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7 files changed

+143
-92
lines changed

7 files changed

+143
-92
lines changed

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

Lines changed: 8 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -12,10 +12,11 @@ namespace impl {
1212
using namespace service::discovery::v1;
1313

1414
::grpc::Status DiscoveryServer::DiscoverResources(
15-
::grpc::ServerContext*, const ::viam::service::discovery::v1::DiscoverResourcesRequest* request,
15+
::grpc::ServerContext*,
16+
const ::viam::service::discovery::v1::DiscoverResourcesRequest* request,
1617
::viam::service::discovery::v1::DiscoverResourcesResponse* response) noexcept {
17-
return make_service_helper<Discovery>("DiscoveryServer::DiscoverResources", this,
18-
request)([&](auto& helper, auto& discovery) {
18+
return make_service_helper<Discovery>(
19+
"DiscoveryServer::DiscoverResources", this, request)([&](auto& helper, auto& discovery) {
1920
const std::vector<ResourceConfig> resources =
2021
discovery->discover_resources(helper.getExtra());
2122
for (const auto& resource : resources) {
@@ -25,10 +26,11 @@ ::grpc::Status DiscoveryServer::DiscoverResources(
2526
}
2627

2728
::grpc::Status DiscoveryServer::DoCommand(
28-
::grpc::ServerContext*, const ::viam::common::v1::DoCommandRequest* request,
29+
::grpc::ServerContext*,
30+
const ::viam::common::v1::DoCommandRequest* request,
2931
::viam::common::v1::DoCommandResponse* response) noexcept {
30-
return make_service_helper<Discovery>("DiscoveryServer::DoCommand", this,
31-
request)([&](auto&, auto& discovery) {
32+
return make_service_helper<Discovery>(
33+
"DiscoveryServer::DoCommand", this, request)([&](auto&, auto& discovery) {
3234
const ProtoStruct result = discovery->do_command(from_proto(request->command()));
3335
*response->mutable_result() = to_proto(result);
3436
});

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

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -11,10 +11,11 @@ GenericServiceServer::GenericServiceServer(std::shared_ptr<ResourceManager> mana
1111
: ResourceServer(std::move(manager)) {}
1212

1313
::grpc::Status GenericServiceServer::DoCommand(
14-
::grpc::ServerContext*, const ::viam::common::v1::DoCommandRequest* request,
14+
::grpc::ServerContext*,
15+
const ::viam::common::v1::DoCommandRequest* request,
1516
::viam::common::v1::DoCommandResponse* response) noexcept {
16-
return make_service_helper<GenericService>("GenericServiceServer::DoCommand", this,
17-
request)([&](auto&, auto& generic) {
17+
return make_service_helper<GenericService>(
18+
"GenericServiceServer::DoCommand", this, request)([&](auto&, auto& generic) {
1819
const ProtoStruct result = generic->do_command(from_proto(request->command()));
1920
*response->mutable_result() = to_proto(result);
2021
});

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

Lines changed: 30 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -65,7 +65,8 @@ class copy_sdk_tensor_to_api_tensor_visitor : public boost::static_visitor<void>
6565
static_cast<int>((t.size() + 1) * sizeof(std::int16_t) / sizeof(std::uint32_t));
6666
target_->mutable_int16_tensor()->mutable_data()->Clear();
6767
target_->mutable_int16_tensor()->mutable_data()->Resize(num32s, 0);
68-
std::memcpy(target_->mutable_int16_tensor()->mutable_data()->mutable_data(), t.begin(),
68+
std::memcpy(target_->mutable_int16_tensor()->mutable_data()->mutable_data(),
69+
t.begin(),
6970
t.size() * sizeof(std::int16_t));
7071
}
7172

