RSDK-6634 - remove resource proto conversions from public headers (#328)

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/arm.cpp

@@ -11,20 +11,6 @@ API API::traits<Arm>::api() {
     return {kRDK, kComponent, "arm"};
 }
 
-Arm::KinematicsData Arm::from_proto(const viam::common::v1::GetKinematicsResponse& proto) {
-    std::vector<unsigned char> bytes(proto.kinematics_data().begin(),
-                                     proto.kinematics_data().end());
-    switch (proto.format()) {
-        case common::v1::KinematicsFileFormat::KINEMATICS_FILE_FORMAT_SVA:
-            return Arm::KinematicsDataSVA(std::move(bytes));
-        case common::v1::KinematicsFileFormat::KINEMATICS_FILE_FORMAT_URDF:
-            return Arm::KinematicsDataURDF(std::move(bytes));
-        case common::v1::KinematicsFileFormat::KINEMATICS_FILE_FORMAT_UNSPECIFIED:  // fallthrough
-        default:
-            return Arm::KinematicsDataUnspecified{};
-    }
-}
-
 Arm::Arm(std::string name) : Component(std::move(name)) {}
 
 }  // namespace sdk

src/viam/sdk/components/arm.hpp

@@ -8,8 +8,6 @@
 #include <boost/optional/optional.hpp>
 #include <boost/variant/variant.hpp>
 
-#include <viam/api/common/v1/common.pb.h>
-
 #include <viam/sdk/common/pose.hpp>
 #include <viam/sdk/resource/stoppable.hpp>
 #include <viam/sdk/spatialmath/geometry.hpp>
@@ -67,8 +65,6 @@ class Arm : public Component, public Stoppable {
         boost::optional<double> max_acc_degs_per_sec2;
     };
 
-    static KinematicsData from_proto(const viam::common::v1::GetKinematicsResponse& proto);
-
     /// @brief Get the current position of the end of the arm.
     /// @return The `pose` representing the end position of the arm.
     inline pose get_end_position() {

src/viam/sdk/components/base.cpp

@@ -1,13 +1,5 @@
 #include <viam/sdk/components/base.hpp>
 
-#include <google/protobuf/descriptor.h>
-
-#include <viam/api/component/base/v1/base.grpc.pb.h>
-#include <viam/api/component/base/v1/base.pb.h>
-
-#include <viam/sdk/common/utils.hpp>
-#include <viam/sdk/resource/resource.hpp>
-
 namespace viam {
 namespace sdk {
 
@@ -19,12 +11,6 @@ API API::traits<Base>::api() {
     return {kRDK, kComponent, "base"};
 }
 
-Base::properties Base::properties::from_proto(
-    const component::base::v1::GetPropertiesResponse& proto) {
-    return {
-        proto.width_meters(), proto.turning_radius_meters(), proto.wheel_circumference_meters()};
-}
-
 std::ostream& operator<<(std::ostream& os, const Base::properties& v) {
     os << "{ turning_radius_meters: " << v.turning_radius_meters
        << ", wheel_circumference_meters: " << v.wheel_circumference_meters

src/viam/sdk/components/base.hpp

@@ -5,8 +5,6 @@
 
 #include <string>
 
-#include <viam/api/component/base/v1/base.pb.h>
-
 #include <viam/sdk/common/linear_algebra.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/common/utils.hpp>
@@ -32,8 +30,6 @@ class Base : public Component, public Stoppable {
         double width_meters;
         double turning_radius_meters;
         double wheel_circumference_meters;
-
-        static properties from_proto(const component::base::v1::GetPropertiesResponse& proto);
     };
     friend std::ostream& operator<<(std::ostream& os, const properties& v);
     friend bool operator==(const properties& lhs, const properties& rhs);

src/viam/sdk/components/board.cpp

@@ -2,10 +2,6 @@
 
 #include <google/protobuf/descriptor.h>
 
-#include <viam/api/component/board/v1/board.grpc.pb.h>
-#include <viam/api/component/board/v1/board.pb.h>
-
-#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/resource/resource.hpp>
 
@@ -20,59 +16,6 @@ API API::traits<Board>::api() {
     return {kRDK, kComponent, "board"};
 }
 
-Board::status Board::from_proto(const viam::component::board::v1::Status& proto) {
-    Board::status status;
-    for (const auto& analog : proto.analogs()) {
-        status.analog_reader_values.emplace(analog.first, analog.second);
-    }
-    for (const auto& digital : proto.digital_interrupts()) {
-        status.digital_interrupt_values.emplace(digital.first, digital.second);
-    }
-    return status;
-}
-
-Board::power_mode Board::from_proto(viam::component::board::v1::PowerMode proto) {
-    switch (proto) {
-        case viam::component::board::v1::POWER_MODE_NORMAL: {
-            return Board::power_mode::normal;
-        }
-        case viam::component::board::v1::POWER_MODE_OFFLINE_DEEP: {
-            return Board::power_mode::offline_deep;
-        }
-        case viam::component::board::v1::POWER_MODE_UNSPECIFIED:
-        default: {
-            throw Exception(ErrorCondition::k_not_supported,
-                            "Invalid proto board power_mode to decode");
-        }
-    }
-}
-
-viam::component::board::v1::Status Board::to_proto(const status& status) {
-    viam::component::board::v1::Status proto;
-    for (const auto& analog : status.analog_reader_values) {
-        proto.mutable_analogs()->insert({analog.first, analog.second});
-    }
-
-    for (const auto& digital : status.digital_interrupt_values) {
-        proto.mutable_digital_interrupts()->insert({digital.first, digital.second});
-    }
-    return proto;
-}
-
-viam::component::board::v1::PowerMode Board::to_proto(Board::power_mode power_mode) {
-    switch (power_mode) {
-        case Board::power_mode::normal: {
-            return viam::component::board::v1::POWER_MODE_NORMAL;
-        }
-        case Board::power_mode::offline_deep: {
-            return viam::component::board::v1::POWER_MODE_OFFLINE_DEEP;
-        }
-        default: {
-            throw Exception(ErrorCondition::k_not_supported, "Invalid board power_mode to encode");
-        }
-    }
-}
-
 Board::Board(std::string name) : Component(std::move(name)){};
 
 bool operator==(const Board::status& lhs, const Board::status& rhs) {

src/viam/sdk/components/board.hpp

@@ -7,8 +7,6 @@
 #include <string>
 #include <unordered_map>
 
-#include <viam/api/component/board/v1/board.pb.h>
-
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/config/resource.hpp>
@@ -76,18 +74,6 @@ class Board : public Component {
 
     API api() const override;
 
-    /// @brief Creates a `status` struct from its proto representation.
-    static status from_proto(const viam::component::board::v1::Status& proto);
-
-    /// @brief Creates a `power_mode` enum from its proto representation.
-    static power_mode from_proto(viam::component::board::v1::PowerMode proto);
-
-    /// @brief Converts a `status` struct to its proto representation.
-    static viam::component::board::v1::Status to_proto(const status& status);
-
-    /// @brief Converts a `power_mode` enum to its proto representation.
-    static viam::component::board::v1::PowerMode to_proto(power_mode power_mode);
-
     /// @brief Gets the high/low state of the given pin on a board.
     /// @param pin board pin name
     /// @return high/low state of the given pin. High = on, low = off

src/viam/sdk/components/camera.cpp

@@ -3,10 +3,6 @@
 #include <google/protobuf/descriptor.h>
 #include <google/protobuf/util/time_util.h>
 
-#include <viam/api/common/v1/common.pb.h>
-#include <viam/api/component/camera/v1/camera.grpc.pb.h>
-#include <viam/api/component/camera/v1/camera.pb.h>
-
 #include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/resource/resource.hpp>
@@ -134,127 +130,6 @@ std::string Camera::normalize_mime_type(const std::string& str) {
     return mime_type;
 }
 
-std::string Camera::format_to_MIME_string(viam::component::camera::v1::Format format) {
-    switch (format) {
-        case viam::component::camera::v1::FORMAT_RAW_RGBA:
-            return "image/vnd.viam.rgba";
-        case viam::component::camera::v1::FORMAT_RAW_DEPTH:
-            return "image/vnd.viam.dep";
-        case viam::component::camera::v1::FORMAT_JPEG:
-            return "image/jpeg";
-        case viam::component::camera::v1::FORMAT_PNG:
-            return "image/png";
-        default:
-            return "";
-    }
-}
-
-::viam::component::camera::v1::Format Camera::MIME_string_to_format(
-    const std::string& mime_string) {
-    if (mime_string == "image/vnd.viam.rgba") {
-        return viam::component::camera::v1::FORMAT_RAW_RGBA;
-    }
-    if (mime_string == "image/vnd.viam.dep") {
-        return viam::component::camera::v1::FORMAT_RAW_DEPTH;
-    }
-    if (mime_string == "image/jpeg") {
-        return viam::component::camera::v1::FORMAT_JPEG;
-    }
-    if (mime_string == "image/png") {
-        return viam::component::camera::v1::FORMAT_PNG;
-    }
-    return viam::component::camera::v1::FORMAT_UNSPECIFIED;
-}
-
-Camera::raw_image Camera::from_proto(const viam::component::camera::v1::GetImageResponse& proto) {
-    Camera::raw_image raw_image;
-    std::string img_string = proto.image();
-    const std::vector<unsigned char> bytes(img_string.begin(), img_string.end());
-    raw_image.bytes = bytes;
-    raw_image.mime_type = proto.mime_type();
-    raw_image.source_name = "";
-    return raw_image;
-}
-
-Camera::image_collection Camera::from_proto(
-    const viam::component::camera::v1::GetImagesResponse& proto) {
-    Camera::image_collection image_collection;
-    std::vector<Camera::raw_image> images;
-    for (const auto& img : proto.images()) {
-        Camera::raw_image raw_image;
-        std::string img_string = img.image();
-        const std::vector<unsigned char> bytes(img_string.begin(), img_string.end());
-        raw_image.bytes = bytes;
-        raw_image.mime_type = format_to_MIME_string(img.format());
-        raw_image.source_name = img.source_name();
-        images.push_back(raw_image);
-    }
-    image_collection.images = std::move(images);
-    image_collection.metadata = response_metadata::from_proto(proto.response_metadata());
-    return image_collection;
-}
-
-Camera::point_cloud Camera::from_proto(
-    const viam::component::camera::v1::GetPointCloudResponse& proto) {
-    Camera::point_cloud point_cloud;
-    std::string pc_string = proto.point_cloud();
-    const std::vector<unsigned char> bytes(pc_string.begin(), pc_string.end());
-    point_cloud.pc = bytes;
-    point_cloud.mime_type = proto.mime_type();
-    return point_cloud;
-}
-
-Camera::intrinsic_parameters Camera::from_proto(
-    const viam::component::camera::v1::IntrinsicParameters& proto) {
-    Camera::intrinsic_parameters params;
-    // NOLINTNEXTLINE(bugprone-narrowing-conversions)
-    params.width_px = proto.width_px();
-    // NOLINTNEXTLINE(bugprone-narrowing-conversions)
-    params.height_px = proto.height_px();
-    params.focal_x_px = proto.focal_x_px();
-    params.focal_y_px = proto.focal_y_px();
-    params.center_x_px = proto.center_x_px();
-    params.center_y_px = proto.center_y_px();
-    return params;
-}
-
-Camera::distortion_parameters Camera::from_proto(
-    const viam::component::camera::v1::DistortionParameters& proto) {
-    Camera::distortion_parameters params;
-    params.model = proto.model();
-    params.parameters = {proto.parameters().begin(), proto.parameters().end()};
-    return params;
-}
-
-Camera::properties Camera::from_proto(
-    const viam::component::camera::v1::GetPropertiesResponse& proto) {
-    return {proto.supports_pcd(),
-            from_proto(proto.intrinsic_parameters()),
-            from_proto(proto.distortion_parameters()),
-            {proto.mime_types().begin(), proto.mime_types().end()},
-            (proto.frame_rate())};
-}
-
-viam::component::camera::v1::IntrinsicParameters Camera::to_proto(
-    const Camera::intrinsic_parameters& params) {
-    viam::component::camera::v1::IntrinsicParameters proto;
-    proto.set_width_px(params.width_px);
-    proto.set_height_px(params.height_px);
-    proto.set_focal_x_px(params.focal_x_px);
-    proto.set_focal_y_px(params.focal_y_px);
-    proto.set_center_x_px(params.center_x_px);
-    proto.set_center_y_px(params.center_y_px);
-    return proto;
-}
-
-viam::component::camera::v1::DistortionParameters Camera::to_proto(
-    const Camera::distortion_parameters& params) {
-    viam::component::camera::v1::DistortionParameters proto;
-    *proto.mutable_model() = params.model;
-    *proto.mutable_parameters() = {params.parameters.begin(), params.parameters.end()};
-    return proto;
-}
-
 Camera::Camera(std::string name) : Component(std::move(name)){};
 
 bool operator==(const Camera::point_cloud& lhs, const Camera::point_cloud& rhs) {