AI update based on proto changes

src/viam/sdk/components/gantry.hpp

@@ -95,6 +95,15 @@ class Gantry : public Component, public Stoppable {
     /// @param extra Any additional arguments to the method
     virtual std::vector<GeometryConfig> get_geometries(const ProtoStruct& extra) = 0;
 
+    /// @brief Returns the kinematics data of the component.
+    inline std::string get_kinematics() {
+        return get_kinematics({});
+    }
+
+    /// @brief Returns the kinematics data of the component.
+    /// @param extra Any additional arguments to the method
+    virtual std::string get_kinematics(const ProtoStruct& extra) = 0;
+
     API api() const override;
 
    protected:
@@ -107,4 +116,4 @@ struct API::traits<Gantry> {
 };
 
 }  // namespace sdk
-}  // namespace viam
+}  // namespace viam

src/viam/sdk/components/private/gantry_client.cpp

@@ -69,6 +69,12 @@ ProtoStruct GantryClient::do_command(const ProtoStruct& command) {
         .invoke([](auto& response) { return from_proto(response.result()); });
 }
 
+std::string GantryClient::get_kinematics(const ProtoStruct& extra) {
+    return make_client_helper(this, *stub_, &StubType::GetKinematics)
+        .with(extra)
+        .invoke([](auto& response) { return response.kinematics_data(); });
+}
+
 std::vector<GeometryConfig> GantryClient::get_geometries(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetGeometries)
         .with(extra)
@@ -77,4 +83,4 @@ std::vector<GeometryConfig> GantryClient::get_geometries(const ProtoStruct& extr
 
 }  // namespace impl
 }  // namespace sdk
-}  // namespace viam
+}  // namespace viam

src/viam/sdk/components/private/gantry_client.hpp

@@ -30,8 +30,10 @@ class GantryClient : public Gantry {
     void stop(const ProtoStruct& extra) override;
     ProtoStruct do_command(const ProtoStruct& command) override;
     std::vector<GeometryConfig> get_geometries(const ProtoStruct& extra) override;
+    std::string get_kinematics(const ProtoStruct& extra) override;
 
     using Gantry::get_geometries;
+    using Gantry::get_kinematics;
     using Gantry::get_lengths;
     using Gantry::get_position;
     using Gantry::home;
@@ -46,4 +48,4 @@ class GantryClient : public Gantry {
 
 }  // namespace impl
 }  // namespace sdk
-}  // namespace viam
+}  // namespace viam

src/viam/sdk/components/private/gantry_server.cpp

@@ -80,6 +80,17 @@ ::grpc::Status GantryServer::DoCommand(::grpc::ServerContext*,
     });
 }
 
+::grpc::Status GantryServer::GetKinematics(
+    ::grpc::ServerContext*,
+    const ::viam::common::v1::GetKinematicsRequest* request,
+    ::viam::common::v1::GetKinematicsResponse* response) noexcept {
+    return make_service_helper<Gantry>(
+        "GantryServer::GetKinematics", this, request)([&](auto& helper, auto& gantry) {
+        const std::string kinematics_data = gantry->get_kinematics(helper.getExtra());
+        response->set_kinematics_data(kinematics_data);
+    });
+}
+
 ::grpc::Status GantryServer::GetGeometries(
     ::grpc::ServerContext*,
     const ::viam::common::v1::GetGeometriesRequest* request,
@@ -95,4 +106,4 @@ ::grpc::Status GantryServer::GetGeometries(
 
 }  // namespace impl
 }  // namespace sdk
-}  // namespace viam
+}  // namespace viam

src/viam/sdk/components/private/gantry_server.hpp

@@ -57,6 +57,11 @@ class GantryServer : public ResourceServer,
                                      const ::viam::common::v1::DoCommandRequest* request,
                                      ::viam::common::v1::DoCommandResponse* response) noexcept;
 
+    virtual ::grpc::Status GetKinematics(
+        ::grpc::ServerContext* context,
+        const ::viam::common::v1::GetKinematicsRequest* request,
+        ::viam::common::v1::GetKinematicsResponse* response) noexcept;
+
     virtual ::grpc::Status GetGeometries(
         ::grpc::ServerContext* context,
         const ::viam::common::v1::GetGeometriesRequest* request,
@@ -65,4 +70,4 @@ class GantryServer : public ResourceServer,
 
 }  // namespace impl
 }  // namespace sdk
-}  // namespace viam
+}  // namespace viam

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

@@ -6,18 +6,28 @@ namespace viam {
 namespace sdktests {
 namespace gantry {
 
+std::string fake_kinematics_data() {
+    return "kinematics_data";
+}
+
 std::vector<double> fake_lengths() {
     return {1.0, 2.0, 3.0, 4.0};
 }
 
 std::shared_ptr<MockGantry> MockGantry::get_mock_gantry() {
-    return std::make_shared<MockGantry>("mock_gantry");
+    auto mock = std::make_shared<MockGantry>("mock_gantry");
+    mock->peek_kinematics_data = fake_kinematics_data();
+    return mock;
 }
 
 std::vector<double> MockGantry::get_position(const sdk::ProtoStruct&) {
     return peek_positions;
 }
 
+std::string MockGantry::get_kinematics(const sdk::ProtoStruct&) {
+    return peek_kinematics_data;
+}
+
 void MockGantry::move_to_position(const std::vector<sdk::Gantry::movement_coordinate>& coordinates,
                                   const sdk::ProtoStruct&) {
     peek_positions = {};

src/viam/sdk/tests/mocks/mock_gantry.hpp

@@ -23,12 +23,14 @@ class MockGantry : public sdk::Gantry {
     void stop(const sdk::ProtoStruct& extra) override;
     sdk::ProtoStruct do_command(const sdk::ProtoStruct& command) override;
     std::vector<sdk::GeometryConfig> get_geometries(const sdk::ProtoStruct& extra) override;
+    std::string get_kinematics(const sdk::ProtoStruct& extra) override;
 
     std::vector<double> peek_positions;
     bool peek_stop_called{false};
     bool peek_home_called{false};
     sdk::ProtoStruct peek_command;
+    std::string peek_kinematics_data;
 };
 }  // namespace gantry
 }  // namespace sdktests
-}  // namespace viam
+}  // namespace viam

src/viam/sdk/tests/test_gantry.cpp

@@ -8,6 +8,7 @@
 
 BOOST_TEST_DONT_PRINT_LOG_VALUE(std::vector<viam::sdk::GeometryConfig>)
 BOOST_TEST_DONT_PRINT_LOG_VALUE(std::vector<double>)
+BOOST_TEST_DONT_PRINT_LOG_VALUE(std::string)
 
 namespace viam {
 namespace sdktests {
@@ -83,7 +84,15 @@ BOOST_AUTO_TEST_CASE(test_do_command) {
     });
 }
 
+BOOST_AUTO_TEST_CASE(test_get_kinematics) {
+    std::shared_ptr<MockGantry> mock = MockGantry::get_mock_gantry();
+    client_to_mock_pipeline<Gantry>(mock, [](Gantry& client) {
+        const auto& kinematics_data = client.get_kinematics();
+        BOOST_CHECK_EQUAL(kinematics_data, fake_kinematics_data());
+    });
+}
+
 BOOST_AUTO_TEST_SUITE_END()
 
 }  // namespace sdktests
-}  // namespace viam
+}  // namespace viam