register discovery

Author: randhid

src/viam/api/CMakeLists.txt

@@ -213,6 +213,10 @@ if (VIAMCPPSDK_USE_DYNAMIC_PROTOS)
     ${PROTO_GEN_DIR}/robot/v1/robot.grpc.pb.h
     ${PROTO_GEN_DIR}/robot/v1/robot.pb.cc
     ${PROTO_GEN_DIR}/robot/v1/robot.pb.h
+    ${PROTO_GEN_DIR}/service/discovery/v1/discovery.grpc.pb.cc
+    ${PROTO_GEN_DIR}/service/discovery/v1/discovery.grpc.pb.h
+    ${PROTO_GEN_DIR}/service/discovery/v1/discovery.pb.cc
+    ${PROTO_GEN_DIR}/service/discovery/v1/discovery.pb.h
     ${PROTO_GEN_DIR}/service/generic/v1/generic.grpc.pb.cc
     ${PROTO_GEN_DIR}/service/generic/v1/generic.grpc.pb.h
     ${PROTO_GEN_DIR}/service/generic/v1/generic.pb.cc
@@ -302,6 +306,8 @@ target_sources(viamapi
     ${PROTO_GEN_DIR}/component/encoder/v1/encoder.pb.cc
     ${PROTO_GEN_DIR}/component/gantry/v1/gantry.grpc.pb.cc
     ${PROTO_GEN_DIR}/component/gantry/v1/gantry.pb.cc
+    ${PROTO_GEN_DIR}/component/discovery/v1/discovery.grpc.pb.cc
+    ${PROTO_GEN_DIR}/component/discovery/v1/discovery.pb.cc
     ${PROTO_GEN_DIR}/component/generic/v1/generic.grpc.pb.cc
     ${PROTO_GEN_DIR}/component/generic/v1/generic.pb.cc
     ${PROTO_GEN_DIR}/component/gripper/v1/gripper.grpc.pb.cc
@@ -360,6 +366,8 @@ target_sources(viamapi
       ${PROTO_GEN_DIR}/../../viam/api/component/encoder/v1/encoder.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/gantry/v1/gantry.grpc.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/gantry/v1/gantry.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/component/discovery/v1/discovery.grpc.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/component/discovery/v1/discovery.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/generic/v1/generic.grpc.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/generic/v1/generic.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/gripper/v1/gripper.grpc.pb.h

src/viam/sdk/CMakeLists.txt

@@ -118,10 +118,13 @@ target_sources(viamsdk
     rpc/dial.cpp
     rpc/server.cpp
     rpc/private/viam_grpc_channel.cpp
+    services/discovery.cpp
     services/generic.cpp
     services/mlmodel.cpp
     services/motion.cpp
     services/navigation.cpp
+    services/private/discovery_client.cpp
+    services/private/discovery_server.cpp
     services/private/generic_client.cpp
     services/private/generic_server.cpp
     services/private/mlmodel.cpp
@@ -181,6 +184,7 @@ target_sources(viamsdk
       ../../viam/sdk/rpc/dial.hpp
       ../../viam/sdk/rpc/message_sizes.hpp
       ../../viam/sdk/rpc/server.hpp
+      ../../viam/sdk/services/discovery.hpp
       ../../viam/sdk/services/generic.hpp
       ../../viam/sdk/services/mlmodel.hpp
       ../../viam/sdk/services/motion.hpp

src/viam/sdk/registry/registry.cpp

@@ -42,6 +42,8 @@
 #include <viam/sdk/components/private/servo_server.hpp>
 #include <viam/sdk/resource/resource.hpp>
 #include <viam/sdk/resource/resource_api.hpp>
+#include <viam/sdk/services/private/discovery_client.hpp>
+#include <viam/sdk/services/private/discovery_service.hpp>
 #include <viam/sdk/services/private/generic_client.hpp>
 #include <viam/sdk/services/private/generic_server.hpp>
 #include <viam/sdk/services/private/mlmodel_client.hpp>
@@ -202,6 +204,7 @@ void register_resources() {
     Registry::register_resource<impl::ServoClient, impl::ServoServer>();
 
     // Register all services
+    Registry::register_resource<impl::DiscoveryClient, impl::DiscoveryServer>();
     Registry::register_resource<impl::GenericServiceClient, impl::GenericServiceServer>();
     Registry::register_resource<impl::MLModelServiceClient, impl::MLModelServiceServer>();
     Registry::register_resource<impl::MotionClient, impl::MotionServer>();