Merge branch 'main' into RSDK-11703-and-11602

Author: hexbabe

.github/workflows/ai-updater.yml

@@ -8,7 +8,7 @@ on:
 
 jobs:
   call-ai-updater:
-    uses: gabegottlob/viam-ai-updater/.github/workflows/ai-updater.yml@main
+    uses: viamrobotics/viam-ai-updater/.github/workflows/ai-updater.yml@main
     with:
         target_branch: workflow/update-protos
         sdk: cpp

CMakeLists.txt

@@ -41,7 +41,7 @@ else()
   cmake_minimum_required(VERSION 3.25 FATAL_ERROR)
 endif()
 
-set(CMAKE_PROJECT_VERSION 0.17.0)
+set(CMAKE_PROJECT_VERSION 0.18.0)
 
 # Identify the project.
 project(viam-cpp-sdk

src/viam/sdk/resource/resource_api.cpp

@@ -191,12 +191,28 @@ const API& RPCSubtype::api() const {
 ModelFamily::ModelFamily(std::string namespace_, std::string family)
     : namespace_(std::move(namespace_)), family_(std::move(family)) {}
 
+const std::string& ModelFamily::get_namespace() const {
+    return namespace_;
+}
+
+const std::string& ModelFamily::family() const {
+    return family_;
+}
+
 Model::Model(ModelFamily model_family, std::string model_name)
     : model_family_(std::move(model_family)), model_name_(std::move(model_name)) {}
 
 Model::Model(std::string namespace_, std::string family, std::string model_name)
     : Model(ModelFamily(std::move(namespace_), std::move(family)), std::move(model_name)) {}
 
+const ModelFamily& Model::model_family() const {
+    return model_family_;
+}
+
+const std::string& Model::model_name() const {
+    return model_name_;
+}
+
 Model Model::from_str(std::string model) {
     if (std::regex_match(model, MODEL_REGEX)) {
         std::vector<std::string> model_parts;

src/viam/sdk/resource/resource_api.hpp

@@ -113,6 +113,10 @@ class RPCSubtype {
 class ModelFamily {
    public:
     ModelFamily(std::string namespace_, std::string family);
+
+    const std::string& get_namespace() const;
+    const std::string& family() const;
+
     std::string to_string() const;
 
    private:
@@ -124,12 +128,15 @@ class ModelFamily {
 /// @brief Defines the namespace_, family, and name for a particular resource model.
 class Model {
    public:
-    std::string to_string() const;
-
     Model(std::string namespace_, std::string family, std::string model_name);
     Model(ModelFamily model, std::string model_name);
     Model();
 
+    const ModelFamily& model_family() const;
+    const std::string& model_name() const;
+
+    std::string to_string() const;
+
     /// @brief Parses a single model string into a Model, using default values for namespace and
     /// family if not provided.
     ///

src/viam/sdk/services/mlmodel.cpp

@@ -100,6 +100,20 @@ const char* MLModelService::tensor_info::data_type_to_string(const data_types da
     return nullptr;
 }
 
+std::ostream& operator<<(std::ostream& os, MLModelService::tensor_info::data_types dt) {
+    const char* str = MLModelService::tensor_info::data_type_to_string(dt);
+
+    if (str) {
+        os << str;
+    } else {
+        // Cast to unsigned because uint8_t is unsigned char, and 0-9 are whitespace or non printing
+        // characters
+        os << static_cast<unsigned>(dt);
+    }
+
+    return os;
+}
+
 MLModelService::tensor_info::data_types MLModelService::tensor_info::tensor_views_to_data_type(
     const tensor_views& view) {
     class visitor : public boost::static_visitor<data_types> {

src/viam/sdk/services/mlmodel.hpp

@@ -14,6 +14,8 @@
 
 #pragma once
 
+#include <iosfwd>
+
 #include <boost/mpl/joint_view.hpp>
 #include <boost/mpl/list.hpp>
 #include <boost/mpl/transform_view.hpp>
@@ -177,5 +179,7 @@ struct API::traits<MLModelService> {
     static API api();
 };
 
+std::ostream& operator<<(std::ostream&, MLModelService::tensor_info::data_types);
+
 }  // namespace sdk
 }  // namespace viam