@@ -75,7 +76,8 @@ class copy_sdk_tensor_to_api_tensor_visitor : public boost::static_visitor<void>
7576
static_cast<int>((t.size() + 1) * sizeof(std::uint16_t) / sizeof(std::uint32_t));
7677
target_->mutable_uint16_tensor()->mutable_data()->Clear();
7778
target_->mutable_uint16_tensor()->mutable_data()->Resize(num32s, 0);
78-
std::memcpy(target_->mutable_uint16_tensor()->mutable_data()->mutable_data(), t.begin(),
79+
std::memcpy(target_->mutable_uint16_tensor()->mutable_data()->mutable_data(),
80+
t.begin(),
7981
t.size() * sizeof(std::uint16_t));
8082
}
8183

@@ -113,7 +115,8 @@ class copy_sdk_tensor_to_api_tensor_visitor : public boost::static_visitor<void>
113115
};
114116

115117
template <typename T>
116-
MLModelService::tensor_views make_sdk_tensor_from_api_tensor_t(const T* data, std::size_t size,
118+
MLModelService::tensor_views make_sdk_tensor_from_api_tensor_t(const T* data,
119+
std::size_t size,
117120
std::vector<std::size_t>&& shape,
118121
tensor_storage* ts) {
119122
if (!data || (size == 0) || shape.empty()) {
@@ -178,49 +181,63 @@ MLModelService::tensor_views make_sdk_tensor_from_api_tensor(
178181
if (api_tensor.has_int8_tensor()) {
179182
return make_sdk_tensor_from_api_tensor_t(
180183
reinterpret_cast<const std::int8_t*>(api_tensor.int8_tensor().data().data()),
181-
api_tensor.int8_tensor().data().size(), std::move(shape), storage);
184+
api_tensor.int8_tensor().data().size(),
185+
std::move(shape),
186+
storage);
182187
} else if (api_tensor.has_uint8_tensor()) {
183188
return make_sdk_tensor_from_api_tensor_t(
184189
reinterpret_cast<const std::uint8_t*>(api_tensor.uint8_tensor().data().data()),
185-
api_tensor.uint8_tensor().data().size(), std::move(shape), storage);
190+
api_tensor.uint8_tensor().data().size(),
191+
std::move(shape),
192+
storage);
186193
} else if (api_tensor.has_int16_tensor()) {
187194
// TODO: be deswizzle
188195
return make_sdk_tensor_from_api_tensor_t(
189196
reinterpret_cast<const std::int16_t*>(api_tensor.int16_tensor().data().data()),
190-
std::size_t{2} * api_tensor.int16_tensor().data().size(), std::move(shape), storage);
197+
std::size_t{2} * api_tensor.int16_tensor().data().size(),
198+
std::move(shape),
199+
storage);
191200
} else if (api_tensor.has_uint16_tensor()) {
192201
// TODO: be deswizzle
193202
return make_sdk_tensor_from_api_tensor_t(
194203
reinterpret_cast<const std::uint16_t*>(api_tensor.uint16_tensor().data().data()),
195-
std::size_t{2} * api_tensor.uint16_tensor().data().size(), std::move(shape), storage);
204+
std::size_t{2} * api_tensor.uint16_tensor().data().size(),
205+
std::move(shape),
206+
storage);
196207
} else if (api_tensor.has_int32_tensor()) {
197208
return make_sdk_tensor_from_api_tensor_t(api_tensor.int32_tensor().data().data(),
198209
api_tensor.int32_tensor().data().size(),
199-
std::move(shape), storage);
210+
std::move(shape),
211+
storage);
200212
} else if (api_tensor.has_uint32_tensor()) {
201213
return make_sdk_tensor_from_api_tensor_t(api_tensor.uint32_tensor().data().data(),
202214
api_tensor.uint32_tensor().data().size(),
203-
std::move(shape), storage);
215+
std::move(shape),
216+
storage);
204217

205218
} else if (api_tensor.has_int64_tensor()) {
206219
return make_sdk_tensor_from_api_tensor_t(api_tensor.int64_tensor().data().data(),
207220
api_tensor.int64_tensor().data().size(),
208-
std::move(shape), storage);
221+
std::move(shape),
222+
storage);
209223

