Move component client/server classes out of the API

src/viam/examples/camera/example_camera.cpp

@@ -3,8 +3,7 @@
 #include <unistd.h>
 #include <vector>
 
-#include <viam/sdk/components/camera/camera.hpp>
-#include <viam/sdk/components/camera/client.hpp>
+#include <viam/sdk/components/camera.hpp>
 #include <viam/sdk/robot/client.hpp>
 #include <viam/sdk/robot/service.hpp>
 #include <viam/sdk/rpc/dial.hpp>

src/viam/examples/dial/example_dial.cpp

@@ -17,7 +17,7 @@
 #include <viam/api/robot/v1/robot.grpc.pb.h>
 #include <viam/api/robot/v1/robot.pb.h>
 
-#include <viam/sdk/components/generic/client.hpp>
+#include <viam/sdk/components/generic.hpp>
 #include <viam/sdk/robot/client.hpp>
 #include <viam/sdk/robot/service.hpp>
 #include <viam/sdk/rpc/dial.hpp>

src/viam/examples/dial_api_key/example_dial_api_key.cpp

@@ -17,7 +17,6 @@
 #include <viam/api/robot/v1/robot.grpc.pb.h>
 #include <viam/api/robot/v1/robot.pb.h>
 
-#include <viam/sdk/components/generic/client.hpp>
 #include <viam/sdk/robot/client.hpp>
 #include <viam/sdk/robot/service.hpp>
 #include <viam/sdk/rpc/dial.hpp>

src/viam/examples/mlmodel/example_audio_classification_client.cpp

@@ -29,7 +29,7 @@
 #include <boost/program_options.hpp>
 
 #include <viam/sdk/robot/client.hpp>
-#include <viam/sdk/services/mlmodel/mlmodel.hpp>
+#include <viam/sdk/services/mlmodel.hpp>
 
 namespace {
 

src/viam/examples/modules/complex/base/impl.cpp

@@ -7,7 +7,7 @@
 
 #include <grpcpp/support/status.h>
 
-#include <viam/sdk/components/base/base.hpp>
+#include <viam/sdk/components/base.hpp>
 #include <viam/sdk/components/component.hpp>
 #include <viam/sdk/config/resource.hpp>
 #include <viam/sdk/resource/resource.hpp>

src/viam/examples/modules/complex/base/impl.hpp

@@ -1,8 +1,8 @@
 #pragma once
 
-#include <viam/sdk/components/base/base.hpp>
+#include <viam/sdk/components/base.hpp>
 #include <viam/sdk/components/component.hpp>
-#include <viam/sdk/components/motor/motor.hpp>
+#include <viam/sdk/components/motor.hpp>
 #include <viam/sdk/config/resource.hpp>
 #include <viam/sdk/resource/reconfigurable.hpp>
 #include <viam/sdk/resource/resource.hpp>

src/viam/examples/modules/complex/client.cpp

@@ -16,7 +16,7 @@
 #include <viam/api/robot/v1/robot.grpc.pb.h>
 #include <viam/api/robot/v1/robot.pb.h>
 
-#include <viam/sdk/components/base/client.hpp>
+#include <viam/sdk/components/base.hpp>
 #include <viam/sdk/robot/client.hpp>
 #include <viam/sdk/robot/service.hpp>
 #include <viam/sdk/rpc/dial.hpp>

src/viam/examples/modules/complex/main.cpp

@@ -9,7 +9,7 @@
 #include <viam/api/component/generic/v1/generic.grpc.pb.h>
 #include <viam/api/robot/v1/robot.pb.h>
 
-#include <viam/sdk/components/base/base.hpp>
+#include <viam/sdk/components/base.hpp>
 #include <viam/sdk/components/component.hpp>
 #include <viam/sdk/config/resource.hpp>
 #include <viam/sdk/module/module.hpp>

src/viam/examples/modules/complex/test_complex_module.cpp

@@ -87,23 +87,23 @@ 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<GizmoClient>(mock, [](Gizmo& client) {
+    client_to_mock_pipeline<Gizmo>(mock, [](Gizmo& client) {
         BOOST_CHECK(client.do_one("foo"));
         BOOST_CHECK(!client.do_one("bar"));
     });
 }
 
