From 6bd64aad1b60a1750fafc41f5aab3bbef42fbc1e Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Wed, 11 Dec 2024 12:31:22 -0500
Subject: [PATCH 01/20] update response metadata and timestamp/duration

---
 src/viam/sdk/common/utils.cpp                 | 87 +++++++++----------
 src/viam/sdk/common/utils.hpp                 | 61 ++++++++++---
 .../sdk/components/private/board_client.cpp   |  2 +-
 .../sdk/components/private/board_server.cpp   |  2 +-
 .../sdk/components/private/camera_client.cpp  |  2 +-
 .../sdk/components/private/camera_server.cpp  |  2 +-
 src/viam/sdk/robot/client.cpp                 |  4 +-
 .../sdk/services/private/motion_client.cpp    |  2 +-
 .../sdk/services/private/motion_server.cpp    |  2 +-
 src/viam/sdk/tests/test_common.cpp            | 24 ++---
 10 files changed, 114 insertions(+), 74 deletions(-)

diff --git a/src/viam/sdk/common/utils.cpp b/src/viam/sdk/common/utils.cpp
index 098188ba9..2942187d1 100644
--- a/src/viam/sdk/common/utils.cpp
+++ b/src/viam/sdk/common/utils.cpp
@@ -22,52 +22,44 @@
 namespace viam {
 namespace sdk {
 
-std::vector<unsigned char> string_to_bytes(const std::string& s) {
-    std::vector<unsigned char> bytes(s.begin(), s.end());
-    return bytes;
-};
-
-std::string bytes_to_string(const std::vector<unsigned char>& b) {
-    std::string img_string(b.begin(), b.end());
-    return img_string;
-};
-
-time_pt timestamp_to_time_pt(const google::protobuf::Timestamp& timestamp) {
-    return time_pt{std::chrono::seconds{timestamp.seconds()} +
-                   std::chrono::nanoseconds{timestamp.nanos()}};
+bool operator==(const response_metadata& lhs, const response_metadata& rhs) {
+    return lhs.captured_at == rhs.captured_at;
 }
 
-google::protobuf::Timestamp time_pt_to_timestamp(time_pt tp) {
+namespace proto_convert_details {
+
+void to_proto<time_pt>::operator()(time_pt tp, google::protobuf::Timestamp* result) const {
     const std::chrono::nanoseconds since_epoch = tp.time_since_epoch();
 
     const auto sec_floor = std::chrono::duration_cast<std::chrono::seconds>(since_epoch);
     const std::chrono::nanoseconds nano_part = since_epoch - sec_floor;
 
-    google::protobuf::Timestamp result;
-
-    result.set_seconds(sec_floor.count());
-    result.set_nanos(static_cast<int32_t>(nano_part.count()));
-
-    return result;
+    result->set_seconds(sec_floor.count());
+    result->set_nanos(static_cast<int32_t>(nano_part.count()));
 }
 
-response_metadata response_metadata::from_proto(const viam::common::v1::ResponseMetadata& proto) {
-    response_metadata metadata;
-    metadata.captured_at = timestamp_to_time_pt(proto.captured_at());
-    return metadata;
+time_pt from_proto<google::protobuf::Timestamp>::operator()(
+    const google::protobuf::Timestamp* timestamp) const {
+    return time_pt{std::chrono::seconds{timestamp->seconds()} +
+                   std::chrono::nanoseconds{timestamp->nanos()}};
 }
 
-viam::common::v1::ResponseMetadata response_metadata::to_proto(const response_metadata& metadata) {
-    viam::common::v1::ResponseMetadata proto;
-    google::protobuf::Timestamp ts = time_pt_to_timestamp(metadata.captured_at);
-    *proto.mutable_captured_at() = std::move(ts);
-    return proto;
+void to_proto<std::chrono::microseconds>::operator()(std::chrono::microseconds duration,
+                                                     google::protobuf::Duration* proto) const {
+    namespace sc = std::chrono;
+
+    const sc::seconds seconds = sc::duration_cast<sc::seconds>(duration);
+    const sc::nanoseconds nanos = duration - seconds;
+
+    proto->set_nanos(static_cast<int32_t>(nanos.count()));
+    proto->set_seconds(seconds.count());
 }
 
-std::chrono::microseconds from_proto(const google::protobuf::Duration& proto) {
+std::chrono::microseconds from_proto<google::protobuf::Duration>::operator()(
+    const google::protobuf::Duration* proto) const {
     namespace sc = std::chrono;
-    const sc::seconds seconds_part{proto.seconds()};
-    const sc::nanoseconds nanos_part{proto.nanos()};
+    const sc::seconds seconds_part{proto->seconds()};
+    const sc::nanoseconds nanos_part{proto->nanos()};
 
     const sc::microseconds from_seconds = sc::duration_cast<sc::microseconds>(seconds_part);
     sc::microseconds from_nanos = sc::duration_cast<sc::microseconds>(nanos_part);
@@ -78,18 +70,29 @@ std::chrono::microseconds from_proto(const google::protobuf::Duration& proto) {
         from_nanos += sc::microseconds(1);
     }
     return from_seconds + from_nanos;
+    return std::chrono::microseconds();
 }
 
-google::protobuf::Duration to_proto(std::chrono::microseconds duration) {
-    namespace sc = std::chrono;
+void to_proto<response_metadata>::operator()(const response_metadata& self,
+                                             common::v1::ResponseMetadata* proto) const {
+    *(proto->mutable_captured_at()) = v2::to_proto(self.captured_at);
+}
 
-    const sc::seconds seconds = sc::duration_cast<sc::seconds>(duration);
-    const sc::nanoseconds nanos = duration - seconds;
+response_metadata from_proto<common::v1::ResponseMetadata>::operator()(
+    const common::v1::ResponseMetadata* proto) const {
+    return {v2::from_proto(proto->captured_at())};
+}
+
+}  // namespace proto_convert_details
+
+std::vector<unsigned char> string_to_bytes(const std::string& s) {
+    std::vector<unsigned char> bytes(s.begin(), s.end());
+    return bytes;
+}
 
-    google::protobuf::Duration proto;
-    proto.set_nanos(static_cast<int32_t>(nanos.count()));
-    proto.set_seconds(seconds.count());
-    return proto;
+std::string bytes_to_string(const std::vector<unsigned char>& b) {
+    std::string img_string(b.begin(), b.end());
+    return img_string;
 }
 
 void set_logger_severity_from_args(int argc, char** argv) {
@@ -101,10 +104,6 @@ void set_logger_severity_from_args(int argc, char** argv) {
     boost::log::core::get()->set_filter(boost::log::trivial::severity >= boost::log::trivial::info);
 }
 
-bool operator==(const response_metadata& lhs, const response_metadata& rhs) {
-    return lhs.captured_at == rhs.captured_at;
-}
-
 void ClientContext::set_client_ctx_authority_() {
     wrapped_context_.set_authority("viam-placeholder");
 }
diff --git a/src/viam/sdk/common/utils.hpp b/src/viam/sdk/common/utils.hpp
index 41fc6b91a..e69885468 100644
--- a/src/viam/sdk/common/utils.hpp
+++ b/src/viam/sdk/common/utils.hpp
@@ -9,6 +9,25 @@
 #include <viam/sdk/components/component.hpp>
 #include <viam/sdk/resource/resource_api.hpp>
 
+namespace google {
+namespace protobuf {
+
+class Duration;
+class Timestamp;
+
+}  // namespace protobuf
+}  // namespace google
+
+namespace viam {
+namespace common {
+namespace v1 {
+
+class ResponseMetadata;
+
+}
+}  // namespace common
+}  // namespace viam
+
 namespace viam {
 namespace sdk {
 
@@ -22,25 +41,47 @@ using time_pt = std::chrono::time_point<std::chrono::system_clock, std::chrono::
 
 struct response_metadata {
     time_pt captured_at;
-
-    static response_metadata from_proto(const viam::common::v1::ResponseMetadata& proto);
-    static viam::common::v1::ResponseMetadata to_proto(const response_metadata& metadata);
 };
 
 bool operator==(const response_metadata& lhs, const response_metadata& rhs);
 
-/// @brief convert a google::protobuf::Timestamp to time_pt
-time_pt timestamp_to_time_pt(const google::protobuf::Timestamp& timestamp);
+namespace proto_convert_details {
+
+template <>
+struct to_proto<time_pt> {
+    void operator()(time_pt, google::protobuf::Timestamp*) const;
+};
+
+template <>
+struct from_proto<google::protobuf::Timestamp> {
+    time_pt operator()(const google::protobuf::Timestamp*) const;
+};
+
+template <>
+struct to_proto<std::chrono::microseconds> {
+    void operator()(std::chrono::microseconds, google::protobuf::Duration*) const;
+};
 
-/// @brief convert a time_pt to a google::protobuf::Timestamp.
-google::protobuf::Timestamp time_pt_to_timestamp(time_pt);
+template <>
+struct from_proto<google::protobuf::Duration> {
+    std::chrono::microseconds operator()(const google::protobuf::Duration*) const;
+};
+
+template <>
+struct to_proto<response_metadata> {
+    void operator()(const response_metadata&, common::v1::ResponseMetadata*) const;
+};
+
+template <>
+struct from_proto<common::v1::ResponseMetadata> {
+    response_metadata operator()(const common::v1::ResponseMetadata*) const;
+};
+
+}  // namespace proto_convert_details
 
 std::vector<unsigned char> string_to_bytes(std::string const& s);
 std::string bytes_to_string(std::vector<unsigned char> const& b);
 
-std::chrono::microseconds from_proto(const google::protobuf::Duration& proto);
-google::protobuf::Duration to_proto(std::chrono::microseconds duration);
-
 // the authority on a grpc::ClientContext is sometimes set to an invalid uri on mac, causing
 // `rust-utils` to fail to process gRPC requests. This class provides a convenience wrapper around a
 // grpc ClientContext that allows us to make any necessary modifications to authority or else where
diff --git a/src/viam/sdk/components/private/board_client.cpp b/src/viam/sdk/components/private/board_client.cpp
index b6c6a952f..11af0428a 100644
--- a/src/viam/sdk/components/private/board_client.cpp
+++ b/src/viam/sdk/components/private/board_client.cpp
@@ -182,7 +182,7 @@ void BoardClient::set_power_mode(power_mode power_mode,
               [&](auto& request) {
                   request.set_power_mode(to_proto(power_mode));
                   if (duration.has_value()) {
-                      *request.mutable_duration() = ::viam::sdk::to_proto(duration.get());
+                      *request.mutable_duration() = v2::to_proto(duration.get());
                   }
               })
         .invoke();
diff --git a/src/viam/sdk/components/private/board_server.cpp b/src/viam/sdk/components/private/board_server.cpp
index b3064912a..9b7338d65 100644
--- a/src/viam/sdk/components/private/board_server.cpp
+++ b/src/viam/sdk/components/private/board_server.cpp
@@ -226,7 +226,7 @@ ::grpc::Status BoardServer::SetPowerMode(
     return make_service_helper<Board>(
         "BoardServer::SetPowerMode", this, request)([&](auto& helper, auto& board) {
         if (request->has_duration()) {
-            auto duration = ::viam::sdk::from_proto(request->duration());
+            auto duration = v2::from_proto(request->duration());
             board->set_power_mode(from_proto(request->power_mode()), helper.getExtra(), duration);
         } else {
             board->set_power_mode(from_proto(request->power_mode()), helper.getExtra());
diff --git a/src/viam/sdk/components/private/camera_client.cpp b/src/viam/sdk/components/private/camera_client.cpp
index eb2e24ced..0818bfb39 100644
--- a/src/viam/sdk/components/private/camera_client.cpp
+++ b/src/viam/sdk/components/private/camera_client.cpp
@@ -56,7 +56,7 @@ Camera::image_collection from_proto(const viam::component::camera::v1::GetImages
         images.push_back(raw_image);
     }
     image_collection.images = std::move(images);
-    image_collection.metadata = response_metadata::from_proto(proto.response_metadata());
+    image_collection.metadata = v2::from_proto(proto.response_metadata());
     return image_collection;
 }
 