210224
} else if (api_tensor.has_uint64_tensor()) {
211225
return make_sdk_tensor_from_api_tensor_t(api_tensor.uint64_tensor().data().data(),
212226
api_tensor.uint64_tensor().data().size(),
213-
std::move(shape), storage);
227+
std::move(shape),
228+
storage);
214229

215230
} else if (api_tensor.has_float_tensor()) {
216231
return make_sdk_tensor_from_api_tensor_t(api_tensor.float_tensor().data().data(),
217232
api_tensor.float_tensor().data().size(),
218-
std::move(shape), storage);
233+
std::move(shape),
234+
storage);
219235

220236
} else if (api_tensor.has_double_tensor()) {
221237
return make_sdk_tensor_from_api_tensor_t(api_tensor.double_tensor().data().data(),
222238
api_tensor.double_tensor().data().size(),
223-
std::move(shape), storage);
239+
std::move(shape),
240+
storage);
224241
}
225242
throw Exception(ErrorCondition::k_not_supported, "Unsupported tensor data type");
226243
}

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

Lines changed: 8 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -26,10 +26,11 @@ MLModelServiceServer::MLModelServiceServer(std::shared_ptr<ResourceManager> mana
2626
: ResourceServer(std::move(manager)) {}
2727

2828
::grpc::Status MLModelServiceServer::Infer(
29-
::grpc::ServerContext*, const ::viam::service::mlmodel::v1::InferRequest* request,
29+
::grpc::ServerContext*,
30+
const ::viam::service::mlmodel::v1::InferRequest* request,
3031
::viam::service::mlmodel::v1::InferResponse* response) noexcept {
31-
return make_service_helper<MLModelService>("MLModelServiceServer::Infer", this,
32-
request)([&](auto& helper, auto& mlms) {
32+
return make_service_helper<MLModelService>(
33+
"MLModelServiceServer::Infer", this, request)([&](auto& helper, auto& mlms) {
3334
if (!request->has_input_tensors()) {
3435
return helper.fail(::grpc::INVALID_ARGUMENT, "Called with no input tensors");
3536
}
@@ -86,10 +87,11 @@ ::grpc::Status MLModelServiceServer::Infer(
8687
}
8788

8889
::grpc::Status MLModelServiceServer::Metadata(
89-
::grpc::ServerContext*, const ::viam::service::mlmodel::v1::MetadataRequest* request,
90+
::grpc::ServerContext*,
91+
const ::viam::service::mlmodel::v1::MetadataRequest* request,
9092
::viam::service::mlmodel::v1::MetadataResponse* response) noexcept {
91-
return make_service_helper<MLModelService>("MLModelServiceServer::Metadata", this,
92-
request)([&](auto& helper, auto& mlms) {
93+
return make_service_helper<MLModelService>(
94+
"MLModelServiceServer::Metadata", this, request)([&](auto& helper, auto& mlms) {
9395
auto md = mlms->metadata(helper.getExtra());
9496

9597
auto& metadata_pb = *response->mutable_metadata();

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

Lines changed: 24 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -181,7 +181,8 @@ MotionClient::MotionClient(std::string name, std::shared_ptr<grpc::Channel> chan
181181
stub_(service::motion::v1::MotionService::NewStub(channel)),
182182
channel_(std::move(channel)) {}
183183

184-
bool MotionClient::move(const pose_in_frame& destination, const Name& component_name,
184+
bool MotionClient::move(const pose_in_frame& destination,
185+
const Name& component_name,
185186
const std::shared_ptr<WorldState>& world_state,
186187
const std::shared_ptr<Motion::constraints>& constraints,
187188
const ProtoStruct& extra) {
@@ -201,9 +202,12 @@ bool MotionClient::move(const pose_in_frame& destination, const Name& component_
201202
}
202203

