[RSDK-9624] Add discovery service (viamrobotics#372)

randhid · lia-viam · web-flow · commit 117de3596e93 · 2025-02-25T17:14:00.000-05:00
Co-authored-by: lia &lt;167905060+lia-viam@users.noreply.github.com&gt;
diff --git a/bin/run-clang-format.sh b/bin/run-clang-format.sh
@@ -14,4 +14,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+# Check if clang-format is installed
+if ! command -v clang-format >/dev/null 2>&1; then
+    echo "Error: clang-format is not installed"
+    echo "Please install it using: brew install clang-format"
+    exit 1
+fi
+
 find ./src -not -path "./src/viam/api" -type f \( -name \*.cpp -o -name \*.hpp \) | xargs clang-format -style=file -i -fallback-style=none "$@"
diff --git a/src/viam/api/CMakeLists.txt b/src/viam/api/CMakeLists.txt
@@ -213,6 +213,10 @@ if (VIAMCPPSDK_USE_DYNAMIC_PROTOS)
     ${PROTO_GEN_DIR}/robot/v1/robot.grpc.pb.h
     ${PROTO_GEN_DIR}/robot/v1/robot.pb.cc
     ${PROTO_GEN_DIR}/robot/v1/robot.pb.h
+    ${PROTO_GEN_DIR}/service/discovery/v1/discovery.grpc.pb.cc
+    ${PROTO_GEN_DIR}/service/discovery/v1/discovery.grpc.pb.h
+    ${PROTO_GEN_DIR}/service/discovery/v1/discovery.pb.cc
+    ${PROTO_GEN_DIR}/service/discovery/v1/discovery.pb.h
     ${PROTO_GEN_DIR}/service/generic/v1/generic.grpc.pb.cc
     ${PROTO_GEN_DIR}/service/generic/v1/generic.grpc.pb.h
     ${PROTO_GEN_DIR}/service/generic/v1/generic.pb.cc
@@ -326,6 +330,8 @@ target_sources(viamapi
     ${PROTO_GEN_DIR}/module/v1/module.pb.cc
     ${PROTO_GEN_DIR}/robot/v1/robot.grpc.pb.cc
     ${PROTO_GEN_DIR}/robot/v1/robot.pb.cc
+    ${PROTO_GEN_DIR}/service/discovery/v1/discovery.grpc.pb.cc
+    ${PROTO_GEN_DIR}/service/discovery/v1/discovery.pb.cc
     ${PROTO_GEN_DIR}/service/generic/v1/generic.grpc.pb.cc
     ${PROTO_GEN_DIR}/service/generic/v1/generic.pb.cc
     ${PROTO_GEN_DIR}/service/mlmodel/v1/mlmodel.grpc.pb.cc
@@ -385,6 +391,8 @@ target_sources(viamapi
       ${PROTO_GEN_DIR}/../../viam/api/robot/v1/robot.grpc.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/robot/v1/robot.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/tagger/v1/tagger.grpc.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/service/discovery/v1/discovery.grpc.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/service/discovery/v1/discovery.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/service/generic/v1/generic.grpc.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/service/generic/v1/generic.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/service/mlmodel/v1/mlmodel.grpc.pb.h
diff --git a/src/viam/examples/modules/complex/proto/buf.lock b/src/viam/examples/modules/complex/proto/buf.lock
@@ -4,5 +4,5 @@ deps:
   - remote: buf.build
     owner: googleapis
     repository: googleapis
-    commit: e93e34f48be043dab55be31b4b47f458
-    digest: shake256:93dbe51c27606999eef918360df509485a4d272e79aaed6d0016940379a9b06d316fc5228b7b50cca94bb310f34c5fc5955ce7474f655f0d0a224c4121dda3c1
+    commit: 546238c53f7340c6a2a6099fb863bc1b
+    digest: shake256:8d75c12f391e392b24c076d05117b47aeddb090add99c70247a8f4389b906a65f61a933c68e54ed8b73a050b967b6b712ba194348b67c3ab3ee26cc2cb25852c
diff --git a/src/viam/sdk/CMakeLists.txt b/src/viam/sdk/CMakeLists.txt
@@ -118,10 +118,13 @@ target_sources(viamsdk
     rpc/dial.cpp
     rpc/server.cpp
     rpc/private/viam_grpc_channel.cpp
+    services/discovery.cpp
     services/generic.cpp
     services/mlmodel.cpp
     services/motion.cpp
     services/navigation.cpp
+    services/private/discovery_client.cpp
+    services/private/discovery_server.cpp
     services/private/generic_client.cpp
     services/private/generic_server.cpp
     services/private/mlmodel.cpp
@@ -181,6 +184,7 @@ target_sources(viamsdk
       ../../viam/sdk/rpc/dial.hpp
       ../../viam/sdk/rpc/message_sizes.hpp
       ../../viam/sdk/rpc/server.hpp
+      ../../viam/sdk/services/discovery.hpp
       ../../viam/sdk/services/generic.hpp
       ../../viam/sdk/services/mlmodel.hpp
       ../../viam/sdk/services/motion.hpp
diff --git a/src/viam/sdk/config/resource.cpp b/src/viam/sdk/config/resource.cpp
@@ -8,6 +8,7 @@
 
