RSDK-9337: Introduce proto API bridge and insulate various geometry and math types from API (#332)

Author: lia-viam

src/viam/sdk/CMakeLists.txt

@@ -142,6 +142,7 @@ target_sources(viamsdk
       ../../viam/sdk/common/exception.hpp
       ../../viam/sdk/common/linear_algebra.hpp
       ../../viam/sdk/common/pose.hpp
+      ../../viam/sdk/common/proto_convert.hpp
       ../../viam/sdk/common/proto_value.hpp
       ../../viam/sdk/common/service_helper.hpp
       ../../viam/sdk/common/utils.hpp

src/viam/sdk/common/client_helper.hpp

@@ -59,7 +59,7 @@ class ClientHelper {
             ProtoValue value = key->second;
             debug_key_ = *value.get<std::string>();
         }
-        *request_.mutable_extra() = map_to_struct(extra);
+        *request_.mutable_extra() = v2::to_proto(extra);
         return with(std::forward<RequestSetupCallable>(rsc));
     }
 

src/viam/sdk/common/linear_algebra.cpp

@@ -7,55 +7,45 @@
 namespace viam {
 namespace sdk {
 
-Vector3::Vector3(scalar_type x, scalar_type y, scalar_type z) : data_{x, y, z} {};
-Vector3::Vector3() : Vector3(0.0, 0.0, 0.0){};
-
 double Vector3::x() const {
-    return this->data_[0];
+    return this->data[0];
 }
 
 double Vector3::y() const {
-    return this->data_[1];
+    return this->data[1];
 }
 
 double Vector3::z() const {
-    return this->data_[2];
+    return this->data[2];
 }
 
 Vector3& Vector3::set_x(double x) {
-    this->data_[0] = x;
+    this->data[0] = x;
     return *this;
 }
 
 Vector3& Vector3::set_y(double y) {
-    this->data_[1] = y;
+    this->data[1] = y;
     return *this;
 }
 
 Vector3& Vector3::set_z(double z) {
-    this->data_[2] = z;
+    this->data[2] = z;
     return *this;
 }
 
-const std::array<double, 3>& Vector3::data() const {
-    return this->data_;
-}
+namespace proto_convert_details {
 
-std::array<double, 3>& Vector3::data() {
-    return this->data_;
+void to_proto<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());
 }
 
-viam::common::v1::Vector3 Vector3::to_proto() const {
-    viam::common::v1::Vector3 result;
-    result.set_x(x());
-    result.set_y(y());
-    result.set_z(z());
-    return result;
-};
-
-Vector3 Vector3::from_proto(const viam::common::v1::Vector3& vec) {
-    return {vec.x(), vec.y(), vec.z()};
+Vector3 from_proto<common::v1::Vector3>::operator()(const common::v1::Vector3* proto) const {
+    return {proto->x(), proto->y(), proto->z()};
 }
 
+}  // namespace proto_convert_details
 }  // namespace sdk
 }  // namespace viam

src/viam/sdk/common/linear_algebra.hpp

@@ -5,18 +5,25 @@
 #include <boost/qvm/vec.hpp>
 #include <boost/qvm/vec_traits.hpp>
 
-#include <viam/api/common/v1/common.pb.h>
+#include <viam/sdk/common/proto_convert.hpp>
+
+namespace viam {
+namespace common {
+namespace v1 {
+
+class Vector3;
+}
+}  // namespace common
+}  // namespace viam
+
 namespace viam {
 namespace sdk {
 
 // In the future, we may wish to inline this whole class
 // for performance reasons.
 
-class Vector3 {
-   public:
+struct Vector3 {
     using scalar_type = double;
-    Vector3(scalar_type x, scalar_type y, scalar_type z);
-    Vector3();
 
     scalar_type x() const;
     scalar_type y() const;
@@ -28,15 +35,22 @@ class Vector3 {
     /// Set the z value of the vector (can be chained)
     Vector3& set_z(scalar_type z);
 
-    const std::array<scalar_type, 3>& data() const;
-    std::array<scalar_type, 3>& data();
-    viam::common::v1::Vector3 to_proto() const;
-    static Vector3 from_proto(const viam::common::v1::Vector3& vec);
+    std::array<scalar_type, 3> data;
+};
 
-   private:
-    std::array<scalar_type, 3> data_;
+namespace proto_convert_details {
+
+template <>
+struct to_proto<Vector3> {
+    void operator()(const Vector3&, common::v1::Vector3*) const;
+};
+
+template <>
+struct from_proto<common::v1::Vector3> {
+    Vector3 operator()(const common::v1::Vector3*) const;
 };
 
+}  // namespace proto_convert_details
 }  // namespace sdk
 }  // namespace viam
 
