clean up geometry.hpp and add vector/ptr_field conversion

Author: lia-viam

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

@@ -17,7 +17,7 @@ void vecToRepeatedPtr(const std::vector<Src>& vec, google::protobuf::RepeatedPtr
     dest.Clear();
     dest.Reserve(vec.size());
     for (auto& x : vec) {
-        *dest.Add() = x.to_proto();
+        *dest.Add() = v2::to_proto(x);
     }
 }
 
@@ -41,7 +41,7 @@ void repeatedPtrToVec(const google::protobuf::RepeatedPtrField<Src>& src, std::v
     vec.clear();
     vec.reserve(src.size());
     for (auto& x : src) {
-        vec.push_back(Dst::from_proto(x));
+        vec.push_back(v2::from_proto(x));
     }
 }
 

src/viam/sdk/common/world_state.cpp

@@ -11,7 +11,7 @@ WorldState::geometries_in_frame WorldState::geometries_in_frame::from_proto(
     const common::v1::GeometriesInFrame& proto) {
     geometries_in_frame gif;
     for (const auto& geo : proto.geometries()) {
-        gif.geometries.push_back(GeometryConfig::from_proto(geo));
+        gif.geometries.push_back(v2::from_proto(geo));
     }
     gif.reference_frame = proto.reference_frame();
 
@@ -23,7 +23,7 @@ common::v1::GeometriesInFrame WorldState::geometries_in_frame::to_proto() const
 
     *proto.mutable_reference_frame() = reference_frame;
     for (const auto& geometry : geometries) {
-        *proto.mutable_geometries()->Add() = geometry.to_proto();
+        *proto.mutable_geometries()->Add() = v2::to_proto(geometry);
     }
 
     return proto;
@@ -63,7 +63,7 @@ WorldState::transform WorldState::transform::from_proto(const common::v1::Transf
     transform.pose_in_observer_frame = v2::from_proto(proto.pose_in_observer_frame());
     if (proto.has_physical_object()) {
         transform.physical_object =
-            std::make_shared<GeometryConfig>(GeometryConfig::from_proto(proto.physical_object()));
+            std::make_shared<GeometryConfig>(v2::from_proto(proto.physical_object()));
     }
 
     return transform;
@@ -74,7 +74,7 @@ common::v1::Transform WorldState::transform::to_proto() const {
     *proto.mutable_reference_frame() = reference_frame;
     *proto.mutable_pose_in_observer_frame() = v2::to_proto(pose_in_observer_frame);
     if (physical_object) {
-        *proto.mutable_physical_object() = physical_object->to_proto();
+        *proto.mutable_physical_object() = v2::to_proto(*physical_object);
     }
 
     return proto;

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

@@ -109,7 +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 GeometryConfig::from_proto(response); });
+        .invoke([](auto& response) { return v2::from_proto(response); });
 }
 
 }  // namespace impl

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

@@ -143,7 +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() = geometry.to_proto();
+            *response->mutable_geometries()->Add() = v2::to_proto(geometry);
         }
     });
 }

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

@@ -84,7 +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 GeometryConfig::from_proto(response); });
+        .invoke([](auto& response) { return v2::from_proto(response); });
 }
 
 Base::properties BaseClient::get_properties(const ProtoStruct& extra) {

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

@@ -83,7 +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() = geometry.to_proto();
+            *response->mutable_geometries()->Add() = v2::to_proto(geometry);
         }
     });
 }

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

@@ -191,7 +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 GeometryConfig::from_proto(response); });
+        .invoke([](auto& response) { return v2::from_proto(response); });
 };
 
 }  // namespace impl

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

@@ -242,7 +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() = geometry.to_proto();
+            *response->mutable_geometries()->Add() = v2::to_proto(geometry);
         }
     });
 }

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

@@ -134,7 +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 GeometryConfig::from_proto(response); });
+        .invoke([](auto& response) { return v2::from_proto(response); });
 };
 
 Camera::properties CameraClient::get_properties() {

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

@@ -132,7 +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() = geometry.to_proto();
+            *response->mutable_geometries()->Add() = v2::to_proto(geometry);
         }
     });
 }