RSDK-4309 - add getlatestmapinfo

examples/server/v1/services.py

@@ -1,3 +1,4 @@
+from datetime import datetime
 from typing import Dict, List, Optional
 from tests.mocks.services import MockMLModel, MockSLAM
 from viam.services.slam import Pose, SLAM
@@ -24,6 +25,7 @@ def __init__(self, name: str):
         self.position = MockSLAM.POSITION
         self.internal_chunks = MockSLAM.INTERNAL_STATE_CHUNKS
         self.point_cloud_chunks = MockSLAM.POINT_CLOUD_PCD_CHUNKS
+        self.time = MockSLAM.LAST_UPDATE
         super().__init__(name)
 
     async def get_internal_state(self, **kwargs) -> List[bytes]:
@@ -34,3 +36,6 @@ async def get_point_cloud_map(self, **kwargs) -> List[bytes]:
 
     async def get_position(self, **kwargs) -> Pose:
         return self.position
+
+    async def get_latest_map_info(self, **kwargs) -> datetime:
+        return self.time

src/viam/services/slam/client.py

@@ -1,11 +1,14 @@
 from typing import List, Mapping, Optional
+from datetime import datetime
 
 from grpclib.client import Channel
 
 from viam.proto.common import DoCommandRequest, DoCommandResponse
 from viam.proto.service.slam import (
     GetInternalStateRequest,
     GetInternalStateResponse,
+    GetLatestMapInfoRequest,
+    GetLatestMapInfoResponse,
     GetPointCloudMapRequest,
     GetPointCloudMapResponse,
     GetPositionRequest,
@@ -46,6 +49,11 @@ async def get_internal_state(self, *, timeout: Optional[float] = None) -> List[G
         response: List[GetInternalStateResponse] = await self.client.GetInternalState(request, timeout=timeout)
         return response
 
+    async def get_latest_map_info(self, *, timeout: Optional[float] = None) -> datetime:
+        request = GetLatestMapInfoRequest(name=self.name)
+        response: GetLatestMapInfoResponse = await self.client.GetLatestMapInfo(request, timeout=timeout)
+        return response.last_map_update.ToDatetime()
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None) -> Mapping[str, ValueTypes]:
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)

src/viam/services/slam/service.py

@@ -1,6 +1,5 @@
 from grpclib.server import Stream
 
-from viam.errors import MethodNotImplementedError
 from viam.proto.common import DoCommandRequest, DoCommandResponse
 from viam.proto.service.slam import (
     GetInternalStateRequest,
@@ -14,7 +13,7 @@
     SLAMServiceBase,
 )
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
-from viam.utils import dict_to_struct, struct_to_dict
+from viam.utils import datetime_to_timestamp, dict_to_struct, struct_to_dict
 
 from .slam import SLAM
 
@@ -59,7 +58,13 @@ async def GetPosition(self, stream: Stream[GetPositionRequest, GetPositionRespon
         await stream.send_message(response)
 
     async def GetLatestMapInfo(self, stream: Stream[GetLatestMapInfoRequest, GetLatestMapInfoResponse]) -> None:
-        raise MethodNotImplementedError("GetLatestMapInfo").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        slam = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        time = await slam.get_latest_map_info(timeout=timeout)
+        response = GetLatestMapInfoResponse(last_map_update=datetime_to_timestamp(time))
+        await stream.send_message(response)
 
     async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -> None:
         request = await stream.recv_message()

src/viam/services/slam/slam.py

@@ -1,4 +1,5 @@
 import abc
+from datetime import datetime
 from typing import Final, List, Optional
 
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE, Subtype
@@ -39,6 +40,16 @@ async def get_point_cloud_map(self, *, timeout: Optional[float]) -> List[bytes]:
         """
         ...
 
+    @abc.abstractmethod
+    async def get_latest_map_info(self, *, timeout: Optional[float]) -> datetime:
+        """
+        Get the timestamp of the last update to the point cloud SLAM map.
+
+        Returns:
+            datetime: The timestamp of the last update.
+        """
+        ...
+
     @abc.abstractmethod
     async def get_position(self, *, timeout: Optional[float]) -> Pose:
         """

tests/mocks/services.py

@@ -1,4 +1,5 @@
 from typing import Any, Dict, List, Mapping, Optional, Union
+from datetime import datetime
 
 from grpclib.server import Stream
 from PIL import Image
@@ -413,6 +414,7 @@ class MockSLAM(SLAM):
     INTERNAL_STATE_CHUNKS = [bytes(5), bytes(2)]
     POINT_CLOUD_PCD_CHUNKS = [bytes(3), bytes(2)]
     POSITION = Pose(x=1, y=2, z=3, o_x=2, o_y=3, o_z=4, theta=20)
+    LAST_UPDATE = datetime(2023, 3, 12, 3, 24, 34, 29)
 
     def __init__(self, name: str):
         self.name = name
@@ -431,6 +433,10 @@ async def get_position(self, *, timeout: Optional[float] = None) -> Pose:
         self.timeout = timeout
         return self.POSITION
 
