add get geometries

Author: oliviamiller

src/viam/examples/modules/audioin/client.cpp

@@ -18,8 +18,6 @@ int main() {
     // any other C++ SDK objects and stays alive until all Viam C++ SDK objects are destroyed.
     Instance inst;
 
-   auto machine = RobotClient::at_address(host, options);
-
     // Update these with your robot's connection details
     const char* uri = "";  // replace with your robot's URI
     DialOptions dial_options;
@@ -35,7 +33,7 @@ int main() {
     std::string address(uri);
     Options options(1, opts);
 
-    std::shared_ptr<RobotClient> robot = RobotClient::at_address(host, options);
+    std::shared_ptr<RobotClient> robot = RobotClient::at_address(address, options);
 
     // Print resources
     VIAM_SDK_LOG(info) << "Resources:";

src/viam/sdk/components/audio_in.hpp

@@ -98,23 +98,31 @@ class AudioIn : public Component {
     /// @return The result of the executed command.
     virtual ProtoStruct do_command(const ProtoStruct& command) = 0;
 
+    /// @brief Returns `GeometryConfig`s associated with the calling AudioIn.
+    /// @return The requested `GeometryConfig`s associated with the component.
+    inline std::vector<GeometryConfig> get_geometries() {
+        return get_geometries({});
+    }
+
+    /// @brief Returns `GeometryConfig`s associated with the calling AudioIn.
+    /// @param extra Any additional arguments to the method.
+    /// @return The requested `GeometryConfig`s associated with the component.
+    virtual std::vector<GeometryConfig> get_geometries(const ProtoStruct& extra) = 0;
+
     API api() const override;
 
    protected:
     explicit AudioIn(std::string name);
 
     };
 
-
     template <>
     struct API::traits<AudioIn> {
         static API api();
     };
 
     bool operator==(const AudioIn::properties& lhs, const AudioIn::properties& rhs);
 
-
-
 } // namespace sdk
 } // namespace viam
 

src/viam/sdk/components/private/audio_in_client.cpp

@@ -21,8 +21,6 @@ namespace viam {
 namespace sdk {
 namespace impl {
 
-
-
 AudioInClient::AudioInClient(std::string name, std::shared_ptr<grpc::Channel> channel)
     : AudioIn(std::move(name)),
       stub_(viam::component::audioin::v1::AudioInService::NewStub(channel)),
@@ -43,7 +41,7 @@ void AudioInClient::get_audio(std::string  const& codec,
               })
         .invoke_stream([&](auto& response) {
 
-        // Create audio_chunk from response
+        // Create audio_chunk struct from proto response
         audio_chunk chunk;
 
         // Convert audio_data from string to std::vector<std::byte>
@@ -70,7 +68,7 @@ AudioIn::properties AudioInClient::get_properties(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetProperties)
         .with(extra)
         .invoke([](auto& response) {
-            // Convert repeated field to vector
+            // Convert proto repeated field to vector
             std::vector<std::string> codecs;
             codecs.reserve(response.supported_codecs_size());
             for (const auto& codec : response.supported_codecs()) {
@@ -89,7 +87,11 @@ ProtoStruct AudioInClient::do_command(const ProtoStruct& command) {
         .invoke([](auto& response) { return from_proto(response.result()); });
 }
 
-
+std::vector<GeometryConfig> AudioInClient::get_geometries(const ProtoStruct& extra) {
+    return make_client_helper(this, *stub_, &StubType::GetGeometries)
+        .with(extra)
+        .invoke([](auto& response) { return from_proto(response); });
+};
 
 }  // namespace impl
 }  // namespace sdk

src/viam/sdk/components/private/audio_in_client.hpp

@@ -8,7 +8,6 @@
 #include <viam/api/component/audioin/v1/audioin.grpc.pb.h>
 
 #include <viam/sdk/components/audio_in.hpp>
-
 namespace viam {
 namespace sdk {
 namespace impl {
@@ -29,6 +28,7 @@ class AudioInClient : public AudioIn {
 
     properties get_properties(const ProtoStruct& extra) override;
     ProtoStruct do_command(const ProtoStruct& command) override;
+    std::vector<GeometryConfig> get_geometries(const ProtoStruct& extra) override;
 
