also do translation and linkconfig

Author: lia-viam

src/viam/sdk/config/resource.cpp

@@ -104,7 +104,7 @@ ResourceConfig ResourceConfig::from_proto(const viam::app::v1::ComponentConfig&
     resource.fix_api();
 
     if (proto_cfg.has_frame()) {
-        resource.frame_ = LinkConfig::from_proto(proto_cfg.frame());
+        resource.frame_ = v2::from_proto(proto_cfg.frame());
     }
 
     return resource;
@@ -133,12 +133,13 @@ viam::app::v1::ComponentConfig ResourceConfig::to_proto() const {
     for (const auto& dep : depends_on_) {
         *proto_cfg.mutable_depends_on()->Add() = dep;
     }
-    *proto_cfg.mutable_frame() = frame_.to_proto();
+    *proto_cfg.mutable_frame() = v2::to_proto(frame_);
 
     return proto_cfg;
 }
 
-ResourceConfig::ResourceConfig(std::string type) : api_({kRDK, type, ""}), type_(std::move(type)){};
+ResourceConfig::ResourceConfig(std::string type)
+    : api_({kRDK, type, ""}), type_(std::move(type)) {};
 
 }  // namespace sdk
 }  // namespace viam

src/viam/sdk/referenceframe/frame.cpp

@@ -12,50 +12,45 @@
 namespace viam {
 namespace sdk {
 
-viam::app::v1::Frame LinkConfig::to_proto() const {
-    viam::app::v1::Frame frame;
+LinkConfig::LinkConfig(translation t, Orientation o, GeometryConfig gcfg, std::string parent)
+    : translation_(std::move(t)),
+      orientation_(std::move(o)),
+      geometry_(std::move(gcfg)),
+      parent_(std::move(parent)) {}
 
-    *frame.mutable_parent() = parent_;
-    *frame.mutable_geometry() = v2::to_proto(geometry_);
-    *frame.mutable_orientation() = v2::to_proto(orientation_);
-    *frame.mutable_translation() = v2::to_proto(translation_);
-    return frame;
-};
-
-LinkConfig LinkConfig::from_proto(const viam::app::v1::Frame& proto) {
-    LinkConfig lc;
-
-    lc.parent_ = proto.parent();
-    lc.translation_.x = proto.translation().x();
-    lc.translation_.y = proto.translation().y();
-    lc.translation_.z = proto.translation().z();
-
-    if (proto.has_orientation()) {
-        lc.orientation_ = v2::from_proto(proto.orientation());
-    }
-
-    if (proto.has_geometry()) {
-        lc.geometry_ = v2::from_proto(proto.geometry());
-    }
-
-    return lc;
-};
-
-translation LinkConfig::get_translation() const {
+const translation& LinkConfig::get_translation() const {
     return translation_;
 }
 
 const Orientation& LinkConfig::get_orientation() const {
     return orientation_;
 }
 
-GeometryConfig LinkConfig::get_geometry_config() const {
+const GeometryConfig& LinkConfig::get_geometry_config() const {
     return geometry_;
 }
 
-std::string LinkConfig::get_parent() const {
+const std::string& LinkConfig::get_parent() const {
     return parent_;
 }
 
+namespace proto_convert_details {
+
+void to_proto<LinkConfig>::operator()(const LinkConfig& self, app::v1::Frame* proto) const {
+    *(proto->mutable_parent()) = self.get_parent();
+    *(proto->mutable_geometry()) = v2::to_proto(self.get_geometry_config());
+    *(proto->mutable_orientation()) = v2::to_proto(self.get_orientation());
+    *(proto->mutable_translation()) = v2::to_proto(self.get_translation());
+}
+
+LinkConfig from_proto<app::v1::Frame>::operator()(const app::v1::Frame* proto) const {
+    return LinkConfig(
+        v2::from_proto(proto->translation()),
+        proto->has_orientation() ? v2::from_proto(proto->orientation()) : Orientation{},
+        proto->has_geometry() ? v2::from_proto(proto->geometry()) : GeometryConfig{},
+        proto->parent());
+}
+
+}  // namespace proto_convert_details
 }  // namespace sdk
 }  // namespace viam

src/viam/sdk/referenceframe/frame.hpp

@@ -2,30 +2,48 @@
 
 #include <string>
 
-#include <viam/api/app/v1/robot.pb.h>
-
+#include <viam/sdk/common/proto_convert.hpp>
 #include <viam/sdk/spatialmath/geometry.hpp>
 #include <viam/sdk/spatialmath/orientation.hpp>
 
