add sdk mesh type

Author: lia-viam

src/viam/sdk/CMakeLists.txt

@@ -66,6 +66,7 @@ target_sources(viamsdk
     common/exception.cpp
     common/instance.cpp
     common/linear_algebra.cpp
+    common/mesh.cpp
     common/pose.cpp
     common/proto_value.cpp
     common/utils.cpp
@@ -177,6 +178,7 @@ target_sources(viamsdk
       ../../viam/sdk/common/exception.hpp
       ../../viam/sdk/common/instance.hpp
       ../../viam/sdk/common/linear_algebra.hpp
+      ../../viam/sdk/common/mesh.hpp
       ../../viam/sdk/common/pose.hpp
       ../../viam/sdk/common/proto_convert.hpp
       ../../viam/sdk/common/proto_value.hpp

src/viam/sdk/common/mesh.cpp

@@ -0,0 +1,22 @@
+#include <viam/sdk/common/mesh.hpp>
+
+#include <viam/sdk/common/utils.hpp>
+
+#include <common/v1/common.pb.h>
+
+namespace viam {
+namespace sdk {
+
+namespace proto_convert_details {
+void to_proto_impl<mesh>::operator()(const mesh& self, common::v1::Mesh* proto) const {
+    proto->set_content_type(self.content_type);
+    proto->set_mesh(bytes_to_string(self.data));
+}
+
+mesh from_proto_impl<common::v1::Mesh>::operator()(const common::v1::Mesh* proto) const {
+    return mesh{proto->content_type(), string_to_bytes(proto->mesh())};
+}
+
+}  // namespace proto_convert_details
+}  // namespace sdk
+}  // namespace viam

src/viam/sdk/common/mesh.hpp

@@ -0,0 +1,41 @@
+#pragma once
+
+#include <viam/sdk/common/proto_convert.hpp>
+
+#include <string>
+#include <vector>
+
+namespace viam {
+namespace common {
+namespace v1 {
+
+class Mesh;
+
+}  // namespace v1
+}  // namespace common
+}  // namespace viam
+
+namespace viam {
+namespace sdk {
+
+struct mesh {
+    std::string content_type;
+    std::vector<unsigned char> data;
+};
+
+namespace proto_convert_details {
+
+template <>
+struct to_proto_impl<mesh> {
+    void operator()(const mesh&, common::v1::Mesh*) const;
+};
+
+template <>
+struct from_proto_impl<common::v1::Mesh> {
+    mesh operator()(const common::v1::Mesh*) const;
+};
+
+}  // namespace proto_convert_details
+
+}  // namespace sdk
+}  // namespace viam