Draft: RSDK-9372 repeated ptr field

src/viam/sdk/services/navigation.cpp

@@ -1,6 +1,5 @@
 #include <viam/sdk/services/navigation.hpp>
 
-#include <viam/sdk/common/private/proto_utils.hpp>
 #include <viam/sdk/common/utils.hpp>
 
 namespace viam {

src/viam/sdk/services/private/navigation_client.cpp

@@ -8,26 +8,35 @@
 #include <viam/api/service/navigation/v1/navigation.pb.h>
 
 #include <viam/sdk/common/client_helper.hpp>
-#include <viam/sdk/common/private/proto_utils.hpp>
+#include <viam/sdk/common/proto_convert_vector.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/services/navigation.hpp>
 
 namespace viam {
 namespace sdk {
-namespace impl {
 
-using namespace viam::service::navigation::v1;
+namespace proto_convert_details {
 
-Navigation::Waypoint from_proto(const viam::service::navigation::v1::Waypoint& proto) {
-    return Navigation::Waypoint{proto.id(), v2::from_proto(proto.location())};
-}
+template <>
+struct from_proto<service::navigation::v1::Path> {
+    Navigation::Path operator()(const service::navigation::v1::Path* proto) const {
+        return {proto->destination_waypoint_id(), v2::from_proto(proto->geopoints())};
+    }
+};
 
-Navigation::Path from_proto(const viam::service::navigation::v1::Path& proto) {
-    Navigation::Path ret{proto.destination_waypoint_id()};
-    repeatedPtrToVec(proto.geopoints(), ret.geopoints);
-    return ret;
-}
+template <>
+struct from_proto<service::navigation::v1::Waypoint> {
+    Navigation::Waypoint operator()(const service::navigation::v1::Waypoint* proto) const {
+        return {proto->id(), v2::from_proto(proto->location())};
+    }
+};
+
+}  // namespace proto_convert_details
+
+namespace impl {
+
+using namespace viam::service::navigation::v1;
 
 NavigationClient::NavigationClient(std::string name, std::shared_ptr<grpc::Channel> channel)
     : Navigation(std::move(name)),
@@ -63,11 +72,7 @@ Navigation::LocationResponse NavigationClient::get_location(const ProtoStruct& e
 std::vector<Navigation::Waypoint> NavigationClient::get_waypoints(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetWaypoints)
         .with([&](auto& request) { *request.mutable_extra() = map_to_struct(extra); })
-        .invoke([](auto& response) {
-            std::vector<Navigation::Waypoint> ret;
-            repeatedPtrToVec(response.waypoints(), ret, from_proto);
-            return ret;
-        });
+        .invoke([](auto& response) { return v2::from_proto(response.waypoints()); });
 }
 
 void NavigationClient::add_waypoint(const geo_point& location, const ProtoStruct& extra) {
@@ -91,21 +96,13 @@ void NavigationClient::remove_waypoint(const std::string id, const ProtoStruct&
 std::vector<geo_geometry> NavigationClient::get_obstacles(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetObstacles)
         .with([&](auto& request) { *request.mutable_extra() = map_to_struct(extra); })
-        .invoke([](auto& response) {
-            std::vector<geo_geometry> ret;
-            repeatedPtrToVec(response.obstacles(), ret);
-            return ret;
-        });
+        .invoke([](auto& response) { return v2::from_proto(response.obstacles()); });
 }
 
 std::vector<NavigationClient::Path> NavigationClient::get_paths(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetPaths)
         .with([&](auto& request) { *request.mutable_extra() = map_to_struct(extra); })
-        .invoke([](auto& response) {
-            std::vector<Path> ret;
-            repeatedPtrToVec(response.paths(), ret, from_proto);
-            return ret;
-        });
+        .invoke([](auto& response) { return v2::from_proto(response.paths()); });
 }
 
 NavigationClient::Properties NavigationClient::get_properties() {

src/viam/sdk/services/private/navigation_server.cpp

@@ -3,7 +3,6 @@
 #include <grpcpp/support/status.h>
 
 #include <viam/sdk/common/pose.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>
@@ -13,23 +12,31 @@
 
 namespace viam {
 namespace sdk {
-namespace impl {
 
-using namespace service::navigation::v1;
+namespace proto_convert_details {
 
-viam::service::navigation::v1::Waypoint to_proto(const Navigation::Waypoint& wp) {
-    viam::service::navigation::v1::Waypoint ret;
-    *ret.mutable_id() = wp.id;
-    *ret.mutable_location() = v2::to_proto(wp.location);
-    return ret;
-}
+template <>
+struct to_proto<Navigation::Path> {
+    void operator()(const Navigation::Path& self, service::navigation::v1::Path* proto) const {
+        *(proto->mutable_destination_waypoint_id()) = self.destination_waypoint_id;
+        *(proto->mutable_geopoints()) = v2::to_proto(self.geopoints);
+    }
+};
 
-viam::service::navigation::v1::Path to_proto(const Navigation::Path& p) {
-    viam::service::navigation::v1::Path ret;
-    *ret.mutable_destination_waypoint_id() = p.destination_waypoint_id;
-    vecToRepeatedPtr(p.geopoints, *ret.mutable_geopoints());
-    return ret;
-}
+template <>
+struct to_proto<Navigation::Waypoint> {
+    void operator()(const Navigation::Waypoint& self,
+                    service::navigation::v1::Waypoint* proto) const {
+        *(proto->mutable_id()) = self.id;
+        *(proto->mutable_location()) = v2::to_proto(self.location);
+    }
+};
+
+}  // namespace proto_convert_details
+
+namespace impl {
+
+using namespace service::navigation::v1;
 
 ::grpc::Status NavigationServer::GetMode(::grpc::ServerContext*,
                                          const GetModeRequest* request,
@@ -65,8 +72,7 @@ ::grpc::Status NavigationServer::GetWaypoints(::grpc::ServerContext*,
                                               GetWaypointsResponse* response) noexcept {
     return make_service_helper<Navigation>(
         "NavigationServer::GetWaypoints", this, request)([&](auto& helper, auto& nav) {
-        const auto waypoints = nav->get_waypoints(helper.getExtra());
-        vecToRepeatedPtr(waypoints, *response->mutable_waypoints(), to_proto);
+        *(response->mutable_waypoints()) = v2::to_proto(nav->get_waypoints(helper.getExtra()));
     });
 }
 
@@ -91,8 +97,7 @@ ::grpc::Status NavigationServer::GetObstacles(::grpc::ServerContext*,
                                               GetObstaclesResponse* response) noexcept {
     return make_service_helper<Navigation>(
         "NavigationServer::GetObstacles", this, request)([&](auto& helper, auto& nav) {
-        const auto obstacles = nav->get_obstacles(helper.getExtra());
-        vecToRepeatedPtr(obstacles, *response->mutable_obstacles());
+        *(response->mutable_obstacles()) = v2::to_proto(nav->get_obstacles(helper.getExtra()));
     });
 }
 
@@ -101,8 +106,7 @@ ::grpc::Status NavigationServer::GetPaths(::grpc::ServerContext*,
                                           GetPathsResponse* response) noexcept {
     return make_service_helper<Navigation>(
         "NavigationServer::GetPaths", this, request)([&](auto& helper, auto& nav) {
-        const auto paths = nav->get_paths(helper.getExtra());
-        vecToRepeatedPtr(paths, *response->mutable_paths(), to_proto);
+        *response->mutable_paths() = v2::to_proto(nav->get_paths(helper.getExtra()));
     });
 }