@@ -51,20 +65,20 @@ struct vec_traits<viam::sdk::Vector3> {
 
     template <int I>
     static inline scalar_type& write_element(vec_type& v) {
-        return v.data()[I];
+        return v.data[I];
     }
 
     template <int I>
     static inline scalar_type read_element(vec_type const& v) {
-        return v.data()[I];
+        return v.data[I];
     }
 
     static inline scalar_type& write_element_idx(int i, vec_type& v) {
-        return v.data()[i];
+        return v.data[i];
     }
 
     static inline scalar_type read_element_idx(int i, vec_type const& v) {
-        return v.data()[i];
+        return v.data[i];
     }
 };
 

src/viam/sdk/common/pose.cpp

@@ -5,36 +5,6 @@
 namespace viam {
 namespace sdk {
 
-common::v1::PoseInFrame pose_in_frame::to_proto() const {
-    common::v1::PoseInFrame pif;
-    *pif.mutable_reference_frame() = reference_frame;
-    common::v1::Pose proto_pose;
-    proto_pose.set_x(pose.coordinates.x);
-    proto_pose.set_y(pose.coordinates.y);
-    proto_pose.set_z(pose.coordinates.z);
-    proto_pose.set_o_x(pose.orientation.o_x);
-    proto_pose.set_o_y(pose.orientation.o_y);
-    proto_pose.set_o_z(pose.orientation.o_z);
-    proto_pose.set_theta(pose.theta);
-    *pif.mutable_pose() = std::move(proto_pose);
-    return pif;
-};
-
-pose_in_frame pose_in_frame::from_proto(const common::v1::PoseInFrame& proto) {
-    pose_in_frame pif;
-    pif.reference_frame = proto.reference_frame();
-    const auto& proto_pose = proto.pose();
-    pif.pose.orientation.o_x = proto_pose.o_x();
-    pif.pose.orientation.o_y = proto_pose.o_y();
-    pif.pose.orientation.o_z = proto_pose.o_z();
-    pif.pose.coordinates.x = proto_pose.x();
-    pif.pose.coordinates.y = proto_pose.y();
-    pif.pose.coordinates.z = proto_pose.z();
-    pif.pose.theta = proto_pose.theta();
-
-    return pif;
-}
-
 bool operator==(const pose_in_frame& lhs, const pose_in_frame& rhs) {
     return lhs.pose == rhs.pose && lhs.reference_frame == rhs.reference_frame;
 }
@@ -44,5 +14,48 @@ std::ostream& operator<<(std::ostream& os, const pose_in_frame& v) {
     return os;
 }
 
+namespace proto_convert_details {
+
+void to_proto<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);
+    proto->set_o_x(self.orientation.o_x);
+    proto->set_o_y(self.orientation.o_y);
+    proto->set_o_z(self.orientation.o_z);
+    proto->set_theta(self.theta);
+}
+
+pose from_proto<common::v1::Pose>::operator()(const common::v1::Pose* proto) const {
+    pose pose;
+    pose.coordinates.x = proto->x();
+    pose.coordinates.y = proto->y();
+    pose.coordinates.z = proto->z();
+    pose.orientation.o_x = proto->o_x();
+    pose.orientation.o_y = proto->o_y();
+    pose.orientation.o_z = proto->o_z();
+    pose.theta = proto->theta();
+
+    return pose;
+}
+
+void to_proto<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);
+    *(pif->mutable_pose()) = std::move(proto_pose);
+};
+
+pose_in_frame from_proto<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()));
+
+    return pif;
+}
+
+}  // namespace proto_convert_details
 }  // namespace sdk
 }  // namespace viam

src/viam/sdk/common/pose.hpp

@@ -1,6 +1,18 @@
 #pragma once
 
-#include <common/v1/common.pb.h>
+#include <viam/sdk/common/proto_convert.hpp>
+
+#include <ostream>
+
+namespace viam {
+namespace common {
+namespace v1 {
+
+class Pose;
+class PoseInFrame;
+}  // namespace v1
+}  // namespace common
+}  // namespace viam
 
 namespace viam {
 namespace sdk {
@@ -20,16 +32,11 @@ struct pose {
     pose_orientation orientation;
     double theta;
 
-    static pose from_proto(const viam::common::v1::Pose& proto);
-    viam::common::v1::Pose to_proto() const;
-
     friend bool operator==(const pose& lhs, const pose& rhs);
     friend std::ostream& operator<<(std::ostream& os, const pose& v);
 };
 
 struct pose_in_frame {
-    viam::common::v1::PoseInFrame to_proto() const;
-    static pose_in_frame from_proto(const viam::common::v1::PoseInFrame& proto);
     pose_in_frame(std::string reference_frame_, struct pose pose_)
         : reference_frame(std::move(reference_frame_)), pose(std::move(pose_)) {}
     pose_in_frame() {}
@@ -40,5 +47,29 @@ struct pose_in_frame {
     friend std::ostream& operator<<(std::ostream& os, const pose_in_frame& v);
 };
 
+namespace proto_convert_details {
+
+template <>
+struct to_proto<pose> {
+    void operator()(const pose&, common::v1::Pose*) const;
+};
+
+template <>
+struct from_proto<common::v1::Pose> {
+    pose operator()(const common::v1::Pose*) const;
+};
+
+template <>
+struct to_proto<pose_in_frame> {
+    void operator()(const pose_in_frame&, common::v1::PoseInFrame*) const;
+};
+
+template <>
+struct from_proto<common::v1::PoseInFrame> {
+    pose_in_frame operator()(const common::v1::PoseInFrame*) const;
+};
+
+}  // namespace proto_convert_details
+
 }  // namespace sdk
 }  // namespace viam