Merge branch 'main' into as-func

Author: lia-viam

src/viam/sdk/robot/client.cpp

@@ -35,8 +35,6 @@ namespace sdk {
 
 using google::protobuf::RepeatedPtrField;
 using viam::common::v1::Transform;
-using viam::robot::v1::Discovery;
-using viam::robot::v1::DiscoveryQuery;
 using viam::robot::v1::FrameSystemConfig;
 using viam::robot::v1::Operation;
 using viam::robot::v1::RobotService;
@@ -48,28 +46,6 @@ using viam::robot::v1::RobotService;
 // NOLINTNEXTLINE
 const std::string kStreamRemoved("Stream removed");
 
-// TODO: add a traits class for proto to type and back conversion
-DiscoveryQuery to_proto(const RobotClient::discovery_query& query) {
-    DiscoveryQuery proto;
-    *proto.mutable_subtype() = query.subtype;
-    *proto.mutable_model() = query.model;
-    return proto;
-}
-
-RobotClient::discovery_query from_proto(const DiscoveryQuery& proto) {
-    RobotClient::discovery_query query;
-    query.subtype = proto.subtype();
-    query.model = proto.model();
-    return query;
-}
-
-RobotClient::discovery from_proto(const Discovery& proto) {
-    RobotClient::discovery discovery;
-    discovery.query = from_proto(proto.query());
-    discovery.results = from_proto(proto.results());
-    return discovery;
-}
-
 RobotClient::frame_system_config from_proto(const FrameSystemConfig& proto) {
     RobotClient::frame_system_config fsconfig;
     fsconfig.frame = from_proto(proto.frame());
@@ -95,15 +71,6 @@ RobotClient::operation from_proto(const Operation& proto) {
     return op;
 }
 
-bool operator==(const RobotClient::discovery_query& lhs, const RobotClient::discovery_query& rhs) {
-    return lhs.subtype == rhs.subtype && lhs.model == rhs.model;
-}
-
-bool operator==(const RobotClient::discovery& lhs, const RobotClient::discovery& rhs) {
-    return lhs.query == rhs.query &&
-           to_proto(lhs.results).SerializeAsString() == to_proto(rhs.results).SerializeAsString();
-}
-
 bool operator==(const RobotClient::frame_system_config& lhs,
                 const RobotClient::frame_system_config& rhs) {
     return lhs.frame == rhs.frame && to_proto(lhs.kinematics).SerializeAsString() ==
@@ -354,32 +321,6 @@ pose_in_frame RobotClient::transform_pose(
     return from_proto(resp.pose());
 }
 
-std::vector<RobotClient::discovery> RobotClient::discover_components(
-    const std::vector<discovery_query>& queries) {
-    viam::robot::v1::DiscoverComponentsRequest req;
-    viam::robot::v1::DiscoverComponentsResponse resp;
-    ClientContext ctx;
-
-    RepeatedPtrField<DiscoveryQuery>* req_queries = req.mutable_queries();
-
-    for (const discovery_query& query : queries) {
-        *req_queries->Add() = to_proto(query);
-    }
-
-    const grpc::Status response = impl_->stub_->DiscoverComponents(ctx, req, &resp);
-    if (is_error_response(response)) {
-        BOOST_LOG_TRIVIAL(error) << "Error discovering components: " << response.error_message();
-    }
-
-    std::vector<discovery> components = std::vector<discovery>();
-
-    for (const Discovery& d : resp.discovery()) {
-        components.push_back(from_proto(d));
-    }
-
-    return components;
-}
-
 std::shared_ptr<Resource> RobotClient::resource_by_name(const Name& name) {
     return resource_manager_.resource(name.name());
 }

src/viam/sdk/robot/client.hpp

@@ -34,18 +34,6 @@ namespace sdk {
 /// `with_channel` require a user call to `close()`.
 class RobotClient {
    public:
-    struct discovery_query {
-        std::string subtype;
-        std::string model;
-        friend bool operator==(const discovery_query& lhs, const discovery_query& rhs);
-    };
-
-    struct discovery {
-        discovery_query query;
-        ProtoStruct results;
-        friend bool operator==(const discovery& lhs, const discovery& rhs);
-    };
-
     struct frame_system_config {
         WorldState::transform frame;
         ProtoStruct kinematics;
@@ -120,8 +108,6 @@ class RobotClient {
     /// @return The list of operations currently running on the calling robot.
     std::vector<operation> get_operations();
 
-    std::vector<discovery> discover_components(const std::vector<discovery_query>& queries);
-
     /// @brief Transform a given `Pose` to a new specified destination which is a reference frame.
     /// @param query The pose that should be transformed.
     /// @param destination The name of the reference frame to transform the given pose to.

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

@@ -18,8 +18,6 @@ using namespace viam::sdk;
 using common::v1::Pose;
 using common::v1::PoseInFrame;
 using common::v1::ResourceName;
-using viam::robot::v1::Discovery;
-using viam::robot::v1::DiscoveryQuery;
 using viam::robot::v1::FrameSystemConfig;
 using viam::robot::v1::Operation;
 
@@ -93,41 +91,6 @@ std::vector<Operation> mock_proto_operations_response() {
     return resp;
 }
 
-std::vector<RobotClient::discovery> mock_discovery_response() {
-    RobotClient::discovery_query query;
-    query.subtype = "camera";
-    query.model = "webcam";
-    ProtoValue s("bar");
-    ProtoValue map(fake_map());
-
-    ProtoList inner{{map}};
-    ProtoList l{{s, ProtoValue{false}, ProtoValue{3.0}, ProtoValue{4.2}, map, std::move(inner)}};
-
-    ProtoStruct results{{"foo", l}};
-
-    RobotClient::discovery discovery;
-    discovery.query = std::move(query);
-    discovery.results = std::move(results);
-    return std::vector<RobotClient::discovery>{std::move(discovery)};
-}
-
-std::vector<Discovery> mock_proto_discovery_response() {
-    std::vector<viam::robot::v1::Discovery> v;
-    for (const auto& d : mock_discovery_response()) {
-        DiscoveryQuery query;
-        *query.mutable_subtype() = d.query.subtype;
-        *query.mutable_model() = d.query.model;
-
-        viam::robot::v1::Discovery discovery;
-        *discovery.mutable_query() = query;
-        *discovery.mutable_results() = to_proto(d.results);
-
-        v.push_back(std::move(discovery));
-    }
-
-    return v;
-}
-
 pose_in_frame mock_transform_response() {
     return {"arm", default_pose()};
 }
@@ -347,22 +310,6 @@ ::grpc::Status MockRobotService::FrameSystemConfig(
     return ::grpc::Status();
 }
 
-::grpc::Status MockRobotService::DiscoverComponents(
-    ::grpc::ServerContext* context,
-    const ::viam::robot::v1::DiscoverComponentsRequest*,
-    ::viam::robot::v1::DiscoverComponentsResponse* response) {
-    auto client_md = context->client_metadata();
-    if (auto client_info = client_md.find("viam_client"); client_info == client_md.end()) {
-        return ::grpc::Status(::grpc::StatusCode::FAILED_PRECONDITION,
-                              "viam_client info not properly set in metadata");
-    }
-    auto* discovery = response->mutable_discovery();
-    for (auto& d : mock_proto_discovery_response()) {
-        *discovery->Add() = d;
-    }
-    return ::grpc::Status();
-}
-
 ::grpc::Status MockRobotService::TransformPose(::grpc::ServerContext* context,
                                                const ::viam::robot::v1::TransformPoseRequest*,
                                                ::viam::robot::v1::TransformPoseResponse* response) {

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

@@ -46,11 +46,6 @@ class MockRobotService : public ResourceServer, public viam::robot::v1::RobotSer
                                  const ::viam::robot::v1::TransformPoseRequest* request,
                                  ::viam::robot::v1::TransformPoseResponse* response) override;
 