diff --git a/src/viam/sdk/components/private/camera_server.cpp b/src/viam/sdk/components/private/camera_server.cpp
index eb3532814..ab4b65179 100644
--- a/src/viam/sdk/components/private/camera_server.cpp
+++ b/src/viam/sdk/components/private/camera_server.cpp
@@ -94,7 +94,7 @@ ::grpc::Status CameraServer::GetImages(
             proto_image.set_image(img_string);
             *response->mutable_images()->Add() = std::move(proto_image);
         }
-        *response->mutable_response_metadata() = response_metadata::to_proto(image_coll.metadata);
+        *response->mutable_response_metadata() = v2::to_proto(image_coll.metadata);
     });
 }
 
diff --git a/src/viam/sdk/robot/client.cpp b/src/viam/sdk/robot/client.cpp
index 290ea8210..0c784d071 100644
--- a/src/viam/sdk/robot/client.cpp
+++ b/src/viam/sdk/robot/client.cpp
@@ -89,7 +89,7 @@ RobotClient::status from_proto(const Status& proto) {
         status.status_map = v2::from_proto(proto.status());
     }
     if (proto.has_last_reconfigured()) {
-        status.last_reconfigured = timestamp_to_time_pt(proto.last_reconfigured());
+        status.last_reconfigured = v2::from_proto(proto.last_reconfigured());
     }
     return status;
 }
@@ -105,7 +105,7 @@ RobotClient::operation from_proto(const Operation& proto) {
         op.arguments = v2::from_proto(proto.arguments());
     }
     if (proto.has_started()) {
-        op.started = timestamp_to_time_pt(proto.started());
+        op.started = v2::from_proto(proto.started());
     }
     return op;
 }
diff --git a/src/viam/sdk/services/private/motion_client.cpp b/src/viam/sdk/services/private/motion_client.cpp
index 115fd5280..e0c686f7d 100644
--- a/src/viam/sdk/services/private/motion_client.cpp
+++ b/src/viam/sdk/services/private/motion_client.cpp
@@ -109,7 +109,7 @@ Motion::plan_status from_proto(const service::motion::v1::PlanStatus& proto) {
     if (proto.has_reason()) {
         mps.reason = proto.reason();
     }
-    mps.timestamp = timestamp_to_time_pt(proto.timestamp());
+    mps.timestamp = v2::from_proto(proto.timestamp());
 
     return mps;
 }
diff --git a/src/viam/sdk/services/private/motion_server.cpp b/src/viam/sdk/services/private/motion_server.cpp
index a703ba587..1dad3ef57 100644
--- a/src/viam/sdk/services/private/motion_server.cpp
+++ b/src/viam/sdk/services/private/motion_server.cpp
@@ -39,7 +39,7 @@ service::motion::v1::PlanState to_proto(const Motion::plan_state& state) {
 
 service::motion::v1::PlanStatus to_proto(const Motion::plan_status& ps) {
     service::motion::v1::PlanStatus proto;
-    *proto.mutable_timestamp() = time_pt_to_timestamp(ps.timestamp);
+    *proto.mutable_timestamp() = v2::to_proto(ps.timestamp);
     if (ps.reason) {
         *proto.mutable_reason() = *ps.reason;
     }
diff --git a/src/viam/sdk/tests/test_common.cpp b/src/viam/sdk/tests/test_common.cpp
index 6e4454b03..b804bf0af 100644
--- a/src/viam/sdk/tests/test_common.cpp
+++ b/src/viam/sdk/tests/test_common.cpp
@@ -24,9 +24,9 @@ BOOST_AUTO_TEST_CASE(test_zero) {
     Duration input;
     input.set_nanos(0);
     input.set_seconds(0);
-    auto converted = from_proto(input);
+    auto converted = v2::from_proto(input);
     BOOST_CHECK_EQUAL(converted.count(), 0);
-    auto reconverted = to_proto(converted);
+    auto reconverted = v2::to_proto(converted);
     BOOST_CHECK_EQUAL(reconverted.nanos(), 0);
     BOOST_CHECK_EQUAL(reconverted.seconds(), 0);
 }
@@ -35,9 +35,9 @@ BOOST_AUTO_TEST_CASE(test_rounding_negative) {
     Duration input;
     input.set_nanos(-100);
     input.set_seconds(0);
-    auto converted = from_proto(input);
+    auto converted = v2::from_proto(input);
     BOOST_CHECK_EQUAL(converted.count(), -1);
-    auto reconverted = to_proto(converted);
+    auto reconverted = v2::to_proto(converted);
     BOOST_CHECK_EQUAL(reconverted.nanos(), -1000);
     BOOST_CHECK_EQUAL(reconverted.seconds(), 0);
 }
@@ -46,9 +46,9 @@ BOOST_AUTO_TEST_CASE(test_rounding_positive) {
     Duration input;
     input.set_nanos(999);
     input.set_seconds(0);
-    auto converted = from_proto(input);
+    auto converted = v2::from_proto(input);
     BOOST_CHECK_EQUAL(converted.count(), 1);
-    auto reconverted = to_proto(converted);
+    auto reconverted = v2::to_proto(converted);
     BOOST_CHECK_EQUAL(reconverted.nanos(), 1000);
     BOOST_CHECK_EQUAL(reconverted.seconds(), 0);
 }
@@ -58,9 +58,9 @@ BOOST_AUTO_TEST_CASE(test_mixed_sign_rounding) {
     // Should round to -1 μs
     input.set_nanos(-500);
     input.set_seconds(1);
-    auto converted = from_proto(input);
+    auto converted = v2::from_proto(input);
     BOOST_CHECK_EQUAL(converted.count(), 1e6 - 1);
-    auto reconverted = to_proto(converted);
+    auto reconverted = v2::to_proto(converted);
     BOOST_CHECK_EQUAL(reconverted.nanos(), 1e9 - 1000);
     BOOST_CHECK_EQUAL(reconverted.seconds(), 0);
 }
@@ -70,9 +70,9 @@ BOOST_AUTO_TEST_CASE(test_medium_positive) {
     // Should round to 2 μs
     input.set_nanos(1500);
     input.set_seconds(1000);
-    auto converted = from_proto(input);
+    auto converted = v2::from_proto(input);
     BOOST_CHECK_EQUAL(converted.count(), 1000 * 1e6 + 2);
-    auto reconverted = to_proto(converted);
+    auto reconverted = v2::to_proto(converted);
     BOOST_CHECK_EQUAL(reconverted.nanos(), 2000);
     BOOST_CHECK_EQUAL(reconverted.seconds(), 1000);
 }
@@ -85,9 +85,9 @@ BOOST_AUTO_TEST_CASE(test_large_positive) {
     // compliant with the proto spec
     int64_t max_seconds = 10e3 * 365 * 24 * 60 * 60;
     input.set_seconds(max_seconds);
-    auto converted = from_proto(input);
+    auto converted = v2::from_proto(input);
     BOOST_CHECK_EQUAL(converted.count(), 1e6 * max_seconds + 2);
-    auto reconverted = to_proto(converted);
+    auto reconverted = v2::to_proto(converted);
     BOOST_CHECK_EQUAL(reconverted.nanos(), 2000);
     BOOST_CHECK_EQUAL(reconverted.seconds(), max_seconds);
 }

From 7c76e43c50f97b5e089454b20fe690257527f001 Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Wed, 11 Dec 2024 13:02:17 -0500
Subject: [PATCH 02/20] insulate grpc client context

---
 src/viam/sdk/common/utils.cpp | 30 ++++++++++++++++--------------
 src/viam/sdk/common/utils.hpp | 16 ++++++++++++----
 2 files changed, 28 insertions(+), 18 deletions(-)

diff --git a/src/viam/sdk/common/utils.cpp b/src/viam/sdk/common/utils.cpp
index 2942187d1..b4c2d8968 100644
--- a/src/viam/sdk/common/utils.cpp
+++ b/src/viam/sdk/common/utils.cpp
@@ -104,10 +104,6 @@ void set_logger_severity_from_args(int argc, char** argv) {
     boost::log::core::get()->set_filter(boost::log::trivial::severity >= boost::log::trivial::info);
 }
 
-void ClientContext::set_client_ctx_authority_() {
-    wrapped_context_.set_authority("viam-placeholder");
-}
-
 std::string random_debug_key() {
     static const char alphanum[] = "abcdefghijklmnopqrstuvwxyz";
     static std::default_random_engine generator(
@@ -153,25 +149,31 @@ ProtoStruct with_debug_entry(ProtoStruct&& map) {
     return map;
 }
 
-void ClientContext::set_debug_key(const std::string& debug_key) {
-    wrapped_context_.AddMetadata("dtname", debug_key);
-}
-
-void ClientContext::add_viam_client_version_() {
-    wrapped_context_.AddMetadata("viam_client", impl::k_version);
-}
-
 ClientContext::ClientContext() {
     set_client_ctx_authority_();
     add_viam_client_version_();
 }
 
+ClientContext::~ClientContext() = default;
+
 ClientContext::operator const grpc::ClientContext*() const {
-    return &wrapped_context_;
+    return wrapped_context_.get();
 }
 
 ClientContext::operator grpc::ClientContext*() {
-    return &wrapped_context_;
+    return wrapped_context_.get();
+}
+
+void ClientContext::set_debug_key(const std::string& debug_key) {
+    wrapped_context_->AddMetadata("dtname", debug_key);
+}
+
+void ClientContext::set_client_ctx_authority_() {
+    wrapped_context_->set_authority("viam-placeholder");
+}
+
+void ClientContext::add_viam_client_version_() {
+    wrapped_context_->AddMetadata("viam_client", impl::k_version);
 }
 
 bool from_dm_from_extra(const ProtoStruct& extra) {
diff --git a/src/viam/sdk/common/utils.hpp b/src/viam/sdk/common/utils.hpp
index e69885468..795521e48 100644
--- a/src/viam/sdk/common/utils.hpp
+++ b/src/viam/sdk/common/utils.hpp
@@ -1,9 +1,8 @@
 #pragma once
 
-#include <boost/optional/optional.hpp>
-#include <grpcpp/client_context.h>
+#include <memory>
 
-#include <viam/api/common/v1/common.pb.h>
+#include <boost/optional/optional.hpp>
 
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/components/component.hpp>
@@ -18,6 +17,12 @@ class Timestamp;
 }  // namespace protobuf
 }  // namespace google
 
+namespace grpc {
+
+class ClientContext;
+
+}
+
 namespace viam {
 namespace common {
 namespace v1 {
@@ -90,14 +95,17 @@ std::string bytes_to_string(std::vector<unsigned char> const& b);
 class ClientContext {
    public:
     ClientContext();
+    ~ClientContext();
+
     operator grpc::ClientContext*();
     operator const grpc::ClientContext*() const;
+
     void set_debug_key(const std::string& debug_key);
 
    private:
     void set_client_ctx_authority_();
     void add_viam_client_version_();
-    grpc::ClientContext wrapped_context_;
+    std::unique_ptr<grpc::ClientContext> wrapped_context_;
 };
 
 /// @brief Given a fully qualified resource name, returns remote name (or "" if no remote name

From 0729e8793935ffd76bce0f3fa6cef4c30c1495d3 Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Wed, 11 Dec 2024 13:07:24 -0500
Subject: [PATCH 03/20] clean up resource_manager includes

---
 src/viam/sdk/common/service_helper.hpp     | 2 ++
 src/viam/sdk/resource/resource_manager.hpp | 5 +----
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/viam/sdk/common/service_helper.hpp b/src/viam/sdk/common/service_helper.hpp
index 0dd193fcb..b9435bbb3 100644
--- a/src/viam/sdk/common/service_helper.hpp
+++ b/src/viam/sdk/common/service_helper.hpp
@@ -2,6 +2,8 @@
 
 #include <type_traits>
 
+#include <grpcpp/support/status.h>
+
 #include <viam/sdk/resource/resource_server_base.hpp>
 
 namespace viam {
diff --git a/src/viam/sdk/resource/resource_manager.hpp b/src/viam/sdk/resource/resource_manager.hpp
index 3bc894f49..0a8f62c32 100644
--- a/src/viam/sdk/resource/resource_manager.hpp
+++ b/src/viam/sdk/resource/resource_manager.hpp
@@ -9,9 +9,6 @@
 #include <unordered_map>
 
