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RSDK-3589 add wrapper for navigation service #323

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Merged
merged 36 commits into from
Nov 18, 2024
Merged

RSDK-3589 add wrapper for navigation service #323

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bbf46f2
first pass navigation hpp
abe-winter Nov 13, 2024
a270b0d
missing include
abe-winter Nov 13, 2024
e338601
green
abe-winter Nov 13, 2024
e8e2aab
checkpoint
abe-winter Nov 13, 2024
4783dd6
proto constructors, unique_ptr
abe-winter Nov 14, 2024
0cb6b02
nav client compiles
abe-winter Nov 14, 2024
2deaf73
nav service compiles, register it
abe-winter Nov 14, 2024
6c8545d
clang format
abe-winter Nov 14, 2024
3b83c1b
extra nav mentions where needed in cmake
abe-winter Nov 14, 2024
f353325
sigh clang-tidy
abe-winter Nov 14, 2024
1f51fa8
vec <-> repeated pointer converters in utils
abe-winter Nov 14, 2024
3960542
use builtin types instead of protos
abe-winter Nov 14, 2024
b7c8cb5
clang format grr
abe-winter Nov 14, 2024
3f7c6c7
add inlines without
abe-winter Nov 14, 2024
d36b9ea
instead of constructor + operator, weird not-quite-sfinae approach to…
abe-winter Nov 14, 2024
2f470be
lint
abe-winter Nov 14, 2024
d334572
clear destination in ptr <-> vec conversions
abe-winter Nov 14, 2024
d640587
actually remove proto headers from nav wrapper
abe-winter Nov 14, 2024
b674f55
nolints
abe-winter Nov 14, 2024
49b210b
clang format
abe-winter Nov 14, 2024
d5e7d3a
get rid of annoying template approach
abe-winter Nov 15, 2024
aa5e1f0
fix comments
abe-winter Nov 15, 2024
359d53b
move proto_utils to private
abe-winter Nov 15, 2024
3def54d
nested namespaces only in cpp17
abe-winter Nov 15, 2024
226d860
remove name param, other sdks don't use it in nav wrappers
abe-winter Nov 16, 2024
83444b3
properties struct instead of returning raw maptype in case we add mor…
abe-winter Nov 16, 2024
305e2a8
mock and test stubs
abe-winter Nov 16, 2024
0128a00
roundtrip test passing
abe-winter Nov 16, 2024
679432c
operator==, fix type on NavServer::DoCommand
abe-winter Nov 16, 2024
6631bc0
test all methods
abe-winter Nov 16, 2024
d4cf2e7
docstrings
abe-winter Nov 16, 2024
c6d5da9
Merge branch 'main' into aw-nav-service
abe-winter Nov 16, 2024
7fa6630
missing const
abe-winter Nov 16, 2024
4e9f32c
x_from_proto -> from_proto
abe-winter Nov 18, 2024
6c26a8c
change mapOver signature
abe-winter Nov 18, 2024
1ae0b1f
return vector instead of unique_ptr
abe-winter Nov 18, 2024
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6 changes: 2 additions & 4 deletions src/viam/sdk/common/proto_utils.hpp → src/viam/sdk/common/private/proto_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,7 @@

#include <viam/api/common/v1/common.pb.h>

namespace viam {
namespace sdk {
namespace viam::sdk::impl {

/// @brief Copies elements from a protobuf repeated pointer array into a std::vector. Src type
/// must have a `to_proto` method.
Expand Down Expand Up @@ -57,5 +56,4 @@ void repeatedPtrToVec(const google::protobuf::RepeatedPtrField<Src>& src,
}
}

} // namespace sdk
} // namespace viam
} // namespace viam::sdk::impl
2 changes: 1 addition & 1 deletion src/viam/sdk/services/navigation.cpp
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
#include <viam/sdk/services/navigation.hpp>

#include <viam/api/service/navigation/v1/navigation.pb.h>
#include <viam/sdk/common/proto_utils.hpp>
#include <viam/sdk/common/private/proto_utils.hpp>
#include <viam/sdk/common/utils.hpp>

namespace viam {
Expand Down
2 changes: 1 addition & 1 deletion src/viam/sdk/services/private/navigation_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
#include <viam/api/service/navigation/v1/navigation.pb.h>

#include <viam/sdk/common/client_helper.hpp>
#include <viam/sdk/common/proto_utils.hpp>
#include <viam/sdk/common/private/proto_utils.hpp>
#include <viam/sdk/common/proto_value.hpp>
#include <viam/sdk/common/utils.hpp>
#include <viam/sdk/services/navigation.hpp>
Expand Down
2 changes: 1 addition & 1 deletion src/viam/sdk/services/private/navigation_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
#include <grpcpp/support/status.h>

#include <viam/sdk/common/pose.hpp>
#include <viam/sdk/common/proto_utils.hpp>
#include <viam/sdk/common/private/proto_utils.hpp>
#include <viam/sdk/common/proto_value.hpp>
#include <viam/sdk/common/service_helper.hpp>
#include <viam/sdk/common/utils.hpp>
Expand Down