+    async def get_latest_map_info(self, *, timeout: Optional[float] = None) -> datetime:
+        self.timeout = timeout
+        return self.LAST_UPDATE
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 
@@ -512,12 +518,10 @@ async def TabularDataByFilter(self, stream: Stream[TabularDataByFilterRequest, T
                     data=dict_to_struct(tabular_data.data),
                     metadata_index=idx,
                     time_requested=datetime_to_timestamp(tabular_data.time_requested),
-                    time_received=datetime_to_timestamp(tabular_data.time_received)
+                    time_received=datetime_to_timestamp(tabular_data.time_received),
                 )
             )
-        await stream.send_message(TabularDataByFilterResponse(
-            data=tabular_response_structs, metadata=tabular_metadata)
-        )
+        await stream.send_message(TabularDataByFilterResponse(data=tabular_response_structs, metadata=tabular_metadata))
         self.was_tabular_data_requested = True
 
     async def BinaryDataByFilter(self, stream: Stream[BinaryDataByFilterRequest, BinaryDataByFilterResponse]) -> None:
@@ -527,17 +531,17 @@ async def BinaryDataByFilter(self, stream: Stream[BinaryDataByFilterRequest, Bin
             await stream.send_message(BinaryDataByFilterResponse())
             return
         self.filter = request.data_request.filter
-        await stream.send_message(BinaryDataByFilterResponse(
-            data=[BinaryData(binary=data.data, metadata=data.metadata) for data in self.binary_response])
+        await stream.send_message(
+            BinaryDataByFilterResponse(data=[BinaryData(binary=data.data, metadata=data.metadata) for data in self.binary_response])
         )
         self.was_binary_data_requested = True
 
     async def BinaryDataByIDs(self, stream: Stream[BinaryDataByIDsRequest, BinaryDataByIDsResponse]) -> None:
         request = await stream.recv_message()
         assert request is not None
         self.binary_ids = request.binary_ids
-        await stream.send_message(BinaryDataByIDsResponse(
-            data=[BinaryData(binary=data.data, metadata=data.metadata) for data in self.binary_response])
+        await stream.send_message(
+            BinaryDataByIDsResponse(data=[BinaryData(binary=data.data, metadata=data.metadata) for data in self.binary_response])
         )
 
     async def DeleteTabularDataByFilter(self, stream: Stream[DeleteTabularDataByFilterRequest, DeleteTabularDataByFilterResponse]) -> None:

tests/test_slam.py

@@ -7,6 +7,8 @@
 from viam.proto.service.slam import (
     GetInternalStateRequest,
     GetInternalStateResponse,
+    GetLatestMapInfoRequest,
+    GetLatestMapInfoResponse,
     GetPointCloudMapRequest,
     GetPointCloudMapResponse,
     GetPositionRequest,
@@ -39,6 +41,11 @@ async def test_get_position(self):
         pos = await self.slam.get_position()
         assert pos == MockSLAM.POSITION
 
+    @pytest.mark.asyncio
+    async def test_get_latest_map_info(self):
+        time = await self.slam.get_latest_map_info()
+        assert time == MockSLAM.LAST_UPDATE
+
     @pytest.mark.asyncio
     async def test_do(self):
         command = {"command": "args"}
@@ -80,6 +87,14 @@ async def test_get_position(self):
             response: GetPositionResponse = await client.GetPosition(request)
             assert response.pose == MockSLAM.POSITION
 
+    @pytest.mark.asyncio
+    async def test_get_latest_map_info(self):
+        async with ChannelFor([self.service]) as channel:
+            client = SLAMServiceStub(channel)
+            request = GetLatestMapInfoRequest(name=self.name)
+            response: GetLatestMapInfoResponse = await client.GetLatestMapInfo(request)
+            assert response.last_map_update.ToDatetime() == MockSLAM.LAST_UPDATE
+
     @pytest.mark.asyncio
     async def test_do(self):
         async with ChannelFor([self.service]) as channel:
@@ -124,6 +139,13 @@ async def test_get_position(self):
             response = await client.get_position()
             assert response == MockSLAM.POSITION
 
+    @pytest.mark.asyncio
+    async def test_get_latest_map_info(self):
+        async with ChannelFor([self.service]) as channel:
+            client = SLAMClient(self.name, channel)
+            response = await client.get_latest_map_info()
+            assert response == MockSLAM.LAST_UPDATE
+
     @pytest.mark.asyncio
     async def test_do(self):
         async with ChannelFor([self.service]) as channel: