use newly provided common mesh.cxx

Author: mattmacf98

src/viam/sdk/components/arm.hpp

@@ -3,12 +3,12 @@
 /// @brief Defines an `Arm` component
 #pragma once
 
-#include <common/v1/common.pb.h>
 #include <string>
 
 #include <boost/optional/optional.hpp>
 #include <boost/variant/variant.hpp>
 
+#include <viam/sdk/common/mesh.hpp>
 #include <viam/sdk/common/pose.hpp>
 #include <viam/sdk/resource/stoppable.hpp>
 #include <viam/sdk/spatialmath/geometry.hpp>
@@ -146,11 +146,11 @@ class Arm : public Component, public Stoppable {
     /// @brief Returns `3DModel`s associated with the calling arm
     /// @param extra Any additional arguments to the method
     /// @return A map of `3DModel`s associated with the calling arm
-    virtual std::map<std::string, common::v1::Mesh> get_3d_models(const ProtoStruct& extra) = 0;
+    virtual std::map<std::string, mesh> get_3d_models(const ProtoStruct& extra) = 0;
 
     /// @brief Returns `3DModel`s associated with the calling arm
     /// @return A map of `3DModel`s associated with the calling arm
-    inline std::map<std::string, common::v1::Mesh> get_3d_models() {
+    inline std::map<std::string, mesh> get_3d_models() {
         return get_3d_models({});
     }
 

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

@@ -106,12 +106,15 @@ Arm::KinematicsData ArmClient::get_kinematics(const ProtoStruct& extra) {
         });
 }
 
-std::map<std::string, common::v1::Mesh> ArmClient::get_3d_models(const ProtoStruct& extra) {
+std::map<std::string, mesh> ArmClient::get_3d_models(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::Get3DModels)
         .with(extra)
         .invoke([](auto& response) {
-            return std::map<std::string, common::v1::Mesh>(response.models().begin(),
-                                                           response.models().end());
+            std::map<std::string, mesh> models;
+            for (const auto& [key, value] : response.models()) {
+                models.emplace(key, from_proto(value));
+            }
+            return models;
         });
 }
 

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

@@ -33,7 +33,7 @@ class ArmClient : public Arm {
     void stop(const ProtoStruct& extra) override;
     ProtoStruct do_command(const ProtoStruct& command) override;
     Arm::KinematicsData get_kinematics(const ProtoStruct& extra) override;
-    std::map<std::string, common::v1::Mesh> get_3d_models(const ProtoStruct& extra) override;
+    std::map<std::string, mesh> get_3d_models(const ProtoStruct& extra) override;
     std::vector<GeometryConfig> get_geometries(const ProtoStruct& extra) override;
 
     // Using declarations to introduce convenience overloads of interface which do not need to be

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

@@ -140,10 +140,11 @@ ::grpc::Status ArmServer::Get3DModels(::grpc::ServerContext*,
                                       ::viam::common::v1::Get3DModelsResponse* response) noexcept {
     return make_service_helper<Arm>(
         "ArmServer::Get3DModels", this, request)([&](auto& helper, auto& arm) {
-        const std::map<std::string, common::v1::Mesh> models =
-            arm->get_3d_models(helper.getExtra());
+        const std::map<std::string, mesh> models = arm->get_3d_models(helper.getExtra());
 
-        response->mutable_models()->insert(models.begin(), models.end());
+        for (const auto& [key, mesh] : models) {
+            response->mutable_models()->insert({key, to_proto(mesh)});
+        }
     });
 }
 

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

@@ -1,3 +1,4 @@
+#include "viam/sdk/common/mesh.hpp"
 #include <viam/sdk/tests/mocks/mock_arm.hpp>
 
 #include "mock_arm.hpp"
@@ -7,8 +8,8 @@ namespace viam {
 namespace sdktests {
 namespace arm {
 
-std::map<std::string, common::v1::Mesh> fake_3d_models() {
-    return {{"model1", common::v1::Mesh::default_instance()}};
+std::map<std::string, sdk::mesh> fake_3d_models() {
+    return {{"model1", sdk::mesh{"model1", {1, 2, 3, 4}}}};
 }
 
 sdk::Arm::KinematicsData fake_kinematics() {
@@ -63,7 +64,7 @@ std::vector<sdk::GeometryConfig> MockArm::get_geometries(const sdk::ProtoStruct&
     return fake_geometries();
 }
 
-std::map<std::string, common::v1::Mesh> MockArm::get_3d_models(const sdk::ProtoStruct&) {
+std::map<std::string, sdk::mesh> MockArm::get_3d_models(const sdk::ProtoStruct&) {
     return fake_3d_models();
 }
 

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

@@ -7,7 +7,7 @@ namespace sdktests {
 namespace arm {
 
 sdk::Arm::KinematicsData fake_kinematics();
-std::map<std::string, common::v1::Mesh> fake_3d_models();
+std::map<std::string, sdk::mesh> fake_3d_models();
 
 class MockArm : public sdk::Arm {
    public:
@@ -30,7 +30,7 @@ class MockArm : public sdk::Arm {
     sdk::ProtoStruct do_command(const sdk::ProtoStruct& command) override;
     sdk::Arm::KinematicsData get_kinematics(const sdk::ProtoStruct&) override;
     std::vector<sdk::GeometryConfig> get_geometries(const sdk::ProtoStruct&) override;
-    std::map<std::string, common::v1::Mesh> get_3d_models(const sdk::ProtoStruct&) override;
+    std::map<std::string, sdk::mesh> get_3d_models(const sdk::ProtoStruct&) override;
     sdk::pose current_location;
     std::vector<double> joint_positions;
     std::vector<std::vector<double>> move_thru_positions;