RSDK-9466 - Remove robot status endpoint from SDK

src/viam/examples/dial/example_dial.cpp

@@ -22,7 +22,6 @@
 #include <viam/sdk/robot/service.hpp>
 #include <viam/sdk/rpc/dial.hpp>
 
-using viam::robot::v1::Status;
 using namespace viam::sdk;
 
 int main() {
@@ -46,21 +45,6 @@ int main() {
         std::cout << "\t" << resource << "\n";
     }
 
-    // ensure we can query statuses
-    std::vector<RobotClient::status> status_plural = robot->get_status();
-    std::cout << "Status plural len " << status_plural.size() << std::endl;
-    for (const RobotClient::status& s : status_plural) {
-        std::cout << " Status! " << s.name->api().resource_subtype() << std::endl;
-    }
-
-    // ensure we can send requests for specific resources
-    std::vector<Name> just_one = {resource_names[0]};
-    std::vector<RobotClient::status> status_singular = robot->get_status(just_one);
-    std::cout << "Status singular len " << status_singular.size() << std::endl;
-    for (const RobotClient::status& s : status_singular) {
-        std::cout << " Status! " << s.name->api().resource_subtype() << std::endl;
-    }
-
     // ensure we can create clients to the robot
     auto gc = robot->resource_by_name<GenericComponent>("generic1");
     if (gc) {

src/viam/examples/dial_api_key/example_dial_api_key.cpp

@@ -59,20 +59,5 @@ int main(int argc, char* argv[]) {
         std::cout << "\t" << resource << "\n";
     }
 
-    // ensure we can query statuses
-    std::vector<RobotClient::status> status_plural = robot->get_status();
-    std::cout << "Status plural len " << status_plural.size() << std::endl;
-    for (const RobotClient::status& s : status_plural) {
-        std::cout << " Status! " << s.name->api().resource_subtype() << std::endl;
-    }
-
-    // ensure we can send requests for specific resources
-    std::vector<Name> just_one = {resource_names[0]};
-    std::vector<RobotClient::status> status_singular = robot->get_status(just_one);
-    std::cout << "Status singular len " << status_singular.size() << std::endl;
-    for (const RobotClient::status& s : status_singular) {
-        std::cout << " Status! " << s.name->api().resource_subtype() << std::endl;
-    }
-
     return EXIT_SUCCESS;
 }

src/viam/sdk/registry/registry.cpp

@@ -55,8 +55,6 @@
 namespace viam {
 namespace sdk {
 
-using viam::robot::v1::Status;
-
 ResourceServerRegistration::~ResourceServerRegistration() = default;
 ResourceClientRegistration::~ResourceClientRegistration() = default;
 
@@ -159,14 +157,6 @@ Registry::registered_models() {
     return resources_;
 }
 
-// NOLINTNEXTLINE(readability-convert-member-functions-to-static)
-Status ModelRegistration::create_status(const std::shared_ptr<Resource>& resource) const {
-    Status status;
-    *status.mutable_name() = resource->get_resource_name().to_proto();
-    *status.mutable_status() = google::protobuf::Struct();
-    return status;
-}
-
 const google::protobuf::ServiceDescriptor* ResourceServerRegistration::service_descriptor() const {
     return service_descriptor_;
 }

src/viam/sdk/registry/registry.hpp

@@ -95,9 +95,6 @@ class ModelRegistration {
     /// @throws Can throw exceptions, which will be returned to the parent via gRPC.
     std::function<std::vector<std::string>(ResourceConfig)> validate;
 
-    /// @brief Creates a `Status` object for a given resource.
-    viam::robot::v1::Status create_status(const std::shared_ptr<Resource>& resource) const;
-
    private:
     // default_validator is the default validator for all models if no validator
     // is provided in construction. No dependencies are returned.

src/viam/sdk/robot/client.cpp

@@ -39,7 +39,6 @@ using viam::robot::v1::DiscoveryQuery;
 using viam::robot::v1::FrameSystemConfig;
 using viam::robot::v1::Operation;
 using viam::robot::v1::RobotService;
-using viam::robot::v1::Status;
 
