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Merged
merged 2 commits into from
Jan 15, 2025
Merged

Remove DiscoverComponents #356

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2549673
attempt to remove discovercomponents
randhid Jan 15, 2025
29871d7
Merge branch 'main' into remove-discover-components
lia-viam Jan 15, 2025
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59 changes: 0 additions & 59 deletions src/viam/sdk/robot/client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,8 +35,6 @@ namespace sdk {

using google::protobuf::RepeatedPtrField;
using viam::common::v1::Transform;
using viam::robot::v1::Discovery;
using viam::robot::v1::DiscoveryQuery;
using viam::robot::v1::FrameSystemConfig;
using viam::robot::v1::Operation;
using viam::robot::v1::RobotService;
Expand All @@ -49,28 +47,6 @@ using viam::robot::v1::RobotService;
const std::string kStreamRemoved("Stream removed");

namespace {
// TODO: add a traits class for proto to type and back conversion
DiscoveryQuery to_proto(const RobotClient::discovery_query& query) {
DiscoveryQuery proto;
*proto.mutable_subtype() = query.subtype;
*proto.mutable_model() = query.model;
return proto;
}

RobotClient::discovery_query from_proto(const DiscoveryQuery& proto) {
RobotClient::discovery_query query;
query.subtype = proto.subtype();
query.model = proto.model();
return query;
}

RobotClient::discovery from_proto(const Discovery& proto) {
RobotClient::discovery discovery;
discovery.query = from_proto(proto.query());
discovery.results = v2::from_proto(proto.results());
return discovery;
}

RobotClient::frame_system_config from_proto(const FrameSystemConfig& proto) {
RobotClient::frame_system_config fsconfig;
fsconfig.frame = v2::from_proto(proto.frame());
Expand All @@ -97,15 +73,6 @@ RobotClient::operation from_proto(const Operation& proto) {
}
} // namespace

bool operator==(const RobotClient::discovery_query& lhs, const RobotClient::discovery_query& rhs) {
return lhs.subtype == rhs.subtype && lhs.model == rhs.model;
}

bool operator==(const RobotClient::discovery& lhs, const RobotClient::discovery& rhs) {
return lhs.query == rhs.query && v2::to_proto(lhs.results).SerializeAsString() ==
v2::to_proto(rhs.results).SerializeAsString();
}

bool operator==(const RobotClient::frame_system_config& lhs,
const RobotClient::frame_system_config& rhs) {
return lhs.frame == rhs.frame && v2::to_proto(lhs.kinematics).SerializeAsString() ==
Expand Down Expand Up @@ -356,32 +323,6 @@ pose_in_frame RobotClient::transform_pose(
return v2::from_proto(resp.pose());
}

std::vector<RobotClient::discovery> RobotClient::discover_components(
const std::vector<discovery_query>& queries) {
viam::robot::v1::DiscoverComponentsRequest req;
viam::robot::v1::DiscoverComponentsResponse resp;
ClientContext ctx;

RepeatedPtrField<DiscoveryQuery>* req_queries = req.mutable_queries();

for (const discovery_query& query : queries) {
*req_queries->Add() = to_proto(query);
}

const grpc::Status response = impl_->stub_->DiscoverComponents(ctx, req, &resp);
if (is_error_response(response)) {
BOOST_LOG_TRIVIAL(error) << "Error discovering components: " << response.error_message();
}

std::vector<discovery> components = std::vector<discovery>();

for (const Discovery& d : resp.discovery()) {
components.push_back(from_proto(d));
}

return components;
}

std::shared_ptr<Resource> RobotClient::resource_by_name(const Name& name) {
return resource_manager_.resource(name.name());
}
Expand Down
14 changes: 0 additions & 14 deletions src/viam/sdk/robot/client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,18 +34,6 @@ namespace sdk {
/// `with_channel` require a user call to `close()`.
class RobotClient {
public:
struct discovery_query {
std::string subtype;
std::string model;
friend bool operator==(const discovery_query& lhs, const discovery_query& rhs);
};

struct discovery {
discovery_query query;
ProtoStruct results;
friend bool operator==(const discovery& lhs, const discovery& rhs);
};

struct frame_system_config {
WorldState::transform frame;
ProtoStruct kinematics;
Expand Down Expand Up @@ -120,8 +108,6 @@ class RobotClient {
/// @return The list of operations currently running on the calling robot.
std::vector<operation> get_operations();

std::vector<discovery> discover_components(const std::vector<discovery_query>& queries);

/// @brief Transform a given `Pose` to a new specified destination which is a reference frame.
/// @param query The pose that should be transformed.
/// @param destination The name of the reference frame to transform the given pose to.
Expand Down
53 changes: 0 additions & 53 deletions src/viam/sdk/tests/mocks/mock_robot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,8 +18,6 @@ using namespace viam::sdk;
using common::v1::Pose;
using common::v1::PoseInFrame;
using common::v1::ResourceName;
using viam::robot::v1::Discovery;
using viam::robot::v1::DiscoveryQuery;
using viam::robot::v1::FrameSystemConfig;
using viam::robot::v1::Operation;

Expand Down Expand Up @@ -93,41 +91,6 @@ std::vector<Operation> mock_proto_operations_response() {
return resp;
}

std::vector<RobotClient::discovery> mock_discovery_response() {
RobotClient::discovery_query query;
query.subtype = "camera";
query.model = "webcam";
ProtoValue s("bar");
ProtoValue map(fake_map());

ProtoList inner{{map}};
ProtoList l{{s, ProtoValue{false}, ProtoValue{3.0}, ProtoValue{4.2}, map, std::move(inner)}};

ProtoStruct results{{"foo", l}};

