Merge branch 'main' into aw-docker-2

Author: abe-winter

CMakeLists.txt

@@ -34,7 +34,7 @@
 # constrained by the version of CMake available on target systems.
 cmake_minimum_required(VERSION 3.25 FATAL_ERROR)
 
-set(CMAKE_PROJECT_VERSION 0.0.15)
+set(CMAKE_PROJECT_VERSION 0.0.16)
 
 # Identify the project.
 project(viam-cpp-sdk

src/viam/api/CMakeLists.txt

@@ -225,6 +225,10 @@ if (VIAMCPPSDK_USE_DYNAMIC_PROTOS)
     ${PROTO_GEN_DIR}/service/motion/v1/motion.grpc.pb.h
     ${PROTO_GEN_DIR}/service/motion/v1/motion.pb.cc
     ${PROTO_GEN_DIR}/service/motion/v1/motion.pb.h
+    ${PROTO_GEN_DIR}/service/navigation/v1/navigation.grpc.pb.cc
+    ${PROTO_GEN_DIR}/service/navigation/v1/navigation.grpc.pb.h
+    ${PROTO_GEN_DIR}/service/navigation/v1/navigation.pb.cc
+    ${PROTO_GEN_DIR}/service/navigation/v1/navigation.pb.h
     ${PROTO_GEN_DIR}/tagger/v1/tagger.grpc.pb.cc
     ${PROTO_GEN_DIR}/tagger/v1/tagger.grpc.pb.h
     ${PROTO_GEN_DIR}/tagger/v1/tagger.pb.cc
@@ -328,6 +332,8 @@ target_sources(viamapi
     ${PROTO_GEN_DIR}/service/mlmodel/v1/mlmodel.pb.cc
     ${PROTO_GEN_DIR}/service/motion/v1/motion.grpc.pb.cc
     ${PROTO_GEN_DIR}/service/motion/v1/motion.pb.cc
+    ${PROTO_GEN_DIR}/service/navigation/v1/navigation.grpc.pb.cc
+    ${PROTO_GEN_DIR}/service/navigation/v1/navigation.pb.cc
     ${PROTO_GEN_DIR}/tagger/v1/tagger.grpc.pb.cc
     ${PROTO_GEN_DIR}/tagger/v1/tagger.pb.cc
   PUBLIC FILE_SET viamapi_includes TYPE HEADERS
@@ -385,6 +391,8 @@ target_sources(viamapi
       ${PROTO_GEN_DIR}/../../viam/api/service/mlmodel/v1/mlmodel.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/service/motion/v1/motion.grpc.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/service/motion/v1/motion.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/service/navigation/v1/navigation.grpc.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/service/navigation/v1/navigation.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/tagger/v1/tagger.pb.h
 )
 

src/viam/examples/modules/complex/proto/buf.lock

@@ -4,5 +4,5 @@ deps:
   - remote: buf.build
     owner: googleapis
     repository: googleapis
-    commit: e7f8d366f5264595bcc4cd4139af9973
-    digest: shake256:e5e5f1c12f82e028ea696faa43b4f9dc6258a6d1226282962a8c8b282e10946281d815884f574bd279ebd9cd7588629beb3db17b892af6c33b56f92f8f67f509
+    commit: c0913f24652a4cfc95f77d97443a5005
+    digest: shake256:0ef3248c6235d420fe61f373154adcde6b94e3297f82472b1d8d8c3747240b61b4a10405e2a6f8ac1c98816ac6e690ea7871024aa5ae0e035cd540214667ceed

src/viam/sdk/CMakeLists.txt

@@ -76,6 +76,7 @@ target_sources(viamsdk
     components/private/board_server.cpp
     components/private/camera_client.cpp
     components/private/camera_server.cpp
+    components/private/encoder.cpp
     components/private/encoder_client.cpp
     components/private/encoder_server.cpp
     components/private/gantry_client.cpp
@@ -119,13 +120,16 @@ target_sources(viamsdk
     services/generic.cpp
     services/mlmodel.cpp
     services/motion.cpp
+    services/navigation.cpp
     services/private/generic_client.cpp
     services/private/generic_server.cpp
     services/private/mlmodel.cpp
     services/private/mlmodel_client.cpp
     services/private/mlmodel_server.cpp
     services/private/motion_client.cpp
     services/private/motion_server.cpp
+    services/private/navigation_client.cpp
+    services/private/navigation_server.cpp
     services/service.cpp
     spatialmath/geometry.cpp
     spatialmath/orientation.cpp
@@ -179,6 +183,7 @@ target_sources(viamsdk
       ../../viam/sdk/services/generic.hpp
       ../../viam/sdk/services/mlmodel.hpp
       ../../viam/sdk/services/motion.hpp
+      ../../viam/sdk/services/navigation.hpp
       ../../viam/sdk/services/service.hpp
       ../../viam/sdk/spatialmath/geometry.hpp
       ../../viam/sdk/spatialmath/orientation.hpp

