Merge branch 'main' of github.com:viamrobotics/viam-cpp-sdk into google-private

Author: lia-viam

src/viam/sdk/common/client_helper.hpp

@@ -85,7 +85,7 @@ class ClientHelper {
             debug_key_ = *value.get<std::string>();
         }
 
-        proto_convert_details::to_proto<ProtoStruct>{}(extra, request_.mutable_extra());
+        proto_convert_details::to_proto_impl<ProtoStruct>{}(extra, request_.mutable_extra());
         return with(std::forward<RequestSetupCallable>(rsc));
     }
 

src/viam/sdk/common/linear_algebra.cpp

@@ -36,13 +36,13 @@ Vector3& Vector3::set_z(double z) {
 
 namespace proto_convert_details {
 
-void to_proto<Vector3>::operator()(const Vector3& self, common::v1::Vector3* proto) const {
+void to_proto_impl<Vector3>::operator()(const Vector3& self, common::v1::Vector3* proto) const {
     proto->set_x(self.x());
     proto->set_y(self.y());
     proto->set_z(self.z());
 }
 
-Vector3 from_proto<common::v1::Vector3>::operator()(const common::v1::Vector3* proto) const {
+Vector3 from_proto_impl<common::v1::Vector3>::operator()(const common::v1::Vector3* proto) const {
     return {proto->x(), proto->y(), proto->z()};
 }
 

src/viam/sdk/common/linear_algebra.hpp

@@ -41,12 +41,12 @@ struct Vector3 {
 namespace proto_convert_details {
 
 template <>
-struct to_proto<Vector3> {
+struct to_proto_impl<Vector3> {
     void operator()(const Vector3&, common::v1::Vector3*) const;
 };
 
 template <>
-struct from_proto<common::v1::Vector3> {
+struct from_proto_impl<common::v1::Vector3> {
     Vector3 operator()(const common::v1::Vector3*) const;
 };
 

src/viam/sdk/common/pose.cpp

@@ -16,7 +16,7 @@ std::ostream& operator<<(std::ostream& os, const pose_in_frame& v) {
 
 namespace proto_convert_details {
 
-void to_proto<pose>::operator()(const pose& self, common::v1::Pose* proto) const {
+void to_proto_impl<pose>::operator()(const pose& self, common::v1::Pose* proto) const {
     proto->set_x(self.coordinates.x);
     proto->set_y(self.coordinates.y);
     proto->set_z(self.coordinates.z);
@@ -26,7 +26,7 @@ void to_proto<pose>::operator()(const pose& self, common::v1::Pose* proto) const
     proto->set_theta(self.theta);
 }
 
-pose from_proto<common::v1::Pose>::operator()(const common::v1::Pose* proto) const {
+pose from_proto_impl<common::v1::Pose>::operator()(const common::v1::Pose* proto) const {
     pose pose;
     pose.coordinates.x = proto->x();
     pose.coordinates.y = proto->y();
@@ -39,19 +39,19 @@ pose from_proto<common::v1::Pose>::operator()(const common::v1::Pose* proto) con
     return pose;
 }
 
-void to_proto<pose_in_frame>::operator()(const pose_in_frame& self,
-                                         common::v1::PoseInFrame* pif) const {
+void to_proto_impl<pose_in_frame>::operator()(const pose_in_frame& self,
+                                              common::v1::PoseInFrame* pif) const {
     *(pif->mutable_reference_frame()) = self.reference_frame;
     common::v1::Pose proto_pose;
-    to_proto<pose>{}(self.pose, &proto_pose);
+    to_proto_impl<pose>{}(self.pose, &proto_pose);
     *(pif->mutable_pose()) = std::move(proto_pose);
 };
 