 #include <viam/api/app/v1/robot.pb.h>
 #include <viam/api/robot/v1/robot.pb.h>
+#include <viam/api/service/discovery/v1/discovery.pb.h>
 
 #include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/private/repeated_ptr_convert.hpp>
@@ -156,6 +157,12 @@ ResourceConfig from_proto_impl<app::v1::ComponentConfig>::operator()(
                           proto->has_frame() ? from_proto(proto->frame()) : LinkConfig{});
 }
 
+std::vector<ResourceConfig>
+from_proto_impl<service::discovery::v1::DiscoverResourcesResponse>::operator()(
+    const service::discovery::v1::DiscoverResourcesResponse* proto) const {
+    return impl::from_repeated_field(proto->discoveries());
+}
+
 }  // namespace proto_convert_details
 }  // namespace sdk
 }  // namespace viam
diff --git a/src/viam/sdk/config/resource.hpp b/src/viam/sdk/config/resource.hpp
@@ -17,6 +17,15 @@ class ResourceLevelServiceConfig;
 
 }  // namespace v1
 }  // namespace app
+
+namespace service {
+namespace discovery {
+namespace v1 {
+
+class DiscoverResourcesResponse;
+}
+}  // namespace discovery
+}  // namespace service
 }  // namespace viam
 
 namespace viam {
@@ -83,6 +92,12 @@ struct from_proto_impl<app::v1::ComponentConfig> {
     ResourceConfig operator()(const app::v1::ComponentConfig*) const;
 };
 
+template <>
+struct from_proto_impl<service::discovery::v1::DiscoverResourcesResponse> {
+    std::vector<ResourceConfig> operator()(
+        const service::discovery::v1::DiscoverResourcesResponse*) const;
+};
+
 }  // namespace proto_convert_details
 
 }  // namespace sdk
diff --git a/src/viam/sdk/registry/registry.cpp b/src/viam/sdk/registry/registry.cpp
@@ -42,6 +42,8 @@
 #include <viam/sdk/components/private/servo_server.hpp>
 #include <viam/sdk/resource/resource.hpp>
 #include <viam/sdk/resource/resource_api.hpp>
+#include <viam/sdk/services/private/discovery_client.hpp>
+#include <viam/sdk/services/private/discovery_server.hpp>
 #include <viam/sdk/services/private/generic_client.hpp>
 #include <viam/sdk/services/private/generic_server.hpp>
 #include <viam/sdk/services/private/mlmodel_client.hpp>
@@ -202,6 +204,7 @@ void register_resources() {
     Registry::register_resource<impl::ServoClient, impl::ServoServer>();
 