 // gRPC responses are frequently coming back with a spurious `Stream removed`
 // 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) {
     return fsconfig;
 }
 
-RobotClient::status from_proto(const Status& proto) {
-    RobotClient::status status;
-    if (proto.has_name()) {
-        status.name = Name::from_proto(proto.name());
-    }
-    if (proto.has_status()) {
-        status.status_map = v2::from_proto(proto.status());
-    }
-    if (proto.has_last_reconfigured()) {
-        status.last_reconfigured = timestamp_to_time_pt(proto.last_reconfigured());
-    }
-    return status;
-}
-
 RobotClient::operation from_proto(const Operation& proto) {
     RobotClient::operation op;
     op.id = proto.id();
@@ -126,13 +111,6 @@ bool operator==(const RobotClient::frame_system_config& lhs,
                                          v2::to_proto(rhs.kinematics).SerializeAsString();
 }
 
-bool operator==(const RobotClient::status& lhs, const RobotClient::status& rhs) {
-    return lhs.name == rhs.name &&
-           v2::to_proto(lhs.status_map).SerializeAsString() ==
-               v2::to_proto(rhs.status_map).SerializeAsString() &&
-           lhs.last_reconfigured == rhs.last_reconfigured;
-}
-
 bool operator==(const RobotClient::operation& lhs, const RobotClient::operation& rhs) {
     return lhs.id == rhs.id && lhs.method == rhs.method && lhs.session_id == rhs.session_id &&
            lhs.arguments == rhs.arguments && lhs.started == rhs.started;
@@ -167,37 +145,6 @@ void RobotClient::close() {
 bool is_error_response(const grpc::Status& response) {
     return !response.ok() && (response.error_message() != kStreamRemoved);
 }
-std::vector<RobotClient::status> RobotClient::get_status() {
-    auto resources = resource_names();
-    return get_status(resources);
-}
-// gets statuses of components associated with robot. If a specific component
-// vector is provided, only statuses for the given Names will be
-// returned
-std::vector<RobotClient::status> RobotClient::get_status(std::vector<Name>& components) {
-    viam::robot::v1::GetStatusRequest req;
-    viam::robot::v1::GetStatusResponse resp;
-    ClientContext ctx;
-    for (const Name& name : components) {
-        *req.mutable_resource_names()->Add() = name.to_proto();
-    }
-
-    const grpc::Status response = impl_->stub_->GetStatus(ctx, req, &resp);
-    if (is_error_response(response)) {
-        BOOST_LOG_TRIVIAL(error) << "Error getting status: " << response.error_message()
-                                 << response.error_details();
-    }
-
-    const RepeatedPtrField<Status> resp_status = resp.status();
-
-    std::vector<status> statuses = std::vector<status>();
-
-    for (const Status& s : resp_status) {
-        statuses.push_back(from_proto(s));
-    }
-
-    return statuses;
-}
 
 std::vector<RobotClient::operation> RobotClient::get_operations() {
     const viam::robot::v1::GetOperationsRequest req;

src/viam/sdk/robot/client.hpp

@@ -54,13 +54,6 @@ class RobotClient {
         friend bool operator==(const frame_system_config& lhs, const frame_system_config& rhs);
     };
 
-    struct status {
-        boost::optional<Name> name;
-        ProtoStruct status_map;
-        boost::optional<time_pt> last_reconfigured;
-        friend bool operator==(const status& lhs, const status& rhs);
-    };
-
     struct operation {
         std::string id;
         std::string method;
@@ -129,15 +122,6 @@ class RobotClient {
     /// @return The list of operations currently running on the calling robot.
     std::vector<operation> get_operations();
 
-    /// @brief Get the status of the requested robot components.
-    /// @param components A list of the specific components for which status is desired.
-    /// @return A list of statuses.
-    std::vector<status> get_status(std::vector<Name>& components);
-
-    /// @brief Get the status of all robot components.
-    /// @return A list of statuses.
-    std::vector<status> get_status();
-
     std::vector<discovery> discover_components(const std::vector<discovery_query>& queries);
 
