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cheuktcheukt
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remove more
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4 files changed

+0
-126
lines changed

4 files changed

+0
-126
lines changed

‎src/viam/sdk/robot/client.cpp‎

Lines changed: 0 additions & 22 deletions
Original file line numberDiff line numberDiff line change
@@ -39,7 +39,6 @@ using viam::robot::v1::DiscoveryQuery;
3939
using viam::robot::v1::FrameSystemConfig;
4040
using viam::robot::v1::Operation;
4141
using viam::robot::v1::RobotService;
42-
using viam::robot::v1::Status;
4342

4443
// gRPC responses are frequently coming back with a spurious `Stream removed`
4544
// error, leading to unhelpful and misleading logging. We should figure out why
@@ -80,20 +79,6 @@ RobotClient::frame_system_config from_proto(const FrameSystemConfig& proto) {
8079
return fsconfig;
8180
}
8281

83-
RobotClient::status from_proto(const Status& proto) {
84-
RobotClient::status status;
85-
if (proto.has_name()) {
86-
status.name = Name::from_proto(proto.name());
87-
}
88-
if (proto.has_status()) {
89-
status.status_map = v2::from_proto(proto.status());
90-
}
91-
if (proto.has_last_reconfigured()) {
92-
status.last_reconfigured = timestamp_to_time_pt(proto.last_reconfigured());
93-
}
94-
return status;
95-
}
96-
9782
RobotClient::operation from_proto(const Operation& proto) {
9883
RobotClient::operation op;
9984
op.id = proto.id();
@@ -126,13 +111,6 @@ bool operator==(const RobotClient::frame_system_config& lhs,
126111
v2::to_proto(rhs.kinematics).SerializeAsString();
127112
}
128113

129-
bool operator==(const RobotClient::status& lhs, const RobotClient::status& rhs) {
130-
return lhs.name == rhs.name &&
131-
v2::to_proto(lhs.status_map).SerializeAsString() ==
132-
v2::to_proto(rhs.status_map).SerializeAsString() &&
133-
lhs.last_reconfigured == rhs.last_reconfigured;
134-
}
135-
136114
bool operator==(const RobotClient::operation& lhs, const RobotClient::operation& rhs) {
137115
return lhs.id == rhs.id && lhs.method == rhs.method && lhs.session_id == rhs.session_id &&
138116
lhs.arguments == rhs.arguments && lhs.started == rhs.started;

‎src/viam/sdk/robot/client.hpp‎

Lines changed: 0 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -54,13 +54,6 @@ class RobotClient {
5454
friend bool operator==(const frame_system_config& lhs, const frame_system_config& rhs);
5555
};
5656

57-
struct status {
58-
boost::optional<Name> name;
59-
ProtoStruct status_map;
60-
boost::optional<time_pt> last_reconfigured;
61-
friend bool operator==(const status& lhs, const status& rhs);
62-
};
63-
6457
struct operation {
6558
std::string id;
6659
std::string method;

‎src/viam/sdk/robot/service.cpp‎

Lines changed: 0 additions & 90 deletions
Original file line numberDiff line numberDiff line change
@@ -73,47 +73,6 @@ std::vector<ResourceName> RobotService_::generate_metadata_() {
7373
return metadata;
7474
}
7575

76-
std::vector<Status> RobotService_::generate_status_(
77-
const RepeatedPtrField<ResourceName>& resource_names) {
78-
std::vector<Status> statuses;
79-
for (const auto& cmp : resource_manager()->resources()) {
80-
const std::shared_ptr<Resource> resource = cmp.second;
81-
for (const auto& kv : Registry::registered_models()) {
82-
const std::shared_ptr<const ModelRegistration> registration = kv.second;
83-
if (registration->api().resource_subtype() == resource->api().resource_subtype()) {
84-
bool resource_present = false;
85-
const ResourceName name = resource->get_resource_name().to_proto();
86-
for (const auto& resource_name : resource_names) {
87-
if (name.SerializeAsString() == resource_name.SerializeAsString()) {
88-
resource_present = true;
89-
break;
90-
}
91-
}
92-
93-
if (resource_present) {
94-
const Status status = registration->create_status(resource);
95-
statuses.push_back(status);
96-
}
97-
}
98-
}
99-
}
100-
101-
std::vector<Status> returnable_statuses;
102-
for (auto& status : statuses) {
103-
bool status_name_is_known = false;
104-
for (const auto& resource_name : resource_names) {
105-
if (status.name().SerializeAsString() == resource_name.SerializeAsString()) {
106-
status_name_is_known = true;
107-
break;
108-
}
109-
}
110-
if (status_name_is_known) {
111-
returnable_statuses.push_back(status);
112-
}
113-
}
114-
return returnable_statuses;
115-
}
116-
11776
::grpc::Status RobotService_::ResourceNames(::grpc::ServerContext*,
11877
const viam::robot::v1::ResourceNamesRequest* request,
11978
viam::robot::v1::ResourceNamesResponse* response) {
@@ -129,55 +88,6 @@ ::grpc::Status RobotService_::ResourceNames(::grpc::ServerContext*,
12988
return ::grpc::Status();
13089
}
13190