 BOOST_AUTO_TEST_CASE(test_do_one_client_stream) {
     const auto mock = test_gizmo_impl::get_gizmo();
-    client_to_mock_pipeline<GizmoClient>(mock, [](Gizmo& client) {
+    client_to_mock_pipeline<Gizmo>(mock, [](Gizmo& client) {
         BOOST_CHECK(client.do_one_client_stream({"foo", "foo"}));
         BOOST_CHECK(!client.do_one_client_stream({"foo", "bar"}));
     });
 }
 
 BOOST_AUTO_TEST_CASE(test_do_one_server_stream) {
     const auto mock = test_gizmo_impl::get_gizmo();
-    client_to_mock_pipeline<GizmoClient>(mock, [](Gizmo& client) {
+    client_to_mock_pipeline<Gizmo>(mock, [](Gizmo& client) {
         std::vector<bool> ret1 = {true, false, true, false};
         std::vector<bool> 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<GizmoClient>(mock, [](Gizmo& client) {
+    client_to_mock_pipeline<Gizmo>(mock, [](Gizmo& client) {
         std::vector<bool> ret1 = {true, false};
         std::vector<bool> 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<GizmoClient>(mock, [](Gizmo& client) {
+    client_to_mock_pipeline<Gizmo>(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<SummationClient>(mock, [](Summation& client) {
+    client_to_mock_pipeline<Summation>(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);
     });

src/viam/examples/modules/simple/main.cpp

@@ -18,7 +18,7 @@
 #include <viam/sdk/resource/resource.hpp>
 #include <viam/sdk/rpc/dial.hpp>
 #include <viam/sdk/rpc/server.hpp>
-#include <viam/sdk/services/generic/generic.hpp>
+#include <viam/sdk/services/generic.hpp>
 #include <viam/sdk/services/service.hpp>
 
 using namespace viam::sdk;

src/viam/examples/modules/tflite/main.cpp

@@ -33,8 +33,7 @@
 #include <viam/sdk/resource/reconfigurable.hpp>
 #include <viam/sdk/resource/stoppable.hpp>
 #include <viam/sdk/rpc/server.hpp>
-#include <viam/sdk/services/mlmodel/mlmodel.hpp>
-#include <viam/sdk/services/mlmodel/server.hpp>
+#include <viam/sdk/services/mlmodel.hpp>
 
 namespace {
 

src/viam/examples/motor/example_motor.cpp

@@ -4,8 +4,7 @@
 #include <unistd.h>
 #include <vector>
 
-#include <viam/sdk/components/motor/client.hpp>
-#include <viam/sdk/components/motor/motor.hpp>
+#include <viam/sdk/components/motor.hpp>
 #include <viam/sdk/robot/client.hpp>
 #include <viam/sdk/robot/service.hpp>
 #include <viam/sdk/rpc/dial.hpp>

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(

src/viam/sdk/components/base/base.cpp → src/viam/sdk/components/base.cpp

@@ -1,4 +1,4 @@
-#include <viam/sdk/components/base/base.hpp>
+#include <viam/sdk/components/base.hpp>
 
 #include <google/protobuf/descriptor.h>
 

src/viam/sdk/components/base/base.hpp → 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
 ///

src/viam/sdk/components/board/board.cpp → src/viam/sdk/components/board.cpp

@@ -1,4 +1,4 @@
-#include <viam/sdk/components/board/board.hpp>
+#include <viam/sdk/components/board.hpp>
 
 #include <google/protobuf/descriptor.h>
 

src/viam/sdk/components/board/board.hpp → 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

src/viam/sdk/components/camera/camera.cpp → src/viam/sdk/components/camera.cpp

@@ -1,4 +1,4 @@
-#include <viam/sdk/components/camera/camera.hpp>
+#include <viam/sdk/components/camera.hpp>
 
 #include <google/protobuf/descriptor.h>
 #include <google/protobuf/util/time_util.h>

src/viam/sdk/components/camera/camera.hpp → 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
 ///

src/viam/sdk/components/encoder/encoder.cpp → src/viam/sdk/components/encoder.cpp

@@ -1,4 +1,4 @@
-#include <viam/sdk/components/encoder/encoder.hpp>
+#include <viam/sdk/components/encoder.hpp>
 
 #include <google/protobuf/descriptor.h>