hpp +/// @file components/private/servo_server.hpp /// /// @brief Implements a gRPC server for the `Servo` component. #pragma once @@ -6,12 +6,13 @@ #include #include -#include +#include #include #include namespace viam { namespace sdk { +namespace impl { /// @class ServoServer /// @brief gRPC server implementation of a `Servo` component. @@ -50,5 +51,7 @@ class ServoServer : public ResourceServer, const viam::common::v1::DoCommandRequest* request, viam::common::v1::DoCommandResponse* response) noexcept override; }; + +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/components/sensor/sensor.cpp b/src/viam/sdk/components/sensor.cpp similarity index 88% rename from src/viam/sdk/components/sensor/sensor.cpp rename to src/viam/sdk/components/sensor.cpp index ad171d2b6..d25b5bed3 100644 --- a/src/viam/sdk/components/sensor/sensor.cpp +++ b/src/viam/sdk/components/sensor.cpp @@ -1,4 +1,4 @@ -#include +#include #include #include diff --git a/src/viam/sdk/components/sensor/sensor.hpp b/src/viam/sdk/components/sensor.hpp similarity index 95% rename from src/viam/sdk/components/sensor/sensor.hpp rename to src/viam/sdk/components/sensor.hpp index a3af337f6..8f6ce2682 100644 --- a/src/viam/sdk/components/sensor/sensor.hpp +++ b/src/viam/sdk/components/sensor.hpp @@ -1,4 +1,4 @@ -/// @file components/sensor/sensor.hpp +/// @file components/sensor.hpp /// /// @brief Defines a `Sensor` component. #pragma once @@ -16,7 +16,7 @@ namespace sdk { /// @defgroup Sensor Classes related to the Sensor component. -/// @class Sensor sensor.hpp "components/sensor/sensor.hpp" +/// @class Sensor sensor.hpp "components/sensor.hpp" /// @ingroup Sensor /// /// This acts as an abstract base class to be inherited from by any drivers representing diff --git a/src/viam/sdk/components/servo/servo.cpp b/src/viam/sdk/components/servo.cpp similarity index 91% rename from src/viam/sdk/components/servo/servo.cpp rename to src/viam/sdk/components/servo.cpp index 90ede6baa..eeda4fb24 100644 --- a/src/viam/sdk/components/servo/servo.cpp +++ b/src/viam/sdk/components/servo.cpp @@ -1,4 +1,4 @@ -#include +#include #include #include diff --git a/src/viam/sdk/components/servo/servo.hpp b/src/viam/sdk/components/servo.hpp similarity index 97% rename from src/viam/sdk/components/servo/servo.hpp rename to src/viam/sdk/components/servo.hpp index c903ad095..7b2f221be 100644 --- a/src/viam/sdk/components/servo/servo.hpp +++ b/src/viam/sdk/components/servo.hpp @@ -1,4 +1,4 @@ -/// @file components/servo/servo.hpp +/// @file components/servo.hpp /// /// @brief Defines a `Servo` component. #pragma once @@ -15,7 +15,7 @@ namespace sdk { /// @defgroup Servo Classes related to the Servo component. -/// @class Servo servo.hpp "components/servo/servo.hpp" +/// @class Servo servo.hpp "components/servo.hpp" /// @ingroup Servo /// /// This acts as an abstract base class to be inherited form by any drivers representing diff --git a/src/viam/sdk/registry/registry.cpp b/src/viam/sdk/registry/registry.cpp index 6f427e12c..0d3c34f5b 100644 --- a/src/viam/sdk/registry/registry.cpp +++ b/src/viam/sdk/registry/registry.cpp @@ -10,35 +10,36 @@ #include #include #include + #include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include namespace viam { @@ -162,21 +163,21 @@ const google::protobuf::ServiceDescriptor* ResourceServerRegistration::service_d void register_resources() { // Register all components - Registry::register_resource(); - Registry::register_resource(); - Registry::register_resource(); - Registry::register_resource(); - Registry::register_resource(); - Registry::register_resource(); - Registry::register_resource(); - Registry::register_resource(); - Registry::register_resource(); - Registry::register_resource(); + Registry::register_resource(); + Registry::register_resource(); + Registry::register_resource(); + Registry::register_resource(); + Registry::register_resource(); + Registry::register_resource(); + Registry::register_resource(); + Registry::register_resource(); + Registry::register_resource(); + Registry::register_resource(); // Register all services - Registry::register_resource(); - Registry::register_resource(); - Registry::register_resource(); + Registry::register_resource(); + Registry::register_resource(); + Registry::register_resource(); } void Registry::initialize() { diff --git a/src/viam/sdk/services/generic/generic.cpp b/src/viam/sdk/services/generic.cpp similarity index 91% rename from src/viam/sdk/services/generic/generic.cpp rename to src/viam/sdk/services/generic.cpp index 4fe7f446a..7379c2f2b 100644 --- a/src/viam/sdk/services/generic/generic.cpp +++ b/src/viam/sdk/services/generic.cpp @@ -1,4 +1,4 @@ -#include +#include #include diff --git a/src/viam/sdk/services/generic/generic.hpp b/src/viam/sdk/services/generic.hpp similarity index 100% rename from src/viam/sdk/services/generic/generic.hpp rename to src/viam/sdk/services/generic.hpp diff --git a/src/viam/sdk/services/mlmodel/mlmodel.cpp b/src/viam/sdk/services/mlmodel.cpp similarity index 98% rename from src/viam/sdk/services/mlmodel/mlmodel.cpp rename to src/viam/sdk/services/mlmodel.cpp index 079ba9ca0..28bc9c51d 100644 --- a/src/viam/sdk/services/mlmodel/mlmodel.cpp +++ b/src/viam/sdk/services/mlmodel.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include diff --git a/src/viam/sdk/services/mlmodel/mlmodel.hpp b/src/viam/sdk/services/mlmodel.hpp similarity index 100% rename from src/viam/sdk/services/mlmodel/mlmodel.hpp rename to src/viam/sdk/services/mlmodel.hpp diff --git a/src/viam/sdk/services/motion/motion.cpp b/src/viam/sdk/services/motion.cpp similarity index 99% rename from src/viam/sdk/services/motion/motion.cpp rename to src/viam/sdk/services/motion.cpp index 8b16705d6..58e8cb92c 100644 --- a/src/viam/sdk/services/motion/motion.cpp +++ b/src/viam/sdk/services/motion.cpp @@ -1,4 +1,4 @@ -#include +#include #include diff --git a/src/viam/sdk/services/motion/motion.hpp b/src/viam/sdk/services/motion.hpp similarity index 100% rename from src/viam/sdk/services/motion/motion.hpp rename to src/viam/sdk/services/motion.hpp diff --git a/src/viam/sdk/services/generic/client.cpp b/src/viam/sdk/services/private/generic_client.cpp similarity index 91% rename from src/viam/sdk/services/generic/client.cpp rename to src/viam/sdk/services/private/generic_client.cpp index db053f959..d45e7c0db 100644 --- a/src/viam/sdk/services/generic/client.cpp +++ b/src/viam/sdk/services/private/generic_client.cpp @@ -1,4 +1,4 @@ -#include +#include #include @@ -13,6 +13,7 @@ namespace viam { namespace sdk { +namespace impl { GenericServiceClient::GenericServiceClient(std::string name, std::shared_ptr channel) : GenericService(std::move(name)), @@ -25,5 +26,6 @@ AttributeMap GenericServiceClient::do_command(const AttributeMap& command) { .invoke([](auto& response) { return struct_to_map(response.result()); }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/services/generic/client.hpp b/src/viam/sdk/services/private/generic_client.hpp similarity index 94% rename from src/viam/sdk/services/generic/client.hpp rename to src/viam/sdk/services/private/generic_client.hpp index 1021460ca..5ba6cc29c 100644 --- a/src/viam/sdk/services/generic/client.hpp +++ b/src/viam/sdk/services/private/generic_client.hpp @@ -8,10 +8,11 @@ #include #include -#include +#include namespace viam { namespace sdk { +namespace impl { /// @class GenericServiceClient /// @brief gRPC client implementation of a `GenericService`. @@ -37,5 +38,6 @@ class GenericServiceClient : public GenericService { std::shared_ptr channel_; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/services/generic/server.cpp b/src/viam/sdk/services/private/generic_server.cpp similarity index 85% rename from src/viam/sdk/services/generic/server.cpp rename to src/viam/sdk/services/private/generic_server.cpp index 895a4f034..a987d89b7 100644 --- a/src/viam/sdk/services/generic/server.cpp +++ b/src/viam/sdk/services/private/generic_server.cpp @@ -1,11 +1,12 @@ -#include +#include #include #include -#include +#include namespace viam { namespace sdk { +namespace impl { GenericServiceServer::GenericServiceServer(std::shared_ptr manager) : ResourceServer(std::move(manager)){}; @@ -21,5 +22,6 @@ ::grpc::Status GenericServiceServer::DoCommand( }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/services/generic/server.hpp b/src/viam/sdk/services/private/generic_server.hpp similarity index 93% rename from src/viam/sdk/services/generic/server.hpp rename to src/viam/sdk/services/private/generic_server.hpp index 0ce6f3149..72baae147 100644 --- a/src/viam/sdk/services/generic/server.hpp +++ b/src/viam/sdk/services/private/generic_server.hpp @@ -8,10 +8,11 @@ #include #include -#include +#include namespace viam { namespace sdk { +namespace impl { /// @class GenericServiceServer /// @brief gRPC server implementation of a `GenericService`. @@ -28,5 +29,6 @@ class GenericServiceServer : public ResourceServer, ::viam::common::v1::DoCommandResponse* response) noexcept override; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/services/mlmodel/private/proto.cpp b/src/viam/sdk/services/private/mlmodel.cpp similarity index 98% rename from src/viam/sdk/services/mlmodel/private/proto.cpp rename to src/viam/sdk/services/private/mlmodel.cpp index c03a7b223..44d4ff17f 100644 --- a/src/viam/sdk/services/mlmodel/private/proto.cpp +++ b/src/viam/sdk/services/private/mlmodel.