src/viam/sdk/common/private/proto_utils.hpp

@@ -0,0 +1,63 @@
+/// @file common/proto_utils.hpp
+///
+/// @brief Utils that require generated proto includes. These should be #included
+/// in cpp implementation files, but not in wrapper headers consumed by third party code.
+#pragma once
+
+#include <viam/api/common/v1/common.pb.h>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+/// @brief Copies elements from a protobuf repeated pointer array into a std::vector. Src type
+/// must have a `to_proto` method.
+template <typename Src, typename Dst>
+void vecToRepeatedPtr(const std::vector<Src>& vec, google::protobuf::RepeatedPtrField<Dst>& dest) {
+    dest.Clear();
+    dest.Reserve(vec.size());
+    for (auto& x : vec) {
+        *dest.Add() = x.to_proto();
+    }
+}
+
+/// @brief Non-member to_proto() version. (necessary for moving generated types out of wrapper
+/// headers). Takes explicit `to_proto`.
+template <typename Src, typename Dst>
+void vecToRepeatedPtr(const std::vector<Src>& vec,
+                      google::protobuf::RepeatedPtrField<Dst>& dest,
+                      Dst to_proto(const Src&)) {
+    dest.Clear();
+    dest.Reserve(vec.size());
+    for (auto& x : vec) {
+        *dest.Add() = to_proto(x);
+    }
+}
+
+/// @brief Copies elements from a std::vector into a protobuf repeated pointer array. Dst type
+/// must have a `from_proto` static method.
+template <typename Src, typename Dst>
+void repeatedPtrToVec(const google::protobuf::RepeatedPtrField<Src>& src, std::vector<Dst>& vec) {
+    vec.clear();
+    vec.reserve(src.size());
+    for (auto& x : src) {
+        vec.push_back(Dst::from_proto(x));
+    }
+}
+
+/// @brief Non-member from_proto() version. (necessary for moving generated types out of wrapper
+/// headers). Takes explicit `from_proto`.
+template <typename Src, typename Dst>
+void repeatedPtrToVec(const google::protobuf::RepeatedPtrField<Src>& src,
+                      std::vector<Dst>& vec,
+                      Dst from_proto(const Src&)) {
+    vec.clear();
+    vec.reserve(src.size());
+    for (auto& x : src) {
+        vec.push_back(from_proto(x));
+    }
+}
+
+}  // namespace impl
+}  // namespace sdk
+}  // namespace viam

src/viam/sdk/components/arm.cpp

@@ -11,20 +11,6 @@ API API::traits<Arm>::api() {
     return {kRDK, kComponent, "arm"};
 }
 
-Arm::KinematicsData Arm::from_proto(const viam::common::v1::GetKinematicsResponse& proto) {
-    std::vector<unsigned char> bytes(proto.kinematics_data().begin(),
-                                     proto.kinematics_data().end());
-    switch (proto.format()) {
-        case common::v1::KinematicsFileFormat::KINEMATICS_FILE_FORMAT_SVA:
-            return Arm::KinematicsDataSVA(std::move(bytes));
-        case common::v1::KinematicsFileFormat::KINEMATICS_FILE_FORMAT_URDF:
-            return Arm::KinematicsDataURDF(std::move(bytes));
-        case common::v1::KinematicsFileFormat::KINEMATICS_FILE_FORMAT_UNSPECIFIED:  // fallthrough
-        default:
-            return Arm::KinematicsDataUnspecified{};
-    }
-}
-
 Arm::Arm(std::string name) : Component(std::move(name)) {}
 
 }  // namespace sdk

src/viam/sdk/components/arm.hpp

@@ -5,11 +5,9 @@
 
 #include <string>
 
+#include <boost/optional/optional.hpp>
 #include <boost/variant/variant.hpp>
 
-#include <viam/api/common/v1/common.pb.h>
-#include <viam/api/component/arm/v1/arm.pb.h>
-
 #include <viam/sdk/common/pose.hpp>
 #include <viam/sdk/resource/stoppable.hpp>
 #include <viam/sdk/spatialmath/geometry.hpp>
@@ -61,7 +59,11 @@ class Arm : public Component, public Stoppable {
     using KinematicsData =
         boost::variant<KinematicsDataUnspecified, KinematicsDataSVA, KinematicsDataURDF>;
 
-    static KinematicsData from_proto(const viam::common::v1::GetKinematicsResponse& proto);
+    /// @brief Movement specifications for move_through_join_positions.
+    struct MoveOptions {
+        boost::optional<double> max_vel_degs_per_sec;
+        boost::optional<double> max_acc_degs_per_sec2;
+    };
 
     /// @brief Get the current position of the end of the arm.
     /// @return The `pose` representing the end position of the arm.
@@ -103,6 +105,22 @@ class Arm : public Component, public Stoppable {
     virtual void move_to_joint_positions(const std::vector<double>& positions,
                                          const ProtoStruct& extra) = 0;
 