-pose_in_frame from_proto<common::v1::PoseInFrame>::operator()(
+pose_in_frame from_proto_impl<common::v1::PoseInFrame>::operator()(
     const common::v1::PoseInFrame* proto) const {
     pose_in_frame pif;
     pif.reference_frame = proto->reference_frame();
-    pif.pose = from_proto<common::v1::Pose>{}(&(proto->pose()));
+    pif.pose = from_proto_impl<common::v1::Pose>{}(&(proto->pose()));
 
     return pif;
 }

src/viam/sdk/common/pose.hpp

@@ -50,22 +50,22 @@ struct pose_in_frame {
 namespace proto_convert_details {
 
 template <>
-struct to_proto<pose> {
+struct to_proto_impl<pose> {
     void operator()(const pose&, common::v1::Pose*) const;
 };
 
 template <>
-struct from_proto<common::v1::Pose> {
+struct from_proto_impl<common::v1::Pose> {
     pose operator()(const common::v1::Pose*) const;
 };
 
 template <>
-struct to_proto<pose_in_frame> {
+struct to_proto_impl<pose_in_frame> {
     void operator()(const pose_in_frame&, common::v1::PoseInFrame*) const;
 };
 
 template <>
-struct from_proto<common::v1::PoseInFrame> {
+struct from_proto_impl<common::v1::PoseInFrame> {
     pose_in_frame operator()(const common::v1::PoseInFrame*) const;
 };
 

src/viam/sdk/common/private/repeated_ptr_convert.hpp

@@ -10,42 +10,29 @@ namespace viam {
 namespace sdk {
 namespace impl {
 
-struct to_repeated_field_ {
-    template <typename T, typename = EquivalentApiType<T>>
-    auto operator()(const std::vector<T>& v) const {
-        ::google::protobuf::RepeatedPtrField<EquivalentApiType<T>> result;
-        result.Reserve(v.size());
+template <typename T, typename = EquivalentApiType<T>>
+auto to_repeated_field(const std::vector<T>& v) {
+    ::google::protobuf::RepeatedPtrField<EquivalentApiType<T>> result;
+    result.Reserve(v.size());
 
-        for (const auto& elem : v) {
-            *(result.Add()) = v2::to_proto(elem);
-        }
-
-        return result;
+    for (const auto& elem : v) {
+        *(result.Add()) = to_proto(elem);
     }
-};
 
-struct from_repeated_field_ {
-    template <typename T, typename = EquivalentSdkType<T>>
-    auto operator()(const ::google::protobuf::RepeatedPtrField<T>& v) const {
-        std::vector<EquivalentSdkType<T>> result;
-        result.reserve(v.size());
+    return result;
+}
 
-        for (const auto& elem : v) {
-            result.push_back(v2::from_proto(elem));
-        }
+template <typename T, typename = EquivalentSdkType<T>>
+auto from_repeated_field(const ::google::protobuf::RepeatedPtrField<T>& v) {
+    std::vector<EquivalentSdkType<T>> result;
+    result.reserve(v.size());
 
-        return result;
+    for (const auto& elem : v) {
+        result.push_back(from_proto(elem));
     }
-};
-
-namespace {
-
-constexpr auto& to_repeated_field = proto_convert_details::static_const<to_repeated_field_>::value;
-
-constexpr auto& from_repeated_field =
-    proto_convert_details::static_const<from_repeated_field_>::value;
 
-}  // namespace
+    return result;
+}
 
 }  // namespace impl
 }  // namespace sdk

src/viam/sdk/common/private/service_helper.hpp

@@ -51,7 +51,7 @@ class ServiceHelper : public ServiceHelperBase {
     }
 
     auto getExtra() const {
-        return request_->has_extra() ? v2::from_proto(request_->extra()) : ProtoStruct{};
+        return request_->has_extra() ? from_proto(request_->extra()) : ProtoStruct{};
     }
 
    private:

src/viam/sdk/common/proto_convert.hpp

@@ -11,27 +11,17 @@ namespace sdk {
 
 namespace proto_convert_details {
 
-// This is copied from range-v3 to allow the definition of callable object instances without
-// ODR/linkage issues. It is obviated in C++17 and onwards by constexpr inline.
-template <typename T>
-struct static_const {
-    static constexpr const T value{};
-};
-
-template <typename T>
-constexpr const T static_const<T>::value;
-
 // This struct should be explicitly specialized with a
 //      void operator()(const SdkType&, common::v1::ApiType*) const
 // to provide API/ABI insulated proto conversion
 template <typename SdkType>
-struct to_proto;
+struct to_proto_impl;
 
 // This struct should be explicitly specialized with a
 //      SdkType operator()(const ProtoType*) const
 // to provided API/ABI insulated construction from proto
 template <typename ProtoType>
-struct from_proto;
+struct from_proto_impl;
 