     // Register all services
+    Registry::register_resource<impl::DiscoveryClient, impl::DiscoveryServer>();
     Registry::register_resource<impl::GenericServiceClient, impl::GenericServiceServer>();
     Registry::register_resource<impl::MLModelServiceClient, impl::MLModelServiceServer>();
     Registry::register_resource<impl::MotionClient, impl::MotionServer>();
diff --git a/src/viam/sdk/services/discovery.cpp b/src/viam/sdk/services/discovery.cpp
@@ -0,0 +1,19 @@
+#include <viam/sdk/services/discovery.hpp>
+
+#include <viam/sdk/common/utils.hpp>
+
+namespace viam {
+namespace sdk {
+
+Discovery::Discovery(std::string name) : Service(std::move(name)) {}
+
+API Discovery::api() const {
+    return API::get<Discovery>();
+}
+
+API API::traits<Discovery>::api() {
+    return {kRDK, kService, "discovery"};
+}
+
+}  // namespace sdk
+}  // namespace viam
diff --git a/src/viam/sdk/services/discovery.hpp b/src/viam/sdk/services/discovery.hpp
@@ -0,0 +1,59 @@
+/// @file services/discovery.hpp
+///
+/// @brief Defines a `Discovery` service.
+
+#pragma once
+
+#include <string>
+
+#include <viam/sdk/common/utils.hpp>
+#include <viam/sdk/config/resource.hpp>
+#include <viam/sdk/services/service.hpp>
+
+namespace viam {
+namespace sdk {
+
+/// @defgroup Discovery Classes related to the Discovery service.
+
+/// @class Discovery discovery.hpp "services/discovery.hpp"
+/// @brief A `Discovery` service is used to discover resources that are physically connected to
+/// your machine.
+/// @ingroup Discovery
+///
+/// This acts as an abstract parent class to be inherited from by any drivers representing
+/// specific discovery implementations. This class cannot be used on its own.
+class Discovery : public Service {
+   public:
+    /// @brief Discover valid viam configuration of resources that are physically
+    /// connected to your machine.
+    /// @return array of potential viam configurations for hardware physically
+    /// connected to your viam server
+    inline std::vector<ResourceConfig> discover_resources() {
+        return discover_resources({});
+    }
+
+    /// @brief Discover valid viam configuration of resources that are physically
+    /// connected to your machine.
+    /// @param extra Any additional arguments to the method.
+    /// @return array of potential viam configurations for hardware physically
+    // connected to your viam server
+    virtual std::vector<ResourceConfig> discover_resources(const ProtoStruct& extra) = 0;
+
+    /// @brief Do an arbitrary command.
+    /// @param command Freeform fields that are service-specific.
+    /// @return Freeform result of the command.
+    virtual ProtoStruct do_command(const ProtoStruct& command) = 0;
+
+    API api() const override;
+
+   protected:
+    explicit Discovery(std::string name);
+};
+
+template <>
+struct API::traits<Discovery> {
+    static API api();
+};
+
+}  // namespace sdk
+}  // namespace viam
diff --git a/src/viam/sdk/services/private/discovery_client.cpp b/src/viam/sdk/services/private/discovery_client.cpp
@@ -0,0 +1,35 @@
+#include <viam/sdk/services/private/discovery_client.hpp>
+
+#include <viam/api/service/discovery/v1/discovery.grpc.pb.h>
+#include <viam/api/service/discovery/v1/discovery.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>
+#include <viam/sdk/services/discovery.hpp>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+DiscoveryClient::DiscoveryClient(std::string name, std::shared_ptr<grpc::Channel> channel)
+    : Discovery(std::move(name)),
+      stub_(viam::service::discovery::v1::DiscoveryService::NewStub(channel)),
+      channel_(std::move(channel)) {}
+
+std::vector<ResourceConfig> DiscoveryClient::discover_resources(const ProtoStruct& extra) {
+    return make_client_helper(this, *stub_, &StubType::DiscoverResources)
+        .with(extra)
+        .invoke([](auto& response) { return from_proto(response); });
+}
+
+ProtoStruct DiscoveryClient::do_command(const ProtoStruct& command) {
+    return make_client_helper(this, *stub_, &StubType::DoCommand)
+        .with([&](auto& request) { *request.mutable_command() = to_proto(command); })
+        .invoke([](auto& response) { return from_proto(response.result()); });
+}
+
+}  // namespace impl
+}  // namespace sdk
+}  // namespace viam
diff --git a/src/viam/sdk/services/private/discovery_client.hpp b/src/viam/sdk/services/private/discovery_client.hpp
@@ -0,0 +1,35 @@
+/// @file services/private/discovery_client.hpp
+///
+/// @brief Implements a gRPC client for the `Discovery` service
+#pragma once
+
+#include <grpcpp/channel.h>
+
+#include <viam/api/service/discovery/v1/discovery.grpc.pb.h>
+
+#include <viam/sdk/services/discovery.hpp>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+/// @class DiscoveryClient
+/// @brief gRPC client implementation of a `Discovery` service.
+/// @ingroup Discovery
+class DiscoveryClient : public Discovery {
+   public:
+    using interface_type = Discovery;
+    DiscoveryClient(std::string name, std::shared_ptr<grpc::Channel> channel);