-    ::grpc::Status DiscoverComponents(
-        ::grpc::ServerContext* context,
-        const ::viam::robot::v1::DiscoverComponentsRequest* request,
-        ::viam::robot::v1::DiscoverComponentsResponse* response) override;
-
     ::grpc::Status GetOperations(::grpc::ServerContext* context,
                                  const ::viam::robot::v1::GetOperationsRequest* request,
                                  ::viam::robot::v1::GetOperationsResponse* response) override;
@@ -63,8 +58,6 @@ class MockRobotService : public ResourceServer, public viam::robot::v1::RobotSer
 pose default_pose(int offset = 0);
 std::vector<RobotClient::operation> mock_operations_response();
 std::vector<viam::robot::v1::Operation> mock_proto_operations_response();
-std::vector<RobotClient::discovery> mock_discovery_response();
-std::vector<viam::robot::v1::Discovery> mock_proto_discovery_response();
 std::vector<Name> mock_resource_names_response();
 std::vector<common::v1::ResourceName> mock_proto_resource_names_response();
 std::vector<RobotClient::frame_system_config> mock_config_response();

src/viam/sdk/tests/test_robot.cpp

@@ -19,8 +19,6 @@
 #include <viam/sdk/tests/mocks/mock_robot.hpp>
 #include <viam/sdk/tests/test_utils.hpp>
 
-BOOST_TEST_DONT_PRINT_LOG_VALUE(viam::sdk::RobotClient::discovery_query)
-BOOST_TEST_DONT_PRINT_LOG_VALUE(viam::sdk::RobotClient::discovery)
 BOOST_TEST_DONT_PRINT_LOG_VALUE(viam::sdk::RobotClient::frame_system_config)
 BOOST_TEST_DONT_PRINT_LOG_VALUE(viam::sdk::RobotClient::operation)
 
@@ -181,40 +179,6 @@ BOOST_AUTO_TEST_CASE(test_get_operations) {
         });
 }
 
-// This test ensures that the functions in the `mock_robot` files have the same fields for both
-// the proto and custom type versions.
-BOOST_AUTO_TEST_CASE(test_discovery) {
-    robot_client_to_mocks_pipeline(
-        [](std::shared_ptr<RobotClient> client, MockRobotService& service) -> void {
-            auto components = mock_discovery_response();
-            auto component = components[0];
-            auto results = component.results.begin();
-            auto protos = mock_proto_discovery_response();
-            auto proto = protos[0];
-            auto proto_results = proto.results().fields().begin();
-
-            BOOST_CHECK_EQUAL(component.query.subtype, proto.query().subtype());
-            BOOST_CHECK_EQUAL(component.query.model, proto.query().model());
-            BOOST_CHECK_EQUAL(results->first, proto_results->first);
-            // the `Value` type in our mock responses is a `list` type so we can comprehensively
-            // test `ProtoValue` conversions. Unfortunately the protobuf `ListValue` type doesn't
-            // seem to have `==` defined, so we convert to a `DebugString` here to verify
-            // comparison and to provide helpful printing of differences in case of an error.
-            BOOST_CHECK_EQUAL(to_proto(results->second).DebugString(),
-                              proto_results->second.DebugString());
-        });
-}
-
-BOOST_AUTO_TEST_CASE(test_discover_components) {
-    robot_client_to_mocks_pipeline(
-        [](std::shared_ptr<RobotClient> client, MockRobotService& service) -> void {
-            auto components = client->discover_components({});
-            auto mock_components = mock_discovery_response();
-
-            BOOST_TEST(components == mock_components, boost::test_tools::per_element());
-        });
-}
-
 BOOST_AUTO_TEST_CASE(test_transform_pose) {
     robot_client_to_mocks_pipeline(
         [](std::shared_ptr<RobotClient> client, MockRobotService& service) -> void {