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include #include @@ -27,7 +27,8 @@ namespace viam { namespace sdk { -namespace mlmodel_details { +namespace impl { +namespace mlmodel { namespace { @@ -245,6 +246,7 @@ MLModelService::tensor_views make_sdk_tensor_from_api_tensor( throw Exception(ErrorCondition::k_not_supported, "Unsupported tensor data type"); } -} // namespace mlmodel_details +} // namespace mlmodel +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/services/mlmodel/private/proto.hpp b/src/viam/sdk/services/private/mlmodel.hpp similarity index 91% rename from src/viam/sdk/services/mlmodel/private/proto.hpp rename to src/viam/sdk/services/private/mlmodel.hpp index a65458c8f..66ee6f3a9 100644 --- a/src/viam/sdk/services/mlmodel/private/proto.hpp +++ b/src/viam/sdk/services/private/mlmodel.hpp @@ -16,11 +16,12 @@ #include -#include +#include namespace viam { namespace sdk { -namespace mlmodel_details { +namespace impl { +namespace mlmodel { using tensor_storage_types = boost::mpl::transform_view>; @@ -33,6 +34,7 @@ void copy_sdk_tensor_to_api_tensor(const MLModelService::tensor_views& source, MLModelService::tensor_views make_sdk_tensor_from_api_tensor( const ::viam::service::mlmodel::v1::FlatTensor& api_tensor, tensor_storage* storage = nullptr); -} // namespace mlmodel_details +} // namespace mlmodel +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/services/mlmodel/client.cpp b/src/viam/sdk/services/private/mlmodel_client.cpp similarity index 95% rename from src/viam/sdk/services/mlmodel/client.cpp rename to src/viam/sdk/services/private/mlmodel_client.cpp index 6e978dbb8..c4bc2fada 100644 --- a/src/viam/sdk/services/mlmodel/client.cpp +++ b/src/viam/sdk/services/private/mlmodel_client.cpp @@ -12,17 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include #include -#include +#include #include namespace viam { namespace sdk { +namespace impl { MLModelServiceClient::MLModelServiceClient(std::string name, std::shared_ptr channel) : MLModelService(std::move(name)), @@ -55,7 +56,7 @@ std::shared_ptr MLModelServiceClient::infer( auto& input_tensors = *req->mutable_input_tensors()->mutable_tensors(); for (const auto& kv : inputs) { auto& emplaced = input_tensors[kv.first]; - mlmodel_details::copy_sdk_tensor_to_api_tensor(kv.second, &emplaced); + mlmodel::copy_sdk_tensor_to_api_tensor(kv.second, &emplaced); } const auto result = stub_->Infer(ctx, *req, resp); @@ -67,7 +68,7 @@ std::shared_ptr MLModelServiceClient::infer( // NOTE: We don't need to pass in tensor storage here, // because the backing store for the views is the Arena we // moved into our result above. - auto tensor = mlmodel_details::make_sdk_tensor_from_api_tensor(kv.second); + auto tensor = mlmodel::make_sdk_tensor_from_api_tensor(kv.second); aav->views.emplace(kv.first, std::move(tensor)); } auto* const tsav_views = &aav->views; @@ -150,5 +151,6 @@ struct MLModelService::metadata MLModelServiceClient::metadata(const AttributeMa return result; } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/services/mlmodel/client.hpp b/src/viam/sdk/services/private/mlmodel_client.hpp similarity index 96% rename from src/viam/sdk/services/mlmodel/client.hpp rename to src/viam/sdk/services/private/mlmodel_client.hpp index dd38f446f..38693d018 100644 --- a/src/viam/sdk/services/mlmodel/client.hpp +++ b/src/viam/sdk/services/private/mlmodel_client.hpp @@ -18,10 +18,11 @@ #include -#include +#include namespace viam { namespace sdk { +namespace impl { /// /// An `MLModelServiceClient` provides client-side access to a @@ -56,5 +57,6 @@ class MLModelServiceClient : public MLModelService { std::unique_ptr stub_; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/services/mlmodel/server.cpp b/src/viam/sdk/services/private/mlmodel_server.cpp similarity index 95% rename from src/viam/sdk/services/mlmodel/server.cpp rename to src/viam/sdk/services/private/mlmodel_server.cpp index 02e970223..97d2150af 100644 --- a/src/viam/sdk/services/mlmodel/server.cpp +++ b/src/viam/sdk/services/private/mlmodel_server.cpp @@ -12,15 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include #include -#include -#include +#include +#include namespace viam { namespace sdk { +namespace impl { MLModelServiceServer::MLModelServiceServer(std::shared_ptr manager) : ResourceServer(std::move(manager)) {} @@ -47,7 +48,7 @@ ::grpc::Status MLModelServiceServer::Infer( // those tensors. continue; } - auto tensor = mlmodel_details::make_sdk_tensor_from_api_tensor(where->second); + auto tensor = mlmodel::make_sdk_tensor_from_api_tensor(where->second); const auto tensor_type = MLModelService::tensor_info::tensor_views_to_data_type(tensor); if (tensor_type != input.data_type) { std::ostringstream message; @@ -65,7 +66,7 @@ ::grpc::Status MLModelServiceServer::Infer( auto* const output_tensors = response->mutable_output_tensors()->mutable_tensors(); for (const auto& kv : *outputs) { auto& emplaced = (*output_tensors)[kv.first]; - mlmodel_details::copy_sdk_tensor_to_api_tensor(kv.second, &emplaced); + mlmodel::copy_sdk_tensor_to_api_tensor(kv.second, &emplaced); } return ::grpc::Status(); @@ -157,5 +158,6 @@ ::grpc::Status MLModelServiceServer::Metadata( }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/services/mlmodel/server.hpp b/src/viam/sdk/services/private/mlmodel_server.hpp similarity index 95% rename from src/viam/sdk/services/mlmodel/server.hpp rename to src/viam/sdk/services/private/mlmodel_server.hpp index 108f65684..2299fbde9 100644 --- a/src/viam/sdk/services/mlmodel/server.hpp +++ b/src/viam/sdk/services/private/mlmodel_server.hpp @@ -18,10 +18,11 @@ #include #include -#include +#include namespace viam { namespace sdk { +namespace impl { /// /// The `MLModelServiceServer` is used to implement new modular @@ -44,5 +45,6 @@ class MLModelServiceServer : public ResourceServer, ::viam::service::mlmodel::v1::MetadataResponse* response) noexcept override; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/services/motion/client.cpp b/src/viam/sdk/services/private/motion_client.cpp similarity index 98% rename from src/viam/sdk/services/motion/client.cpp rename to src/viam/sdk/services/private/motion_client.cpp index 1303eb78d..ad56a7801 100644 --- a/src/viam/sdk/services/motion/client.cpp +++ b/src/viam/sdk/services/private/motion_client.cpp @@ -1,4 +1,4 @@ -#include +#include #include @@ -10,10 +10,11 @@ #include #include #include -#include +#include namespace viam { namespace sdk { +namespace impl { MotionClient::MotionClient(std::string name, std::shared_ptr channel) : Motion(std::move(name)), @@ -192,5 +193,6 @@ AttributeMap MotionClient::do_command(const AttributeMap& command) { .invoke([](auto& response) { return struct_to_map(response.result()); }); } +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/services/motion/client.hpp b/src/viam/sdk/services/private/motion_client.hpp similarity index 98% rename from src/viam/sdk/services/motion/client.hpp rename to src/viam/sdk/services/private/motion_client.hpp index 6ac24c04d..3a5e1cb5b 100644 --- a/src/viam/sdk/services/motion/client.hpp +++ b/src/viam/sdk/services/private/motion_client.hpp @@ -7,10 +7,11 @@ #include -#include +#include namespace viam { namespace sdk { +namespace impl { /// @class MotionClient /// @brief gRPC client implementation of a `Motion` service. @@ -105,5 +106,6 @@ class MotionClient : public Motion { std::shared_ptr channel_; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/services/motion/server.cpp b/src/viam/sdk/services/private/motion_server.cpp similarity index 98% rename from src/viam/sdk/services/motion/server.cpp rename to src/viam/sdk/services/private/motion_server.cpp index 056a4b81b..8bca32207 100644 --- a/src/viam/sdk/services/motion/server.cpp +++ b/src/viam/sdk/services/private/motion_server.cpp @@ -6,12 +6,13 @@ #include #include #include -#include -#include +#include +#include #include namespace viam { namespace sdk { +namespace impl { MotionServer::MotionServer(std::shared_ptr manager) : ResourceServer(std::move(manager)){}; @@ -200,5 +201,6 @@ ::grpc::Status MotionServer::DoCommand(::grpc::ServerContext*, }); }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/services/motion/server.hpp b/src/viam/sdk/services/private/motion_server.hpp similarity index 97% rename from src/viam/sdk/services/motion/server.hpp rename to src/viam/sdk/services/private/motion_server.hpp index 2796a1ecc..4d11f6db8 100644 --- a/src/viam/sdk/services/motion/server.hpp +++ b/src/viam/sdk/services/private/motion_server.hpp @@ -10,10 +10,11 @@ #include #include #include -#include +#include namespace viam { namespace sdk { +namespace impl { /// @class MotionServer /// @brief gRPC server implementation of a `Motion` service. @@ -57,5 +58,6 @@ class MotionServer : public ResourceServer, ::viam::common::v1::DoCommandResponse* response) noexcept override; }; +} // namespace impl } // namespace sdk } // namespace viam diff --git a/src/viam/sdk/tests/mocks/camera_mocks.cpp b/src/viam/sdk/tests/mocks/camera_mocks.cpp index 20042de82..16b8b50f2 100644 --- a/src/viam/sdk/tests/mocks/camera_mocks.cpp +++ b/src/viam/sdk/tests/mocks/camera_mocks.cpp @@ -1,12 +1,7 @@ #include -#include -#include -#include - #include -#include -#include +#include #include namespace viam { diff --git a/src/viam/sdk/tests/mocks/camera_mocks.hpp b/src/viam/sdk/tests/mocks/camera_mocks.hpp index 0776e399e..0e181518e 100644 --- a/src/viam/sdk/tests/mocks/camera_mocks.hpp +++ b/src/viam/sdk/tests/mocks/camera_mocks.hpp @@ -1,12 +1,6 @@ #pragma once -#include -#include -#include - -#include -#include -#include +#include namespace viam { namespace sdktests { diff --git a/src/viam/sdk/tests/mocks/generic_mocks.cpp b/src/viam/sdk/tests/mocks/generic_mocks.cpp index 38163f9ad..979877d85 100644 --- a/src/viam/sdk/tests/mocks/generic_mocks.cpp +++ b/src/viam/sdk/tests/mocks/generic_mocks.cpp @@ -1,13 +1,7 @@ #include -#include -#include -#include - #include -#include -#include -#include +#include #include namespace viam { diff --git a/src/viam/sdk/tests/mocks/generic_mocks.hpp b/src/viam/sdk/tests/mocks/generic_mocks.hpp index a374fcd44..182e0428c 100644 --- a/src/viam/sdk/tests/mocks/generic_mocks.hpp +++ b/src/viam/sdk/tests/mocks/generic_mocks.hpp @@ -1,14 +1,9 @@ #pragma once -#include "viam/sdk/common/proto_type.hpp" -#include - -#include -#include -#include -#include -#include -#include +#include + +#include +#include namespace viam { namespace sdktests { diff --git a/src/viam/sdk/tests/mocks/mlmodel_mocks.hpp b/src/viam/sdk/tests/mocks/mlmodel_mocks.hpp index 44fccf53d..9e3c7384f 100644 --- a/src/viam/sdk/tests/mocks/mlmodel_mocks.hpp +++ b/src/viam/sdk/tests/mocks/mlmodel_mocks.hpp @@ -17,7 +17,7 @@ #include #include -#include +#include namespace viam { namespace sdktests { diff --git a/src/viam/sdk/tests/mocks/mock_base.cpp b/src/viam/sdk/tests/mocks/mock_base.cpp index 831b151a5..5c0b11830 100644 --- a/src/viam/sdk/tests/mocks/mock_base.cpp +++ b/src/viam/sdk/tests/mocks/mock_base.cpp @@ -1,13 +1,8 @@ #include -#include -#include -#include - #include #include -#include -#include +#include #include namespace viam { diff --git a/src/viam/sdk/tests/mocks/mock_base.hpp b/src/viam/sdk/tests/mocks/mock_base.hpp index 17e94a7e3..cb2027cc0 100644 --- a/src/viam/sdk/tests/mocks/mock_base.hpp +++ b/src/viam/sdk/tests/mocks/mock_base.hpp @@ -1,14 +1,8 @@ #pragma once -#include -#include -#include - #include #include -#include -#include -#include +#include #include namespace viam { diff --git a/src/viam/sdk/tests/mocks/mock_board.cpp b/src/viam/sdk/tests/mocks/mock_board.cpp index c9538593c..892b75cbc 100644 --- a/src/viam/sdk/tests/mocks/mock_board.cpp +++ b/src/viam/sdk/tests/mocks/mock_board.cpp @@ -1,12 +1,7 @@ #include -#include -#include -#include - #include -#include -#include +#include #include namespace viam { diff --git a/src/viam/sdk/tests/mocks/mock_board.hpp b/src/viam/sdk/tests/mocks/mock_board.hpp index c70697367..1fc5c62b7 100644 --- a/src/viam/sdk/tests/mocks/mock_board.hpp +++ b/src/viam/sdk/tests/mocks/mock_board.hpp @@ -1,13 +1,7 @@ #pragma once -#include -#include -#include - #include -#include -#include -#include +#include namespace viam { namespace sdktests { diff --git a/src/viam/sdk/tests/mocks/mock_encoder.cpp b/src/viam/sdk/tests/mocks/mock_encoder.cpp index 8b761af61..d2c654647 100644 --- a/src/viam/sdk/tests/mocks/mock_encoder.cpp +++ b/src/viam/sdk/tests/mocks/mock_encoder.cpp @@ -1,12 +1,7 @@ #include -#include -#include -#include - #include -#include -#include +#include #include namespace viam { diff --git a/src/viam/sdk/tests/mocks/mock_encoder.hpp b/src/viam/sdk/tests/mocks/mock_encoder.hpp index 1aa85b67b..88ab7ad1c 100644 --- a/src/viam/sdk/tests/mocks/mock_encoder.hpp +++ b/src/viam/sdk/tests/mocks/mock_encoder.hpp @@ -1,13 +1,7 @@ #pragma once -#include -#include -#include - #include -#include -#include -#include +#include namespace viam { namespace sdktests { diff --git a/src/viam/sdk/tests/mocks/mock_motion.cpp b/src/viam/sdk/tests/mocks/mock_motion.cpp index 79a595b92..d7e7d08d3 100644 --- a/src/viam/sdk/tests/mocks/mock_motion.cpp +++ b/src/viam/sdk/tests/mocks/mock_motion.cpp @@ -1,4 +1,4 @@ -#include "viam/sdk/services/motion/motion.hpp" +#include "viam/sdk/services/motion.hpp" #include #include diff --git a/src/viam/sdk/tests/mocks/mock_motion.hpp b/src/viam/sdk/tests/mocks/mock_motion.hpp index a57d51fb1..f290c443a 100644 --- a/src/viam/sdk/tests/mocks/mock_motion.hpp +++ b/src/viam/sdk/tests/mocks/mock_motion.hpp @@ -3,7 +3,7 @@ #include #include #include -#include +#include #include namespace viam { diff --git a/src/viam/sdk/tests/mocks/mock_motor.cpp b/src/viam/sdk/tests/mocks/mock_motor.cpp index 0bf6ff637..50d7126d7 100644 --- a/src/viam/sdk/tests/mocks/mock_motor.cpp +++ b/src/viam/sdk/tests/mocks/mock_motor.cpp @@ -2,14 +2,9 @@ #include -#include -#include -#include - #include #include -#include -#include +#include #include #include diff --git a/src/viam/sdk/tests/mocks/mock_motor.hpp b/src/viam/sdk/tests/mocks/mock_motor.hpp index 6417ef5db..4497c149f 100644 --- a/src/viam/sdk/tests/mocks/mock_motor.hpp +++ b/src/viam/sdk/tests/mocks/mock_motor.hpp @@ -1,13 +1,7 @@ #pragma once -#include -#include -#include - #include -#include -#include -#include +#include #include namespace viam { diff --git a/src/viam/sdk/tests/mocks/mock_movement_sensor.cpp b/src/viam/sdk/tests/mocks/mock_movement_sensor.cpp index efaf77327..3a3715758 100644 --- a/src/viam/sdk/tests/mocks/mock_movement_sensor.cpp +++ b/src/viam/sdk/tests/mocks/mock_movement_sensor.cpp @@ -1,11 +1,6 @@ #include -#include -#include -#include - -#include -#include +#include #include namespace viam { diff --git a/src/viam/sdk/tests/mocks/mock_movement_sensor.hpp b/src/viam/sdk/tests/mocks/mock_movement_sensor.hpp index 46a017b32..21001ca6d 100644 --- a/src/viam/sdk/tests/mocks/mock_movement_sensor.hpp +++ b/src/viam/sdk/tests/mocks/mock_movement_sensor.hpp @@ -1,13 +1,7 @@ #pragma once -#include -#include -#include - #include -#include -#include -#include +#include namespace viam { namespace sdktests { diff --git a/src/viam/sdk/tests/mocks/mock_power_sensor.cpp b/src/viam/sdk/tests/mocks/mock_power_sensor.cpp index f022f70e9..322d03411 100644 --- a/src/viam/sdk/tests/mocks/mock_power_sensor.cpp +++ b/src/viam/sdk/tests/mocks/mock_power_sensor.cpp @@ -1,11 +1,6 @@ #include -#include -#include -#include - -#include -#include +#include #include namespace viam { diff --git a/src/viam/sdk/tests/mocks/mock_power_sensor.hpp b/src/viam/sdk/tests/mocks/mock_power_sensor.hpp