 #include <boost/optional/optional.hpp>
-#include <grpcpp/impl/service_type.h>
-
-#include <viam/api/component/generic/v1/generic.grpc.pb.h>
 
 #include <viam/sdk/resource/resource.hpp>
 #include <viam/sdk/resource/resource_api.hpp>
@@ -63,7 +60,7 @@ class ResourceManager {
     /// @brief Returns a reference to the existing resources within the manager.
     const std::unordered_map<std::string, std::shared_ptr<Resource>>& resources() const;
 
-    ResourceManager(){};
+    ResourceManager() {};
 
    private:
     std::mutex lock_;

From 73aa00dba2bfcd587b55819ba6e7dbe01bf34227 Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Thu, 12 Dec 2024 13:24:15 -0500
Subject: [PATCH 04/20] name to/from

---
 src/viam/sdk/config/resource.hpp              |  9 ++++
 src/viam/sdk/module/handler_map.cpp           |  4 +-
 src/viam/sdk/resource/resource_api.cpp        | 47 ++++++++++---------
 src/viam/sdk/resource/resource_api.hpp        | 42 +++++++++++++----
 src/viam/sdk/robot/client.cpp                 |  4 +-
 src/viam/sdk/robot/service.cpp                |  4 +-
 .../sdk/services/private/motion_client.cpp    | 24 +++++-----
 .../sdk/services/private/motion_server.cpp    | 24 +++++-----
 src/viam/sdk/tests/test_resource.cpp          |  6 +--
 9 files changed, 101 insertions(+), 63 deletions(-)

diff --git a/src/viam/sdk/config/resource.hpp b/src/viam/sdk/config/resource.hpp
index a89ff0f9e..b1a703a6a 100644
--- a/src/viam/sdk/config/resource.hpp
+++ b/src/viam/sdk/config/resource.hpp
@@ -24,7 +24,16 @@ class ResourceConfig {
    public:
     static ResourceConfig from_proto(const viam::app::v1::ComponentConfig& proto_cfg);
     viam::app::v1::ComponentConfig to_proto() const;
+    ResourceConfig(std::string type,
+                   std::string name,
+                   std::string namespace_,
+                   ProtoStruct attributes,
+                   std::string api,
+                   Model model,
+                   LinkConfig frame);
+
     ResourceConfig(std::string type);
+
     Name resource_name();
     const API& api() const;
     const LinkConfig& frame() const;
diff --git a/src/viam/sdk/module/handler_map.cpp b/src/viam/sdk/module/handler_map.cpp
index d6e5fe0ed..2878c4361 100644
--- a/src/viam/sdk/module/handler_map.cpp
+++ b/src/viam/sdk/module/handler_map.cpp
@@ -24,7 +24,7 @@ viam::module::v1::HandlerMap HandlerMap_::to_proto() const {
         }
         viam::robot::v1::ResourceRPCSubtype rpc_subtype;
         const Name name(h.first.api(), "", "");
-        const viam::common::v1::ResourceName resource_name = name.to_proto();
+        const viam::common::v1::ResourceName resource_name = v2::to_proto(name);
         *rpc_subtype.mutable_subtype() = resource_name;
         *rpc_subtype.mutable_proto_service() = h.first.proto_service_name();
         *hd.mutable_subtype() = rpc_subtype;
@@ -34,7 +34,7 @@ viam::module::v1::HandlerMap HandlerMap_::to_proto() const {
     return proto;
 };
 
-HandlerMap_::HandlerMap_(){};
+HandlerMap_::HandlerMap_() {}
 
 // NOLINTNEXTLINE(readability-const-return-type)
 const HandlerMap_ HandlerMap_::from_proto(const viam::module::v1::HandlerMap& proto) {
diff --git a/src/viam/sdk/resource/resource_api.cpp b/src/viam/sdk/resource/resource_api.cpp
index 3cca16d0e..06eadc248 100644
--- a/src/viam/sdk/resource/resource_api.cpp
+++ b/src/viam/sdk/resource/resource_api.cpp
@@ -86,6 +86,9 @@ bool API::is_component_type() {
     return (this->resource_type() == "component");
 }
 
+Name::Name(API api, std::string remote, std::string name)
+    : api_(std::move(api)), remote_name_(std::move(remote)), name_(std::move(name)) {}
+
 const API& Name::api() const {
     return api_;
 }
@@ -112,26 +115,6 @@ std::string Name::short_name() const {
     return name_;
 }
 
-viam::common::v1::ResourceName Name::to_proto() const {
-    viam::common::v1::ResourceName rn;
-    *rn.mutable_namespace_() = this->api().type_namespace();
-    if (this->remote_name().empty()) {
-        *rn.mutable_name() = this->name();
-    } else {
-        *rn.mutable_name() = this->remote_name() + ":" + this->name();
-    }
-    *rn.mutable_type() = this->api().resource_type();
-    *rn.mutable_subtype() = this->api().resource_subtype();
-    return rn;
-}
-
-Name Name::from_proto(const viam::common::v1::ResourceName& proto) {
-    auto name_parts = long_name_to_remote_and_short(proto.name());
-
-    return Name(
-        {proto.namespace_(), proto.type(), proto.subtype()}, name_parts.first, name_parts.second);
-};
-
 Name Name::from_string(std::string name) {
     if (!std::regex_match(name, NAME_REGEX)) {
         throw Exception("Received invalid Name string: " + name);
@@ -153,8 +136,28 @@ Name Name::from_string(std::string name) {
     return Name(api, remote, resource_name);
 }
 
-Name::Name(API api, std::string remote, std::string name)
-    : api_(std::move(api)), remote_name_(std::move(remote)), name_(std::move(name)) {}
+namespace proto_convert_details {
+
+void to_proto<Name>::operator()(const Name& self, common::v1::ResourceName* proto) const {
+    *proto->mutable_namespace_() = self.api().type_namespace();
+    if (self.remote_name().empty()) {
+        *proto->mutable_name() = self.name();
+    } else {
+        *proto->mutable_name() = self.remote_name() + ":" + self.name();
+    }
+    *proto->mutable_type() = self.api().resource_type();
+    *proto->mutable_subtype() = self.api().resource_subtype();
+}
+
+Name from_proto<common::v1::ResourceName>::operator()(const common::v1::ResourceName* proto) const {
+    auto name_parts = long_name_to_remote_and_short(proto->name());
+
+    return Name({proto->namespace_(), proto->type(), proto->subtype()},
+                name_parts.first,
+                name_parts.second);
+}
+
+}  // namespace proto_convert_details
 
 bool operator==(const API& lhs, const API& rhs) {
     return lhs.to_string() == rhs.to_string();
diff --git a/src/viam/sdk/resource/resource_api.hpp b/src/viam/sdk/resource/resource_api.hpp
index 5677a8fd4..868d14a37 100644
--- a/src/viam/sdk/resource/resource_api.hpp
+++ b/src/viam/sdk/resource/resource_api.hpp
@@ -4,7 +4,17 @@
 
 #include <google/protobuf/descriptor.h>
 
-#include <viam/api/common/v1/common.pb.h>
+#include <viam/sdk/common/proto_convert.hpp>
+
+namespace viam {
+namespace common {
+namespace v1 {
+
+class ResourceName;
+
+}
+}  // namespace common
+}  // namespace viam
 
 namespace viam {
 namespace sdk {
@@ -14,7 +24,7 @@ namespace sdk {
 class APIType {
    public:
     APIType(std::string namespace_, std::string resource_type);
-    APIType(){};
+    APIType() {};
     virtual std::string to_string() const;
 
     const std::string& type_namespace() const;
@@ -33,7 +43,7 @@ class APIType {
 class API : public APIType {
    public:
     virtual std::string to_string() const override;
-    API(){};
+    API() {};
     API(std::string namespace_, std::string resource_type, std::string resource_subtype);
     API(APIType type, std::string resource_subtype);
     static API from_string(std::string api);
@@ -62,16 +72,18 @@ class API : public APIType {
 /// @brief A name for specific instances of resources.
 class Name {
    public:
-    std::string short_name() const;
-    std::string to_string() const;
-    viam::common::v1::ResourceName to_proto() const;
-    static Name from_proto(const viam::common::v1::ResourceName& proto);
     static Name from_string(std::string name);
+
     Name(API api, std::string remote_name, std::string name);
-    Name(){};
+    Name() {};
+
+    std::string short_name() const;
+    std::string to_string() const;
+
     const API& api() const;
     const std::string& name() const;
     const std::string& remote_name() const;
+
     friend bool operator==(const Name& lhs, const Name& rhs);
     friend std::ostream& operator<<(std::ostream& os, const Name& v);
 
@@ -81,6 +93,20 @@ class Name {
     std::string name_;
 };
 
+namespace proto_convert_details {
+
+template <>
+struct to_proto<Name> {
+    void operator()(const Name&, common::v1::ResourceName*) const;
+};
+
+template <>
+struct from_proto<common::v1::ResourceName> {
+    Name operator()(const common::v1::ResourceName*) const;
+};
+
+}  // namespace proto_convert_details
+
 class RPCSubtype {
    public:
     bool operator<(const RPCSubtype& rhs) const {
diff --git a/src/viam/sdk/robot/client.cpp b/src/viam/sdk/robot/client.cpp
index faec60ab0..3fe5d4d1f 100644
--- a/src/viam/sdk/robot/client.cpp
+++ b/src/viam/sdk/robot/client.cpp
@@ -203,7 +203,7 @@ void RobotClient::refresh() {
     std::unordered_map<Name, std::shared_ptr<Resource>> new_resources;
     std::vector<Name> current_resources;
     for (const auto& name : resp.resources()) {
-        current_resources.push_back(Name::from_proto(name));
+        current_resources.push_back(v2::from_proto(name));
         if (name.subtype() == "remote") {
             continue;
         }
@@ -404,7 +404,7 @@ void RobotClient::stop_all(const std::unordered_map<Name, ProtoStruct>& extra) {
         const ProtoStruct& params = xtra.second;
         const google::protobuf::Struct s = v2::to_proto(params);
         viam::robot::v1::StopExtraParameters stop;
-        *stop.mutable_name() = name.to_proto();
+        *stop.mutable_name() = v2::to_proto(name);
         *stop.mutable_params() = s;
         *ep->Add() = stop;
     }
diff --git a/src/viam/sdk/robot/service.cpp b/src/viam/sdk/robot/service.cpp
index 2ebdf2a9a..a841e9e5b 100644
--- a/src/viam/sdk/robot/service.cpp
+++ b/src/viam/sdk/robot/service.cpp
@@ -66,7 +66,7 @@ std::vector<ResourceName> RobotService_::generate_metadata_() {
     std::vector<ResourceName> metadata;
     for (const auto& key_and_val : resource_manager()->resources()) {
         for (const Name& name : registered_models_for_resource(key_and_val.second)) {
-            metadata.push_back(name.to_proto());
+            metadata.push_back(v2::to_proto(name));
         }
     }
     return metadata;
@@ -104,7 +104,7 @@ ::grpc::Status RobotService_::StopAll(::grpc::ServerContext*,
 
     for (const auto& r : resource_manager()->resources()) {
         const std::shared_ptr<Resource> resource = r.second;
-        const ResourceName rn = resource->get_resource_name().to_proto();
+        const ResourceName rn = v2::to_proto(resource->get_resource_name());
         const std::string rn_ = rn.SerializeAsString();
         if (extra.find(rn_) != extra.end()) {
             try {
diff --git a/src/viam/sdk/services/private/motion_client.cpp b/src/viam/sdk/services/private/motion_client.cpp
index e0c686f7d..9252e9c60 100644
--- a/src/viam/sdk/services/private/motion_client.cpp
+++ b/src/viam/sdk/services/private/motion_client.cpp
@@ -19,8 +19,8 @@ namespace impl {
 
 service::motion::v1::ObstacleDetector to_proto(const obstacle_detector& od) {
     service::motion::v1::ObstacleDetector proto;
-    *proto.mutable_vision_service() = od.vision_service.to_proto();
-    *proto.mutable_camera() = od.camera.to_proto();
+    *proto.mutable_vision_service() = v2::to_proto(od.vision_service);
+    *proto.mutable_camera() = v2::to_proto(od.camera);
     return proto;
 }
 