 // This is a helper type trait for deducing corresponding API types from a to_proto specialization.
 // We use boost::callable_traits to generate a tuple of the arguments to the to_proto call operator,
@@ -40,60 +30,42 @@ template <typename Callable>
 using ProtoArgType = std::remove_pointer_t<
     boost::mp11::mp_back<boost::callable_traits::args_t<Callable, boost::mp11::mp_list>>>;
 
-// Implementation struct for the omni-to_proto callable defined below.
-struct to_proto_impl {
-    template <typename SdkType>
-    auto operator()(const SdkType& t) const {
-        using ProtoReturnType = ProtoArgType<to_proto<SdkType>>;
-
-        ProtoReturnType ret;
-        to_proto<SdkType>{}(t, &ret);
-
-        return ret;
-    }
-};
-
-// Implementation struct for the omni-from_proto callable defined below.
-struct from_proto_impl {
-    template <typename ProtoType>
-    auto operator()(const ProtoType& proto) const {  // NOLINT(misc-no-recursion)
-        return from_proto<ProtoType>{}(&proto);
-    }
-};
-
 }  // namespace proto_convert_details
 
-namespace v2 {
-
-namespace {
-
-/// @brief Function object implementing conversion from an SDK type to an API type.
-/// This callable works for any type with a proto_convert_details::to_proto specialization as
-/// described above.
-constexpr auto& to_proto =
-    proto_convert_details::static_const<proto_convert_details::to_proto_impl>::value;
-
-/// @brief Function object implementing conversion from an API type to an SDK type.
-/// This callable works for any type with a proto_convert_details::from_proto specialization as
-/// described above.
-constexpr auto& from_proto =
-    proto_convert_details::static_const<proto_convert_details::from_proto_impl>::value;
-
-}  // namespace
-
-}  // namespace v2
+/// @brief Convert an SDK type to its corresponding API type.
+/// @remark Only participates in overload resolution if to_proto_impl<SdkType> has been specialized.
+template <typename SdkType,
+          typename = decltype(sizeof(proto_convert_details::to_proto_impl<SdkType>))>
+auto to_proto(const SdkType& t) {  // NOLINT(misc-no-recursion)
+    namespace pcd = proto_convert_details;
+    using ProtoReturnType = pcd::ProtoArgType<pcd::to_proto_impl<SdkType>>;
+
+    ProtoReturnType ret;
+    pcd::to_proto_impl<SdkType>{}(t, &ret);
+
+    return ret;
+}
+
+/// @brief Convert an API type to its corresponding SDK type.
+/// @remark Only participates in overload resolution if from_proto_impl<ApiType> has been
+/// specialized.
+template <typename ApiType,
+          typename = decltype(sizeof(proto_convert_details::from_proto_impl<ApiType>))>
+auto from_proto(const ApiType& proto) {  // NOLINT(misc-no-recursion)
+    return proto_convert_details::from_proto_impl<ApiType>{}(&proto);
+}
 
 /// @brief Type alias for the API type corresponding to a given SDK type.
 /// This is the return type of calling to_proto on an instance of SdkType.
 template <typename SdkType>
 using EquivalentApiType =
-    proto_convert_details::ProtoArgType<proto_convert_details::to_proto<SdkType>>;
+    proto_convert_details::ProtoArgType<proto_convert_details::to_proto_impl<SdkType>>;
 
 /// @brief Type alias for the SDK type corresponding to a given API type.
 /// This is the return type of calling from_proto on an instance of ApiType.
 template <typename ApiType>
 using EquivalentSdkType =
-    boost::callable_traits::return_type_t<proto_convert_details::from_proto<ApiType>>;
+    boost::callable_traits::return_type_t<proto_convert_details::from_proto_impl<ApiType>>;
 
 }  // namespace sdk
 }  // namespace viam

src/viam/sdk/common/proto_value.cpp

@@ -237,24 +237,25 @@ void to_value(std::string s, Value* v) {
 void to_value(const ProtoList& vec, Value* v) {
     ::google::protobuf::ListValue l;
     for (const auto& val : vec) {
-        *l.add_values() = v2::to_proto(val);
+        *l.add_values() = to_proto(val);
     }
     *(v->mutable_list_value()) = std::move(l);
 }
 
 void to_value(const ProtoStruct& m, Value* v) {
-    *(v->mutable_struct_value()) = v2::to_proto(m);
+    *(v->mutable_struct_value()) = to_proto(m);
 }
 
