finish the job

Author: stuqdog

src/viam/examples/modules/complex/proto/buf.lock

@@ -4,5 +4,5 @@ deps:
   - remote: buf.build
     owner: googleapis
     repository: googleapis
-    commit: e7f8d366f5264595bcc4cd4139af9973
-    digest: shake256:e5e5f1c12f82e028ea696faa43b4f9dc6258a6d1226282962a8c8b282e10946281d815884f574bd279ebd9cd7588629beb3db17b892af6c33b56f92f8f67f509
+    commit: c0913f24652a4cfc95f77d97443a5005
+    digest: shake256:0ef3248c6235d420fe61f373154adcde6b94e3297f82472b1d8d8c3747240b61b4a10405e2a6f8ac1c98816ac6e690ea7871024aa5ae0e035cd540214667ceed

src/viam/sdk/CMakeLists.txt

@@ -76,6 +76,7 @@ target_sources(viamsdk
     components/private/board_server.cpp
     components/private/camera_client.cpp
     components/private/camera_server.cpp
+    components/private/encoder.cpp
     components/private/encoder_client.cpp
     components/private/encoder_server.cpp
     components/private/gantry_client.cpp

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

@@ -4,7 +4,6 @@
 #include <viam/api/component/arm/v1/arm.pb.h>
 
 #include <viam/sdk/common/client_helper.hpp>
-#include <viam/sdk/common/private/proto_conversions.hpp>
 
 namespace viam {
 namespace sdk {
@@ -18,12 +17,12 @@ ArmClient::ArmClient(std::string name, std::shared_ptr<grpc::Channel> channel)
 pose ArmClient::get_end_position(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetEndPosition)
         .with(extra)
-        .invoke([&](auto& response) { return from_proto(response.pose()); });
+        .invoke([&](auto& response) { return pose::from_proto(response.pose()); });
 }
 
 void ArmClient::move_to_position(const pose& pose, const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::MoveToPosition)
-        .with(extra, [&](auto& request) { *request.mutable_to() = to_proto(pose); })
+        .with(extra, [&](auto& request) { *request.mutable_to() = pose.to_proto(); })
         .invoke();
 }
 
@@ -110,7 +109,7 @@ Arm::KinematicsData ArmClient::get_kinematics(const ProtoStruct& extra) {
 std::vector<GeometryConfig> ArmClient::get_geometries(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetGeometries)
         .with(extra)
-        .invoke([](auto& response) { return from_proto(response); });
+        .invoke([](auto& response) { return GeometryConfig::from_proto(response); });
 }
 
 }  // namespace impl

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

@@ -1,6 +1,5 @@
 #include <viam/sdk/components/private/arm_server.hpp>
 
-#include <viam/sdk/common/private/proto_conversions.hpp>
 #include <viam/sdk/common/service_helper.hpp>
 
 namespace viam {
@@ -17,7 +16,7 @@ ::grpc::Status ArmServer::GetEndPosition(
     return make_service_helper<Arm>(
         "ArmServer::GetEndPosition", this, request)([&](auto& helper, auto& arm) {
         const pose p = arm->get_end_position(helper.getExtra());
-        *response->mutable_pose() = to_proto(p);
+        *response->mutable_pose() = p.to_proto();
     });
 }
 
@@ -27,7 +26,7 @@ ::grpc::Status ArmServer::MoveToPosition(
     ::viam::component::arm::v1::MoveToPositionResponse*) noexcept {
     return make_service_helper<Arm>(
         "ArmServer::MoveToPosition", this, request)([&](auto& helper, auto& arm) {
-        arm->move_to_position(from_proto(request->to()), helper.getExtra());
+        arm->move_to_position(pose::from_proto(request->to()), helper.getExtra());
     });
 }
 
@@ -144,7 +143,7 @@ ::grpc::Status ArmServer::GetGeometries(
         "ArmServer::GetGeometries", this, request)([&](auto& helper, auto& arm) {
         const std::vector<GeometryConfig> geometries = arm->get_geometries(helper.getExtra());
         for (const auto& geometry : geometries) {
-            *response->mutable_geometries()->Add() = to_proto(geometry);
+            *response->mutable_geometries()->Add() = geometry.to_proto();
         }
     });
 }