@@ -127,7 +127,7 @@ std::vector<Motion::plan_status> from_proto(
 Motion::plan_status_with_id from_proto(const service::motion::v1::PlanStatusWithID& proto) {
     Motion::plan_status_with_id pswi;
     pswi.execution_id = proto.execution_id();
-    pswi.component_name = Name::from_proto(proto.component_name());
+    pswi.component_name = v2::from_proto(proto.component_name());
     pswi.plan_id = proto.plan_id();
     pswi.status = from_proto(proto.status());
 
@@ -153,7 +153,7 @@ Motion::plan plan_from_proto(const service::motion::v1::Plan& proto) {
     Motion::plan plan;
     plan.id = proto.id();
     plan.execution_id = proto.execution_id();
-    plan.component_name = Name::from_proto(proto.component_name());
+    plan.component_name = v2::from_proto(proto.component_name());
     plan.steps = steps_from_proto(proto.steps());
     return plan;
 }
@@ -189,7 +189,7 @@ bool MotionClient::move(const pose_in_frame& destination,
     return make_client_helper(this, *stub_, &StubType::Move)
         .with(extra,
               [&](auto& request) {
-                  *request.mutable_component_name() = component_name.to_proto();
+                  *request.mutable_component_name() = v2::to_proto(component_name);
                   *request.mutable_destination() = v2::to_proto(destination);
                   if (constraints) {
                       *request.mutable_constraints() = to_proto(*constraints);
@@ -212,8 +212,8 @@ std::string MotionClient::move_on_map(
         .with(extra,
               [&](auto& request) {
                   *request.mutable_destination() = v2::to_proto(destination);
-                  *request.mutable_component_name() = component_name.to_proto();
-                  *request.mutable_slam_service_name() = slam_name.to_proto();
+                  *request.mutable_component_name() = v2::to_proto(component_name);
+                  *request.mutable_slam_service_name() = v2::to_proto(slam_name);
 
                   for (const auto& obstacle : obstacles) {
                       *request.mutable_obstacles()->Add() = v2::to_proto(obstacle);
@@ -239,8 +239,8 @@ std::string MotionClient::move_on_globe(
         .with(extra,
               [&](auto& request) {
                   *request.mutable_destination() = v2::to_proto(destination);
-                  *request.mutable_component_name() = component_name.to_proto();
-                  *request.mutable_movement_sensor_name() = movement_sensor_name.to_proto();
+                  *request.mutable_component_name() = v2::to_proto(component_name);
+                  *request.mutable_movement_sensor_name() = v2::to_proto(movement_sensor_name);
 
                   if (heading && !isnan(*heading)) {
                       request.set_heading(*heading);
@@ -265,7 +265,7 @@ pose_in_frame MotionClient::get_pose(
     return make_client_helper(this, *stub_, &StubType::GetPose)
         .with(extra,
               [&](auto& request) {
-                  *request.mutable_component_name() = component_name.to_proto();
+                  *request.mutable_component_name() = v2::to_proto(component_name);
                   *request.mutable_destination_frame() = destination_frame;
                   *request.mutable_supplemental_transforms() =
                       impl::to_repeated_field(supplemental_transforms);
@@ -275,7 +275,7 @@ pose_in_frame MotionClient::get_pose(
 
 void MotionClient::stop_plan(const Name& name, const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::StopPlan)
-        .with(extra, [&](auto& request) { *request.mutable_component_name() = name.to_proto(); })
+        .with(extra, [&](auto& request) { *request.mutable_component_name() = v2::to_proto(name); })
         .invoke();
 }
 
@@ -287,7 +287,7 @@ std::pair<Motion::plan_with_status, std::vector<Motion::plan_with_status>> Motio
     return make_client_helper(this, *stub_, &StubType::GetPlan)
         .with(extra,
               [&](auto& request) {
-                  *request.mutable_component_name() = component_name.to_proto();
+                  *request.mutable_component_name() = v2::to_proto(component_name);
                   request.set_last_plan_only(last_plan_only);
                   if (execution_id) {
                       *request.mutable_execution_id() = *execution_id;
diff --git a/src/viam/sdk/services/private/motion_server.cpp b/src/viam/sdk/services/private/motion_server.cpp
index 1dad3ef57..eee9360cf 100644
--- a/src/viam/sdk/services/private/motion_server.cpp
+++ b/src/viam/sdk/services/private/motion_server.cpp
@@ -62,7 +62,7 @@ service::motion::v1::PlanStep to_proto(const Motion::steps::step& step) {
 service::motion::v1::Plan to_proto(const Motion::plan& plan) {
     service::motion::v1::Plan proto;
     *proto.mutable_id() = plan.id;
-    *proto.mutable_component_name() = plan.component_name.to_proto();
+    *proto.mutable_component_name() = v2::to_proto(plan.component_name);
     *proto.mutable_execution_id() = plan.execution_id;
     for (const auto& step : plan.steps.steps) {
         *proto.mutable_steps()->Add() = to_proto(step);
@@ -86,7 +86,7 @@ service::motion::v1::PlanStatusWithID to_proto(const Motion::plan_status_with_id
     service::motion::v1::PlanStatusWithID proto;
 
     *proto.mutable_execution_id() = pswi.execution_id;
-    *proto.mutable_component_name() = pswi.component_name.to_proto();
+    *proto.mutable_component_name() = v2::to_proto(pswi.component_name);
     *proto.mutable_plan_id() = pswi.plan_id;
     *proto.mutable_status() = to_proto(pswi.status);
 
@@ -95,8 +95,8 @@ service::motion::v1::PlanStatusWithID to_proto(const Motion::plan_status_with_id
 
 obstacle_detector from_proto(const service::motion::v1::ObstacleDetector& proto) {
     obstacle_detector oc;
-    oc.vision_service = Name::from_proto(proto.vision_service());
-    oc.camera = Name::from_proto(proto.camera());
+    oc.vision_service = v2::from_proto(proto.vision_service());
+    oc.camera = v2::from_proto(proto.camera());
     return oc;
 }
 
@@ -187,7 +187,7 @@ ::grpc::Status MotionServer::Move(::grpc::ServerContext*,
         }
 
         const bool success = motion->move(v2::from_proto(request->destination()),
-                                          Name::from_proto(request->component_name()),
+                                          v2::from_proto(request->component_name()),
                                           std::move(ws),
                                           std::move(constraints),
                                           helper.getExtra());
@@ -202,8 +202,8 @@ ::grpc::Status MotionServer::MoveOnMap(
     return make_service_helper<Motion>(
         "MotionServer::MoveOnMap", this, request)([&](auto& helper, auto& motion) {
         const auto destination = v2::from_proto(request->destination());
-        const auto component_name = Name::from_proto(request->component_name());
-        const auto slam_name = Name::from_proto(request->slam_service_name());
+        const auto component_name = v2::from_proto(request->component_name());
+        const auto slam_name = v2::from_proto(request->slam_service_name());
 
         std::shared_ptr<motion_configuration> mc;
         if (request->has_motion_configuration()) {
@@ -230,8 +230,8 @@ ::grpc::Status MotionServer::MoveOnGlobe(
     return make_service_helper<Motion>(
         "MotionServer::MoveOnGlobe", this, request)([&](auto& helper, auto& motion) {
         const auto destination = v2::from_proto(request->destination());
-        const auto component_name = Name::from_proto(request->component_name());
-        const auto movement_sensor_name = Name::from_proto(request->movement_sensor_name());
+        const auto component_name = v2::from_proto(request->component_name());
+        const auto movement_sensor_name = v2::from_proto(request->movement_sensor_name());
         const std::vector<geo_geometry> obstacles = impl::from_repeated_field(request->obstacles());
         const std::vector<geo_geometry> bounding_regions =
             impl::from_repeated_field(request->bounding_regions());
@@ -266,7 +266,7 @@ ::grpc::Status MotionServer::GetPose(
     ::viam::service::motion::v1::GetPoseResponse* response) noexcept {
     return make_service_helper<Motion>(
         "MotionServer::GetPose", this, request)([&](auto& helper, auto& motion) {
-        const auto& component_name = Name::from_proto(request->component_name());
+        const auto& component_name = v2::from_proto(request->component_name());
         const std::string& destination_frame = request->destination_frame();
         std::vector<WorldState::transform> supplemental_transforms;
         for (const auto& proto_transform : request->supplemental_transforms()) {
@@ -284,7 +284,7 @@ ::grpc::Status MotionServer::GetPlan(
     ::viam::service::motion::v1::GetPlanResponse* response) noexcept {
     return make_service_helper<Motion>(
         "MotionServer::GetPlan", this, request)([&](auto& helper, auto& motion) {
-        const auto& component_name = Name::from_proto(request->component_name());
+        const auto& component_name = v2::from_proto(request->component_name());
         Motion::plan_with_status plan;
         std::vector<Motion::plan_with_status> replan_history;
         const bool last_plan_only(request->last_plan_only());
@@ -337,7 +337,7 @@ ::grpc::Status MotionServer::StopPlan(::grpc::ServerContext*,
                                       ::viam::service::motion::v1::StopPlanResponse*) noexcept {
     return make_service_helper<Motion>(
         "MotionServer::StopPlan", this, request)([&](auto& helper, auto& motion) {
-        const auto& component_name = Name::from_proto(request->component_name());
+        const auto& component_name = v2::from_proto(request->component_name());
 
         motion->stop_plan(component_name, helper.getExtra());
     });
diff --git a/src/viam/sdk/tests/test_resource.cpp b/src/viam/sdk/tests/test_resource.cpp
index db950355a..5bc5fe383 100644
--- a/src/viam/sdk/tests/test_resource.cpp
+++ b/src/viam/sdk/tests/test_resource.cpp
@@ -52,7 +52,7 @@ BOOST_AUTO_TEST_CASE(test_name) {
     BOOST_CHECK_EQUAL(name1.name(), "name");
     BOOST_CHECK_EQUAL(name1.short_name(), "remote:name");
     BOOST_CHECK_EQUAL(name1.to_string(), "ns:service:st/remote:name");
-    BOOST_CHECK_EQUAL(Name::from_proto(name1.to_proto()), name1);
+    BOOST_CHECK_EQUAL(v2::from_proto(v2::to_proto(name1)), name1);
 
     Name name2(API::from_string("ns:service:st"), "remote1:remote2", "name");
     BOOST_CHECK_EQUAL(name2.api().to_string(), "ns:service:st");
@@ -60,7 +60,7 @@ BOOST_AUTO_TEST_CASE(test_name) {
     BOOST_CHECK_EQUAL(name2.name(), "name");
     BOOST_CHECK_EQUAL(name2.short_name(), "remote1:remote2:name");
     BOOST_CHECK_EQUAL(name2.to_string(), "ns:service:st/remote1:remote2:name");
-    BOOST_CHECK_EQUAL(Name::from_proto(name2.to_proto()), name2);
+    BOOST_CHECK_EQUAL(v2::from_proto(v2::to_proto(name2)), name2);
 
     Name name3 = Name::from_string("ns:component:st/name");
     BOOST_CHECK_EQUAL(name3.api().to_string(), "ns:component:st");
@@ -68,7 +68,7 @@ BOOST_AUTO_TEST_CASE(test_name) {
     BOOST_CHECK_EQUAL(name3.name(), "name");
     BOOST_CHECK_EQUAL(name3.short_name(), "name");
     BOOST_CHECK_EQUAL(name3.to_string(), "ns:component:st/name");
-    BOOST_CHECK_EQUAL(Name::from_proto(name3.to_proto()), name3);
+    BOOST_CHECK_EQUAL(v2::from_proto(v2::to_proto(name3)), name3);
 
