[RSDK-6871] add edited map to slam client (#556)

Author: JohnN193

src/viam/services/slam/client.py

@@ -37,8 +37,8 @@ async def get_position(self, *, timeout: Optional[float] = None) -> Pose:
         response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout)
         return response.pose
 
-    async def get_point_cloud_map(self, *, timeout: Optional[float] = None) -> List[bytes]:
-        request = GetPointCloudMapRequest(name=self.name)
+    async def get_point_cloud_map(self, return_edited_map: bool = False, *, timeout: Optional[float] = None) -> List[bytes]:
+        request = GetPointCloudMapRequest(name=self.name, return_edited_map=return_edited_map)
         response: List[GetPointCloudMapResponse] = await self.client.GetPointCloudMap(request, timeout=timeout)
         return [r.point_cloud_pcd_chunk for r in response]
 

src/viam/services/slam/service.py

@@ -42,7 +42,7 @@ async def GetPointCloudMap(self, stream: Stream[GetPointCloudMapRequest, GetPoin
         name = request.name
         slam = self.get_resource(name)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        chunks = await slam.get_point_cloud_map(timeout=timeout)
+        chunks = await slam.get_point_cloud_map(return_edited_map=request.return_edited_map, timeout=timeout)
         for chunk in chunks:
             response = GetPointCloudMapResponse(point_cloud_pcd_chunk=chunk)
             await stream.send_message(response)

src/viam/services/slam/slam.py

@@ -45,7 +45,7 @@ async def get_internal_state(self, *, timeout: Optional[float]) -> List[bytes]:
         ...
 
     @abc.abstractmethod
-    async def get_point_cloud_map(self, *, timeout: Optional[float]) -> List[bytes]:
+    async def get_point_cloud_map(self, return_edited_map: bool = False, *, timeout: Optional[float]) -> List[bytes]:
         """
         Get the point cloud map.
 
@@ -56,6 +56,10 @@ async def get_point_cloud_map(self, *, timeout: Optional[float]) -> List[bytes]:
             # Get the point cloud map in standard PCD format.
             pcd_map = await slam_svc.get_point_cloud_map()
 
+        Args:
+            return_edited_map (bool): signal to the SLAM service to return an edited map, if the map package contains one and if
+                the SLAM service supports the feature
+
         Returns:
             List[GetPointCloudMapResponse]: Complete pointcloud in standard PCD format. Chunks of the PointCloud, concatenating all
                 GetPointCloudMapResponse.point_cloud_pcd_chunk values

tests/mocks/services.py

@@ -600,6 +600,7 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
 class MockSLAM(SLAM):
     INTERNAL_STATE_CHUNKS = [bytes(5), bytes(2)]
     POINT_CLOUD_PCD_CHUNKS = [bytes(3), bytes(2)]
+    POINT_CLOUD_PCD_CHUNKS_EDITED = [bytes(7), bytes(4)]
     POSITION = Pose(x=1, y=2, z=3, o_x=2, o_y=3, o_z=4, theta=20)
     CLOUD_SLAM = False
     MAPPING_MODE = MappingMode.MAPPING_MODE_UNSPECIFIED
@@ -624,8 +625,10 @@ async def get_internal_state(self, *, timeout: Optional[float] = None) -> List[b
         self.timeout = timeout
         return self.INTERNAL_STATE_CHUNKS
 
-    async def get_point_cloud_map(self, *, timeout: Optional[float] = None) -> List[bytes]:
+    async def get_point_cloud_map(self, return_edited_map: bool = False, *, timeout: Optional[float] = None) -> List[bytes]:
         self.timeout = timeout
+        if return_edited_map:
+            return self.POINT_CLOUD_PCD_CHUNKS_EDITED
         return self.POINT_CLOUD_PCD_CHUNKS
 
     async def get_position(self, *, timeout: Optional[float] = None) -> Pose:

tests/test_slam.py

@@ -36,6 +36,10 @@ async def test_get_point_cloud_map(self):
         chunks = await self.slam.get_point_cloud_map()
         assert chunks == MockSLAM.POINT_CLOUD_PCD_CHUNKS
 
+    async def test_get_point_cloud_map_return_edited(self):
+        chunks = await self.slam.get_point_cloud_map(return_edited_map=True)
+        assert chunks == MockSLAM.POINT_CLOUD_PCD_CHUNKS_EDITED
+
     @pytest.mark.asyncio
     async def test_get_position(self):
         pos = await self.slam.get_position()