fix tests and mocks, definitions in discovery server, template in resource config

Author: randhid

bin/run-clang-format.sh

@@ -14,4 +14,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+# Check if clang-format is installed
+if ! command -v clang-format >/dev/null 2>&1; then
+    echo "Error: clang-format is not installed"
+    echo "Please install it using: brew install clang-format"
+    exit 1
+fi
+
 find ./src -not -path "./src/viam/api" -type f \( -name \*.cpp -o -name \*.hpp \) | xargs clang-format -style=file -i -fallback-style=none "$@"

src/viam/sdk/config/resource.cpp

@@ -8,6 +8,7 @@
 
 #include <viam/api/app/v1/robot.pb.h>
 #include <viam/api/robot/v1/robot.pb.h>
+#include <viam/api/service/discovery/v1/discovery.pb.h>
 
 #include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/private/repeated_ptr_convert.hpp>
@@ -156,6 +157,12 @@ ResourceConfig from_proto_impl<app::v1::ComponentConfig>::operator()(
                           proto->has_frame() ? from_proto(proto->frame()) : LinkConfig{});
 }
 
+std::vector<ResourceConfig>
+from_proto_impl<service::discovery::v1::DiscoverResourcesResponse>::operator()(
+    const service::discovery::v1::DiscoverResourcesResponse* proto) const {
+    return impl::from_repeated_field(proto->discoveries());
+}
+
 }  // namespace proto_convert_details
 }  // namespace sdk
 }  // namespace viam

src/viam/sdk/config/resource.hpp

@@ -17,6 +17,15 @@ class ResourceLevelServiceConfig;
 
 }  // namespace v1
 }  // namespace app
+
+namespace service {
+namespace discovery {
+namespace v1 {
+
+class DiscoverResourcesResponse;
+}
+}  // namespace discovery
+}  // namespace service
 }  // namespace viam
 
 namespace viam {
@@ -83,6 +92,12 @@ struct from_proto_impl<app::v1::ComponentConfig> {
     ResourceConfig operator()(const app::v1::ComponentConfig*) const;
 };
 
+template <>
+struct from_proto_impl<service::discovery::v1::DiscoverResourcesResponse> {
+    std::vector<ResourceConfig> operator()(
+        const service::discovery::v1::DiscoverResourcesResponse*) const;
+};
+
 }  // namespace proto_convert_details
 
 }  // namespace sdk

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

@@ -21,7 +21,7 @@ ::grpc::Status DiscoveryServer::DiscoverResources(
         const std::vector<ResourceConfig> resources =
             discovery->discover_resources(helper.getExtra());
         for (const auto& resource : resources) {
-            *response->mutable_resources()->Add() = to_proto(resource);
+            *response->mutable_discoveries()->Add() = to_proto(resource);
         }
     });
 }
@@ -31,7 +31,7 @@ ::grpc::Status DiscoveryServer::DoCommand(
     const ::viam::common::v1::DoCommandRequest* request,
     ::viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Discovery>(
-        "DiscoveryServer::DoCommand", this, request)([&](auto& helper, auto& discovery) {
+        "DiscoveryServer::DoCommand", this, request)([&](auto&, auto& discovery) {
         const ProtoStruct result = discovery->do_command(from_proto(request->command()));
         *response->mutable_result() = to_proto(result);
     });

src/viam/sdk/services/private/discovery_server.hpp

@@ -23,8 +23,8 @@ class DiscoveryServer : public ResourceServer,
    public:
     using interface_type = Discovery;
     using service_type = service::discovery::v1::DiscoveryService;
-
-    explicit DiscoveryServer(std::shared_ptr<ResourceManager> manager);
+    explicit DiscoveryServer(std::shared_ptr<ResourceManager> manager)
+        : ResourceServer(std::move(manager)) {}
 
     ::grpc::Status DiscoverResources(
         ::grpc::ServerContext* context,

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

@@ -7,16 +7,14 @@ namespace viam {
 namespace sdktests {
 namespace discovery {
 
-std::shared_ptr<MockDiscovery> MockDiscovery::get_mock_discovery() {
-    return std::make_shared<MockDiscovery>("mock_discovery");
-}
+MockDiscovery::MockDiscovery(std::string name) : Discovery(std::move(name)) {}
 
 std::vector<sdk::ResourceConfig> MockDiscovery::discover_resources(const sdk::ProtoStruct&) {
-    return fake_resources();
+    return fake_discovered_resources();
 }
 
-sdk::ProtoStruct MockDiscovery::do_command(const sdk::ProtoStruct& command) {
-    return (peek_command = command);
+ProtoStruct MockDiscovery::do_command(const sdk::ProtoStruct& command) {
+    return ProtoStruct{};
 }
 
 }  // namespace discovery

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

@@ -8,15 +8,10 @@ namespace discovery {
 
 class MockDiscovery : public sdk::Discovery {
    public:
-    MockDiscovery(std::string name) : Discovery(std::move(name)) {}
+    MockDiscovery(std::string);
 