     BOOST_CHECK_THROW(Name::from_string("ns:service:#st/remote:name"), Exception);
 }

From 75d6d3a7bbbefb2a74ca7513bd42a4b47984ad23 Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Fri, 13 Dec 2024 10:53:49 -0500
Subject: [PATCH 05/20] class to struct

---
 src/viam/sdk/config/resource.hpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/viam/sdk/config/resource.hpp b/src/viam/sdk/config/resource.hpp
index b1a703a6a..95aadeae5 100644
--- a/src/viam/sdk/config/resource.hpp
+++ b/src/viam/sdk/config/resource.hpp
@@ -13,8 +13,7 @@
 namespace viam {
 namespace sdk {
 
-class ResourceLevelServiceConfig {
-   public:
+struct ResourceLevelServiceConfig {
     std::string type;
     ProtoStruct attributes;
     ProtoValue converted_attributes;

From 1d26302d220ace64c57a7e2e837cd9e9ecdeeb80 Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Fri, 13 Dec 2024 14:12:58 -0500
Subject: [PATCH 06/20] insulate resource and utils

---
 src/viam/sdk/common/client_helper.hpp | 20 ++++--
 src/viam/sdk/common/utils.cpp         |  9 ++-
 src/viam/sdk/common/utils.hpp         |  2 +
 src/viam/sdk/config/resource.cpp      | 98 ++++++++++++++++-----------
 src/viam/sdk/config/resource.hpp      | 38 +++++++++--
 src/viam/sdk/module/service.cpp       |  6 +-
 src/viam/sdk/tests/test_common.cpp    |  2 +
 src/viam/sdk/tests/test_resource.cpp  |  8 ++-
 8 files changed, 126 insertions(+), 57 deletions(-)

diff --git a/src/viam/sdk/common/client_helper.hpp b/src/viam/sdk/common/client_helper.hpp
index 95d1f8f09..ca77c9fa9 100644
--- a/src/viam/sdk/common/client_helper.hpp
+++ b/src/viam/sdk/common/client_helper.hpp
@@ -1,18 +1,27 @@
 #pragma once
 
-#include <grpcpp/client_context.h>
-#include <grpcpp/support/sync_stream.h>
-
 #include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/private/utils.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/common/utils.hpp>
 
+namespace grpc {
+
+class Status;
+
+class ClientContext;
+
+template <typename T>
+class ClientReaderInterface;
+
+}  // namespace grpc
+
 namespace viam {
 namespace sdk {
 
 namespace client_helper_details {
 [[noreturn]] void errorHandlerReturnedUnexpectedly(const ::grpc::Status&) noexcept;
+
 }  // namespace client_helper_details
 
 // Method type for a gRPC call that returns a response message type.
@@ -59,7 +68,8 @@ class ClientHelper {
             ProtoValue value = key->second;
             debug_key_ = *value.get<std::string>();
         }
-        *request_.mutable_extra() = v2::to_proto(extra);
+
+        proto_convert_details::to_proto<ProtoStruct>{}(extra, request_.mutable_extra());
         return with(std::forward<RequestSetupCallable>(rsc));
     }
 
@@ -102,7 +112,7 @@ class ClientHelper {
         while (reader->Read(&response_)) {
             if (!rhc(response_)) {
                 cancelled_by_handler = true;
-                static_cast<::grpc::ClientContext*>(ctx)->TryCancel();
+                ctx.try_cancel();
                 break;
             }
         }
diff --git a/src/viam/sdk/common/utils.cpp b/src/viam/sdk/common/utils.cpp
index b4c2d8968..bcc2f432e 100644
--- a/src/viam/sdk/common/utils.cpp
+++ b/src/viam/sdk/common/utils.cpp
@@ -4,13 +4,16 @@
 #include <unordered_map>
 #include <vector>
 
+#include <google/protobuf/duration.pb.h>
+#include <google/protobuf/timestamp.pb.h>
+#include <grpcpp/client_context.h>
+
 #include <boost/algorithm/string.hpp>
 #include <boost/blank.hpp>
 #include <boost/log/core.hpp>
 #include <boost/log/expressions.hpp>
 #include <boost/log/trivial.hpp>
 #include <boost/optional/optional.hpp>
-#include <grpcpp/client_context.h>
 
 #include <viam/api/common/v1/common.pb.h>
 
@@ -164,6 +167,10 @@ ClientContext::operator grpc::ClientContext*() {
     return wrapped_context_.get();
 }
 
+void ClientContext::try_cancel() {
+    wrapped_context_->TryCancel();
+}
+
 void ClientContext::set_debug_key(const std::string& debug_key) {
     wrapped_context_->AddMetadata("dtname", debug_key);
 }
diff --git a/src/viam/sdk/common/utils.hpp b/src/viam/sdk/common/utils.hpp
index 795521e48..e2dcf9c64 100644
--- a/src/viam/sdk/common/utils.hpp
+++ b/src/viam/sdk/common/utils.hpp
@@ -97,6 +97,8 @@ class ClientContext {
     ClientContext();
     ~ClientContext();
 
+    void try_cancel();
+
     operator grpc::ClientContext*();
     operator const grpc::ClientContext*() const;
 
diff --git a/src/viam/sdk/config/resource.cpp b/src/viam/sdk/config/resource.cpp
index ed772a328..3a2b98938 100644
--- a/src/viam/sdk/config/resource.cpp
+++ b/src/viam/sdk/config/resource.cpp
@@ -10,6 +10,7 @@
 #include <viam/api/robot/v1/robot.pb.h>
 
 #include <viam/sdk/common/exception.hpp>
+#include <viam/sdk/common/private/repeated_ptr_convert.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/referenceframe/frame.hpp>
@@ -18,6 +19,26 @@
 namespace viam {
 namespace sdk {
 
+ResourceConfig::ResourceConfig(std::string type,
+                               std::string name,
+                               std::string namespace_,
+                               ProtoStruct attributes,
+                               std::string api,
+                               Model model,
+                               LinkConfig frame)
+    : api_({kRDK, type, ""}),
+      frame_(std::move(frame)),
+      model_(std::move(model)),
+      name_(std::move(name)),
+      namespace__(std::move(namespace_)),
+      type_(std::move(type)),
+      attributes_(std::move(attributes)) {
+    if (api.find(':') != std::string::npos) {
+        api_ = API::from_string(std::move(api));
+    }
+    fix_api();
+}
+
 ResourceConfig::ResourceConfig(std::string type) : api_({kRDK, type, ""}), type_(std::move(type)) {}
 
 Name ResourceConfig::resource_name() {
@@ -59,6 +80,14 @@ const std::string& ResourceConfig::type() const {
     return type_;
 }
 
+const std::vector<std::string>& viam::sdk::ResourceConfig::depends_on() const {
+    return depends_on_;
+}
+
+const std::vector<ResourceLevelServiceConfig>& viam::sdk::ResourceConfig::service_config() const {
+    return service_config_;
+}
+
 const ProtoStruct& ResourceConfig::attributes() const {
     return attributes_;
 }
@@ -91,54 +120,41 @@ void ResourceConfig::fix_api() {
     }
 }
 
-ResourceConfig ResourceConfig::from_proto(const viam::app::v1::ComponentConfig& proto_cfg) {
-    ResourceConfig resource(proto_cfg.type());
-    resource.name_ = proto_cfg.name();
-    resource.namespace__ = proto_cfg.namespace_();
-    resource.type_ = proto_cfg.type();
-    resource.attributes_ = v2::from_proto(proto_cfg.attributes());
-    const std::string& api = proto_cfg.api();
-    if (api.find(':') != std::string::npos) {
-        resource.api_ = API::from_string(api);
-    }
-    resource.model_ = Model::from_str(proto_cfg.model());
+namespace proto_convert_details {
 
-    resource.fix_api();
-
-    if (proto_cfg.has_frame()) {
-        resource.frame_ = v2::from_proto(proto_cfg.frame());
-    }
+void to_proto<ResourceLevelServiceConfig>::operator()(
+    const ResourceLevelServiceConfig& self, app::v1::ResourceLevelServiceConfig* proto) const {
+    *proto->mutable_type() = self.type;
+    *proto->mutable_attributes() = v2::to_proto(self.attributes);
+}
 
-    return resource;
-};
+void to_proto<ResourceConfig>::operator()(const ResourceConfig& self,
+                                          app::v1::ComponentConfig* proto) const {
+    *proto->mutable_service_configs() = impl::to_repeated_field(self.service_config());
 
-viam::app::v1::ComponentConfig ResourceConfig::to_proto() const {
-    viam::app::v1::ComponentConfig proto_cfg;
-    const google::protobuf::Struct s = v2::to_proto(attributes_);
-    const google::protobuf::RepeatedPtrField<viam::app::v1::ResourceLevelServiceConfig>
-        service_configs;
+    *proto->mutable_name() = self.name();
+    *proto->mutable_namespace_() = self.namespace_();
+    *proto->mutable_type() = self.type();
+    *proto->mutable_api() = self.api().to_string();
+    *proto->mutable_model() = self.model().to_string();
+    *proto->mutable_attributes() = v2::to_proto(self.attributes());
 
-    for (const auto& svc_cfg : service_config_) {
-        viam::app::v1::ResourceLevelServiceConfig cfg;
-        *cfg.mutable_type() = svc_cfg.type;
-        *cfg.mutable_attributes() = v2::to_proto(svc_cfg.attributes);
-        *proto_cfg.mutable_service_configs()->Add() = cfg;
-    }
+    proto->mutable_depends_on()->Assign(self.depends_on().begin(), self.depends_on().end());
 
-    *proto_cfg.mutable_name() = name_;
-    *proto_cfg.mutable_namespace_() = namespace__;
-    *proto_cfg.mutable_type() = type_;
-    *proto_cfg.mutable_api() = api_.to_string();
-    const std::string mm = model_.to_string();
-    *proto_cfg.mutable_model() = mm;
-    *proto_cfg.mutable_attributes() = v2::to_proto(attributes_);
-    for (const auto& dep : depends_on_) {
-        *proto_cfg.mutable_depends_on()->Add() = dep;
-    }
-    *proto_cfg.mutable_frame() = v2::to_proto(frame_);
+    *proto->mutable_frame() = v2::to_proto(self.frame());
+}
 
-    return proto_cfg;
+ResourceConfig from_proto<app::v1::ComponentConfig>::operator()(
+    const app::v1::ComponentConfig* proto) const {
+    return ResourceConfig(proto->type(),
+                          proto->name(),
+                          proto->namespace_(),
+                          v2::from_proto(proto->attributes()),
+                          proto->api(),
+                          Model::from_str(proto->model()),
+                          proto->has_frame() ? v2::from_proto(proto->frame()) : LinkConfig{});
 }
 
+}  // namespace proto_convert_details
 }  // namespace sdk
 }  // namespace viam
diff --git a/src/viam/sdk/config/resource.hpp b/src/viam/sdk/config/resource.hpp
index 95aadeae5..4fcaf1725 100644
--- a/src/viam/sdk/config/resource.hpp
+++ b/src/viam/sdk/config/resource.hpp
@@ -3,13 +3,22 @@
 #include <string>
 #include <unordered_map>
 
-#include <viam/api/app/v1/robot.pb.h>
-#include <viam/api/robot/v1/robot.pb.h>
-
+#include <viam/sdk/common/proto_convert.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/referenceframe/frame.hpp>
 #include <viam/sdk/resource/resource_api.hpp>
 
+namespace viam {
+namespace app {
+namespace v1 {
+
+class ComponentConfig;
+class ResourceLevelServiceConfig;
+
+}  // namespace v1
+}  // namespace app
+}  // namespace viam
+
 namespace viam {
 namespace sdk {
 
@@ -21,8 +30,6 @@ struct ResourceLevelServiceConfig {
 
 class ResourceConfig {
    public:
-    static ResourceConfig from_proto(const viam::app::v1::ComponentConfig& proto_cfg);
-    viam::app::v1::ComponentConfig to_proto() const;
     ResourceConfig(std::string type,
                    std::string name,
                    std::string namespace_,
@@ -40,6 +47,8 @@ class ResourceConfig {
     const std::string& name() const;
     const std::string& namespace_() const;
     const std::string& type() const;
+    const std::vector<std::string>& depends_on() const;
+    const std::vector<ResourceLevelServiceConfig>& service_config() const;
     const ProtoStruct& attributes() const;
 
    private:
@@ -57,5 +66,24 @@ class ResourceConfig {
     void fix_api();
 };
 