+    /// @brief Move each joint on the arm through the positions specified in @param positions
+    /// @param options optional specifications to be obeyed during the motion.
+    /// TODO consider replacing vector vector with xtensor array, and also if it may be
+    /// possible to specify or constrain dimensionality of the array in advance.
+    inline void move_through_joint_positions(const std::vector<std::vector<double>>& positions,
+                                             const MoveOptions& options) {
+        return move_through_joint_positions(positions, options, {});
+    }
+
+    /// @brief Move each joint on the arm through the positions specified in @param positions
+    /// @param options optional specifications to be obeyed during the motion.
+    /// @param extra Any additional arguments to the method.
+    virtual void move_through_joint_positions(const std::vector<std::vector<double>>& positions,
+                                              const MoveOptions& options,
+                                              const ProtoStruct& extra) = 0;
+
     /// @brief Reports if the arm is in motion.
     virtual bool is_moving() = 0;
 

src/viam/sdk/components/base.cpp

@@ -1,13 +1,5 @@
 #include <viam/sdk/components/base.hpp>
 
-#include <google/protobuf/descriptor.h>
-
-#include <viam/api/component/base/v1/base.grpc.pb.h>
-#include <viam/api/component/base/v1/base.pb.h>
-
-#include <viam/sdk/common/utils.hpp>
-#include <viam/sdk/resource/resource.hpp>
-
 namespace viam {
 namespace sdk {
 
@@ -19,12 +11,6 @@ API API::traits<Base>::api() {
     return {kRDK, kComponent, "base"};
 }
 
-Base::properties Base::properties::from_proto(
-    const component::base::v1::GetPropertiesResponse& proto) {
-    return {
-        proto.width_meters(), proto.turning_radius_meters(), proto.wheel_circumference_meters()};
-}
-
 std::ostream& operator<<(std::ostream& os, const Base::properties& v) {
     os << "{ turning_radius_meters: " << v.turning_radius_meters
        << ", wheel_circumference_meters: " << v.wheel_circumference_meters

src/viam/sdk/components/base.hpp

@@ -5,8 +5,6 @@
 
 #include <string>
 
-#include <viam/api/component/base/v1/base.pb.h>
-
 #include <viam/sdk/common/linear_algebra.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/common/utils.hpp>
@@ -32,8 +30,6 @@ class Base : public Component, public Stoppable {
         double width_meters;
         double turning_radius_meters;
         double wheel_circumference_meters;
-
-        static properties from_proto(const component::base::v1::GetPropertiesResponse& proto);
     };
     friend std::ostream& operator<<(std::ostream& os, const properties& v);
     friend bool operator==(const properties& lhs, const properties& rhs);

src/viam/sdk/components/board.cpp

@@ -2,10 +2,6 @@
 
 #include <google/protobuf/descriptor.h>
 
-#include <viam/api/component/board/v1/board.grpc.pb.h>
-#include <viam/api/component/board/v1/board.pb.h>
-
-#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/resource/resource.hpp>
 
@@ -20,59 +16,6 @@ API API::traits<Board>::api() {
     return {kRDK, kComponent, "board"};
 }
 
-Board::status Board::from_proto(const viam::component::board::v1::Status& proto) {
-    Board::status status;
-    for (const auto& analog : proto.analogs()) {
-        status.analog_reader_values.emplace(analog.first, analog.second);
-    }
-    for (const auto& digital : proto.digital_interrupts()) {
-        status.digital_interrupt_values.emplace(digital.first, digital.second);
-    }
-    return status;
-}
-
-Board::power_mode Board::from_proto(viam::component::board::v1::PowerMode proto) {
-    switch (proto) {
-        case viam::component::board::v1::POWER_MODE_NORMAL: {
-            return Board::power_mode::normal;
-        }
-        case viam::component::board::v1::POWER_MODE_OFFLINE_DEEP: {
-            return Board::power_mode::offline_deep;
-        }
-        case viam::component::board::v1::POWER_MODE_UNSPECIFIED:
-        default: {
-            throw Exception(ErrorCondition::k_not_supported,
-                            "Invalid proto board power_mode to decode");
-        }
-    }
-}
-
-viam::component::board::v1::Status Board::to_proto(const status& status) {
-    viam::component::board::v1::Status proto;
-    for (const auto& analog : status.analog_reader_values) {
-        proto.mutable_analogs()->insert({analog.first, analog.second});
-    }
-
-    for (const auto& digital : status.digital_interrupt_values) {
-        proto.mutable_digital_interrupts()->insert({digital.first, digital.second});
-    }
-    return proto;
-}
-
-viam::component::board::v1::PowerMode Board::to_proto(Board::power_mode power_mode) {
-    switch (power_mode) {
-        case Board::power_mode::normal: {
-            return viam::component::board::v1::POWER_MODE_NORMAL;
-        }
-        case Board::power_mode::offline_deep: {
-            return viam::component::board::v1::POWER_MODE_OFFLINE_DEEP;
-        }
-        default: {
-            throw Exception(ErrorCondition::k_not_supported, "Invalid board power_mode to encode");
-        }
-    }
-}
-
 Board::Board(std::string name) : Component(std::move(name)){};
 
 bool operator==(const Board::status& lhs, const Board::status& rhs) {