     /// @brief Transform a given `Pose` to a new specified destination which is a reference frame.

src/viam/sdk/robot/service.cpp

@@ -28,7 +28,6 @@ namespace sdk {
 
 using google::protobuf::RepeatedPtrField;
 using viam::common::v1::ResourceName;
-using viam::robot::v1::Status;
 
 namespace {
 std::vector<Name> registered_models_for_resource(const std::shared_ptr<Resource>& resource) {
@@ -73,47 +72,6 @@ std::vector<ResourceName> RobotService_::generate_metadata_() {
     return metadata;
 }
 
-std::vector<Status> RobotService_::generate_status_(
-    const RepeatedPtrField<ResourceName>& resource_names) {
-    std::vector<Status> statuses;
-    for (const auto& cmp : resource_manager()->resources()) {
-        const std::shared_ptr<Resource> resource = cmp.second;
-        for (const auto& kv : Registry::registered_models()) {
-            const std::shared_ptr<const ModelRegistration> registration = kv.second;
-            if (registration->api().resource_subtype() == resource->api().resource_subtype()) {
-                bool resource_present = false;
-                const ResourceName name = resource->get_resource_name().to_proto();
-                for (const auto& resource_name : resource_names) {
-                    if (name.SerializeAsString() == resource_name.SerializeAsString()) {
-                        resource_present = true;
-                        break;
-                    }
-                }
-
-                if (resource_present) {
-                    const Status status = registration->create_status(resource);
-                    statuses.push_back(status);
-                }
-            }
-        }
-    }
-
-    std::vector<Status> returnable_statuses;
-    for (auto& status : statuses) {
-        bool status_name_is_known = false;
-        for (const auto& resource_name : resource_names) {
-            if (status.name().SerializeAsString() == resource_name.SerializeAsString()) {
-                status_name_is_known = true;
-                break;
-            }
-        }
-        if (status_name_is_known) {
-            returnable_statuses.push_back(status);
-        }
-    }
-    return returnable_statuses;
-}
-
 ::grpc::Status RobotService_::ResourceNames(::grpc::ServerContext*,
                                             const viam::robot::v1::ResourceNamesRequest* request,
                                             viam::robot::v1::ResourceNamesResponse* response) {
@@ -129,55 +87,6 @@ ::grpc::Status RobotService_::ResourceNames(::grpc::ServerContext*,
     return ::grpc::Status();
 }
 
-::grpc::Status RobotService_::GetStatus(::grpc::ServerContext*,
-                                        const ::viam::robot::v1::GetStatusRequest* request,
-                                        ::viam::robot::v1::GetStatusResponse* response) {
-    if (!request) {
-        return ::grpc::Status(::grpc::StatusCode::INVALID_ARGUMENT,
-                              "Called [GetStatus] without a request");
-    };
-
-    RepeatedPtrField<Status>* response_status = response->mutable_status();
-    const std::vector<Status> statuses = generate_status_(request->resource_names());
-    for (const Status& status : statuses) {
-        *response_status->Add() = status;
-    }
-
-    return ::grpc::Status();
-}
-
-void RobotService_::stream_status(
-    const viam::robot::v1::StreamStatusRequest* request,
-    ::grpc::ServerWriter<::viam::robot::v1::StreamStatusResponse>* writer,
-    int interval) {
-    while (true) {
-        const std::vector<Status> statuses = generate_status_(request->resource_names());
-        viam::robot::v1::StreamStatusResponse response;
-        RepeatedPtrField<Status>* response_status = response.mutable_status();
-        for (const Status& status : statuses) {
-            *response_status->Add() = status;
-        }
-
-        writer->Write(response);
-        std::this_thread::sleep_for(std::chrono::seconds(interval));
-    }
-}
-
-::grpc::Status RobotService_::StreamStatus(
-    ::grpc::ServerContext*,
-    const ::viam::robot::v1::StreamStatusRequest* request,
-    ::grpc::ServerWriter<::viam::robot::v1::StreamStatusResponse>* writer) {
-    uint64_t interval = 1;
-    if (request->every().seconds() > 0) {
-        interval = request->every().seconds();
-    }
-
-    const RepeatedPtrField<ResourceName> resource_names = request->resource_names();
-    std::thread t(&RobotService_::stream_status, this, request, writer, interval);
-    t.detach();
-    return ::grpc::Status();
-}
-
 ::grpc::Status RobotService_::StopAll(::grpc::ServerContext*,
                                       const ::viam::robot::v1::StopAllRequest* request,
                                       ::viam::robot::v1::StopAllResponse*) {