+namespace proto_convert_details {
+
+template <>
+struct to_proto<ResourceLevelServiceConfig> {
+    void operator()(const ResourceLevelServiceConfig&, app::v1::ResourceLevelServiceConfig*) const;
+};
+
+template <>
+struct to_proto<ResourceConfig> {
+    void operator()(const ResourceConfig&, app::v1::ComponentConfig*) const;
+};
+
+template <>
+struct from_proto<app::v1::ComponentConfig> {
+    ResourceConfig operator()(const app::v1::ComponentConfig*) const;
+};
+
+}  // namespace proto_convert_details
+
 }  // namespace sdk
 }  // namespace viam
diff --git a/src/viam/sdk/module/service.cpp b/src/viam/sdk/module/service.cpp
index b1bad21ac..430fbf2b7 100644
--- a/src/viam/sdk/module/service.cpp
+++ b/src/viam/sdk/module/service.cpp
@@ -73,7 +73,7 @@ ::grpc::Status ModuleService::AddResource(::grpc::ServerContext*,
                                           const ::viam::module::v1::AddResourceRequest* request,
                                           ::viam::module::v1::AddResourceResponse*) {
     const viam::app::v1::ComponentConfig& proto = request->config();
-    const ResourceConfig cfg = ResourceConfig::from_proto(proto);
+    const ResourceConfig cfg = v2::from_proto(proto);
     const std::lock_guard<std::mutex> lock(lock_);
 
     std::shared_ptr<Resource> res;
@@ -101,7 +101,7 @@ ::grpc::Status ModuleService::ReconfigureResource(
     const ::viam::module::v1::ReconfigureResourceRequest* request,
     ::viam::module::v1::ReconfigureResourceResponse*) {
     const viam::app::v1::ComponentConfig& proto = request->config();
-    ResourceConfig cfg = ResourceConfig::from_proto(proto);
+    ResourceConfig cfg = v2::from_proto(proto);
 
     const Dependencies deps = get_dependencies_(request->dependencies(), cfg.name());
 
@@ -150,7 +150,7 @@ ::grpc::Status ModuleService::ValidateConfig(
     const ::viam::module::v1::ValidateConfigRequest* request,
     ::viam::module::v1::ValidateConfigResponse* response) {
     const viam::app::v1::ComponentConfig& proto = request->config();
-    ResourceConfig cfg = ResourceConfig::from_proto(proto);
+    ResourceConfig cfg = v2::from_proto(proto);
 
     const std::shared_ptr<const ModelRegistration> reg =
         Registry::lookup_model(cfg.api(), cfg.model());
diff --git a/src/viam/sdk/tests/test_common.cpp b/src/viam/sdk/tests/test_common.cpp
index b804bf0af..ca4b87398 100644
--- a/src/viam/sdk/tests/test_common.cpp
+++ b/src/viam/sdk/tests/test_common.cpp
@@ -2,6 +2,8 @@
 
 #include <boost/test/included/unit_test.hpp>
 
+#include <google/protobuf/duration.pb.h>
+
 #include <viam/api/common/v1/common.pb.h>
 
 #include <viam/sdk/common/utils.hpp>
diff --git a/src/viam/sdk/tests/test_resource.cpp b/src/viam/sdk/tests/test_resource.cpp
index 5bc5fe383..cba417847 100644
--- a/src/viam/sdk/tests/test_resource.cpp
+++ b/src/viam/sdk/tests/test_resource.cpp
@@ -2,6 +2,10 @@
 #include <boost/test/included/unit_test.hpp>
 
 #include <google/protobuf/struct.pb.h>
+
+#include <viam/api/app/v1/robot.pb.h>
+#include <viam/api/robot/v1/robot.pb.h>
+
 #include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/pose.hpp>
 #include <viam/sdk/common/proto_value.hpp>
@@ -235,7 +239,7 @@ BOOST_AUTO_TEST_CASE(test_resource) {
     *frame.mutable_translation() = t;
     *proto_cfg.mutable_frame() = frame;
 
-    ResourceConfig resource2 = ResourceConfig::from_proto(proto_cfg);
+    ResourceConfig resource2 = v2::from_proto(proto_cfg);
     BOOST_CHECK_EQUAL(resource2.name(), "name");
     BOOST_CHECK_EQUAL(resource2.namespace_(), "ns");
     BOOST_CHECK_EQUAL(resource2.type(), "type");
@@ -252,7 +256,7 @@ BOOST_AUTO_TEST_CASE(test_resource) {
     BOOST_CHECK_EQUAL(value.number_value(), 1);
 
     *proto_cfg.mutable_api() = "ns:component:test";
-    BOOST_CHECK_THROW(ResourceConfig::from_proto(proto_cfg), Exception);
+    BOOST_CHECK_THROW(v2::from_proto(proto_cfg), Exception);
 }
 
 }  // namespace sdktests

From 2fa362f0b62aaa52e54227148718f68ba84a422a Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Fri, 13 Dec 2024 14:19:03 -0500
Subject: [PATCH 07/20] symmetric ws

---
 src/viam/sdk/common/client_helper.hpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/viam/sdk/common/client_helper.hpp b/src/viam/sdk/common/client_helper.hpp
index ca77c9fa9..f5d816bc9 100644
--- a/src/viam/sdk/common/client_helper.hpp
+++ b/src/viam/sdk/common/client_helper.hpp
@@ -20,6 +20,7 @@ namespace viam {
 namespace sdk {
 
 namespace client_helper_details {
+
 [[noreturn]] void errorHandlerReturnedUnexpectedly(const ::grpc::Status&) noexcept;
 
 }  // namespace client_helper_details

From 924bd864b648f3b714178553ee08480aadab6957 Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Fri, 13 Dec 2024 14:19:15 -0500
Subject: [PATCH 08/20] remove spurious ret

---
 src/viam/sdk/common/utils.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/viam/sdk/common/utils.cpp b/src/viam/sdk/common/utils.cpp
index bcc2f432e..b914ab0e2 100644
--- a/src/viam/sdk/common/utils.cpp
+++ b/src/viam/sdk/common/utils.cpp
@@ -73,7 +73,6 @@ std::chrono::microseconds from_proto<google::protobuf::Duration>::operator()(
         from_nanos += sc::microseconds(1);
     }
     return from_seconds + from_nanos;
-    return std::chrono::microseconds();
 }
 
 void to_proto<response_metadata>::operator()(const response_metadata& self,

From ecf734b655ec3a1939c2949df3e0c65ae19251b9 Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Fri, 13 Dec 2024 14:25:01 -0500
Subject: [PATCH 09/20] formatting and defaulted ctors

---
 src/viam/sdk/resource/resource_api.hpp     | 14 +++++++++-----
 src/viam/sdk/resource/resource_manager.hpp |  4 ++--
 2 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/src/viam/sdk/resource/resource_api.hpp b/src/viam/sdk/resource/resource_api.hpp
index 868d14a37..9a87cf6b4 100644
--- a/src/viam/sdk/resource/resource_api.hpp
+++ b/src/viam/sdk/resource/resource_api.hpp
@@ -23,8 +23,9 @@ namespace sdk {
 /// @brief Defines a resource's namespace (e.g., `RDK`) and type (e.g., component or service).
 class APIType {
    public:
+    APIType() = default;
     APIType(std::string namespace_, std::string resource_type);
-    APIType() {};
+
     virtual std::string to_string() const;
 
     const std::string& type_namespace() const;
@@ -40,13 +41,16 @@ class APIType {
 
 /// @class API
 /// @brief Extends `APIType` to additionally define a resource's subtype (e.g., `camera`).
+// TODO: Maybe just merge these two classes or at least use composition rather than inheritance
 class API : public APIType {
    public:
-    virtual std::string to_string() const override;
-    API() {};
+    static API from_string(std::string api);
+
+    API() = default;
     API(std::string namespace_, std::string resource_type, std::string resource_subtype);
     API(APIType type, std::string resource_subtype);
-    static API from_string(std::string api);
+
+    virtual std::string to_string() const override;
 
     const std::string& resource_subtype() const;
     void set_resource_subtype(const std::string& subtype);
@@ -75,7 +79,7 @@ class Name {
     static Name from_string(std::string name);
 
     Name(API api, std::string remote_name, std::string name);
-    Name() {};
+    Name() = default;
 
     std::string short_name() const;
     std::string to_string() const;
diff --git a/src/viam/sdk/resource/resource_manager.hpp b/src/viam/sdk/resource/resource_manager.hpp
index 0a8f62c32..b4dbb0e5d 100644
--- a/src/viam/sdk/resource/resource_manager.hpp
+++ b/src/viam/sdk/resource/resource_manager.hpp
@@ -20,6 +20,8 @@ namespace sdk {
 /// @brief Defines a resource manager for use by anything that tracks resources.
 class ResourceManager {
    public:
+    ResourceManager() = default;
+
     /// @brief Returns a resource.
     /// @param name the name of the desired resource.
     /// @throws `Exception` if the desired resource does not exist.
@@ -60,8 +62,6 @@ class ResourceManager {
     /// @brief Returns a reference to the existing resources within the manager.
     const std::unordered_map<std::string, std::shared_ptr<Resource>>& resources() const;
 
-    ResourceManager() {};
-
    private:
     std::mutex lock_;
     std::unordered_map<std::string, std::shared_ptr<Resource>> resources_;

From c768df8125503663ed26d9fbc6e47cbdc87a853a Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Mon, 16 Dec 2024 13:55:20 -0500
Subject: [PATCH 10/20] de-insulate grpc client context

---
 src/viam/sdk/common/client_helper.hpp | 2 --
 src/viam/sdk/common/utils.hpp         | 7 +------
 2 files changed, 1 insertion(+), 8 deletions(-)

diff --git a/src/viam/sdk/common/client_helper.hpp b/src/viam/sdk/common/client_helper.hpp
index f5d816bc9..926b03ab6 100644
--- a/src/viam/sdk/common/client_helper.hpp
+++ b/src/viam/sdk/common/client_helper.hpp
@@ -9,8 +9,6 @@ namespace grpc {
 
 class Status;
 
-class ClientContext;
-
 template <typename T>
 class ClientReaderInterface;
 
diff --git a/src/viam/sdk/common/utils.hpp b/src/viam/sdk/common/utils.hpp
index e2dcf9c64..cb3c76532 100644
--- a/src/viam/sdk/common/utils.hpp
+++ b/src/viam/sdk/common/utils.hpp
@@ -3,6 +3,7 @@
 #include <memory>
 
 #include <boost/optional/optional.hpp>
+#include <grpcpp/client_context.h>
 
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/components/component.hpp>
@@ -17,12 +18,6 @@ class Timestamp;
 }  // namespace protobuf
 }  // namespace google
 
-namespace grpc {
-
-class ClientContext;
-
-}
-
 namespace viam {
 namespace common {
 namespace v1 {

From b18f477fd3039d969ceb2ea6f495e10c47aaab09 Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Tue, 17 Dec 2024 11:20:02 -0500
Subject: [PATCH 11/20] put grpc includes back

---
 src/viam/sdk/common/client_helper.hpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/viam/sdk/common/client_helper.hpp b/src/viam/sdk/common/client_helper.hpp
index 926b03ab6..c68e7fe85 100644
--- a/src/viam/sdk/common/client_helper.hpp
+++ b/src/viam/sdk/common/client_helper.hpp
@@ -1,5 +1,8 @@
 #pragma once
 
+#include <grpcpp/client_context.h>
+#include <grpcpp/support/sync_stream.h>
+
 #include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/private/utils.hpp>
 #include <viam/sdk/common/proto_value.hpp>
@@ -9,9 +12,6 @@ namespace grpc {
 
 class Status;
 