 
     // the `extra` param is frequently unnecessary but needs to be supported. Ideally, we'd
@@ -40,8 +40,9 @@ class AudioInClient : public AudioIn {
     // that calls the virtual method and passes a `nullptr` by default in place of the `extra`
     // param. In order to access these versions of the methods within the client code, however,
     // we need to include these `using` lines.
-   // using AudioIn::get_geometries;
+    using AudioIn::get_geometries;
     using AudioIn::get_audio;
+    using AudioIn::get_properties;
 
    private:
 

src/viam/sdk/components/private/audio_in_server.cpp

@@ -55,8 +55,6 @@ AudioInServer::AudioInServer(std::shared_ptr<ResourceManager> manager)
         return ::grpc::Status();
     }
 
-
-
     ::grpc::Status AudioInServer::DoCommand(::grpc::ServerContext*,
                                     const ::viam::common::v1::DoCommandRequest* request,
                                     ::viam::common::v1::DoCommandResponse* response) noexcept {
@@ -66,7 +64,6 @@ AudioInServer::AudioInServer(std::shared_ptr<ResourceManager> manager)
     });
 }
 
-
     ::grpc::Status AudioInServer::GetProperties(
     grpc::ServerContext*,
     const viam::common::v1::GetPropertiesRequest* request,
@@ -83,7 +80,18 @@ AudioInServer::AudioInServer(std::shared_ptr<ResourceManager> manager)
     });
 }
 
-
+    ::grpc::Status AudioInServer::GetGeometries(
+    ::grpc::ServerContext*,
+    const ::viam::common::v1::GetGeometriesRequest* request,
+    ::viam::common::v1::GetGeometriesResponse* response) noexcept {
+    return make_service_helper<AudioIn>(
+        "AudioInServer::GetGeometries", this, request)([&](auto& helper, auto& audio_in) {
+        const std::vector<GeometryConfig> geometries = audio_in->get_geometries(helper.getExtra());
+        for (const auto& geometry : geometries) {
+            *response->mutable_geometries()->Add() = to_proto(geometry);
+        }
+    });
+}
 
 }  // namespace impl
 }  // namespace sdk

src/viam/sdk/components/private/audio_in_server.hpp

@@ -26,19 +26,20 @@ class AudioInServer : public ResourceServer, public viam::component::audioin::v1
     explicit AudioInServer(std::shared_ptr<ResourceManager> manager);
 
     ::grpc::Status GetAudio(::grpc::ServerContext* context,
-                            const ::viam::component::audioin::v1::GetAudioRequest*,
-                            ::grpc::ServerWriter<::viam::component::audioin::v1::GetAudioResponse>* writer
+                        const ::viam::component::audioin::v1::GetAudioRequest*,
+                        ::grpc::ServerWriter<::viam::component::audioin::v1::GetAudioResponse>* writer
                         ) noexcept override;
-
     ::grpc::Status DoCommand(::grpc::ServerContext* context,
-                    const ::viam::common::v1::DoCommandRequest* request,
-                    ::viam::common::v1::DoCommandResponse* response) noexcept override;
-
-
+                        const ::viam::common::v1::DoCommandRequest* request,
+                        ::viam::common::v1::DoCommandResponse* response) noexcept override;
+    ::grpc::Status GetGeometries(
+                        ::grpc::ServerContext* context,
+                        const ::viam::common::v1::GetGeometriesRequest* request,
+                        ::viam::common::v1::GetGeometriesResponse* response) noexcept override;
     ::grpc::Status GetProperties(
-        ::grpc::ServerContext* context,
-        const ::viam::common::v1::GetPropertiesRequest* request,
-        ::viam::common::v1::GetPropertiesResponse* response) noexcept override;
+                        ::grpc::ServerContext* context,
+                        const ::viam::common::v1::GetPropertiesRequest* request,
+                        ::viam::common::v1::GetPropertiesResponse* response) noexcept override;
     };
 