RobotClient::discovery discovery;
discovery.query = std::move(query);
discovery.results = std::move(results);
return std::vector<RobotClient::discovery>{std::move(discovery)};
}

std::vector<Discovery> mock_proto_discovery_response() {
std::vector<viam::robot::v1::Discovery> v;
for (const auto& d : mock_discovery_response()) {
DiscoveryQuery query;
*query.mutable_subtype() = d.query.subtype;
*query.mutable_model() = d.query.model;

viam::robot::v1::Discovery discovery;
*discovery.mutable_query() = query;
*discovery.mutable_results() = v2::to_proto(d.results);

v.push_back(std::move(discovery));
}

return v;
}

pose_in_frame mock_transform_response() {
return {"arm", default_pose()};
}
Expand Down Expand Up @@ -347,22 +310,6 @@ ::grpc::Status MockRobotService::FrameSystemConfig(
return ::grpc::Status();
}

::grpc::Status MockRobotService::DiscoverComponents(
::grpc::ServerContext* context,
const ::viam::robot::v1::DiscoverComponentsRequest*,
::viam::robot::v1::DiscoverComponentsResponse* response) {
auto client_md = context->client_metadata();
if (auto client_info = client_md.find("viam_client"); client_info == client_md.end()) {
return ::grpc::Status(::grpc::StatusCode::FAILED_PRECONDITION,
"viam_client info not properly set in metadata");
}
auto* discovery = response->mutable_discovery();
for (auto& d : mock_proto_discovery_response()) {
*discovery->Add() = d;
}
return ::grpc::Status();
}

::grpc::Status MockRobotService::TransformPose(::grpc::ServerContext* context,
const ::viam::robot::v1::TransformPoseRequest*,
::viam::robot::v1::TransformPoseResponse* response) {
Expand Down
7 changes: 0 additions & 7 deletions src/viam/sdk/tests/mocks/mock_robot.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,11 +46,6 @@ class MockRobotService : public ResourceServer, public viam::robot::v1::RobotSer
const ::viam::robot::v1::TransformPoseRequest* request,
::viam::robot::v1::TransformPoseResponse* response) override;

::grpc::Status DiscoverComponents(
::grpc::ServerContext* context,
const ::viam::robot::v1::DiscoverComponentsRequest* request,
::viam::robot::v1::DiscoverComponentsResponse* response) override;

::grpc::Status GetOperations(::grpc::ServerContext* context,
const ::viam::robot::v1::GetOperationsRequest* request,
::viam::robot::v1::GetOperationsResponse* response) override;
Expand All @@ -63,8 +58,6 @@ class MockRobotService : public ResourceServer, public viam::robot::v1::RobotSer
pose default_pose(int offset = 0);
std::vector<RobotClient::operation> mock_operations_response();
std::vector<viam::robot::v1::Operation> mock_proto_operations_response();
std::vector<RobotClient::discovery> mock_discovery_response();
std::vector<viam::robot::v1::Discovery> mock_proto_discovery_response();
std::vector<Name> mock_resource_names_response();
std::vector<common::v1::ResourceName> mock_proto_resource_names_response();
std::vector<RobotClient::frame_system_config> mock_config_response();
Expand Down
36 changes: 0 additions & 36 deletions src/viam/sdk/tests/test_robot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,6 @@
#include <viam/sdk/tests/mocks/mock_robot.hpp>
#include <viam/sdk/tests/test_utils.hpp>

BOOST_TEST_DONT_PRINT_LOG_VALUE(viam::sdk::RobotClient::discovery_query)
BOOST_TEST_DONT_PRINT_LOG_VALUE(viam::sdk::RobotClient::discovery)
BOOST_TEST_DONT_PRINT_LOG_VALUE(viam::sdk::RobotClient::frame_system_config)
BOOST_TEST_DONT_PRINT_LOG_VALUE(viam::sdk::RobotClient::operation)

Expand Down Expand Up @@ -181,40 +179,6 @@ BOOST_AUTO_TEST_CASE(test_get_operations) {
});
}

// This test ensures that the functions in the `mock_robot` files have the same fields for both
// the proto and custom type versions.
BOOST_AUTO_TEST_CASE(test_discovery) {
robot_client_to_mocks_pipeline(
[](std::shared_ptr<RobotClient> client, MockRobotService& service) -> void {
auto components = mock_discovery_response();
auto component = components[0];
auto results = component.results.begin();
auto protos = mock_proto_discovery_response();
auto proto = protos[0];
auto proto_results = proto.results().fields().begin();

BOOST_CHECK_EQUAL(component.query.subtype, proto.query().subtype());
BOOST_CHECK_EQUAL(component.query.model, proto.query().model());
BOOST_CHECK_EQUAL(results->first, proto_results->first);
// the `Value` type in our mock responses is a `list` type so we can comprehensively
// test `ProtoValue` conversions. Unfortunately the protobuf `ListValue` type doesn't
// seem to have `==` defined, so we convert to a `DebugString` here to verify
// comparison and to provide helpful printing of differences in case of an error.
BOOST_CHECK_EQUAL(v2::to_proto(results->second).DebugString(),
proto_results->second.DebugString());
});
}

BOOST_AUTO_TEST_CASE(test_discover_components) {
robot_client_to_mocks_pipeline(
[](std::shared_ptr<RobotClient> client, MockRobotService& service) -> void {
auto components = client->discover_components({});
auto mock_components = mock_discovery_response();

BOOST_TEST(components == mock_components, boost::test_tools::per_element());
});
}

BOOST_AUTO_TEST_CASE(test_transform_pose) {
robot_client_to_mocks_pipeline(
[](std::shared_ptr<RobotClient> client, MockRobotService& service) -> void {
Expand Down
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