+
+    std::vector<ResourceConfig> discover_resources(const ProtoStruct& extra) override;
+    ProtoStruct do_command(const ProtoStruct& command) override;
+
+   private:
+    using StubType = viam::service::discovery::v1::DiscoveryService::StubInterface;
+    std::unique_ptr<StubType> stub_;
+    std::shared_ptr<grpc::Channel> channel_;
+};
+
+}  // namespace impl
+}  // namespace sdk
+}  // namespace viam
diff --git a/src/viam/sdk/services/private/discovery_server.cpp b/src/viam/sdk/services/private/discovery_server.cpp
@@ -0,0 +1,42 @@
+#include <viam/sdk/services/private/discovery_client.hpp>
+
+#include <viam/sdk/common/private/repeated_ptr_convert.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
+#include <viam/sdk/common/proto_value.hpp>
+#include <viam/sdk/common/utils.hpp>
+#include <viam/sdk/services/private/discovery_server.hpp>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+using namespace service::discovery::v1;
+
+::grpc::Status DiscoveryServer::DiscoverResources(
+    ::grpc::ServerContext*,
+    const ::viam::service::discovery::v1::DiscoverResourcesRequest* request,
+    ::viam::service::discovery::v1::DiscoverResourcesResponse* response) noexcept {
+    return make_service_helper<Discovery>(
+        "DiscoveryServer::DiscoverResources", this, request)([&](auto& helper, auto& discovery) {
+        const std::vector<ResourceConfig> resources =
+            discovery->discover_resources(helper.getExtra());
+        for (const auto& resource : resources) {
+            *response->mutable_discoveries()->Add() = to_proto(resource);
+        }
+    });
+}
+
+::grpc::Status DiscoveryServer::DoCommand(
+    ::grpc::ServerContext*,
+    const ::viam::common::v1::DoCommandRequest* request,
+    ::viam::common::v1::DoCommandResponse* response) noexcept {
+    return make_service_helper<Discovery>(
+        "DiscoveryServer::DoCommand", this, request)([&](auto&, auto& discovery) {
+        const ProtoStruct result = discovery->do_command(from_proto(request->command()));
+        *response->mutable_result() = to_proto(result);
+    });
+}
+
+}  // namespace impl
+}  // namespace sdk
+}  // namespace viam
diff --git a/src/viam/sdk/services/private/discovery_server.hpp b/src/viam/sdk/services/private/discovery_server.hpp
@@ -0,0 +1,39 @@
+/// @file services/private/discovery_server.hpp
+///
+/// @brief Implements a gRPC server for the `Discovery` service
+#pragma once
+
+#include <viam/api/service/discovery/v1/discovery.grpc.pb.h>
+#include <viam/api/service/discovery/v1/discovery.pb.h>
+
+#include <viam/sdk/resource/resource_manager.hpp>
+#include <viam/sdk/resource/resource_server_base.hpp>
+#include <viam/sdk/services/discovery.hpp>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+/// @class DiscoveryServer
+/// @brief gRPC server implementation of a `Discovery` service.
+/// @ingroup Discovery
+class DiscoveryServer : public ResourceServer,
+                        public viam::service::discovery::v1::DiscoveryService::Service {
+   public:
+    using interface_type = Discovery;
+    using service_type = service::discovery::v1::DiscoveryService;
+    explicit DiscoveryServer(std::shared_ptr<ResourceManager> manager)
+        : ResourceServer(std::move(manager)) {}
+
+    ::grpc::Status DiscoverResources(
+        ::grpc::ServerContext* context,
+        const ::viam::service::discovery::v1::DiscoverResourcesRequest* request,
+        ::viam::service::discovery::v1::DiscoverResourcesResponse* response) noexcept override;
+    ::grpc::Status DoCommand(::grpc::ServerContext* context,
+                             const ::viam::common::v1::DoCommandRequest* request,
+                             ::viam::common::v1::DoCommandResponse* response) noexcept override;
+};
+
+}  // namespace impl
+}  // namespace sdk
+}  // namespace viam
diff --git a/src/viam/sdk/tests/CMakeLists.txt b/src/viam/sdk/tests/CMakeLists.txt
@@ -30,6 +30,7 @@ target_sources(viamsdk_test
     mocks/mock_motor.cpp
     mocks/mock_motion.cpp
     mocks/mock_movement_sensor.cpp
+    mocks/mock_discovery.cpp
     mocks/mock_navigation.cpp
     mocks/mock_pose_tracker.cpp
     mocks/mock_power_sensor.cpp
@@ -56,6 +57,7 @@ viamcppsdk_add_boost_test(test_board.cpp)
 viamcppsdk_add_boost_test(test_camera.cpp)
 viamcppsdk_add_boost_test(test_common.cpp)
 viamcppsdk_add_boost_test(test_encoder.cpp)
+viamcppsdk_add_boost_test(test_discovery.cpp)
 viamcppsdk_add_boost_test(test_gantry.cpp)
 viamcppsdk_add_boost_test(test_gripper.cpp)
 viamcppsdk_add_boost_test(test_generics.cpp)
diff --git a/src/viam/sdk/tests/mocks/mock_discovery.cpp b/src/viam/sdk/tests/mocks/mock_discovery.cpp
diff --git a/src/viam/sdk/tests/mocks/mock_discovery.hpp b/src/viam/sdk/tests/mocks/mock_discovery.hpp
diff --git a/src/viam/sdk/tests/test_discovery.cpp b/src/viam/sdk/tests/test_discovery.cpp
diff --git a/src/viam/sdk/tests/test_utils.cpp b/src/viam/sdk/tests/test_utils.cpp
diff --git a/src/viam/sdk/tests/test_utils.hpp b/src/viam/sdk/tests/test_utils.hpp