 

src/viam/sdk/tests/mocks/mock_audio_in.cpp

@@ -22,7 +22,7 @@ void MockAudioIn::get_audio(std::string const& codec,
 
     // Simulate streaming audio chunks
     int chunk_count = 0;
-    int max_chunks = (duration_seconds == 0) ? 100 : static_cast<int>(duration_seconds * 100); // ~100 chunks per second
+    int max_chunks = (duration_seconds == 0) ? 100 : static_cast<int>(duration_seconds * 100);
 
     for (const auto& mock_chunk : mock_chunks_) {
         if (chunk_count >= max_chunks) {
@@ -32,16 +32,13 @@ void MockAudioIn::get_audio(std::string const& codec,
         // Create a copy of the chunk to pass to handler
         audio_chunk chunk = mock_chunk;
         chunk.sequence = chunk_count;
-        chunk.request_id = "mock-request-123";
 
-        // Call the chunk handler
         if (!chunk_handler(std::move(chunk))) {
             break; // Handler requested to stop
         }
 
         chunk_count++;
 
-        // Simulate chunk timing (~10ms per chunk)
         std::this_thread::sleep_for(std::chrono::milliseconds(10));
     }
 }
@@ -75,21 +72,24 @@ AudioIn::properties fake_properties() {
 std::vector<AudioIn::audio_chunk> fake_audio_chunks() {
     std::vector<AudioIn::audio_chunk> chunks;
 
-    // Create 5 mock chunks with fake audio data
     for (int i = 0; i < 5; ++i) {
         AudioIn::audio_chunk chunk;
-        chunk.audio_data = std::vector<std::byte>(1024, static_cast<std::byte>(i + 1)); // 1KB of data
+        chunk.audio_data = std::vector<std::byte>(1024, static_cast<std::byte>(i + 1));
         chunk.audio_info.codec = "pcm16";
         chunk.audio_info.sample_rate_hz = 48000;
         chunk.audio_info.num_channels = 1;
-        chunk.start_timestamp_ns = i * 10000000; // 10ms intervals
+        chunk.start_timestamp_ns = i * 10000000;
         chunk.end_timestamp_ns = (i + 1) * 10000000;
         chunks.push_back(chunk);
     }
 
     return chunks;
 }
 
+std::vector<GeometryConfig> MockAudioIn::get_geometries(const ProtoStruct&) {
+    return geometries_;
+}
+
 }  // namespace audioin
 }  // namespace sdktests
 }  // namespace viam

src/viam/sdk/tests/mocks/mock_audio_in.hpp

@@ -9,6 +9,7 @@ namespace sdktests {
 namespace audioin {
 
 using viam::sdk::AudioIn;
+using namespace viam::sdk;
 
 class MockAudioIn : public AudioIn {
 public:
@@ -22,6 +23,8 @@ class MockAudioIn : public AudioIn {
 
     viam::sdk::ProtoStruct do_command(const viam::sdk::ProtoStruct& command) override;
 
+    std::vector<GeometryConfig> get_geometries(const sdk::ProtoStruct& extra) override;
+
     static std::shared_ptr<MockAudioIn> get_mock_audio_in();
 
     MockAudioIn(std::string name) : AudioIn(std::move(name)) {}
@@ -33,6 +36,7 @@ class MockAudioIn : public AudioIn {
     AudioIn::properties properties_;
     viam::sdk::ProtoStruct map_;
     std::vector<audio_chunk> mock_chunks_;
+    std::vector<GeometryConfig> geometries_;
 };
 
 AudioIn::properties fake_properties();

src/viam/sdk/tests/test_audio_in.cpp

@@ -3,6 +3,7 @@
 #include <viam/sdk/tests/mocks/mock_audio_in.hpp>
 #include <boost/optional/optional_io.hpp>
 #include <boost/qvm/all.hpp>
+#include <viam/sdk/spatialmath/geometry.hpp>
 #include <boost/test/included/unit_test.hpp>
 #include <viam/sdk/tests/test_utils.hpp>
 
@@ -74,6 +75,17 @@ BOOST_AUTO_TEST_CASE(test_get_properties) {
     });
 }
 
+BOOST_AUTO_TEST_CASE(test_get_geometries) {
+    std::shared_ptr<MockAudioIn> mock = MockAudioIn::get_mock_audio_in();
+    client_to_mock_pipeline<AudioIn>(mock, [](AudioIn& client) {
+        std::vector<GeometryConfig> result_geometries = client.get_geometries();
+        std::vector<GeometryConfig> expected_geometries = fake_geometries();
+
+        BOOST_CHECK(result_geometries == expected_geometries);
+    });
+}
+
+
 BOOST_AUTO_TEST_SUITE_END()