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

@@ -11,7 +11,6 @@
 
 #include <viam/sdk/common/client_helper.hpp>
 #include <viam/sdk/common/linear_algebra.hpp>
-#include <viam/sdk/common/private/proto_conversions.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/base.hpp>
@@ -26,7 +25,7 @@ namespace impl {
 BaseClient::BaseClient(std::string name, std::shared_ptr<grpc::Channel> channel)
     : Base(std::move(name)),
       stub_(viam::component::base::v1::BaseService::NewStub(channel)),
-      channel_(std::move(channel)){};
+      channel_(std::move(channel)) {}
 
 void BaseClient::move_straight(int64_t distance_mm, double mm_per_sec, const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::MoveStraight)
@@ -54,8 +53,8 @@ void BaseClient::set_power(const Vector3& linear,
     return make_client_helper(this, *stub_, &StubType::SetPower)
         .with(extra,
               [&](auto& request) {
-                  *request.mutable_linear() = to_proto(linear);
-                  *request.mutable_angular() = to_proto(angular);
+                  *request.mutable_linear() = linear.to_proto();
+                  *request.mutable_angular() = angular.to_proto();
               })
         .invoke();
 }
@@ -66,8 +65,8 @@ void BaseClient::set_velocity(const Vector3& linear,
     return make_client_helper(this, *stub_, &StubType::SetVelocity)
         .with(extra,
               [&](auto& request) {
-                  *request.mutable_linear() = to_proto(linear);
-                  *request.mutable_angular() = to_proto(angular);
+                  *request.mutable_linear() = linear.to_proto();
+                  *request.mutable_angular() = angular.to_proto();
               })
         .invoke();
 }
@@ -85,7 +84,7 @@ bool BaseClient::is_moving() {
 std::vector<GeometryConfig> BaseClient::get_geometries(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetGeometries)
         .with(extra)
-        .invoke([](auto& response) { return from_proto(response); });
+        .invoke([](auto& response) { return GeometryConfig::from_proto(response); });
 }
 
 Base::properties BaseClient::get_properties(const ProtoStruct& extra) {

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

@@ -3,7 +3,6 @@
 #include <viam/api/component/base/v1/base.pb.h>
 
 #include <viam/sdk/common/linear_algebra.hpp>
-#include <viam/sdk/common/private/proto_conversions.hpp>
 #include <viam/sdk/common/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/base.hpp>
@@ -15,7 +14,7 @@ namespace sdk {
 namespace impl {
 
 BaseServer::BaseServer(std::shared_ptr<ResourceManager> manager)
-    : ResourceServer(std::move(manager)){};
+    : ResourceServer(std::move(manager)) {};
 
 ::grpc::Status BaseServer::MoveStraight(
     ::grpc::ServerContext*,
@@ -41,8 +40,8 @@ ::grpc::Status BaseServer::SetPower(::grpc::ServerContext*,
                                     ::viam::component::base::v1::SetPowerResponse*) noexcept {
     return make_service_helper<Base>(
         "BaseServer::SetPower", this, request)([&](auto& helper, auto& base) {
-        auto linear = from_proto(request->linear());
-        auto angular = from_proto(request->angular());
+        auto linear = Vector3::from_proto(request->linear());
+        auto angular = Vector3::from_proto(request->angular());
         base->set_power(linear, angular, helper.getExtra());
     });
 }
@@ -53,8 +52,8 @@ ::grpc::Status BaseServer::SetVelocity(
     ::viam::component::base::v1::SetVelocityResponse*) noexcept {
     return make_service_helper<Base>(
         "BaseServer::SetVelocity", this, request)([&](auto& helper, auto& base) {
-        auto linear = from_proto(request->linear());
-        auto angular = from_proto(request->angular());
+        auto linear = Vector3::from_proto(request->linear());
+        auto angular = Vector3::from_proto(request->angular());
         base->set_velocity(linear, angular, helper.getExtra());
     });
 }
@@ -84,7 +83,7 @@ ::grpc::Status BaseServer::GetGeometries(
         "BaseServer::GetGeometries", this, request)([&](auto& helper, auto& base) {
         const std::vector<GeometryConfig> geometries = base->get_geometries(helper.getExtra());
         for (const auto& geometry : geometries) {
-            *response->mutable_geometries()->Add() = to_proto(geometry);
+            *response->mutable_geometries()->Add() = geometry.to_proto();
         }
     });
 }

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

@@ -11,7 +11,6 @@
 
 #include <viam/sdk/common/client_helper.hpp>
 #include <viam/sdk/common/exception.hpp>
-#include <viam/sdk/common/private/proto_conversions.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/board.hpp>
 #include <viam/sdk/config/resource.hpp>
@@ -183,7 +182,7 @@ void BoardClient::set_power_mode(power_mode power_mode,
               [&](auto& request) {
                   request.set_power_mode(to_proto(power_mode));
                   if (duration.has_value()) {
-                      *request.mutable_duration() = to_proto(duration.get());
+                      *request.mutable_duration() = ::viam::sdk::to_proto(duration.get());
                   }
               })
         .invoke();
@@ -192,7 +191,7 @@ void BoardClient::set_power_mode(power_mode power_mode,
 std::vector<GeometryConfig> BoardClient::get_geometries(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetGeometries)
         .with(extra)
-        .invoke([](auto& response) { return from_proto(response); });
+        .invoke([](auto& response) { return GeometryConfig::from_proto(response); });
 };
 
