operator==, fix type on NavServer::DoCommand

Author: abe-winter

src/viam/sdk/services/navigation.hpp

@@ -31,6 +31,10 @@ class Navigation : public Service {
     struct LocationResponse {
         geo_point location;
         double compass_heading;
+
+        bool operator==(const LocationResponse& rhs) const {
+            return compass_heading == rhs.compass_heading && location == rhs.location;
+        }
     };
 
     struct Properties {
@@ -45,6 +49,11 @@ class Navigation : public Service {
     struct Path {
         std::string destination_waypoint_id;
         std::vector<geo_point> geopoints;
+
+        bool operator==(const Path& rhs) const {
+            return destination_waypoint_id == rhs.destination_waypoint_id &&
+                   geopoints == rhs.geopoints;
+        }
     };
 
     API api() const override;
@@ -53,10 +62,8 @@ class Navigation : public Service {
     virtual void set_mode(const Mode mode, const ProtoStruct& extra) = 0;
     virtual LocationResponse get_location(const ProtoStruct& extra) = 0;
     virtual std::unique_ptr<std::vector<Waypoint>> get_waypoints(const ProtoStruct& extra) = 0;
-    virtual void add_waypoint(const geo_point& location,
-                              const ProtoStruct& extra) = 0;
-    virtual void remove_waypoint(const std::string id,
-                                 const ProtoStruct& extra) = 0;
+    virtual void add_waypoint(const geo_point& location, const ProtoStruct& extra) = 0;
+    virtual void remove_waypoint(const std::string id, const ProtoStruct& extra) = 0;
     virtual std::unique_ptr<std::vector<geo_geometry>> get_obstacles(const ProtoStruct& extra) = 0;
     virtual std::unique_ptr<std::vector<Path>> get_paths(const ProtoStruct& extra) = 0;
     virtual Properties get_properties() = 0;

src/viam/sdk/services/private/navigation_client.cpp

@@ -32,7 +32,7 @@ Navigation::Path path_from_proto(const viam::service::navigation::v1::Path& prot
 NavigationClient::NavigationClient(std::string name, std::shared_ptr<grpc::Channel> channel)
     : Navigation(std::move(name)),
       stub_(service::navigation::v1::NavigationService::NewStub(channel)),
-      channel_(std::move(channel)) {};
+      channel_(std::move(channel)){};
 
 Navigation::Mode NavigationClient::get_mode(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetMode)

src/viam/sdk/services/private/navigation_server.cpp

@@ -120,7 +120,7 @@ ::grpc::Status NavigationServer::DoCommand(
     ::grpc::ServerContext*,
     const ::viam::common::v1::DoCommandRequest* request,
     ::viam::common::v1::DoCommandResponse* response) noexcept {
-    return make_service_helper<Motion>(
+    return make_service_helper<Navigation>(
         "NavigationServer::DoCommand", this, request)([&](auto&, auto& motion) {
         const ProtoStruct result = motion->do_command(struct_to_map(request->command()));
         *response->mutable_result() = map_to_struct(result);