132-
::grpc::Status RobotService_::GetStatus(::grpc::ServerContext*,
133-
const ::viam::robot::v1::GetStatusRequest* request,
134-
::viam::robot::v1::GetStatusResponse* response) {
135-
if (!request) {
136-
return ::grpc::Status(::grpc::StatusCode::INVALID_ARGUMENT,
137-
"Called [GetStatus] without a request");
138-
};
139-
140-
RepeatedPtrField<Status>* response_status = response->mutable_status();
141-
const std::vector<Status> statuses = generate_status_(request->resource_names());
142-
for (const Status& status : statuses) {
143-
*response_status->Add() = status;
144-
}
145-
146-
return ::grpc::Status();
147-
}
148-
149-
void RobotService_::stream_status(
150-
const viam::robot::v1::StreamStatusRequest* request,
151-
::grpc::ServerWriter<::viam::robot::v1::StreamStatusResponse>* writer,
152-
int interval) {
153-
while (true) {
154-
const std::vector<Status> statuses = generate_status_(request->resource_names());
155-
viam::robot::v1::StreamStatusResponse response;
156-
RepeatedPtrField<Status>* response_status = response.mutable_status();
157-
for (const Status& status : statuses) {
158-
*response_status->Add() = status;
159-
}
160-
161-
writer->Write(response);
162-
std::this_thread::sleep_for(std::chrono::seconds(interval));
163-
}
164-
}
165-
166-
::grpc::Status RobotService_::StreamStatus(
167-
::grpc::ServerContext*,
168-
const ::viam::robot::v1::StreamStatusRequest* request,
169-
::grpc::ServerWriter<::viam::robot::v1::StreamStatusResponse>* writer) {
170-
uint64_t interval = 1;
171-
if (request->every().seconds() > 0) {
172-
interval = request->every().seconds();
173-
}
174-
175-
const RepeatedPtrField<ResourceName> resource_names = request->resource_names();
176-
std::thread t(&RobotService_::stream_status, this, request, writer, interval);
177-
t.detach();
178-
return ::grpc::Status();
179-
}
180-
18191
::grpc::Status RobotService_::StopAll(::grpc::ServerContext*,
18292
const ::viam::robot::v1::StopAllRequest* request,
18393
::viam::robot::v1::StopAllResponse*) {

‎src/viam/sdk/robot/service.hpp‎

Lines changed: 0 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -37,13 +37,6 @@ class RobotService_ : public ResourceServer, public viam::robot::v1::RobotServic
3737
::grpc::Status ResourceNames(::grpc::ServerContext* context,
3838
const ::viam::robot::v1::ResourceNamesRequest* request,
3939
::viam::robot::v1::ResourceNamesResponse* response) override;
40-
::grpc::Status GetStatus(::grpc::ServerContext* context,
41-
const ::viam::robot::v1::GetStatusRequest* request,
42-
::viam::robot::v1::GetStatusResponse* response) override;
43-
::grpc::Status StreamStatus(
44-
::grpc::ServerContext* context,
45-
const ::viam::robot::v1::StreamStatusRequest* request,
46-
::grpc::ServerWriter<::viam::robot::v1::StreamStatusResponse>* writer) override;
4740
::grpc::Status StopAll(::grpc::ServerContext* context,
4841
const ::viam::robot::v1::StopAllRequest* request,
4942
::viam::robot::v1::StopAllResponse* response) override;

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