+VIAM_SDK_API_FWD_NAMESPACE_BEGIN(app)
+
+class Frame;
+
+VIAM_SDK_API_FWD_NAMESPACE_END
+
 namespace viam {
 namespace sdk {
 
 class LinkConfig {
    public:
-    viam::app::v1::Frame to_proto() const;
-    static LinkConfig from_proto(const viam::app::v1::Frame& proto);
-    translation get_translation() const;
+    LinkConfig() = default;
+    LinkConfig(translation t, Orientation o, GeometryConfig gcfg, std::string parent);
+
+    const translation& get_translation() const;
     const Orientation& get_orientation() const;
-    GeometryConfig get_geometry_config() const;
-    std::string get_parent() const;
+    const GeometryConfig& get_geometry_config() const;
+    const std::string& get_parent() const;
 
    private:
-    std::string id_;
     translation translation_;
     Orientation orientation_;
     GeometryConfig geometry_;
     std::string parent_;
 };
 
+namespace proto_convert_details {
+
+template <>
+struct to_proto<LinkConfig> {
+    void operator()(const LinkConfig&, app::v1::Frame*) const;
+};
+
+template <>
+struct from_proto<app::v1::Frame> {
+    LinkConfig operator()(const app::v1::Frame*) const;
+};
+
+}  // namespace proto_convert_details
 }  // namespace sdk
 }  // namespace viam

src/viam/sdk/spatialmath/orientation_types.cpp

@@ -5,12 +5,18 @@
 namespace viam {
 namespace sdk {
 
-void proto_convert_details::to_proto<translation>::operator()(const translation& self,
-                                                              app::v1::Translation* t) const {
+namespace proto_convert_details {
+
+void to_proto<translation>::operator()(const translation& self, app::v1::Translation* t) const {
     t->set_x(self.x);
     t->set_y(self.y);
     t->set_z(self.z);
 }
 
+translation from_proto<app::v1::Translation>::operator()(const app::v1::Translation* proto) const {
+    return {proto->x(), proto->y(), proto->z()};
+}
+
+}  // namespace proto_convert_details
 }  // namespace sdk
 }  // namespace viam

src/viam/sdk/spatialmath/orientation_types.hpp

@@ -50,6 +50,11 @@ struct to_proto<translation> {
     void operator()(const translation&, app::v1::Translation*) const;
 };
 
+template <>
+struct from_proto<app::v1::Translation> {
+    translation operator()(const app::v1::Translation*) const;
+};
+
 }  // namespace proto_convert_details
 }  // namespace sdk
 }  // namespace viam

src/viam/sdk/tests/test_resource.cpp

@@ -134,7 +134,7 @@ BOOST_AUTO_TEST_CASE(test_linkconfig) {
     *frame.mutable_orientation() = o;
     *frame.mutable_translation() = t;
 
-    LinkConfig lc = LinkConfig::from_proto(frame);
+    LinkConfig lc = v2::from_proto(frame);
     BOOST_CHECK_EQUAL(lc.get_parent(), "parent");
     BOOST_CHECK_EQUAL(lc.get_translation().x, t.x());
     BOOST_CHECK_EQUAL(lc.get_translation().y, t.y());
@@ -151,7 +151,7 @@ BOOST_AUTO_TEST_CASE(test_linkconfig) {
     BOOST_CHECK_EQUAL(gs.box().dims_mm().y(), box.dims_mm().y());
     BOOST_CHECK_EQUAL(gs.box().dims_mm().z(), box.dims_mm().z());
 
-    viam::app::v1::Frame proto_lc = lc.to_proto();
+    viam::app::v1::Frame proto_lc = v2::to_proto(lc);
     BOOST_CHECK_EQUAL(proto_lc.parent(), "parent");
     BOOST_CHECK_EQUAL(proto_lc.translation().x(), t.x());
     BOOST_CHECK_EQUAL(proto_lc.translation().y(), t.y());