index e016e7207..3d0b45d74 100644 --- a/src/viam/sdk/tests/mocks/mock_power_sensor.hpp +++ b/src/viam/sdk/tests/mocks/mock_power_sensor.hpp @@ -1,13 +1,7 @@ #pragma once -#include -#include -#include - #include -#include -#include -#include +#include namespace viam { namespace sdktests { diff --git a/src/viam/sdk/tests/mocks/mock_sensor.cpp b/src/viam/sdk/tests/mocks/mock_sensor.cpp index dd86540d0..e61ded5af 100644 --- a/src/viam/sdk/tests/mocks/mock_sensor.cpp +++ b/src/viam/sdk/tests/mocks/mock_sensor.cpp @@ -1,11 +1,6 @@ #include -#include -#include -#include - -#include -#include +#include #include namespace viam { diff --git a/src/viam/sdk/tests/mocks/mock_sensor.hpp b/src/viam/sdk/tests/mocks/mock_sensor.hpp index 8dc4a27d6..5c39940e9 100644 --- a/src/viam/sdk/tests/mocks/mock_sensor.hpp +++ b/src/viam/sdk/tests/mocks/mock_sensor.hpp @@ -1,13 +1,7 @@ #pragma once -#include -#include -#include - #include -#include -#include -#include +#include namespace viam { namespace sdktests { diff --git a/src/viam/sdk/tests/mocks/mock_servo.cpp b/src/viam/sdk/tests/mocks/mock_servo.cpp index 4a63c0b5a..5b569fd2f 100644 --- a/src/viam/sdk/tests/mocks/mock_servo.cpp +++ b/src/viam/sdk/tests/mocks/mock_servo.cpp @@ -2,13 +2,8 @@ #include -#include -#include -#include - #include -#include -#include +#include #include #include diff --git a/src/viam/sdk/tests/mocks/mock_servo.hpp b/src/viam/sdk/tests/mocks/mock_servo.hpp index 0ed56de66..f1c5ac726 100644 --- a/src/viam/sdk/tests/mocks/mock_servo.hpp +++ b/src/viam/sdk/tests/mocks/mock_servo.hpp @@ -1,14 +1,7 @@ #pragma once -#include -#include -#include - #include -#include -#include -#include -#include +#include namespace viam { namespace sdktests { diff --git a/src/viam/sdk/tests/test_base.cpp b/src/viam/sdk/tests/test_base.cpp index 8380a39a3..67513e7fc 100644 --- a/src/viam/sdk/tests/test_base.cpp +++ b/src/viam/sdk/tests/test_base.cpp @@ -7,15 +7,9 @@ #include #include -#include -#include -#include - #include #include -#include -#include -#include +#include #include #include @@ -44,7 +38,7 @@ BOOST_AUTO_TEST_CASE(mock_get_api) { BOOST_AUTO_TEST_CASE(test_move_straight) { std::shared_ptr mock = MockBase::get_mock_base(); - client_to_mock_pipeline(mock, [&](Base& client) { + client_to_mock_pipeline(mock, [&](Base& client) { client.move_straight(32, 0.75); BOOST_CHECK_EQUAL(mock->peek_move_straight_distance_mm, 32); BOOST_CHECK_EQUAL(mock->peek_move_straight_mm_per_sec, 0.75); @@ -53,7 +47,7 @@ BOOST_AUTO_TEST_CASE(test_move_straight) { BOOST_AUTO_TEST_CASE(test_spin) { std::shared_ptr mock = MockBase::get_mock_base(); - client_to_mock_pipeline(mock, [&](Base& client) { + client_to_mock_pipeline(mock, [&](Base& client) { client.spin(57.1, -21.1); BOOST_CHECK_EQUAL(mock->peek_spin_angle_deg, 57.1); BOOST_CHECK_EQUAL(mock->peek_spin_degs_per_sec, -21.1); @@ -62,7 +56,7 @@ BOOST_AUTO_TEST_CASE(test_spin) { BOOST_AUTO_TEST_CASE(test_set_power) { std::shared_ptr mock = MockBase::get_mock_base(); - client_to_mock_pipeline(mock, [&](Base& client) { + client_to_mock_pipeline(mock, [&](Base& client) { Vector3 linear = {0.1, -0.1, 1.0}; Vector3 angular = {0.5, -1.0, 1.0}; client.set_power(linear, angular); @@ -74,7 +68,7 @@ BOOST_AUTO_TEST_CASE(test_set_power) { BOOST_AUTO_TEST_CASE(test_set_velocity) { std::shared_ptr mock = MockBase::get_mock_base(); - client_to_mock_pipeline(mock, [&](Base& client) { + client_to_mock_pipeline(mock, [&](Base& client) { Vector3 linear = {0.1, -0.1, 1.0}; Vector3 angular = {0.5, -1.0, 1.0}; client.set_velocity(linear, angular); @@ -86,7 +80,7 @@ BOOST_AUTO_TEST_CASE(test_set_velocity) { BOOST_AUTO_TEST_CASE(test_stop) { std::shared_ptr mock = MockBase::get_mock_base(); - client_to_mock_pipeline(mock, [&](Base& client) { + client_to_mock_pipeline(mock, [&](Base& client) { mock->peek_stop_called = false; client.stop(); BOOST_CHECK(mock->peek_stop_called); @@ -95,7 +89,7 @@ BOOST_AUTO_TEST_CASE(test_stop) { BOOST_AUTO_TEST_CASE(test_get_properties) { std::shared_ptr mock = MockBase::get_mock_base(); - client_to_mock_pipeline(mock, [](Base& client) { + client_to_mock_pipeline(mock, [](Base& client) { const auto& properties = client.get_properties(); BOOST_CHECK_EQUAL(properties, fake_properties()); }); @@ -103,7 +97,7 @@ BOOST_AUTO_TEST_CASE(test_get_properties) { BOOST_AUTO_TEST_CASE(test_get_geometries) { std::shared_ptr mock = MockBase::get_mock_base(); - client_to_mock_pipeline(mock, [](Base& client) { + client_to_mock_pipeline(mock, [](Base& client) { const auto& geometries = client.get_geometries(); BOOST_CHECK_EQUAL(geometries, fake_geometries()); }); @@ -111,13 +105,12 @@ BOOST_AUTO_TEST_CASE(test_get_geometries) { BOOST_AUTO_TEST_CASE(test_is_moving) { std::shared_ptr mock = MockBase::get_mock_base(); - client_to_mock_pipeline(mock, - [](Base& client) { BOOST_CHECK(!client.is_moving()); }); + client_to_mock_pipeline(mock, [](Base& client) { BOOST_CHECK(!client.is_moving()); }); } BOOST_AUTO_TEST_CASE(test_do_command) { std::shared_ptr mock = MockBase::get_mock_base(); - client_to_mock_pipeline(mock, [](Base& client) { + client_to_mock_pipeline(mock, [](Base& client) { AttributeMap expected = fake_map(); AttributeMap command = fake_map(); diff --git a/src/viam/sdk/tests/test_board.cpp b/src/viam/sdk/tests/test_board.cpp index 6f0b41309..d16dc9035 100644 --- a/src/viam/sdk/tests/test_board.cpp +++ b/src/viam/sdk/tests/test_board.cpp @@ -8,14 +8,8 @@ #include -#include -#include -#include - #include -#include -#include -#include +#include #include #include @@ -41,7 +35,7 @@ BOOST_AUTO_TEST_CASE(mock_get_api) { BOOST_AUTO_TEST_CASE(test_status) { const auto mock = std::make_shared("mock_board"); - client_to_mock_pipeline(mock, [&](Board& client) { + client_to_mock_pipeline(mock, [&](Board& client) { std::unordered_map analogs; analogs.emplace("analog", 1); std::unordered_map digitals; @@ -54,7 +48,7 @@ BOOST_AUTO_TEST_CASE(test_status) { BOOST_AUTO_TEST_CASE(test_set_gpio) { const auto mock = std::make_shared("mock_board"); - client_to_mock_pipeline(mock, [&](Board& client) { + client_to_mock_pipeline(mock, [&](Board& client) { client.set_gpio("t1", true); BOOST_CHECK_EQUAL("t1", mock->peek_pin); BOOST_CHECK(mock->peek_set_gpio_high); @@ -66,7 +60,7 @@ BOOST_AUTO_TEST_CASE(test_set_gpio) { BOOST_AUTO_TEST_CASE(test_get_gpio) { const auto mock = std::make_shared("mock_board"); - client_to_mock_pipeline(mock, [&](Board& client) { + client_to_mock_pipeline(mock, [&](Board& client) { mock->peek_get_gpio_ret = true; BOOST_CHECK(client.get_gpio("t1")); BOOST_CHECK_EQUAL("t1", mock->peek_pin); @@ -75,7 +69,7 @@ BOOST_AUTO_TEST_CASE(test_get_gpio) { BOOST_AUTO_TEST_CASE(test_get_pwm_duty_cycle) { const auto mock = std::make_shared("mock_board"); - client_to_mock_pipeline(mock, [&](Board& client) { + client_to_mock_pipeline(mock, [&](Board& client) { mock->peek_get_pwm_duty_cycle_ret = 55; BOOST_CHECK_EQUAL(55, client.get_pwm_duty_cycle("t1")); BOOST_CHECK_EQUAL("t1", mock->peek_pin); @@ -84,7 +78,7 @@ BOOST_AUTO_TEST_CASE(test_get_pwm_duty_cycle) { BOOST_AUTO_TEST_CASE(test_set_pwm_duty_cycle) { const auto mock = std::make_shared("mock_board"); - client_to_mock_pipeline(mock, [&](Board& client) { + client_to_mock_pipeline(mock, [&](Board& client) { client.set_pwm_duty_cycle("t1", 0.512); BOOST_CHECK_EQUAL("t1", mock->peek_pin); BOOST_CHECK_EQUAL(0.512, mock->peek_set_pwm_duty_cycle_pct); @@ -93,7 +87,7 @@ BOOST_AUTO_TEST_CASE(test_set_pwm_duty_cycle) { BOOST_AUTO_TEST_CASE(test_get_pwm_frequency) { const auto mock = std::make_shared("mock_board"); - client_to_mock_pipeline(mock, [&](Board& client) { + client_to_mock_pipeline(mock, [&](Board& client) { mock->peek_get_pwm_frequency_ret = 510; BOOST_CHECK_EQUAL(510, client.get_pwm_frequency("t1")); BOOST_CHECK_EQUAL("t1", mock->peek_pin); @@ -102,7 +96,7 @@ BOOST_AUTO_TEST_CASE(test_get_pwm_frequency) { BOOST_AUTO_TEST_CASE(test_set_pwm_frequency) { const auto mock = std::make_shared("mock_board"); - client_to_mock_pipeline(mock, [&](Board& client) { + client_to_mock_pipeline(mock, [&](Board& client) { client.set_pwm_frequency("t1", 10); BOOST_CHECK_EQUAL("t1", mock->peek_pin); BOOST_CHECK_EQUAL(10, mock->peek_set_pwm_frequency_hz); @@ -111,7 +105,7 @@ BOOST_AUTO_TEST_CASE(test_set_pwm_frequency) { BOOST_AUTO_TEST_CASE(test_do_command) { const