-template <typename T>
-class ClientReaderInterface;
-
 }  // namespace grpc
 
 namespace viam {

From a20fb42cd175d38fac44bb76b2f264d53d03f657 Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Tue, 17 Dec 2024 14:12:48 -0500
Subject: [PATCH 12/20] generate header for grpc client fwd

---
 CMakeLists.txt                        | 4 ++++
 src/viam/sdk/CMakeLists.txt           | 5 ++++-
 src/viam/sdk/common/client_helper.hpp | 4 +---
 src/viam/sdk/common/utils.hpp         | 2 +-
 4 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 78d0e9e05..b48d3fc25 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -430,6 +430,10 @@ if ((VIAMCPPSDK_GRPCXX_VERSION VERSION_GREATER 1.51.1) AND (VIAMCPPSDK_PROTOC_VE
   set(VIAMCPPSDK_BUF_REMOTE_PLUGIN_SUPPORTED 1)
 endif()
 
+if (VIAMCPPSDK_GRPCXX_VERSION VERSION_LESS 1.32.0)
+  set(VIAMCPPSDK_GRPCXX_LEGACY_CLIENT_FWD 1)
+endif()
+
 include(FetchContent)
 
 FetchContent_Declare(
diff --git a/src/viam/sdk/CMakeLists.txt b/src/viam/sdk/CMakeLists.txt
index fafeb316b..d969f4528 100644
--- a/src/viam/sdk/CMakeLists.txt
+++ b/src/viam/sdk/CMakeLists.txt
@@ -29,6 +29,8 @@ endif()
 message(WARNING "api proto label is ${VIAMCPPSDK_API_PROTO_LABEL}")
 configure_file(common/private/version_metadata.hpp.in common/private/version_metadata.hpp @ONLY)
 
+# Configure the grpc client forward declarations file
+configure_file(common/grpc_client_fwd.hpp.in common/grpc_client_fwd.hpp)
 
 # Set compile and link options based on arguments
 if (VIAMCPPSDK_USE_WALL_WERROR)
@@ -137,6 +139,7 @@ target_sources(viamsdk
   PUBLIC FILE_SET viamsdk_public_includes TYPE HEADERS
     BASE_DIRS
       ../..
+      ${CMAKE_CURRENT_BINARY_DIR}
     FILES
       ../../viam/sdk/common/client_helper.hpp
       ../../viam/sdk/common/exception.hpp
@@ -189,6 +192,7 @@ target_sources(viamsdk
       ../../viam/sdk/spatialmath/geometry.hpp
       ../../viam/sdk/spatialmath/orientation.hpp
       ../../viam/sdk/spatialmath/orientation_types.hpp
+      ${CMAKE_CURRENT_BINARY_DIR}/common/grpc_client_fwd.hpp
 )
 
 set_target_properties(
@@ -207,7 +211,6 @@ target_include_directories(viamsdk
     "$<INSTALL_INTERFACE:${VIAMCPPSDK_GRPC_INCLUDE_DIRS}>"
     "$<BUILD_INTERFACE:${VIAMCPPSDK_PROTOBUF_INCLUDE_DIRS}>"
     "$<INSTALL_INTERFACE:${VIAMCPPSDK_PROTOBUF_INCLUDE_DIRS}>"
-  PRIVATE
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/../..>"
 )
 
diff --git a/src/viam/sdk/common/client_helper.hpp b/src/viam/sdk/common/client_helper.hpp
index c68e7fe85..bea8332d2 100644
--- a/src/viam/sdk/common/client_helper.hpp
+++ b/src/viam/sdk/common/client_helper.hpp
@@ -1,9 +1,7 @@
 #pragma once
 
-#include <grpcpp/client_context.h>
-#include <grpcpp/support/sync_stream.h>
-
 #include <viam/sdk/common/exception.hpp>
+#include <viam/sdk/common/grpc_client_fwd.hpp>
 #include <viam/sdk/common/private/utils.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/common/utils.hpp>
diff --git a/src/viam/sdk/common/utils.hpp b/src/viam/sdk/common/utils.hpp
index cb3c76532..24e7af212 100644
--- a/src/viam/sdk/common/utils.hpp
+++ b/src/viam/sdk/common/utils.hpp
@@ -3,8 +3,8 @@
 #include <memory>
 
 #include <boost/optional/optional.hpp>
-#include <grpcpp/client_context.h>
 
+#include <viam/sdk/common/grpc_client_fwd.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/components/component.hpp>
 #include <viam/sdk/resource/resource_api.hpp>

From c223260251c21677306927404cd85976ff2aa3d9 Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Tue, 17 Dec 2024 14:16:02 -0500
Subject: [PATCH 13/20] use add

---
 src/viam/sdk/config/resource.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/viam/sdk/config/resource.cpp b/src/viam/sdk/config/resource.cpp
index 3a2b98938..203a23ecb 100644
--- a/src/viam/sdk/config/resource.cpp
+++ b/src/viam/sdk/config/resource.cpp
@@ -139,7 +139,7 @@ void to_proto<ResourceConfig>::operator()(const ResourceConfig& self,
     *proto->mutable_model() = self.model().to_string();
     *proto->mutable_attributes() = v2::to_proto(self.attributes());
 
-    proto->mutable_depends_on()->Assign(self.depends_on().begin(), self.depends_on().end());
+    proto->mutable_depends_on()->Add(self.depends_on().begin(), self.depends_on().end());
 
     *proto->mutable_frame() = v2::to_proto(self.frame());
 }

From 6978fdf61812079f9103a43c46bf23fd8923f81e Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Tue, 17 Dec 2024 14:43:05 -0500
Subject: [PATCH 14/20] use explicit ctor/assign

---
 src/viam/sdk/config/resource.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/viam/sdk/config/resource.cpp b/src/viam/sdk/config/resource.cpp
index 203a23ecb..45402166a 100644
--- a/src/viam/sdk/config/resource.cpp
+++ b/src/viam/sdk/config/resource.cpp
@@ -139,7 +139,8 @@ void to_proto<ResourceConfig>::operator()(const ResourceConfig& self,
     *proto->mutable_model() = self.model().to_string();
     *proto->mutable_attributes() = v2::to_proto(self.attributes());
 
-    proto->mutable_depends_on()->Add(self.depends_on().begin(), self.depends_on().end());
+    *proto->mutable_depends_on() = ::google::protobuf::RepeatedPtrField<std::string>(
+        self.depends_on().begin(), self.depends_on().end());
 
     *proto->mutable_frame() = v2::to_proto(self.frame());
 }

From f59997f597572379240a6af29c9dfe138c38920d Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Tue, 17 Dec 2024 15:28:42 -0500
Subject: [PATCH 15/20] initialize unique_ptr

---
 src/viam/sdk/common/utils.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/viam/sdk/common/utils.cpp b/src/viam/sdk/common/utils.cpp
index b914ab0e2..fdd03b6da 100644
--- a/src/viam/sdk/common/utils.cpp
+++ b/src/viam/sdk/common/utils.cpp
@@ -151,7 +151,7 @@ ProtoStruct with_debug_entry(ProtoStruct&& map) {
     return map;
 }
 
-ClientContext::ClientContext() {
+ClientContext::ClientContext() : wrapped_context_(std::make_unique<grpc::ClientContext>()) {
     set_client_ctx_authority_();
     add_viam_client_version_();
 }

From 772efcbab405c65c7618b4520245521f246c1fab Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Tue, 17 Dec 2024 15:53:06 -0500
Subject: [PATCH 16/20] client context out of utils

---
 src/viam/sdk/common/client_helper.cpp         | 36 +++++++++++++++++++
 src/viam/sdk/common/client_helper.hpp         | 24 ++++++++++++-
 src/viam/sdk/common/utils.cpp                 | 32 -----------------
 src/viam/sdk/common/utils.hpp                 | 24 -------------
 src/viam/sdk/robot/client.cpp                 |  1 +
 .../sdk/services/private/mlmodel_client.cpp   |  2 +-
 6 files changed, 61 insertions(+), 58 deletions(-)

diff --git a/src/viam/sdk/common/client_helper.cpp b/src/viam/sdk/common/client_helper.cpp
index 84990153d..8efa5d709 100644
--- a/src/viam/sdk/common/client_helper.cpp
+++ b/src/viam/sdk/common/client_helper.cpp
@@ -2,8 +2,12 @@
 
 #include <cstdlib>
 
+#include <grpcpp/client_context.h>
+
 #include <boost/log/trivial.hpp>
 
+#include <viam/sdk/common/private/version_metadata.hpp>
+
 namespace viam {
 namespace sdk {
 
@@ -16,5 +20,37 @@ namespace client_helper_details {
 }
 
 }  // namespace client_helper_details
+
+ClientContext::ClientContext() : wrapped_context_(std::make_unique<grpc::ClientContext>()) {
+    set_client_ctx_authority_();
+    add_viam_client_version_();
+}
+
+ClientContext::~ClientContext() = default;
+
+ClientContext::operator const grpc::ClientContext*() const {
+    return wrapped_context_.get();
+}
+
+ClientContext::operator grpc::ClientContext*() {
+    return wrapped_context_.get();
+}
+
+void ClientContext::try_cancel() {
+    wrapped_context_->TryCancel();
+}
+
+void ClientContext::set_debug_key(const std::string& debug_key) {
+    wrapped_context_->AddMetadata("dtname", debug_key);
+}
+
+void ClientContext::set_client_ctx_authority_() {
+    wrapped_context_->set_authority("viam-placeholder");
+}
+
+void ClientContext::add_viam_client_version_() {
+    wrapped_context_->AddMetadata("viam_client", impl::k_version);
+}
+
 }  // namespace sdk
 }  // namespace viam
diff --git a/src/viam/sdk/common/client_helper.hpp b/src/viam/sdk/common/client_helper.hpp
index bea8332d2..2d9aa2183 100644
--- a/src/viam/sdk/common/client_helper.hpp
+++ b/src/viam/sdk/common/client_helper.hpp
@@ -4,7 +4,6 @@
 #include <viam/sdk/common/grpc_client_fwd.hpp>
 #include <viam/sdk/common/private/utils.hpp>
 #include <viam/sdk/common/proto_value.hpp>
-#include <viam/sdk/common/utils.hpp>
 
 namespace grpc {
 
@@ -21,6 +20,29 @@ namespace client_helper_details {
 
 }  // namespace client_helper_details
 
+// the authority on a grpc::ClientContext is sometimes set to an invalid uri on mac, causing
+// `rust-utils` to fail to process gRPC requests. This class provides a convenience wrapper around a
+// grpc ClientContext that allows us to make any necessary modifications to authority or else where
+// to avoid runtime issues.
+// For more details, see https://viam.atlassian.net/browse/RSDK-5194.
+class ClientContext {
+   public:
+    ClientContext();
+    ~ClientContext();
+
+    void try_cancel();
+
+    operator grpc::ClientContext*();
+    operator const grpc::ClientContext*() const;
+
+    void set_debug_key(const std::string& debug_key);
+
+   private:
+    void set_client_ctx_authority_();
+    void add_viam_client_version_();
+    std::unique_ptr<grpc::ClientContext> wrapped_context_;
+};
+
 // Method type for a gRPC call that returns a response message type.
 template <typename StubType, typename RequestType, typename ResponseType>
 using SyncMethodType = ::grpc::Status (StubType::*)(::grpc::ClientContext*,
diff --git a/src/viam/sdk/common/utils.cpp b/src/viam/sdk/common/utils.cpp
index fdd03b6da..d6375cbde 100644
--- a/src/viam/sdk/common/utils.cpp
+++ b/src/viam/sdk/common/utils.cpp
@@ -18,7 +18,6 @@
 #include <viam/api/common/v1/common.pb.h>
 
 #include <viam/sdk/common/private/utils.hpp>
-#include <viam/sdk/common/private/version_metadata.hpp>
 #include <viam/sdk/components/component.hpp>
 #include <viam/sdk/registry/registry.hpp>
 
@@ -151,37 +150,6 @@ ProtoStruct with_debug_entry(ProtoStruct&& map) {
     return map;
 }
 
