RSDK-8167 - Enable conversion between MaintenanceConfig struct and Ma…

…intenanceConfig proto messages (#4437)

Co-authored-by: Cheuk <[email protected]>

config/config.go

@@ -29,17 +29,18 @@ import (
 
 // A Config describes the configuration of a robot.
 type Config struct {
-	Cloud      *Cloud
-	Modules    []Module
-	Remotes    []Remote
-	Components []resource.Config
-	Processes  []pexec.ProcessConfig
-	Services   []resource.Config
-	Packages   []PackageConfig
-	Network    NetworkConfig
-	Auth       AuthConfig
-	Debug      bool
-	LogConfig  []logging.LoggerPatternConfig
+	Cloud             *Cloud
+	Modules           []Module
+	Remotes           []Remote
+	Components        []resource.Config
+	Processes         []pexec.ProcessConfig
+	Services          []resource.Config
+	Packages          []PackageConfig
+	Network           NetworkConfig
+	Auth              AuthConfig
+	Debug             bool
+	LogConfig         []logging.LoggerPatternConfig
+	MaintenanceConfig *MaintenanceConfig
 
 	ConfigFilePath string
 
@@ -77,6 +78,13 @@ type Config struct {
 	toCache []byte
 }
 
+// MaintenanceConfig specifies a sensor that the machine will check to determine if the machine should reconfigure.
+// This Config is not validated during config processing but it will be validated during reconfiguration.
+type MaintenanceConfig struct {
+	SensorName            string `json:"sensor_name"`
+	MaintenanceAllowedKey string `json:"maintenance_allowed_key"`
+}
+
 // NOTE: This data must be maintained with what is in Config.
 type configData struct {
 	Cloud               *Cloud                        `json:"cloud,omitempty"`
@@ -93,6 +101,7 @@ type configData struct {
 	EnableWebProfile    bool                          `json:"enable_web_profile"`
 	LogConfig           []logging.LoggerPatternConfig `json:"log,omitempty"`
 	Revision            string                        `json:"revision,omitempty"`
+	MaintenanceConfig   *MaintenanceConfig            `json:"maintenance,omitempty"`
 }
 
 // AppValidationStatus refers to the.
@@ -299,6 +308,7 @@ func (c *Config) UnmarshalJSON(data []byte) error {
 	c.EnableWebProfile = conf.EnableWebProfile
 	c.LogConfig = conf.LogConfig
 	c.Revision = conf.Revision
+	c.MaintenanceConfig = conf.MaintenanceConfig
 
 	return nil
 }
@@ -330,6 +340,7 @@ func (c Config) MarshalJSON() ([]byte, error) {
 		EnableWebProfile:    c.EnableWebProfile,
 		LogConfig:           c.LogConfig,
 		Revision:            c.Revision,
+		MaintenanceConfig:   c.MaintenanceConfig,
 	})
 }
 

config/config_test.go

@@ -1232,3 +1232,23 @@ func TestConfigRobotRevision(t *testing.T) {
 
 	test.That(t, cfg.Revision, test.ShouldEqual, "rev1")
 }
+
+func TestConfigMarshalUnMarshal(t *testing.T) {
+	c := config.Config{
+		MaintenanceConfig: &config.MaintenanceConfig{
+			SensorName:            "SensorName",
+			MaintenanceAllowedKey: "Key",
+		},
+	}
+	expectedVal := config.Config{
+		MaintenanceConfig: &config.MaintenanceConfig{
+			SensorName:            "SensorName",
+			MaintenanceAllowedKey: "Key",
+		},
+	}
+	val, err := c.MarshalJSON()
+	test.That(t, err, test.ShouldBeNil)
+
+	c.UnmarshalJSON(val)
+	test.That(t, c, test.ShouldResemble, expectedVal)
+}

config/proto_conversions.go

@@ -15,6 +15,7 @@ import (
 	"google.golang.org/protobuf/types/known/durationpb"
 
 	"go.viam.com/rdk/logging"
+	protoRdkUtils "go.viam.com/rdk/protoutils"
 	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/resource"
 	spatial "go.viam.com/rdk/spatialmath"
@@ -96,6 +97,14 @@ func FromProto(proto *pb.RobotConfig, logger logging.Logger) (*Config, error) {
 
 	logAnyFragmentOverwriteErrors(logger, proto.OverwriteFragmentStatus)
 