auto mock = std::make_shared("mock_board"); - client_to_mock_pipeline(mock, [](Board& client) { + client_to_mock_pipeline(mock, [](Board& client) { AttributeMap expected = fake_map(); AttributeMap command = fake_map(); @@ -125,7 +119,7 @@ BOOST_AUTO_TEST_CASE(test_do_command) { BOOST_AUTO_TEST_CASE(test_read_analog) { const auto mock = std::make_shared("mock_board"); - client_to_mock_pipeline(mock, [&](Board& client) { + client_to_mock_pipeline(mock, [&](Board& client) { mock->peek_read_analog_ret = 5150; BOOST_CHECK_EQUAL(5150, client.read_analog("t1")); BOOST_CHECK_EQUAL("t1", mock->peek_analog_reader_name); @@ -134,7 +128,7 @@ BOOST_AUTO_TEST_CASE(test_read_analog) { BOOST_AUTO_TEST_CASE(test_write_analog) { const auto mock = std::make_shared("mock_board"); - client_to_mock_pipeline(mock, [&](Board& client) { + client_to_mock_pipeline(mock, [&](Board& client) { std::string pin = "pin1"; int value = 42; client.write_analog(pin, value); @@ -145,7 +139,7 @@ BOOST_AUTO_TEST_CASE(test_write_analog) { BOOST_AUTO_TEST_CASE(test_read_digital_interrupt) { const auto mock = std::make_shared("mock_board"); - client_to_mock_pipeline(mock, [&](Board& client) { + client_to_mock_pipeline(mock, [&](Board& client) { mock->peek_read_digital_interrupt_ret = 515; BOOST_CHECK_EQUAL(515, client.read_digital_interrupt("t1")); BOOST_CHECK_EQUAL("t1", mock->peek_digital_interrupt_name); @@ -154,7 +148,7 @@ BOOST_AUTO_TEST_CASE(test_read_digital_interrupt) { BOOST_AUTO_TEST_CASE(test_get_analog_reader_names) { const auto mock = std::make_shared("mock_board"); - client_to_mock_pipeline(mock, [&](Board& client) { + client_to_mock_pipeline(mock, [&](Board& client) { std::unordered_map analogs; analogs.emplace("analog1", 2); analogs.emplace("analog2", 2); @@ -168,7 +162,7 @@ BOOST_AUTO_TEST_CASE(test_get_analog_reader_names) { BOOST_AUTO_TEST_CASE(test_get_digital_interrupt_names) { const auto mock = std::make_shared("mock_board"); - client_to_mock_pipeline(mock, [&](Board& client) { + client_to_mock_pipeline(mock, [&](Board& client) { std::unordered_map digitals; digitals.emplace("digital1", 2); digitals.emplace("digital2", 2); @@ -182,7 +176,7 @@ BOOST_AUTO_TEST_CASE(test_get_digital_interrupt_names) { BOOST_AUTO_TEST_CASE(test_get_geometries) { const auto mock = std::make_shared("mock_board"); - client_to_mock_pipeline(mock, [](Board& client) { + client_to_mock_pipeline(mock, [](Board& client) { const auto& geometries = client.get_geometries(); BOOST_CHECK_EQUAL(geometries, fake_geometries()); }); @@ -190,7 +184,7 @@ BOOST_AUTO_TEST_CASE(test_get_geometries) { BOOST_AUTO_TEST_CASE(test_set_power_mode) { const auto mock = std::make_shared("mock_board"); - client_to_mock_pipeline(mock, [&](Board& client) { + client_to_mock_pipeline(mock, [&](Board& client) { auto mode = Board::power_mode::normal; std::chrono::duration duration = std::chrono::microseconds(15531000); client.set_power_mode(mode, duration); diff --git a/src/viam/sdk/tests/test_camera.cpp b/src/viam/sdk/tests/test_camera.cpp index 2d5788256..4187b1ef0 100644 --- a/src/viam/sdk/tests/test_camera.cpp +++ b/src/viam/sdk/tests/test_camera.cpp @@ -7,14 +7,8 @@ #include -#include -#include -#include - #include -#include -#include -#include +#include #include #include #include @@ -39,7 +33,7 @@ BOOST_AUTO_TEST_CASE(mock_get_api) { BOOST_AUTO_TEST_CASE(test_get_image) { std::shared_ptr mock = MockCamera::get_mock_camera(); - client_to_mock_pipeline(mock, [](Camera& client) { + client_to_mock_pipeline(mock, [](Camera& client) { Camera::raw_image image = client.get_image("JPEG"); Camera::raw_image expected_image = fake_raw_image(); @@ -49,7 +43,7 @@ BOOST_AUTO_TEST_CASE(test_get_image) { BOOST_AUTO_TEST_CASE(test_get_images) { std::shared_ptr mock = MockCamera::get_mock_camera(); - client_to_mock_pipeline(mock, [](Camera& client) { + client_to_mock_pipeline(mock, [](Camera& client) { Camera::image_collection expected_images = fake_raw_images(); Camera::image_collection images = client.get_images(); @@ -59,7 +53,7 @@ BOOST_AUTO_TEST_CASE(test_get_images) { BOOST_AUTO_TEST_CASE(test_get_point_cloud) { std::shared_ptr mock = MockCamera::get_mock_camera(); - client_to_mock_pipeline(mock, [](Camera& client) { + client_to_mock_pipeline(mock, [](Camera& client) { Camera::point_cloud pc = client.get_point_cloud("pointcloud/pcd"); Camera::point_cloud expected = fake_point_cloud(); @@ -69,7 +63,7 @@ BOOST_AUTO_TEST_CASE(test_get_point_cloud) { BOOST_AUTO_TEST_CASE(test_get_properties) { std::shared_ptr mock = MockCamera::get_mock_camera(); - client_to_mock_pipeline(mock, [](Camera& client) { + client_to_mock_pipeline(mock, [](Camera& client) { Camera::properties props = client.get_properties(); Camera::properties expected = fake_properties(); @@ -79,7 +73,7 @@ BOOST_AUTO_TEST_CASE(test_get_properties) { BOOST_AUTO_TEST_CASE(test_get_geometries) { std::shared_ptr mock = MockCamera::get_mock_camera(); - client_to_mock_pipeline(mock, [](Camera& client) { + client_to_mock_pipeline(mock, [](Camera& client) { std::vector result_geometries = client.get_geometries(); std::vector expected_geometries = fake_geometries(); @@ -89,7 +83,7 @@ BOOST_AUTO_TEST_CASE(test_get_geometries) { BOOST_AUTO_TEST_CASE(test_do_command) { std::shared_ptr mock = MockCamera::get_mock_camera(); - client_to_mock_pipeline(mock, [](Camera& client) { + client_to_mock_pipeline(mock, [](Camera& client) { AttributeMap command = fake_map(); AttributeMap expected_map = fake_map(); AttributeMap result_map = client.do_command(command); diff --git a/src/viam/sdk/tests/test_encoder.cpp b/src/viam/sdk/tests/test_encoder.cpp index 5a9764b90..b8aafc4bd 100644 --- a/src/viam/sdk/tests/test_encoder.cpp +++ b/src/viam/sdk/tests/test_encoder.cpp @@ -7,14 +7,8 @@ #include -#include -#include -#include - #include -#include -#include -#include +#include #include #include #include @@ -41,7 +35,7 @@ BOOST_AUTO_TEST_CASE(mock_get_api) { BOOST_AUTO_TEST_CASE(test_get_position) { std::shared_ptr mock = MockEncoder::get_mock_encoder(); - client_to_mock_pipeline(mock, [&](Encoder& client) { + client_to_mock_pipeline(mock, [&](Encoder& client) { mock->peek_get_position_ret = Encoder::position{1.0, Encoder::position_type::angle_degrees}; auto returned_position = client.get_position(Encoder::position_type::ticks_count); BOOST_CHECK(mock->peek_get_position_position_type == Encoder::position_type::ticks_count); @@ -54,7 +48,7 @@ BOOST_AUTO_TEST_CASE(test_get_position) { BOOST_AUTO_TEST_CASE(test_reset_position) { std::shared_ptr mock = MockEncoder::get_mock_encoder(); - client_to_mock_pipeline(mock, [&](Encoder& client) { + client_to_mock_pipeline(mock, [&](Encoder& client) { mock->peek_reset_position_called = false; client.reset_position(); BOOST_CHECK(mock->peek_reset_position_called); @@ -63,7 +57,7 @@ BOOST_AUTO_TEST_CASE(test_reset_position) { BOOST_AUTO_TEST_CASE(test_get_properties) { std::shared_ptr mock = MockEncoder::get_mock_encoder(); - client_to_mock_pipeline(mock, [&](Encoder& client) { + client_to_mock_pipeline(mock, [&](Encoder& client) { mock->peek_get_properties_ret = Encoder::properties{false, true}; auto returned_properties = client.get_properties(); BOOST_CHECK(returned_properties == mock->peek_get_properties_ret); @@ -72,7 +66,7 @@ BOOST_AUTO_TEST_CASE(test_get_properties) { BOOST_AUTO_TEST_CASE(test_get_geometries) { std::shared_ptr mock = MockEncoder::get_mock_encoder(); - client_to_mock_pipeline(mock, [](Encoder& client) { + client_to_mock_pipeline(mock, [](Encoder& client) { const auto& geometries = client.get_geometries(); BOOST_CHECK_EQUAL(geometries, fake_geometries()); }); @@ -80,7 +74,7 @@ BOOST_AUTO_TEST_CASE(test_get_geometries) { BOOST_AUTO_TEST_CASE(test_do_command) { std::shared_ptr mock = MockEncoder::get_mock_encoder(); - client_to_mock_pipeline(mock, [](Encoder& client) { + client_to_mock_pipeline(mock, [](Encoder& client) { AttributeMap expected = fake_map(); AttributeMap command = fake_map(); diff --git a/src/viam/sdk/tests/test_generics.cpp b/src/viam/sdk/tests/test_generics.cpp index 4ac4fd243..9cf1fe236 100644 --- a/src/viam/sdk/tests/test_generics.cpp +++ b/src/viam/sdk/tests/test_generics.cpp @@ -6,11 +6,7 @@ #include -#include - -#include -#include -#include +#include #include #include #include @@ -36,7 +32,7 @@ BOOST_AUTO_TEST_CASE(mock_get_component_api) { BOOST_AUTO_TEST_CASE(test_component_do_command) { std::shared_ptr mock = MockGenericComponent::get_mock_generic(); - client_to_mock_pipeline(mock, [](GenericComponent& client) { + client_to_mock_pipeline(mock, [](GenericComponent& client) { AttributeMap expected = fake_map(); AttributeMap command; AttributeMap result_map = client.do_command(command); @@ -50,7 +46,7 @@ BOOST_AUTO_TEST_CASE(test_component_do_command) { BOOST_AUTO_TEST_CASE(test_component_get_geometries) { std::shared_ptr mock = MockGenericComponent::get_mock_generic(); - client_to_mock_pipeline(mock, [](GenericComponent& client) { + client_to_mock_pipeline(mock, [](GenericComponent& client) { std::vector expected_geometries = fake_geometries(); std::vector result_geometries = client.get_geometries(fake_map()); @@ -69,7 +65,7 @@ BOOST_AUTO_TEST_CASE(mock_get_service_api) { BOOST_AUTO_TEST_CASE(test_service_do_command) { std::shared_ptr mock = MockGenericService::get_mock_generic(); - client_to_mock_pipeline(mock, [](GenericService& client) { + client_to_mock_pipeline(mock, [](GenericService& client) { AttributeMap expected = fake_map(); AttributeMap command; AttributeMap result_map = client.do_command(command); diff --git a/src/viam/sdk/tests/test_mlmodel.cpp b/src/viam/sdk/tests/test_mlmodel.cpp index 9c71bfb5b..70f75338a 100644 --- a/src/viam/sdk/tests/test_mlmodel.cpp +++ b/src/viam/sdk/tests/test_mlmodel.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include #include @@ -20,9 +20,6 @@ #include -#include -#include -#include #include #include @@ -205,7 +202,7 @@ BOOST_AUTO_TEST_SUITE(test_mlmodel_client_server) BOOST_AUTO_TEST_CASE(mock_metadata_grpc_roundtrip) { const auto mock = std::make_shared(); mock->set_metadata(test_metadata); - client_to_mock_pipeline(mock, [](auto& client) { + client_to_mock_pipeline(mock, [](auto& client) { const auto returned_metadata = client.metadata(); BOOST_TEST(test_metadata == returned_metadata); }); @@ -287,7 +284,7 @@ BOOST_AUTO_TEST_CASE(mock_infer_grpc_roundtrip) { return std::shared_ptr{std::move(output), ntvs}; }); - client_to_mock_pipeline(mock, [](auto& client) { + client_to_mock_pipeline(mock, [](auto& client) { MLModelService::named_tensor_views request; std::array input1_data{}; @@ -496,35 +493,43 @@ struct safe_increment { }; BOOST_AUTO_TEST_CASE_TEMPLATE(rt_scalar, T, MLModelService::base_types) { - using base_type = T; - const std::array data = {T{42}}; + auto mock = std::make_shared(); + mock->set_infer_handler([&](const MLModelService::named_tensor_views& request) { + return std::make_shared(request); + }); + + const std::array data = {T{42}}; const auto scalar_tv = MLModelService::make_tensor_view(data.data(), data.size(), {data.size()}); - ::viam::service::mlmodel::v1::InferRequest request; - - auto& input_tensors = *request.mutable_input_tensors()->mutable_tensors(); - auto& input_tensor = input_tensors[""]; - mlmodel_details::copy_sdk_tensor_to_api_tensor(scalar_tv, &input_tensor); - - // Try once with tensor storage, and once without - auto tsav = std::make_shared(); - for (int i = 0; i != 2; ++i) { - auto output_tensor = - mlmodel_details::make_sdk_tensor_from_api_tensor(input_tensor, tsav.get()); - const auto* const output_tensor_as_base_type = - boost::get>(&output_tensor); - BOOST_TEST_REQUIRE(output_tensor_as_base_type != nullptr); - BOOST_TEST(output_tensor_as_base_type->shape() == scalar_tv.shape()); - BOOST_TEST(*output_tensor_as_base_type == scalar_tv); - tsav = nullptr; - } + + const auto scalar_tv_type = MLModelService::tensor_info::tensor_views_to_data_type(scalar_tv); + + mock->set_metadata({"", + "", + "", + {{"x", "", scalar_tv_type, {1}, {}, {}}}, + {{"x", "", scalar_tv_type, {1}, {}, {}}}}); + + client_to_mock_pipeline(mock, [&](auto& client) { + MLModelService::named_tensor_views request; + request.emplace("x", scalar_tv); + BOOST_REQUIRE(request.size() == 1); + BOOST_REQUIRE(request.count("x") == 1); + const auto response = client.infer(request); + BOOST_REQUIRE(response->size() == 1); + BOOST_REQUIRE(response->count("x") == 1); + const auto& response_x = response->find("x")->second; + const auto* const response_x_t = boost::get>(&response_x); + BOOST_REQUIRE(response_x_t); + BOOST_TEST(scalar_tv == *response_x_t); + }); } BOOST_AUTO_TEST_CASE_TEMPLATE(rt_tensor_shapes, T, MLModelService::base_types) { using base_type = T; constexpr size_t data_size = 4096; - std::vector::shape_type> shapes = { + const std::vector::shape_type> shapes = { {4096}, {64, 64}, {16, 16, 16}, @@ -542,6 +547,11 @@ BOOST_AUTO_TEST_CASE_TEMPLATE(rt_tensor_shapes, T, MLModelService::base_types) { {64, 64, 1}, }; + auto mock = std::make_shared(); + mock->set_infer_handler([&](const MLModelService::named_tensor_views& request) { + return std::make_shared(request); + }); + for (const auto& shape : shapes) { BOOST_TEST_REQUIRE( std::accumulate(shape.begin(), shape.end(), 1, std::multiplies()) == @@ -550,24 +560,29 @@ BOOST_AUTO_TEST_CASE_TEMPLATE(rt_tensor_shapes, T, MLModelService::base_types) { std::array data{}; std::iota(data.begin(), data.end(), safe_increment{base_type{0}}); const auto array_tv = MLModelService::make_tensor_view(data.data(), data.size(), shape); - ::viam::service::mlmodel::v1::InferRequest request; - - auto& input_tensors = *request.mutable_input_tensors()->mutable_tensors(); - auto& input_tensor = input_tensors[""]; - mlmodel_details::copy_sdk_tensor_to_api_tensor(array_tv, &input_tensor); - - // Try once with tensor storage, once without - auto tsav = std::make_shared(); - for (int i = 0; i != 2; ++i) { - auto output_tensor = - mlmodel_details::make_sdk_tensor_from_api_tensor(input_tensor, tsav.get()); - const auto* const output_tensor_as_base_type = - boost::get>(&output_tensor); - BOOST_TEST_REQUIRE(output_tensor_as_base_type != nullptr); - BOOST_TEST(output_tensor_as_base_type->shape() == array_tv.shape()); - BOOST_TEST(*output_tensor_as_base_type == array_tv); - tsav = nullptr; - } + const auto array_tv_type = MLModelService::tensor_info::tensor_views_to_data_type(array_tv); + const auto array_tv_shape = std::vector{shape.begin(), shape.end()}; + + mock->set_metadata({"", + "", + "", + {{"x", "", array_tv_type, array_tv_shape, {}, {}}}, + {{"x", "", array_tv_type, array_tv_shape, {}, {}}}}); + + client_to_mock_pipeline(mock, [&](auto& client) { + MLModelService::named_tensor_views request; + request.emplace("x", array_tv); + BOOST_REQUIRE(request.size() == 1); + BOOST_REQUIRE(request.count("x") == 1); + const auto response = client.infer(request); + BOOST_REQUIRE(response->size() == 1); + BOOST_REQUIRE(response->count("x") == 1); + const auto& response_x = response->find("x")->second; + const auto* const response_x_t = + boost::get>(&response_x); + BOOST_REQUIRE(response_x_t); + BOOST_TEST(array_tv == *response_x_t); + }); } } diff --git a/src/viam/sdk/tests/test_motion.cpp b/src/viam/sdk/tests/test_motion.cpp index 7f571b746..c10b3525c 100644 --- a/src/viam/sdk/tests/test_motion.cpp +++ b/src/viam/sdk/tests/test_motion.cpp @@ -4,9 +4,7 @@ #include #include -#include -#include -#include +#include #include #include #include @@ -167,7 +165,7 @@ BOOST_AUTO_TEST_SUITE(test_motion_client_server) BOOST_AUTO_TEST_CASE(test_move_and_get_pose) { auto mock = std::make_shared("mock_motion"); - client_to_mock_pipeline(mock, [](Motion& client) { + client_to_mock_pipeline(mock, [](Motion& client) { std::string destination_frame("destination"); std::vector transforms; AttributeMap extra = fake_map(); @@ -185,7 +183,7 @@ BOOST_AUTO_TEST_CASE(test_move_and_get_pose) { BOOST_AUTO_TEST_CASE(test_move_on_map) { auto mock = std::make_shared("mock_motion"); - client_to_mock_pipeline(mock, [](Motion& client) { + client_to_mock_pipeline(mock, [](Motion& client) { pose destination({{1, 2, 3}, {4, 5, 6}, 7}); std::string execution_id = client.move_on_map(destination, fake_component_name(), @@ -203,7 +201,7 @@ BOOST_AUTO_TEST_CASE(test_move_on_map) { BOOST_AUTO_TEST_CASE(test_move_on_globe) { auto mock = std::make_shared("mock_motion"); - client_to_mock_pipeline(mock, [](Motion& client) { + client_to_mock_pipeline(mock, [](Motion& client) { std::string execution_id = client.move_on_globe(fake_geo_point(), 15, fake_component_name(), @@ -218,7 +216,7 @@ BOOST_AUTO_TEST_CASE(test_move_on_globe) { BOOST_AUTO_TEST_CASE(test_get_plan) { auto