 }  // namespace proto_value_details
 
 namespace proto_convert_details {
 
-void to_proto<ProtoValue>::operator()(const ProtoValue& self, google::protobuf::Value* v) const {
+void to_proto_impl<ProtoValue>::operator()(const ProtoValue& self,
+                                           google::protobuf::Value* v) const {
     self.vtable_.to_value(self.self_.get(), v);
 }
 
-ProtoValue from_proto<google::protobuf::Value>::operator()(  // NOLINT(misc-no-recursion)
+ProtoValue from_proto_impl<google::protobuf::Value>::operator()(  // NOLINT(misc-no-recursion)
     const google::protobuf::Value* v) const {
     switch (v->kind_case()) {
         case Value::KindCase::kBoolValue: {
@@ -270,13 +271,13 @@ ProtoValue from_proto<google::protobuf::Value>::operator()(  // NOLINT(misc-no-r
             ProtoList vec;
             vec.reserve(v->list_value().values_size());
             for (const Value& list_val : v->list_value().values()) {
-                vec.push_back(v2::from_proto(list_val));
+                vec.push_back(from_proto(list_val));
             }
 
             return ProtoValue(std::move(vec));
         }
         case Value::KindCase::kStructValue: {
-            return ProtoValue(v2::from_proto(v->struct_value()));
+            return ProtoValue(from_proto(v->struct_value()));
         }
         case Value::KindCase::KIND_NOT_SET:
         case Value::KindCase::kNullValue:
@@ -285,19 +286,20 @@ ProtoValue from_proto<google::protobuf::Value>::operator()(  // NOLINT(misc-no-r
     }
 }
 
-void to_proto<ProtoStruct>::operator()(const ProtoStruct& self, google::protobuf::Struct* s) const {
+void to_proto_impl<ProtoStruct>::operator()(const ProtoStruct& self,
+                                            google::protobuf::Struct* s) const {
     for (const auto& kv : self) {
         s->mutable_fields()->insert(
-            google::protobuf::MapPair<std::string, Value>(kv.first, v2::to_proto(kv.second)));
+            google::protobuf::MapPair<std::string, Value>(kv.first, to_proto(kv.second)));
     }
 }
 
-ProtoStruct from_proto<google::protobuf::Struct>::operator()(  // NOLINT(misc-no-recursion)
+ProtoStruct from_proto_impl<google::protobuf::Struct>::operator()(  // NOLINT(misc-no-recursion)
     const google::protobuf::Struct* s) const {
     ProtoStruct result;
 
     for (const auto& val : s->fields()) {
-        result.emplace(val.first, v2::from_proto(val.second));
+        result.emplace(val.first, from_proto(val.second));
     }
 
     return result;

src/viam/sdk/common/proto_value.hpp

@@ -54,7 +54,7 @@ struct all_moves_noexcept
 /// definition.
 class ProtoValue {
    public:
-    friend proto_convert_details::to_proto<ProtoValue>;
+    friend proto_convert_details::to_proto_impl<ProtoValue>;
 
     /// @brief Type discriminator constants for possible values stored in a ProtoValue.
     enum Kind { k_null = 0, k_bool = 1, k_double = 2, k_string = 3, k_list = 4, k_struct = 5 };
@@ -318,22 +318,22 @@ extern template ProtoStruct&& ProtoValue::get_unchecked<ProtoStruct>() &&;
 namespace proto_convert_details {
 
 template <>
-struct to_proto<ProtoValue> {
+struct to_proto_impl<ProtoValue> {
     void operator()(const ProtoValue&, google::protobuf::Value*) const;
 };
 
 template <>
-struct to_proto<ProtoStruct> {
+struct to_proto_impl<ProtoStruct> {
     void operator()(const ProtoStruct&, google::protobuf::Struct*) const;
 };
 
 template <>
-struct from_proto<google::protobuf::Value> {
+struct from_proto_impl<google::protobuf::Value> {
     ProtoValue operator()(const google::protobuf::Value*) const;
 };
 
 template <>
-struct from_proto<google::protobuf::Struct> {
+struct from_proto_impl<google::protobuf::Struct> {
     ProtoStruct operator()(const google::protobuf::Struct*) const;
 };