+	if proto.Maintenance != nil {
+		maintenanceConfig, err := MaintenanceConfigFromProto(proto.Maintenance)
+		if err != nil {
+			return nil, errors.Wrap(err, "error converting maintenance config from proto")
+		}
+		cfg.MaintenanceConfig = maintenanceConfig
+	}
+
 	return &cfg, nil
 }
 
@@ -633,6 +642,22 @@ func NetworkConfigToProto(network *NetworkConfig) (*pb.NetworkConfig, error) {
 	return &proto, nil
 }
 
+// MaintenanceConfigToProto converts MaintenanceConfig from the proto equivalent.
+func MaintenanceConfigToProto(maintenanceConfig *MaintenanceConfig) (*pb.MaintenanceConfig, error) {
+	// convert from string to resource name
+	name, err := resource.NewFromString(maintenanceConfig.SensorName)
+	if err != nil {
+		return nil, err
+	}
+
+	proto := pb.MaintenanceConfig{
+		SensorName:            protoRdkUtils.ResourceNameToProto(name),
+		MaintenanceAllowedKey: maintenanceConfig.MaintenanceAllowedKey,
+	}
+
+	return &proto, nil
+}
+
 // NetworkConfigFromProto creates NetworkConfig from the proto equivalent.
 func NetworkConfigFromProto(proto *pb.NetworkConfig) (*NetworkConfig, error) {
 	network := NetworkConfig{
@@ -648,6 +673,15 @@ func NetworkConfigFromProto(proto *pb.NetworkConfig) (*NetworkConfig, error) {
 	return &network, nil
 }
 
+// MaintenanceConfigFromProto creates a MaintenanceConfig from the proto equivalent.
+func MaintenanceConfigFromProto(proto *pb.MaintenanceConfig) (*MaintenanceConfig, error) {
+	MaintenanceConfig := MaintenanceConfig{
+		SensorName:            protoRdkUtils.ResourceNameFromProto(proto.SensorName).String(),
+		MaintenanceAllowedKey: proto.GetMaintenanceAllowedKey(),
+	}
+	return &MaintenanceConfig, nil
+}
+
 // AuthConfigToProto converts AuthConfig to the proto equivalent.
 func AuthConfigToProto(auth *AuthConfig) (*pb.AuthConfig, error) {
 	handlers, err := mapSliceWithErrors(auth.Handlers, authHandlerConfigToProto)

config/proto_conversions_test.go

@@ -1005,3 +1005,41 @@ func TestPackageTypeConversion(t *testing.T) {
 	test.That(t, fmt.Sprint(err), test.ShouldContainSubstring, "invalid-package-type")
 	test.That(t, converted, test.ShouldResemble, packagespb.PackageType_PACKAGE_TYPE_UNSPECIFIED.Enum())
 }
+
+func TestMaintenanceConfigToProtoSuccess(t *testing.T) {
+	testMaintenanceConfig := MaintenanceConfig{
+		SensorName:            "rdk:component:sensor/car",
+		MaintenanceAllowedKey: "honk",
+	}
+
+	proto, err := MaintenanceConfigToProto(&testMaintenanceConfig)
+	test.That(t, err, test.ShouldBeNil)
+	out, err := MaintenanceConfigFromProto(proto)
+	test.That(t, err, test.ShouldBeNil)
+
+	test.That(t, *out, test.ShouldResemble, testMaintenanceConfig)
+}
+
+func TestMaintenanceConfigToProtoRemoteSuccess(t *testing.T) {
+	testMaintenanceConfig := MaintenanceConfig{
+		SensorName:            "rdk:component:sensor/go:store",
+		MaintenanceAllowedKey: "fast",
+	}
+
+	proto, err := MaintenanceConfigToProto(&testMaintenanceConfig)
+	test.That(t, err, test.ShouldBeNil)
+	out, err := MaintenanceConfigFromProto(proto)
+	test.That(t, err, test.ShouldBeNil)
+
+	test.That(t, *out, test.ShouldResemble, testMaintenanceConfig)
+}
+
+func TestMaintenanceConfigToProtoFailure(t *testing.T) {
+	testMaintenanceConfig := MaintenanceConfig{
+		SensorName:            "car:go",
+		MaintenanceAllowedKey: "slow",
+	}
+
+	_, err := MaintenanceConfigToProto(&testMaintenanceConfig)
+	test.That(t, err.Error(), test.ShouldEqual, "string \"car:go\" is not a fully qualified resource name")
+}