-ClientContext::ClientContext() : wrapped_context_(std::make_unique<grpc::ClientContext>()) {
-    set_client_ctx_authority_();
-    add_viam_client_version_();
-}
-
-ClientContext::~ClientContext() = default;
-
-ClientContext::operator const grpc::ClientContext*() const {
-    return wrapped_context_.get();
-}
-
-ClientContext::operator grpc::ClientContext*() {
-    return wrapped_context_.get();
-}
-
-void ClientContext::try_cancel() {
-    wrapped_context_->TryCancel();
-}
-
-void ClientContext::set_debug_key(const std::string& debug_key) {
-    wrapped_context_->AddMetadata("dtname", debug_key);
-}
-
-void ClientContext::set_client_ctx_authority_() {
-    wrapped_context_->set_authority("viam-placeholder");
-}
-
-void ClientContext::add_viam_client_version_() {
-    wrapped_context_->AddMetadata("viam_client", impl::k_version);
-}
-
 bool from_dm_from_extra(const ProtoStruct& extra) {
     auto pos = extra.find("fromDataManagement");
     if (pos != extra.end()) {
diff --git a/src/viam/sdk/common/utils.hpp b/src/viam/sdk/common/utils.hpp
index 24e7af212..f47442750 100644
--- a/src/viam/sdk/common/utils.hpp
+++ b/src/viam/sdk/common/utils.hpp
@@ -4,7 +4,6 @@
 
 #include <boost/optional/optional.hpp>
 
-#include <viam/sdk/common/grpc_client_fwd.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/components/component.hpp>
 #include <viam/sdk/resource/resource_api.hpp>
@@ -82,29 +81,6 @@ struct from_proto<common::v1::ResponseMetadata> {
 std::vector<unsigned char> string_to_bytes(std::string const& s);
 std::string bytes_to_string(std::vector<unsigned char> const& b);
 
-// the authority on a grpc::ClientContext is sometimes set to an invalid uri on mac, causing
-// `rust-utils` to fail to process gRPC requests. This class provides a convenience wrapper around a
-// grpc ClientContext that allows us to make any necessary modifications to authority or else where
-// to avoid runtime issues.
-// For more details, see https://viam.atlassian.net/browse/RSDK-5194.
-class ClientContext {
-   public:
-    ClientContext();
-    ~ClientContext();
-
-    void try_cancel();
-
-    operator grpc::ClientContext*();
-    operator const grpc::ClientContext*() const;
-
-    void set_debug_key(const std::string& debug_key);
-
-   private:
-    void set_client_ctx_authority_();
-    void add_viam_client_version_();
-    std::unique_ptr<grpc::ClientContext> wrapped_context_;
-};
-
 /// @brief Given a fully qualified resource name, returns remote name (or "" if no remote name
 /// exists) and short name
 std::pair<std::string, std::string> long_name_to_remote_and_short(const std::string& long_name);
diff --git a/src/viam/sdk/robot/client.cpp b/src/viam/sdk/robot/client.cpp
index 3fe5d4d1f..f0befb2d9 100644
--- a/src/viam/sdk/robot/client.cpp
+++ b/src/viam/sdk/robot/client.cpp
@@ -19,6 +19,7 @@
 #include <viam/api/robot/v1/robot.grpc.pb.h>
 #include <viam/api/robot/v1/robot.pb.h>
 
+#include <viam/sdk/common/client_helper.hpp>
 #include <viam/sdk/common/private/repeated_ptr_convert.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/common/utils.hpp>
diff --git a/src/viam/sdk/services/private/mlmodel_client.cpp b/src/viam/sdk/services/private/mlmodel_client.cpp
index 8b7fd6039..2c98960dd 100644
--- a/src/viam/sdk/services/private/mlmodel_client.cpp
+++ b/src/viam/sdk/services/private/mlmodel_client.cpp
@@ -16,7 +16,7 @@
 
 #include <grpcpp/channel.h>
 
-#include <viam/sdk/common/utils.hpp>
+#include <viam/sdk/common/client_helper.hpp>
 #include <viam/sdk/services/private/mlmodel.hpp>
 
 #include <viam/sdk/common/exception.hpp>

From fc38fff843dda1c4b831f86fd8342df5e3ca976b Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Wed, 18 Dec 2024 07:50:48 -0500
Subject: [PATCH 17/20] commit configure input file

---
 src/viam/sdk/common/grpc_client_fwd.hpp.in | 55 ++++++++++++++++++++++
 1 file changed, 55 insertions(+)
 create mode 100644 src/viam/sdk/common/grpc_client_fwd.hpp.in

diff --git a/src/viam/sdk/common/grpc_client_fwd.hpp.in b/src/viam/sdk/common/grpc_client_fwd.hpp.in
new file mode 100644
index 000000000..e6ba5799f
--- /dev/null
+++ b/src/viam/sdk/common/grpc_client_fwd.hpp.in
@@ -0,0 +1,55 @@
+#pragma once
+
+#cmakedefine VIAMCPPSDK_GRPCXX_LEGACY_CLIENT_FWD
+
+#ifndef VIAMCPPSDK_GRPCXX_LEGACY_CLIENT_FWD
+
+// Forward declaration file for grpc ClientContext and ClientReaderInterface<T>.
+// This file provides includes for recent (>= 1.32.0) versions of grpc.
+
+namespace grpc {
+
+class ClientContext;
+
+template <typename>
+class ClientReaderInterface;
+
+}  // namespace grpc
+
+namespace viam {
+namespace sdk {
+
+using GrpcClientContext = ::grpc::ClientContext;
+
+template <typename T>
+using GrpcClientReaderInterface = ::grpc::ClientReaderInterface<T>;
+
+}  // namespace sdk
+}  // namespace viam
+
+#else
+
+// Forward declaration file for grpc ClientContext and ClientReaderInterface<T>.
+// This file provides includes for the oldest supported versions of grpc (< 1.32.0).
+
+namespace grpc_impl {
+
+class ClientContext;
+
+template <typename>
+class ClientReaderInterface;
+
+}  // namespace grpc_impl
+
+namespace viam {
+namespace sdk {
+
+using GrpcClientContext = ::grpc_impl::ClientContext;
+
+template <typename T>
+using GrpcClientReaderInterface = ::grpc_impl::ClientReaderInterface<T>;
+
+}  // namespace sdk
+}  // namespace viam
+
+#endif

From 0262a08e6fcf32f514dc68921f45e6a5ec6136e8 Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Wed, 18 Dec 2024 10:21:30 -0500
Subject: [PATCH 18/20] use the typedef

---
 src/viam/sdk/common/client_helper.cpp |  6 +++---
 src/viam/sdk/common/client_helper.hpp | 16 +++++-----------
 2 files changed, 8 insertions(+), 14 deletions(-)

diff --git a/src/viam/sdk/common/client_helper.cpp b/src/viam/sdk/common/client_helper.cpp
index 8efa5d709..1d98249b6 100644
--- a/src/viam/sdk/common/client_helper.cpp
+++ b/src/viam/sdk/common/client_helper.cpp
@@ -21,18 +21,18 @@ namespace client_helper_details {
 
 }  // namespace client_helper_details
 
-ClientContext::ClientContext() : wrapped_context_(std::make_unique<grpc::ClientContext>()) {
+ClientContext::ClientContext() : wrapped_context_(std::make_unique<GrpcClientContext>()) {
     set_client_ctx_authority_();
     add_viam_client_version_();
 }
 
 ClientContext::~ClientContext() = default;
 
-ClientContext::operator const grpc::ClientContext*() const {
+ClientContext::operator const GrpcClientContext*() const {
     return wrapped_context_.get();
 }
 
-ClientContext::operator grpc::ClientContext*() {
+ClientContext::operator GrpcClientContext*() {
     return wrapped_context_.get();
 }
 
diff --git a/src/viam/sdk/common/client_helper.hpp b/src/viam/sdk/common/client_helper.hpp
index 734d1bc28..578ae694c 100644
--- a/src/viam/sdk/common/client_helper.hpp
+++ b/src/viam/sdk/common/client_helper.hpp
@@ -11,12 +11,6 @@ class Status;
 
 }  // namespace grpc
 
-namespace grpc {
-
-class Status;
-
-}  // namespace grpc
-
 namespace viam {
 namespace sdk {
 
@@ -38,27 +32,27 @@ class ClientContext {
 
     void try_cancel();
 
-    operator grpc::ClientContext*();
-    operator const grpc::ClientContext*() const;
+    operator GrpcClientContext*();
+    operator const GrpcClientContext*() const;
 
     void set_debug_key(const std::string& debug_key);
 
    private:
     void set_client_ctx_authority_();
     void add_viam_client_version_();
-    std::unique_ptr<grpc::ClientContext> wrapped_context_;
+    std::unique_ptr<GrpcClientContext> wrapped_context_;
 };
 
 // Method type for a gRPC call that returns a response message type.
 template <typename StubType, typename RequestType, typename ResponseType>
-using SyncMethodType = ::grpc::Status (StubType::*)(::grpc::ClientContext*,
+using SyncMethodType = ::grpc::Status (StubType::*)(GrpcClientContext*,
                                                     const RequestType&,
                                                     ResponseType*);
 
 // Method type for a gRPC call that returns a stream of response message type.
 template <typename StubType, typename RequestType, typename ResponseType>
 using StreamingMethodType = std::unique_ptr<::grpc::ClientReaderInterface<ResponseType>> (
-    StubType::*)(::grpc::ClientContext*, const RequestType&);
+    StubType::*)(GrpcClientContext*, const RequestType&);
 
 template <typename ClientType,
           typename StubType,

From 77f060c9f635025f4cf70f92c5b2a9593a90321b Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Wed, 18 Dec 2024 10:23:52 -0500
Subject: [PATCH 19/20] use client reader fwd

---
 src/viam/sdk/common/client_helper.hpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/viam/sdk/common/client_helper.hpp b/src/viam/sdk/common/client_helper.hpp
index 578ae694c..27171c9e0 100644
--- a/src/viam/sdk/common/client_helper.hpp
+++ b/src/viam/sdk/common/client_helper.hpp
@@ -51,8 +51,8 @@ using SyncMethodType = ::grpc::Status (StubType::*)(GrpcClientContext*,
 
 // Method type for a gRPC call that returns a stream of response message type.
 template <typename StubType, typename RequestType, typename ResponseType>
-using StreamingMethodType = std::unique_ptr<::grpc::ClientReaderInterface<ResponseType>> (
-    StubType::*)(GrpcClientContext*, const RequestType&);
+using StreamingMethodType = std::unique_ptr<GrpcClientReaderInterface<ResponseType>> (StubType::*)(
+    GrpcClientContext*, const RequestType&);
 
 template <typename ClientType,
           typename StubType,

From 66b3b30661ffc5471cee6612d66d8be92d67ae36 Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Mon, 23 Dec 2024 12:23:11 -0500
Subject: [PATCH 20/20] fix installation of generated file

---
 src/viam/sdk/CMakeLists.txt | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/viam/sdk/CMakeLists.txt b/src/viam/sdk/CMakeLists.txt
index d969f4528..fe5982e1f 100644
--- a/src/viam/sdk/CMakeLists.txt
+++ b/src/viam/sdk/CMakeLists.txt
@@ -139,7 +139,7 @@ target_sources(viamsdk
   PUBLIC FILE_SET viamsdk_public_includes TYPE HEADERS
     BASE_DIRS
       ../..
-      ${CMAKE_CURRENT_BINARY_DIR}
+      ${CMAKE_CURRENT_BINARY_DIR}/../..
     FILES
       ../../viam/sdk/common/client_helper.hpp
       ../../viam/sdk/common/exception.hpp
@@ -192,7 +192,7 @@ target_sources(viamsdk
       ../../viam/sdk/spatialmath/geometry.hpp
       ../../viam/sdk/spatialmath/orientation.hpp
       ../../viam/sdk/spatialmath/orientation_types.hpp
-      ${CMAKE_CURRENT_BINARY_DIR}/common/grpc_client_fwd.hpp
+      ${CMAKE_CURRENT_BINARY_DIR}/../../viam/sdk/common/grpc_client_fwd.hpp
 )
 
 set_target_properties(