use boost optional

Author: oliviamiller

src/viam/sdk/components/audio_out.hpp

@@ -3,9 +3,10 @@
 /// @brief Defines an `AudioOut` component.
 #pragma once
 
-#include <memory>
 #include <string>
 
+#include <boost/optional/optional.hpp>
+
 #include <viam/sdk/common/audio.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/common/utils.hpp>
@@ -29,19 +30,19 @@ class AudioOut : public Component {
     /// @brief Play audio data
     /// @param audio_data The audio data to play as bytes
     /// @param info Optional info about the audio_data (codec, sample rate, channels). Required for
-    /// raw PCM data, pass nullptr if not needed.
+    /// raw PCM data.
     inline void play(std::vector<uint8_t> const& audio_data,
-                     std::shared_ptr<audio_info> info = nullptr) {
+                     boost::optional<audio_info> info) {
         return play(audio_data, info, {});
     }
 
     /// @brief Play audio through the audioout component
     /// @param audio_data The audio data to play
     /// @param info Optional info about the audio_data (codec, sample rate, channels). Required for
-    /// raw PCM data, pass nullptr if not needed.
+    /// raw PCM data.
     /// @param extra Any additional arguments to the method
     virtual void play(std::vector<uint8_t> const& audio_data,
-                      std::shared_ptr<audio_info> info,
+                      boost::optional<audio_info> info,
                       const ProtoStruct& extra) = 0;
 
     /// @brief Returns properties of the audio out device (supported codecs, sample rate, number of

src/viam/sdk/components/private/audio_out_client.cpp

@@ -26,7 +26,7 @@ AudioOutClient::AudioOutClient(std::string name, std::shared_ptr<grpc::Channel>
       channel_(std::move(channel)) {}
 
 void AudioOutClient::play(std::vector<uint8_t> const& audio_data,
-                          std::shared_ptr<audio_info> info,
+                          boost::optional<audio_info> info,
                           const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::Play)
         .with(extra,

src/viam/sdk/components/private/audio_out_client.hpp

@@ -22,7 +22,7 @@ class AudioOutClient : public AudioOut {
     AudioOutClient(std::string name, std::shared_ptr<grpc::Channel> channel);
 
     void play(std::vector<uint8_t> const& audio_data,
-              std::shared_ptr<audio_info> info,
+              boost::optional<audio_info> info,
               const ProtoStruct& extra) override;
     audio_properties get_properties(const ProtoStruct& extra) override;
     ProtoStruct do_command(const ProtoStruct& command) override;

src/viam/sdk/components/private/audio_out_server.cpp

@@ -22,14 +22,15 @@ ::grpc::Status AudioOutServer::Play(::grpc::ServerContext*,
         const std::string& audio_data_str = request->audio_data();
         audio_data.assign(audio_data_str.c_str(), audio_data_str.c_str() + audio_data_str.size());
 
-        std::shared_ptr<audio_info> info_ptr;
+        boost::optional<audio_info> info;
         if (request->has_audio_info()) {
-            info_ptr = std::make_shared<audio_info>();
-            info_ptr->codec = request->audio_info().codec();
-            info_ptr->sample_rate_hz = request->audio_info().sample_rate_hz();
-            info_ptr->num_channels = request->audio_info().num_channels();
+            info.emplace(audio_info{
+            request->audio_info().codec(),
+            request->audio_info().sample_rate_hz(),
+            request->audio_info().num_channels()
+    });
         }
-        audio_out->play(audio_data, info_ptr, helper.getExtra());
+        audio_out->play(audio_data, info, helper.getExtra());
     });
 }
 

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

@@ -13,7 +13,7 @@ namespace audioout {
 using namespace viam::sdk;
 
 void MockAudioOut::play(std::vector<uint8_t> const& audio_data,
-                        std::shared_ptr<audio_info> info,
+                        boost::optional<audio_info> info,
                         const ProtoStruct& extra) {
     last_played_audio_ = audio_data;
     last_played_audio_info_ = info;

src/viam/sdk/tests/test_audio_out.cpp

@@ -33,15 +33,14 @@ BOOST_AUTO_TEST_CASE(test_play) {
         audio_data.push_back(3);
         audio_data.push_back(4);
 
-        auto info = std::make_shared<audio_info>();
-        info->codec = audio_codecs::PCM_16;
-        info->sample_rate_hz = 44100;
-        info->num_channels = 1;
+        audio_info info;
+        info.codec = audio_codecs::PCM_16;
+        info.sample_rate_hz = 44100;
+        info.num_channels = 1;
 
         client.play(audio_data, info, {});
         BOOST_CHECK(mock->last_played_audio_ == audio_data);
-        BOOST_CHECK(mock->last_played_audio_info_ != nullptr);
-        BOOST_CHECK(*mock->last_played_audio_info_ == *info);
+        BOOST_CHECK(*mock->last_played_audio_info_ == info);
     });
 }
 
@@ -54,9 +53,9 @@ BOOST_AUTO_TEST_CASE(test_play_no_audio_info) {
         audio_data.push_back(4);
         audio_data.push_back(4);
 
-        client.play(audio_data, nullptr, {});
+        client.play(audio_data, {}, {});
         BOOST_CHECK(mock->last_played_audio_ == audio_data);
-        BOOST_CHECK(mock->last_played_audio_info_ == nullptr);
+        BOOST_CHECK(!mock->last_played_audio_info_);
     });
 }