src/viam/sdk/robot/service.hpp

@@ -25,7 +25,6 @@ namespace sdk {
 
 using google::protobuf::RepeatedPtrField;
 using viam::common::v1::ResourceName;
-using viam::robot::v1::Status;
 
 /// @class RobotService_ service.hpp "robot/service.hpp"
 /// @brief a gRPC service for a robot.
@@ -37,25 +36,13 @@ class RobotService_ : public ResourceServer, public viam::robot::v1::RobotServic
     ::grpc::Status ResourceNames(::grpc::ServerContext* context,
                                  const ::viam::robot::v1::ResourceNamesRequest* request,
                                  ::viam::robot::v1::ResourceNamesResponse* response) override;
-    ::grpc::Status GetStatus(::grpc::ServerContext* context,
-                             const ::viam::robot::v1::GetStatusRequest* request,
-                             ::viam::robot::v1::GetStatusResponse* response) override;
-    ::grpc::Status StreamStatus(
-        ::grpc::ServerContext* context,
-        const ::viam::robot::v1::StreamStatusRequest* request,
-        ::grpc::ServerWriter<::viam::robot::v1::StreamStatusResponse>* writer) override;
     ::grpc::Status StopAll(::grpc::ServerContext* context,
                            const ::viam::robot::v1::StopAllRequest* request,
                            ::viam::robot::v1::StopAllResponse* response) override;
 
    private:
     std::mutex lock_;
     std::vector<ResourceName> generate_metadata_();
-    std::vector<Status> generate_status_(const RepeatedPtrField<ResourceName>& resource_names);
-
-    void stream_status(const ::viam::robot::v1::StreamStatusRequest* request,
-                       ::grpc::ServerWriter<::viam::robot::v1::StreamStatusResponse>* writer,
-                       int interval);
 };
 
 }  // namespace sdk

src/viam/sdk/tests/mocks/mock_robot.cpp

@@ -20,7 +20,6 @@ using viam::robot::v1::Discovery;
 using viam::robot::v1::DiscoveryQuery;
 using viam::robot::v1::FrameSystemConfig;
 using viam::robot::v1::Operation;
-using viam::robot::v1::Status;
 
 pose default_pose(int offset) {
     pose pose;
@@ -103,44 +102,6 @@ std::vector<Discovery> mock_proto_discovery_response() {
     return v;
 }
 
-std::vector<RobotClient::status> mock_status_response() {
-    auto rns = mock_resource_names_response();
-
-    RobotClient::status camera_status;
-    camera_status.name = rns[0];
-
-    RobotClient::status motor_status;
-    motor_status.name = rns[1];
-
-    RobotClient::status generic_status;
-    generic_status.name = rns[2];
-
-    return {std::move(camera_status), std::move(motor_status), std::move(generic_status)};
-}
-
-std::vector<Status> mock_proto_status_response() {
-    auto rns = mock_proto_resource_names_response();
-
-    Status camera_status;
-    *camera_status.mutable_name() = rns[0];
-    *camera_status.mutable_status() = google::protobuf::Struct();
-
-    Status motor_status;
-    *motor_status.mutable_name() = rns[1];
-    *motor_status.mutable_status() = google::protobuf::Struct();
-
-    Status generic_status;
-    *generic_status.mutable_name() = rns[2];
-    *generic_status.mutable_status() = google::protobuf::Struct();
-
-    std::vector<Status> resp;
-    resp.push_back(camera_status);
-    resp.push_back(motor_status);
-    resp.push_back(generic_status);
-
-    return resp;
-}
-
 pose_in_frame mock_transform_response() {
     return {"arm", default_pose()};
 }