 }  // namespace impl

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

@@ -1,7 +1,6 @@
 #include <viam/sdk/components/private/board_server.hpp>
 
 #include <viam/sdk/common/exception.hpp>
-#include <viam/sdk/common/private/proto_conversions.hpp>
 #include <viam/sdk/common/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/board.hpp>
@@ -41,7 +40,7 @@ Board::power_mode from_proto(viam::component::board::v1::PowerMode proto) {
 }
 
 BoardServer::BoardServer(std::shared_ptr<ResourceManager> manager)
-    : ResourceServer(std::move(manager)){};
+    : ResourceServer(std::move(manager)) {};
 
 ::grpc::Status BoardServer::SetGPIO(::grpc::ServerContext*,
                                     const ::viam::component::board::v1::SetGPIORequest* request,
@@ -227,7 +226,7 @@ ::grpc::Status BoardServer::SetPowerMode(
     return make_service_helper<Board>(
         "BoardServer::SetPowerMode", this, request)([&](auto& helper, auto& board) {
         if (request->has_duration()) {
-            auto duration = from_proto(request->duration());
+            auto duration = ::viam::sdk::from_proto(request->duration());
             board->set_power_mode(from_proto(request->power_mode()), helper.getExtra(), duration);
         } else {
             board->set_power_mode(from_proto(request->power_mode()), helper.getExtra());
@@ -243,7 +242,7 @@ ::grpc::Status BoardServer::GetGeometries(
         "BoardServer::GetGeometries", this, request)([&](auto& helper, auto& board) {
         const std::vector<GeometryConfig> geometries = board->get_geometries(helper.getExtra());
         for (const auto& geometry : geometries) {
-            *response->mutable_geometries()->Add() = to_proto(geometry);
+            *response->mutable_geometries()->Add() = geometry.to_proto();
         }
     });
 }

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

@@ -9,7 +9,6 @@
 #include <viam/api/component/camera/v1/camera.grpc.pb.h>
 
 #include <viam/sdk/common/client_helper.hpp>
-#include <viam/sdk/common/private/proto_conversions.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/camera.hpp>
 #include <viam/sdk/config/resource.hpp>
@@ -57,7 +56,7 @@ Camera::image_collection from_proto(const viam::component::camera::v1::GetImages
         images.push_back(raw_image);
     }
     image_collection.images = std::move(images);
-    image_collection.metadata = from_proto(proto.response_metadata());
+    image_collection.metadata = response_metadata::from_proto(proto.response_metadata());
     return image_collection;
 }
 
@@ -103,7 +102,7 @@ Camera::properties from_proto(const viam::component::camera::v1::GetPropertiesRe
 CameraClient::CameraClient(std::string name, std::shared_ptr<grpc::Channel> channel)
     : Camera(std::move(name)),
       stub_(viam::component::camera::v1::CameraService::NewStub(channel)),
-      channel_(std::move(channel)){};
+      channel_(std::move(channel)) {}
 
 ProtoStruct CameraClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
@@ -135,7 +134,7 @@ Camera::point_cloud CameraClient::get_point_cloud(std::string mime_type, const P
 std::vector<GeometryConfig> CameraClient::get_geometries(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetGeometries)
         .with(extra)
-        .invoke([](auto& response) { return from_proto(response); });
+        .invoke([](auto& response) { return GeometryConfig::from_proto(response); });
 };
 
 Camera::properties CameraClient::get_properties() {

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

@@ -3,7 +3,6 @@
 #include <google/protobuf/util/time_util.h>
 #include <grpcpp/support/status.h>
 
-#include <viam/sdk/common/private/proto_conversions.hpp>
 #include <viam/sdk/common/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/camera.hpp>
@@ -36,7 +35,7 @@ viam::component::camera::v1::DistortionParameters to_proto(
 }
 
 CameraServer::CameraServer(std::shared_ptr<ResourceManager> manager)
-    : ResourceServer(std::move(manager)){};
+    : ResourceServer(std::move(manager)) {};
 
 ::grpc::Status CameraServer::DoCommand(::grpc::ServerContext*,
                                        const ::viam::common::v1::DoCommandRequest* request,
@@ -95,7 +94,7 @@ ::grpc::Status CameraServer::GetImages(
             proto_image.set_image(img_string);
             *response->mutable_images()->Add() = std::move(proto_image);
         }
-        *response->mutable_response_metadata() = to_proto(image_coll.metadata);
+        *response->mutable_response_metadata() = response_metadata::to_proto(image_coll.metadata);
     });
 }
 
@@ -133,7 +132,7 @@ ::grpc::Status CameraServer::GetGeometries(
         "CameraServer::GetGeometries", this, request)([&](auto& helper, auto& camera) {
         const std::vector<GeometryConfig> geometries = camera->get_geometries(helper.getExtra());
         for (const auto& geometry : geometries) {
-            *response->mutable_geometries()->Add() = to_proto(geometry);
+            *response->mutable_geometries()->Add() = geometry.to_proto();
         }
     });
 }