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RSDK-11291 - make link config optional #462

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Merged
stuqdog merged 4 commits into from
Jul 11, 2025
Merged

RSDK-11291 - make link config optional #462

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4f41be8
make link config optional
stuqdog Jul 11, 2025
3e071ad
Merge branch 'main' into RSDK-11291-make-link-config-optional
stuqdog Jul 11, 2025
e1c44d2
fix test
stuqdog Jul 11, 2025
654d9dc
Merge branch 'RSDK-11291-make-link-config-optional' of ssh://github.c…
stuqdog Jul 11, 2025
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27 changes: 25 additions & 2 deletions src/viam/sdk/config/resource.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,27 @@
namespace viam {
namespace sdk {

ResourceConfig::ResourceConfig(std::string type,
std::string name,
std::string namespace_,
ProtoStruct attributes,
std::string api,
Model model,
log_level lvl)
: api_({kRDK, type, ""}),
frame_(boost::none),
model_(std::move(model)),
name_(std::move(name)),
namespace__(std::move(namespace_)),
type_(std::move(type)),
attributes_(std::move(attributes)),
log_level_(lvl) {
if (api.find(':') != std::string::npos) {
api_ = API::from_string(std::move(api));
}
fix_api();
}

ResourceConfig::ResourceConfig(std::string type,
std::string name,
std::string namespace_,
Expand Down Expand Up @@ -63,7 +84,7 @@ const API& ResourceConfig::api() const {
return api_;
}

const LinkConfig& ResourceConfig::frame() const {
const boost::optional<LinkConfig>& ResourceConfig::frame() const {
return frame_;
}

Expand Down Expand Up @@ -150,7 +171,9 @@ void to_proto_impl<ResourceConfig>::operator()(const ResourceConfig& self,
*proto->mutable_depends_on() = ::google::protobuf::RepeatedPtrField<std::string>(
self.depends_on().begin(), self.depends_on().end());

*proto->mutable_frame() = to_proto(self.frame());
if (self.frame()) {
*proto->mutable_frame() = to_proto(self.frame().get());
}
}

ResourceConfig from_proto_impl<app::v1::ComponentConfig>::operator()(
Expand Down
14 changes: 12 additions & 2 deletions src/viam/sdk/config/resource.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,8 @@
#include <string>
#include <unordered_map>

#include <boost/optional.hpp>

#include <viam/sdk/common/proto_convert.hpp>
#include <viam/sdk/common/proto_value.hpp>
#include <viam/sdk/log/logging.hpp>
Expand Down Expand Up @@ -40,6 +42,14 @@ struct ResourceLevelServiceConfig {

class ResourceConfig {
public:
ResourceConfig(std::string type,
std::string name,
std::string namespace_,
ProtoStruct attributes,
std::string api,
Model model,
log_level lvl = sdk::log_level::info);

ResourceConfig(std::string type,
std::string name,
std::string namespace_,
Expand All @@ -55,7 +65,7 @@ class ResourceConfig {

const API& api() const;

const LinkConfig& frame() const;
const boost::optional<LinkConfig>& frame() const;

const Model& model() const;

Expand All @@ -76,7 +86,7 @@ class ResourceConfig {

API api_;

LinkConfig frame_;
boost::optional<LinkConfig> frame_;

Model model_;

Expand Down
4 changes: 2 additions & 2 deletions src/viam/sdk/tests/test_resource.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -180,7 +180,7 @@ BOOST_AUTO_TEST_CASE(test_linkconfig) {
BOOST_AUTO_TEST_CASE(test_resource) {
ResourceConfig resource1("type");
BOOST_CHECK_EQUAL(resource1.api().to_string(), "rdk:type:");
BOOST_CHECK_EQUAL(resource1.frame().get_parent(), "");
BOOST_CHECK(!resource1.frame());
BOOST_CHECK_EQUAL(resource1.model().to_string(), "rdk:builtin:builtin");
BOOST_CHECK_EQUAL(resource1.name(), "");
BOOST_CHECK_EQUAL(resource1.namespace_(), "");
Expand Down Expand Up @@ -242,7 +242,7 @@ BOOST_AUTO_TEST_CASE(test_resource) {
BOOST_CHECK_EQUAL(resource2.type(), "type");
BOOST_CHECK_EQUAL(resource2.model().to_string(), "ns:mf:model1");
BOOST_CHECK_EQUAL(resource2.api().to_string(), "ns:component:type");
BOOST_CHECK_EQUAL(resource2.frame().get_parent(), "parent");
BOOST_CHECK_EQUAL(resource2.frame()->get_parent(), "parent");
std::string key;
Value value;
for (const auto& key_and_value : resource2.attributes()) {
Expand Down