RSDK-6627 - move resource-names-for-resource to be a method on resource

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

@@ -4,5 +4,5 @@ deps:
   - remote: buf.build
     owner: googleapis
     repository: googleapis
-    commit: 7e6f6e774e29406da95bd61cdcdbc8bc
-    digest: shake256:fe43dd2265ea0c07d76bd925eeba612667cf4c948d2ce53d6e367e1b4b3cb5fa69a51e6acb1a6a50d32f894f054a35e6c0406f6808a483f2752e10c866ffbf73
+    commit: ee48893a270147348e3edc6c1a03de0e
+    digest: shake256:a35b0576a2b55dad72747e786af05c03539c2b96be236c9de39fe10d551931ac252eb68445c0cef6bbd27fa20e8c26eee5b8a9fe9c2fde6f63a03e18f8cf980d

src/viam/sdk/common/utils.cpp

@@ -23,29 +23,6 @@ namespace sdk {
 
 using time_point = std::chrono::time_point<long long, std::chrono::nanoseconds>;
 
-// TODO: RSDK-6627 : move this function to `Resource` class.
-std::vector<Name> resource_names_for_resource(const std::shared_ptr<Resource>& resource) {
-    std::string resource_type;
-    std::string resource_subtype;
-    std::vector<Name> resource_names;
-    for (const auto& kv : Registry::registered_models()) {
-        const std::shared_ptr<const ModelRegistration> reg = kv.second;
-        if (reg->api().to_string() == resource->api().to_string()) {
-            resource_type = reg->api().resource_type();
-            resource_subtype = reg->api().resource_subtype();
-        } else {
-            continue;
-        }
-
-        if (resource_subtype.empty()) {
-            resource_subtype = resource->name();
-        }
-
-        resource_names.push_back({{kRDK, resource_type, resource_subtype}, "", resource->name()});
-    }
-    return resource_names;
-}
-
 std::vector<unsigned char> string_to_bytes(const std::string& s) {
     std::vector<unsigned char> bytes(s.begin(), s.end());
     return bytes;

src/viam/sdk/common/utils.hpp

@@ -23,8 +23,6 @@ const std::string kService = "service";
 const std::string kRDK = "rdk";
 const std::string kBuiltin = "builtin";
 
-std::vector<Name> resource_names_for_resource(const std::shared_ptr<Resource>& resource);
-
 struct response_metadata {
     std::chrono::time_point<long long, std::chrono::nanoseconds> captured_at;
 

src/viam/sdk/resource/resource.cpp

@@ -4,6 +4,7 @@
 
 #include <viam/sdk/common/proto_type.hpp>
 #include <viam/sdk/common/utils.hpp>
+#include <viam/sdk/registry/registry.hpp>
 #include <viam/sdk/resource/resource_api.hpp>
 
 namespace viam {

src/viam/sdk/robot/service.cpp

@@ -30,6 +30,30 @@ using google::protobuf::RepeatedPtrField;
 using viam::common::v1::ResourceName;
 using viam::robot::v1::Status;
 
+namespace {
+std::vector<Name> registered_models_for_resource(const std::shared_ptr<Resource>& resource) {
+    std::string resource_type;
+    std::string resource_subtype;
+    std::vector<Name> resource_names;
+    for (const auto& kv : Registry::registered_models()) {
+        const std::shared_ptr<const ModelRegistration> reg = kv.second;
+        if (reg->api() == resource->api()) {
+            resource_type = reg->api().resource_type();
+            resource_subtype = reg->api().resource_subtype();
+        } else {
+            continue;
+        }
+
+        if (resource_subtype.empty()) {
+            resource_subtype = resource->name();
+        }
+
+        resource_names.push_back({{kRDK, resource_type, resource_subtype}, "", resource->name()});
+    }
+    return resource_names;
+}
+}  // namespace
+
 RobotService_::RobotService_(const std::shared_ptr<ResourceManager>& manager, Server& server)
     : ResourceServer(manager) {
     server.register_service(this);
@@ -42,8 +66,8 @@ RobotService_::RobotService_(const std::shared_ptr<ResourceManager>& manager, Se
 std::vector<ResourceName> RobotService_::generate_metadata_() {
     std::vector<ResourceName> metadata;
     for (const auto& key_and_val : resource_manager()->resources()) {
-        for (const Name& resource : resource_names_for_resource(key_and_val.second)) {
-            metadata.push_back(resource.to_proto());
+        for (const Name& name : registered_models_for_resource(key_and_val.second)) {
+            metadata.push_back(name.to_proto());
         }
     }
     return metadata;