mock = std::make_shared("mock_motion"); - client_to_mock_pipeline(mock, [](Motion& client) { + client_to_mock_pipeline(mock, [](Motion& client) { auto ret1 = client.get_plan(fake_component_name(), "execution_id", fake_map()); BOOST_CHECK_EQUAL(ret1, MockMotion::fake_plan_with_status()); @@ -229,7 +227,7 @@ BOOST_AUTO_TEST_CASE(test_get_plan) { BOOST_AUTO_TEST_CASE(test_get_plan_with_replan_history) { auto mock = std::make_shared("mock_motion"); - client_to_mock_pipeline(mock, [](Motion& client) { + client_to_mock_pipeline(mock, [](Motion& client) { auto ret1 = client.get_plan_with_replan_history(fake_component_name(), "execution_id", fake_map()); BOOST_CHECK_EQUAL(ret1.first, MockMotion::fake_plan_with_status()); @@ -244,7 +242,7 @@ BOOST_AUTO_TEST_CASE(test_get_plan_with_replan_history) { BOOST_AUTO_TEST_CASE(test_list_plan_statuses) { auto mock = std::make_shared("mock_motion"); - client_to_mock_pipeline(mock, [](Motion& client) { + client_to_mock_pipeline(mock, [](Motion& client) { std::vector statuses1 = client.list_plan_statuses(fake_map()); BOOST_CHECK_EQUAL(statuses1.size(), 1); BOOST_CHECK_EQUAL(statuses1[0], MockMotion::fake_plan_status_with_id()); @@ -258,7 +256,7 @@ BOOST_AUTO_TEST_CASE(test_list_plan_statuses) { BOOST_AUTO_TEST_CASE(test_stop_plan) { auto mock = std::make_shared("mock_motion"); - client_to_mock_pipeline(mock, [&](Motion& client) { + client_to_mock_pipeline(mock, [&](Motion& client) { client.stop_plan(fake_component_name()); BOOST_CHECK(mock->peek_stop_plan_called); }); @@ -266,7 +264,7 @@ BOOST_AUTO_TEST_CASE(test_stop_plan) { BOOST_AUTO_TEST_CASE(test_do_command) { auto mock = std::make_shared("mock_motion"); - client_to_mock_pipeline(mock, [](Motion& client) { + client_to_mock_pipeline(mock, [](Motion& client) { AttributeMap expected = fake_map(); AttributeMap command = fake_map(); diff --git a/src/viam/sdk/tests/test_motor.cpp b/src/viam/sdk/tests/test_motor.cpp index f5257bbe8..14b7f9770 100644 --- a/src/viam/sdk/tests/test_motor.cpp +++ b/src/viam/sdk/tests/test_motor.cpp @@ -7,15 +7,9 @@ #include -#include -#include -#include - #include #include -#include -#include -#include +#include #include #include @@ -114,7 +108,7 @@ BOOST_AUTO_TEST_SUITE(test_motor_client_server) BOOST_AUTO_TEST_CASE(test_set_power) { std::shared_ptr mock = MockMotor::get_mock_motor(); - client_to_mock_pipeline(mock, [](Motor& client) { + client_to_mock_pipeline(mock, [](Motor& client) { client.set_power(1.0); BOOST_CHECK(client.get_power_status().power_pct == 1.0); client.set_power(0.0); @@ -128,7 +122,7 @@ BOOST_AUTO_TEST_CASE(test_set_power) { BOOST_AUTO_TEST_CASE(test_go_for) { std::shared_ptr mock = MockMotor::get_mock_motor(); - client_to_mock_pipeline(mock, [](Motor& client) { + client_to_mock_pipeline(mock, [](Motor& client) { client.go_for(1.0, 1.0); BOOST_CHECK(client.get_position() == 1.0); client.go_for(1.0, 1.5); @@ -140,7 +134,7 @@ BOOST_AUTO_TEST_CASE(test_go_for) { BOOST_AUTO_TEST_CASE(test_go_to) { std::shared_ptr mock = MockMotor::get_mock_motor(); - client_to_mock_pipeline(mock, [](Motor& client) { + client_to_mock_pipeline(mock, [](Motor& client) { client.go_to(1.0, 1.0); BOOST_CHECK(client.get_position() == 1.0); client.go_to(0.1, -1.0); @@ -150,7 +144,7 @@ BOOST_AUTO_TEST_CASE(test_go_to) { BOOST_AUTO_TEST_CASE(test_reset_zero_position) { std::shared_ptr mock = MockMotor::get_mock_motor(); - client_to_mock_pipeline(mock, [](Motor& client) { + client_to_mock_pipeline(mock, [](Motor& client) { client.go_to(1.0, 1.0); BOOST_CHECK(client.get_position() == 1.0); client.reset_zero_position(1.5); @@ -160,13 +154,13 @@ BOOST_AUTO_TEST_CASE(test_reset_zero_position) { BOOST_AUTO_TEST_CASE(test_get_properties) { std::shared_ptr mock = MockMotor::get_mock_motor(); - client_to_mock_pipeline( + client_to_mock_pipeline( mock, [](Motor& client) { BOOST_CHECK(client.get_properties().position_reporting); }); } BOOST_AUTO_TEST_CASE(test_stop) { std::shared_ptr mock = MockMotor::get_mock_motor(); - client_to_mock_pipeline(mock, [](Motor& client) { + client_to_mock_pipeline(mock, [](Motor& client) { client.set_power(1.0); BOOST_CHECK(client.get_power_status().power_pct == 1.0); BOOST_CHECK(client.get_power_status().is_on); @@ -181,7 +175,7 @@ BOOST_AUTO_TEST_CASE(test_stop) { BOOST_AUTO_TEST_CASE(test_get_geometries) { std::shared_ptr mock = MockMotor::get_mock_motor(); - client_to_mock_pipeline(mock, [](Motor& client) { + client_to_mock_pipeline(mock, [](Motor& client) { const auto& geometries = client.get_geometries(); BOOST_CHECK_EQUAL(geometries, fake_geometries()); }); @@ -189,7 +183,7 @@ BOOST_AUTO_TEST_CASE(test_get_geometries) { BOOST_AUTO_TEST_CASE(test_do_command) { std::shared_ptr mock = MockMotor::get_mock_motor(); - client_to_mock_pipeline(mock, [](Motor& client) { + client_to_mock_pipeline(mock, [](Motor& client) { AttributeMap expected = fake_map(); AttributeMap command = fake_map(); @@ -204,7 +198,7 @@ BOOST_AUTO_TEST_CASE(test_do_command) { BOOST_AUTO_TEST_CASE(test_exception_creation) { std::shared_ptr mock = MockMotor::get_mock_motor(); - client_to_mock_pipeline(mock, [](Motor& client) { + client_to_mock_pipeline(mock, [](Motor& client) { BOOST_CHECK_THROW(client.go_for(0.0, 1.0), std::runtime_error); }); } diff --git a/src/viam/sdk/tests/test_movement_sensor.cpp b/src/viam/sdk/tests/test_movement_sensor.cpp index 6957a4583..e4ed2bbbd 100644 --- a/src/viam/sdk/tests/test_movement_sensor.cpp +++ b/src/viam/sdk/tests/test_movement_sensor.cpp @@ -7,15 +7,9 @@ #include #include -#include -#include -#include - #include #include -#include -#include -#include +#include #include #include @@ -41,7 +35,7 @@ BOOST_AUTO_TEST_CASE(mock_get_api) { BOOST_AUTO_TEST_CASE(test_linear_vel) { std::shared_ptr mock = MockMovementSensor::get_mock_movementsensor(); - client_to_mock_pipeline(mock, [&](MovementSensor& client) { + client_to_mock_pipeline(mock, [&](MovementSensor& client) { mock->peek_return_vec = Vector3(1, 2, 3); BOOST_CHECK(client.get_linear_velocity().data() == mock->peek_return_vec.data()); }); @@ -49,7 +43,7 @@ BOOST_AUTO_TEST_CASE(test_linear_vel) { BOOST_AUTO_TEST_CASE(test_angular_vel) { std::shared_ptr mock = MockMovementSensor::get_mock_movementsensor(); - client_to_mock_pipeline(mock, [&](MovementSensor& client) { + client_to_mock_pipeline(mock, [&](MovementSensor& client) { mock->peek_return_vec = Vector3(1, 2, -3); BOOST_CHECK(client.get_angular_velocity().data() == mock->peek_return_vec.data()); }); @@ -57,7 +51,7 @@ BOOST_AUTO_TEST_CASE(test_angular_vel) { BOOST_AUTO_TEST_CASE(test_compass_hading) { std::shared_ptr mock = MockMovementSensor::get_mock_movementsensor(); - client_to_mock_pipeline(mock, [&](MovementSensor& client) { + client_to_mock_pipeline(mock, [&](MovementSensor& client) { mock->peek_compass_heading.value = 57.23; BOOST_CHECK_CLOSE(client.get_compass_heading().value, 57.23, 0.1); }); @@ -65,7 +59,7 @@ BOOST_AUTO_TEST_CASE(test_compass_hading) { BOOST_AUTO_TEST_CASE(test_orientation) { std::shared_ptr mock = MockMovementSensor::get_mock_movementsensor(); - client_to_mock_pipeline(mock, [&](MovementSensor& client) { + client_to_mock_pipeline(mock, [&](MovementSensor& client) { mock->peek_orientation.o_x = 1.1; mock->peek_orientation.o_y = 2.1; mock->peek_orientation.o_z = 3.1; @@ -79,7 +73,7 @@ BOOST_AUTO_TEST_CASE(test_orientation) { BOOST_AUTO_TEST_CASE(test_position) { std::shared_ptr mock = MockMovementSensor::get_mock_movementsensor(); - client_to_mock_pipeline(mock, [&](MovementSensor& client) { + client_to_mock_pipeline(mock, [&](MovementSensor& client) { mock->peek_position.altitude_m = 42.1; mock->peek_position.coordinate.latitude = 32.1; mock->peek_position.coordinate.longitude = 64.2; @@ -91,7 +85,7 @@ BOOST_AUTO_TEST_CASE(test_position) { BOOST_AUTO_TEST_CASE(test_properties) { std::shared_ptr mock = MockMovementSensor::get_mock_movementsensor(); - client_to_mock_pipeline(mock, [&](MovementSensor& client) { + client_to_mock_pipeline(mock, [&](MovementSensor& client) { mock->peek_compass_heading.value = 57.23; mock->peek_properties.position_supported = true; mock->peek_properties.linear_velocity_supported = true; @@ -110,7 +104,7 @@ BOOST_AUTO_TEST_CASE(test_properties) { BOOST_AUTO_TEST_CASE(test_accuracy) { std::shared_ptr mock = MockMovementSensor::get_mock_movementsensor(); - client_to_mock_pipeline(mock, [&](MovementSensor& client) { + client_to_mock_pipeline(mock, [&](MovementSensor& client) { mock->peek_accuracy.clear(); mock->peek_accuracy.emplace("val1", 0.2); mock->peek_accuracy.emplace("val2", 0.4); @@ -122,7 +116,7 @@ BOOST_AUTO_TEST_CASE(test_accuracy) { BOOST_AUTO_TEST_CASE(test_linear_accel) { std::shared_ptr mock = MockMovementSensor::get_mock_movementsensor(); - client_to_mock_pipeline(mock, [&](MovementSensor& client) { + client_to_mock_pipeline(mock, [&](MovementSensor& client) { mock->peek_return_vec = Vector3(-1, 2.1, 3); BOOST_CHECK(client.get_linear_acceleration().data() == mock->peek_return_vec.data()); }); @@ -130,7 +124,7 @@ BOOST_AUTO_TEST_CASE(test_linear_accel) { BOOST_AUTO_TEST_CASE(test_do_command) { std::shared_ptr mock = MockMovementSensor::get_mock_movementsensor(); - client_to_mock_pipeline(mock, [](MovementSensor& client) { + client_to_mock_pipeline(mock, [](MovementSensor& client) { AttributeMap expected = fake_map(); AttributeMap command = fake_map(); @@ -144,7 +138,7 @@ BOOST_AUTO_TEST_CASE(test_do_command) { BOOST_AUTO_TEST_CASE(test_get_geometries) { std::shared_ptr mock = MockMovementSensor::get_mock_movementsensor(); - client_to_mock_pipeline(mock, [](MovementSensor& client) { + client_to_mock_pipeline(mock, [](MovementSensor& client) { std::vector expected = fake_geometries(); std::vector geometries = client.get_geometries(); BOOST_CHECK(expected == geometries); diff --git a/src/viam/sdk/tests/test_power_sensor.cpp b/src/viam/sdk/tests/test_power_sensor.cpp index e4c3d24e4..6b5df45ac 100644 --- a/src/viam/sdk/tests/test_power_sensor.cpp +++ b/src/viam/sdk/tests/test_power_sensor.cpp @@ -7,14 +7,8 @@ #include #include -#include -#include -#include - #include -#include -#include -#include +#include #include #include @@ -40,7 +34,7 @@ BOOST_AUTO_TEST_CASE(mock_get_api) { BOOST_AUTO_TEST_CASE(test_get_voltage) { std::shared_ptr mock = MockPowerSensor::get_mock_powersensor(); - client_to_mock_pipeline(mock, [&](PowerSensor& client) { + client_to_mock_pipeline(mock, [&](PowerSensor& client) { mock->peek_voltage = {10.0, false}; BOOST_CHECK(client.get_voltage() == mock->peek_voltage); }); @@ -48,7 +42,7 @@ BOOST_AUTO_TEST_CASE(test_get_voltage) { BOOST_AUTO_TEST_CASE(test_get_current) { std::shared_ptr mock = MockPowerSensor::get_mock_powersensor(); - client_to_mock_pipeline(mock, [&](PowerSensor& client) { + client_to_mock_pipeline(mock, [&](PowerSensor& client) { mock->peek_current = {10.0, false}; BOOST_CHECK(client.get_current() == mock->peek_current); }); @@ -56,7 +50,7 @@ BOOST_AUTO_TEST_CASE(test_get_current) { BOOST_AUTO_TEST_CASE(test_get_power) { std::shared_ptr mock = MockPowerSensor::get_mock_powersensor(); - client_to_mock_pipeline(mock, [&](PowerSensor& client) { + client_to_mock_pipeline(mock, [&](PowerSensor& client) { mock->peek_power = 10.0; BOOST_CHECK(client.get_power() == mock->peek_power); }); @@ -64,7 +58,7 @@ BOOST_AUTO_TEST_CASE(test_get_power) { BOOST_AUTO_TEST_CASE(test_get_readings) { std::shared_ptr mock = MockPowerSensor::get_mock_powersensor(); - client_to_mock_pipeline(mock, [](PowerSensor& client) { + client_to_mock_pipeline(mock, [](PowerSensor& client) { AttributeMap expected = fake_map(); AttributeMap readings = client.get_readings(); @@ -77,7 +71,7 @@ BOOST_AUTO_TEST_CASE(test_get_readings) { BOOST_AUTO_TEST_CASE(test_do_command) { std::shared_ptr mock = MockPowerSensor::get_mock_powersensor(); - client_to_mock_pipeline(mock, [](PowerSensor& client) { + client_to_mock_pipeline(mock, [](PowerSensor& client) { AttributeMap expected = fake_map(); AttributeMap command = fake_map(); diff --git a/src/viam/sdk/tests/test_robot.cpp b/src/viam/sdk/tests/test_robot.cpp index dbe9d7cec..5122bb8e0 100644 --- a/src/viam/sdk/tests/test_robot.cpp +++ b/src/viam/sdk/tests/test_robot.cpp @@ -8,16 +8,10 @@ #define BOOST_TEST_MODULE test module test_robot #include -#include -#include -#include - #include #include -#include -#include -#include -#include +#include +#include #include #include #include diff --git a/src/viam/sdk/tests/test_sensor.cpp b/src/viam/sdk/tests/test_sensor.cpp index 1a33816a1..787d24394 100644 --- a/src/viam/sdk/tests/test_sensor.cpp +++ b/src/viam/sdk/tests/test_sensor.cpp @@ -7,14 +7,8 @@ #include #include -#include -#include -#include - #include -#include -#include -#include +#include #include #include #include @@ -41,7 +35,7 @@ BOOST_AUTO_TEST_CASE(mock_get_api) { BOOST_AUTO_TEST_CASE(test_get_readings) { std::shared_ptr mock = MockSensor::get_mock_sensor(); - client_to_mock_pipeline(mock, [](Sensor& client) { + client_to_mock_pipeline(mock, [](Sensor& client) { AttributeMap expected = fake_map(); AttributeMap readings = client.get_readings(); @@ -54,7 +48,7 @@ BOOST_AUTO_TEST_CASE(test_get_readings) { BOOST_AUTO_TEST_CASE(test_do_command) { std::shared_ptr mock = MockSensor::get_mock_sensor(); - client_to_mock_pipeline(mock, [](Sensor& client) { + client_to_mock_pipeline(mock, [](Sensor& client) { AttributeMap expected = fake_map(); AttributeMap command = fake_map(); @@ -68,7 +62,7 @@ BOOST_AUTO_TEST_CASE(test_do_command) { BOOST_AUTO_TEST_CASE(test_get_geometries) { std::shared_ptr mock = MockSensor::get_mock_sensor(); - client_to_mock_pipeline(mock, [](Sensor& client) { + client_to_mock_pipeline(mock, [](Sensor& client) { std::vector expected = fake_geometries(); std::vector geometries = client.get_geometries(); BOOST_CHECK(expected == geometries); diff --git a/src/viam/sdk/tests/test_servo.cpp b/src/viam/sdk/tests/test_servo.cpp index 10b2e5d3a..9c5048648 100644 --- a/src/viam/sdk/tests/test_servo.cpp +++ b/src/viam/sdk/tests/test_servo.cpp @@ -7,14 +7,8 @@ #include -#include -#include -#include - #include -#include -#include -#include +#include #include #include @@ -85,7 +79,7 @@ BOOST_AUTO_TEST_SUITE(test_servo_client_server) BOOST_AUTO_TEST_CASE(test_move_and_get_position) { std::shared_ptr mock = MockServo::get_mock_servo(); - client_to_mock_pipeline(mock, [](Servo& client) { + client_to_mock_pipeline(mock, [](Servo& client) { BOOST_CHECK(!client.is_moving()); client.move(3); BOOST_CHECK_EQUAL(client.get_position(), 3); @@ -99,7 +93,7 @@ BOOST_AUTO_TEST_CASE(test_move_and_get_position) { BOOST_AUTO_TEST_CASE(test_stop) { std::shared_ptr mock = MockServo::get_mock_servo(); - client_to_mock_pipeline(mock, [](Servo& client) { + client_to_mock_pipeline(mock, [](Servo& client) { client.move(3); BOOST_CHECK(client.is_moving()); client.stop(); @@ -109,7 +103,7 @@ BOOST_AUTO_TEST_CASE(test_stop) { BOOST_AUTO_TEST_CASE(test_get_geometries) { std::shared_ptr mock = MockServo::get_mock_servo(); - client_to_mock_pipeline(mock, [](Servo& client) { + client_to_mock_pipeline(mock, [](Servo& client) { const auto& geometries = client.get_geometries(); BOOST_CHECK_EQUAL(geometries, fake_geometries()); }); @@ -117,7 +111,7 @@ BOOST_AUTO_TEST_CASE(test_get_geometries) { BOOST_AUTO_TEST_CASE(test_do_command) { std::shared_ptr mock = MockServo::get_mock_servo(); - client_to_mock_pipeline(mock, [](Servo& client) { + client_to_mock_pipeline(mock, [](Servo& client) { AttributeMap expected = fake_map(); AttributeMap command = fake_map(); diff --git a/src/viam/sdk/tests/test_utils.hpp b/src/viam/sdk/tests/test_utils.hpp index a6b04fc3f..6b3b8eabf 100644 --- a/src/viam/sdk/tests/test_utils.hpp +++ b/src/viam/sdk/tests/test_utils.hpp @@ -47,7 +47,7 @@ class TestServer { // without starting another process. // // The passed in test_case function will have access to the created ResourceClient. -template +template void client_to_mock_pipeline(std::shared_ptr mock, F&& test_case) { auto server = std::make_shared(); @@ -61,11 +61,13 @@ void client_to_mock_pipeline(std::shared_ptr mock, F&& test_case) { grpc::ChannelArguments args; auto test_server = TestServer(server); auto grpc_channel = test_server.grpc_in_process_channel(args); - ClientType resource_client(mock->name(), grpc_channel); + + auto resource_client = Registry::lookup_resource_client(API::get()) + ->create_rpc_client(mock->name(), std::move(grpc_channel)); // Run the passed-in test case on the created stack and give access to the // created resource-specific client. - std::forward(test_case)(resource_client); + std::forward(test_case)(*std::dynamic_pointer_cast(resource_client)); // Shutdown Server afterward. server->shutdown();