fix imports and namespaces for docommond

Author: randhid

bin/run-clang-format.sh

@@ -14,4 +14,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+# Add error checking for clang-format
+if ! command -v clang-format >/dev/null 2>&1; then
+    echo "Error: clang-format is not installed, install it to lint your code."
+    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 "$@"

src/viam/sdk/services/discovery.cpp

@@ -11,7 +11,7 @@ API Discovery::api() const {
     return API::get<Discovery>();
 }
 
-API::traits<Discovery>::api() {
+API API::traits<Discovery>::api() {
     return {kRDK, kService, "discovery"};
 }
 

src/viam/sdk/services/discovery.hpp

@@ -27,12 +27,16 @@ class Discovery : public Service {
    public:
     /// @brief Discover valid viam configuration of resources that are physically
     /// connected to your machine.
+    /// @ingroup Discovery
     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.

src/viam/sdk/services/private/discovery_client.cpp

@@ -4,12 +4,16 @@
 #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)
+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)) {}
@@ -20,7 +24,7 @@ std::vector<ResourceConfig> DiscoveryClient::discover_resources(const ProtoStruc
         .invoke([](auto& response) { return from_proto(response); });
 }
 
-ProtoStruct DiscoveryClient::do_command(const ProtoStruct& extra) {
+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()); });

src/viam/sdk/services/private/discovery_client.hpp

@@ -24,10 +24,6 @@ class DiscoveryClient : public Discovery {
     std::vector<ResourceConfig> discover_resources(const ProtoStruct& extra) override;
     ProtoStruct do_command(const ProtoStruct& command) override;
 
-    // Using declarations to introduce convenience overloads of interface which do not need to be
-    // passed the ProtoStruct parameter.
-    using Discovery::discover_resources;
-
    private:
     using StubType = viam::service::discovery::v1::DiscoveryService::StubInterface;
     std::unique_ptr<StubType> stub_;

src/viam/sdk/services/private/discovery_server.cpp

@@ -1,13 +1,12 @@
 #include <viam/sdk/services/private/discovery_client.hpp>
 
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 
 namespace viam {
 namespace sdk {
 namespace impl {
 
-DiscoveryServer::DiscoveryServer(std::shared_ptr<ResourceManager> manager)
-    : ResourceServer(std::move(manager)) {}
+using namespace service::discovery::v1;
 
 ::grpc::Status DiscoveryServer::DiscoverResources(
     ::grpc::ServerContext*,
@@ -25,8 +24,8 @@ ::grpc::Status DiscoveryServer::DiscoverResources(
 
 ::grpc::Status DiscoveryServer::DoCommand(
     ::grpc::ServerContext*,
-    const ::viam::service::discovery::v1::DoCommandRequest* request,
-    ::viam::service::discovery::v1::DoCommandResponse* response) noexcept {
+    const ::viam::common::v1::DoCommandRequest* request,
+    ::viam::common:v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Discovery>(
         "DiscoveryServer::DoCommand", this, request)([&](auto& helper, auto& discovery) {
         const ProtoStruct result = discovery->do_command(from_proto(request->command()));

src/viam/sdk/services/private/discovery_server.hpp

@@ -30,11 +30,9 @@ class DiscoveryServer : public ResourceServer,
         ::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::service::discovery::v1::DoCommandRequest* request,
-        ::viam::service::discovery::v1::DoCommandResponse* response) noexcept override;
+    ::grpc::Status DoCommand(::grpc::ServerContext* context,
+                             const ::viam::common::v1::DoCommandRequest* request,
+                             ::viam::common::v1::DoCommandResponse* response) noexcept override;
 };
 
 }  // namespace impl