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

@@ -48,10 +48,8 @@ ::grpc::Status MLModelServiceServer::Infer(
             const auto tensor_type = MLModelService::tensor_info::tensor_views_to_data_type(tensor);
             if (tensor_type != input.data_type) {
                 std::ostringstream message;
-                using ut = std::underlying_type<MLModelService::tensor_info::data_types>::type;
                 message << "Tensor input `" << input.name << "` was the wrong type; expected type "
-                        << static_cast<ut>(input.data_type) << " but got type "
-                        << static_cast<ut>(tensor_type);
+                        << input.data_type << " but got type " << tensor_type;
                 return helper.fail(::grpc::INVALID_ARGUMENT, message.str().c_str());
             }
             inputs.emplace(input.name, std::move(tensor));
@@ -74,11 +72,9 @@ ::grpc::Status MLModelServiceServer::Infer(
                     MLModelService::tensor_info::tensor_views_to_data_type(tensor);
                 if (tensor_type != input.data_type) {
                     std::ostringstream message;
-                    using ut = std::underlying_type<MLModelService::tensor_info::data_types>::type;
                     message << "Tensor input `" << input.name
-                            << "` was the wrong type; expected type "
-                            << static_cast<ut>(input.data_type) << " but got type "
-                            << static_cast<ut>(tensor_type);
+                            << "` was the wrong type; expected type " << input.data_type
+                            << " but got type " << tensor_type;
                     return helper.fail(::grpc::INVALID_ARGUMENT, message.str().c_str());
                 }
                 inputs.emplace(std::move(input.name), std::move(tensor));
@@ -122,12 +118,8 @@ ::grpc::Status MLModelServiceServer::Metadata(
                     MLModelService::tensor_info::data_type_to_string(s.data_type);
                 if (!string_for_data_type) {
                     std::ostringstream message;
-                    message
-                        << "Served MLModelService returned an unknown data type with value `"
-                        << static_cast<
-                               std::underlying_type<MLModelService::tensor_info::data_types>::type>(
-                               s.data_type)
-                        << "` in its metadata";
+                    message << "Served MLModelService returned an unknown data type with value `"
+                            << s.data_type << "` in its metadata";
                     return helper.fail(grpc::INTERNAL, message.str().c_str());
                 }
                 new_entry.set_data_type(string_for_data_type);

src/viam/sdk/tests/test_resource.cpp

@@ -77,20 +77,32 @@ BOOST_AUTO_TEST_CASE(test_name) {
 BOOST_AUTO_TEST_CASE(test_model) {
     ModelFamily mf("ns", "mf");
     BOOST_CHECK_EQUAL(mf.to_string(), "ns:mf");
+    BOOST_CHECK_EQUAL(mf.get_namespace(), "ns");
+    BOOST_CHECK_EQUAL(mf.family(), "mf");
 
     Model model1(mf, "model1");
     BOOST_CHECK_EQUAL(model1.to_string(), "ns:mf:model1");
+    BOOST_CHECK_EQUAL(model1.model_family().to_string(), "ns:mf");
+    BOOST_CHECK_EQUAL(model1.model_name(), "model1");
     Model model2("ns", "mf", "model2");
     BOOST_CHECK_EQUAL(model2.to_string(), "ns:mf:model2");
+    BOOST_CHECK_EQUAL(model2.model_family().to_string(), "ns:mf");
+    BOOST_CHECK_EQUAL(model2.model_name(), "model2");
 
     Model model3 = Model::from_str("ns:mf:model3");
     BOOST_CHECK_EQUAL(model3.to_string(), "ns:mf:model3");
+    BOOST_CHECK_EQUAL(model3.model_family().to_string(), "ns:mf");
+    BOOST_CHECK_EQUAL(model3.model_name(), "model3");
     Model model4 = Model::from_str("model4");
     BOOST_CHECK_EQUAL(model4.to_string(), "rdk:builtin:model4");
+    BOOST_CHECK_EQUAL(model4.model_family().to_string(), "rdk:builtin");
+    BOOST_CHECK_EQUAL(model4.model_name(), "model4");
 
     ModelFamily empty("", "");
     Model model5(empty, "model5");
     BOOST_CHECK_EQUAL(model5.to_string(), "model5");
+    BOOST_CHECK_EQUAL(model5.model_family().to_string(), "");
+    BOOST_CHECK_EQUAL(model5.model_name(), "model5");
 
     BOOST_CHECK_THROW(Model::from_str("@"), Exception);
 }