203204
std::string MotionClient::move_on_map(
204-
const pose& destination, const Name& component_name, const Name& slam_name,
205+
const pose& destination,
206+
const Name& component_name,
207+
const Name& slam_name,
205208
const std::shared_ptr<motion_configuration>& motion_configuration,
206-
const std::vector<GeometryConfig>& obstacles, const ProtoStruct& extra) {
209+
const std::vector<GeometryConfig>& obstacles,
210+
const ProtoStruct& extra) {
207211
return make_client_helper(this, *stub_, &StubType::MoveOnMap)
208212
.with(extra,
209213
[&](auto& request) {
@@ -223,11 +227,14 @@ std::string MotionClient::move_on_map(
223227
}
224228

225229
std::string MotionClient::move_on_globe(
226-
const geo_point& destination, const boost::optional<double>& heading,
227-
const Name& component_name, const Name& movement_sensor_name,
230+
const geo_point& destination,
231+
const boost::optional<double>& heading,
232+
const Name& component_name,
233+
const Name& movement_sensor_name,
228234
const std::vector<geo_geometry>& obstacles,
229235
const std::shared_ptr<motion_configuration>& motion_configuration,
230-
const std::vector<geo_geometry>& bounding_regions, const ProtoStruct& extra) {
236+
const std::vector<geo_geometry>& bounding_regions,
237+
const ProtoStruct& extra) {
231238
return make_client_helper(this, *stub_, &StubType::MoveOnGlobe)
232239
.with(extra,
233240
[&](auto& request) {
@@ -251,8 +258,10 @@ std::string MotionClient::move_on_globe(
251258
}
252259

253260
pose_in_frame MotionClient::get_pose(
254-
const Name& component_name, const std::string& destination_frame,
255-
const std::vector<WorldState::transform>& supplemental_transforms, const ProtoStruct& extra) {
261+
const Name& component_name,
262+
const std::string& destination_frame,
263+
const std::vector<WorldState::transform>& supplemental_transforms,
264+
const ProtoStruct& extra) {
256265
return make_client_helper(this, *stub_, &StubType::GetPose)
257266
.with(extra,
258267
[&](auto& request) {
@@ -271,7 +280,9 @@ void MotionClient::stop_plan(const Name& name, const ProtoStruct& extra) {
271280
}
272281

273282
std::pair<Motion::plan_with_status, std::vector<Motion::plan_with_status>> MotionClient::get_plan_(
274-
const Name& component_name, boost::optional<std::string> execution_id, bool last_plan_only,
283+
const Name& component_name,
284+
boost::optional<std::string> execution_id,
285+
bool last_plan_only,
275286
const ProtoStruct& extra) {
276287
return make_client_helper(this, *stub_, &StubType::GetPlan)
277288
.with(extra,
@@ -289,7 +300,8 @@ std::pair<Motion::plan_with_status, std::vector<Motion::plan_with_status>> Motio
289300
});
290301
}
291302

292-
Motion::plan_with_status MotionClient::get_plan(const Name& name, const std::string& execution_id,
303+
Motion::plan_with_status MotionClient::get_plan(const Name& name,
304+
const std::string& execution_id,
293305
const ProtoStruct& extra) {
294306
return get_plan_(name, execution_id, true, extra).first;
295307
}
@@ -299,7 +311,8 @@ Motion::plan_with_status MotionClient::get_latest_plan(const Name& name, const P
299311
}
300312

301313
std::pair<Motion::plan_with_status, std::vector<Motion::plan_with_status>>
302-
MotionClient::get_plan_with_replan_history(const Name& name, const std::string& execution_id,
314+
MotionClient::get_plan_with_replan_history(const Name& name,
315+
const std::string& execution_id,
303316
const ProtoStruct& extra) {
304317
return get_plan_(name, execution_id, false, extra);
305318
}

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