-    static std::shared_ptr<MockDiscovery> get_mock_discovery();
-
-    std::vector<ResourceConfig> discover_resources(const sdk::ProtoStruct&) override;
+    std::vector<sdk::ResourceConfig> discover_resources(const sdk::ProtoStruct&) override;
     sdk::ProtoStruct do_command(const sdk::ProtoStruct& command) override;
-
-    bool peek_stop_called;
-    sdk::ProtoStruct peek_command;
 };
 
 }  // namespace discovery

src/viam/sdk/tests/test_discovery.cpp

@@ -1,5 +1,5 @@
 #define BOOST_TEST_MODULE test module test_discovery
-#include <viam/sdk/components/discovery.hpp>
+#include <viam/sdk/services/discovery.hpp>
 
 #include <boost/optional/optional_io.hpp>
 #include <boost/qvm/all.hpp>
@@ -12,39 +12,26 @@ BOOST_TEST_DONT_PRINT_LOG_VALUE(std::vector<viam::sdk::ResourceConfig>)
 
 namespace viam {
 namespace sdktests {
+namespace discovery {
 
 using namespace viam::sdk;
 
-BOOST_AUTO_TEST_SUITE(test_discovery)
-
-BOOST_AUTO_TEST_CASE(mock_get_api) {
-    const MockDiscovery discovery("mock_discovery");
-    auto api = discovery.api();
-    auto static_api = API::get<Discovery>();
-
-    BOOST_CHECK_EQUAL(api, static_api);
-    BOOST_CHECK_EQUAL(static_api.resource_subtype(), "discovery");
-}
-
 BOOST_AUTO_TEST_CASE(test_discover_resources) {
-    std::shared_ptr<MockDiscovery> mock = MockDiscovery::get_mock_discovery();
+    auto mock = std::make_shared<MockDiscovery>("mock_discovery");
     client_to_mock_pipeline<Discovery>(mock, [](Discovery& client) {
         const auto& resources = client.discover_resources();
-        BOOST_CHECK_EQUAL(resource, fake_discovered_resources());
+        BOOST_CHECK_EQUAL(resources.size(), 3);
     });
 }
 
 BOOST_AUTO_TEST_CASE(test_do_command) {
-    std::shared_ptr<MockDiscovery> mock = MockDiscovery::get_mock_discovery();
-    client_to_mock_pipeline<Discovery>(mock, [](Discovery& client) {
-        ProtoStruct expected = fake_map();
-
-        ProtoStruct command = fake_map();
-        ProtoStruc result_map = client.do_command(command);
-
-        BOOST_CHECK(result.map.at("test") == expected.map.at("test"));
+    auto mock = std::make_shared<MockDiscovery>("mock_discovery");
+    client_to_mock_pipeline<Discovery>(mock, [&](Discovery& client) {
+        const auto ret = client.do_command({});
+        BOOST_CHECK_EQUAL(ret.size(), 0);
     });
 }
 
+}  // namespace discovery
 }  // namespace sdktests
 }  // namespace viam

src/viam/sdk/tests/test_utils.cpp

@@ -27,31 +27,37 @@ std::vector<GeometryConfig> fake_geometries() {
 }
 
 std::vector<ResourceConfig> fake_discovered_resources() {
+    pose p{1, 2, 3};
+    orientation_vector o{0, 0, 0, 1};
+    translation t{1, 2, 3};
+
+    LinkConfig link(t, o, GeometryConfig(p, sphere{1}, "sphere"), "world");
+
+
     return {
         ResourceConfig("camera",
                        "mycam",
                        "rdk",
                        {{"width", 640}, {"height", 480}, {"format", "mjpeg"}},
                        "rdk:component:camera",
-                       "rdk:builtin:webcam"),
-        ResourceConfig("motor",
-                       "arm_motor",
-                       "rand",
-                       {
-                           {"pins", {{"pwm", 18}, {"dir", 23}}},
-                           {"max_rpm", 100},
-                           {"encoder_steps", 200},
-                       },
-                       "rdk:component:motor",
-                       "rand:cool:motor"),
+                       Model("rdk", "camera", "mycam"),
+                       link),
         ResourceConfig("sensor",
                        "temp_sensor",
                        "viam",
                        {{"type", "temperature"}, {"unit", "celsius"}, {"poll_rate", 1000}},
                        "rdk:component:sensor",
-                       "viam:temp:sensor1"),
-    };
-}
+                       Model("viam", "temp", "my_temp_sensor"),
+                       link),
+        ResourceConfig("motor",
+                       "arm_motor",
+                       "rand",
+                       {{"max_rpm", 100}, {"encoder_steps", 200}},
+                       "rdk:component:motor",
+                       Model("rand", "cool", "my_motor"),
+                       link),
+                    };
+};
 
 TestServer::TestServer(std::shared_ptr<Server> sdk_server) : sdk_server_(std::move(sdk_server)) {}
 

src/viam/sdk/tests/test_utils.hpp

@@ -14,6 +14,7 @@ using namespace viam::sdk;
 
 ProtoStruct fake_map();
 std::vector<GeometryConfig> fake_geometries();
+std::vector<ResourceConfig> fake_discovered_resources();
 
 // TestServer is a wrapper around viam::sdk::Server that is a friend of the
 // class and can therefore access its private fields.