[RSDK-7904] Remove status from components

components/arm/arm.go

@@ -10,7 +10,6 @@ import (
 	"context"
 	"fmt"
 
-	v1 "go.viam.com/api/common/v1"
 	pb "go.viam.com/api/component/arm/v1"
 
 	"go.viam.com/rdk/data"
@@ -24,7 +23,6 @@ import (
 
 func init() {
 	resource.RegisterAPI(API, resource.APIRegistration[Arm]{
-		Status:                      resource.StatusFunc(CreateStatus),
 		RPCServiceServerConstructor: NewRPCServiceServer,
 		RPCServiceHandler:           pb.RegisterArmServiceHandlerFromEndpoint,
 		RPCServiceDesc:              &pb.ArmService_ServiceDesc,
@@ -146,30 +144,20 @@ func NamesFromRobot(r robot.Robot) []string {
 	return robot.NamesByAPI(r, API)
 }
 
-// CreateStatus creates a status from the arm. This will report calculated end effector positions even if the given
-// arm is perceived to be out of bounds.
-func CreateStatus(ctx context.Context, a Arm) (*pb.Status, error) {
-	model := a.ModelFrame()
-	joints, err := a.JointPositions(ctx, nil)
-	if err != nil {
-		return nil, err
-	}
-
-	var endPosition *v1.Pose
-	if endPose, err := referenceframe.ComputeOOBPosition(model, joints); err == nil {
-		endPosition = spatialmath.PoseToProtobuf(endPose)
-	}
-
-	var jointPositions *pb.JointPositions
-	if jp, err := referenceframe.JointPositionsFromInputs(model, joints); err == nil {
-		jointPositions = jp
-	}
+// GoToWaypoints will visit in turn each of the joint position waypoints generated by a motion planner.
+func GoToWaypoints(ctx context.Context, a Arm, waypoints [][]referenceframe.Input) error {
+	for _, waypoint := range waypoints {
+		err := ctx.Err() // make sure we haven't been cancelled
+		if err != nil {
+			return err
+		}
 
-	isMoving, err := a.IsMoving(ctx)
-	if err != nil {
-		return nil, err
+		err = a.GoToInputs(ctx, waypoint)
+		if err != nil {
+			return err
+		}
 	}
-	return &pb.Status{EndPosition: endPosition, JointPositions: jointPositions, IsMoving: isMoving}, nil
+	return nil
 }
 
 // CheckDesiredJointPositions validates that the desired joint positions either bring the joint back

components/arm/arm_test.go

@@ -2,18 +2,13 @@ package arm_test
 
 import (
 	"context"
-	"errors"
 	"testing"
 
-	"github.com/go-viper/mapstructure/v2"
 	"github.com/golang/geo/r3"
-	pb "go.viam.com/api/component/arm/v1"
 	"go.viam.com/test"
-	"go.viam.com/utils/protoutils"
 
 	"go.viam.com/rdk/components/arm"
 	"go.viam.com/rdk/components/arm/fake"
-	ur "go.viam.com/rdk/components/arm/universalrobots"
 	"go.viam.com/rdk/components/generic"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/referenceframe"
@@ -32,165 +27,6 @@ const (
 
 var pose = spatialmath.NewPoseFromPoint(r3.Vector{X: 1, Y: 2, Z: 3})
 
-func TestStatusValid(t *testing.T) {
-	status := &pb.Status{
-		EndPosition:    spatialmath.PoseToProtobuf(pose),
-		JointPositions: &pb.JointPositions{Values: []float64{1.1, 2.2, 3.3}},
-		IsMoving:       true,
-	}
-	newStruct, err := protoutils.StructToStructPb(status)
-	test.That(t, err, test.ShouldBeNil)
-	test.That(
-		t,
-		newStruct.AsMap(),
-		test.ShouldResemble,
-		map[string]interface{}{
-			"end_position":    map[string]interface{}{"o_z": 1.0, "x": 1.0, "y": 2.0, "z": 3.0},
-			"joint_positions": map[string]interface{}{"values": []interface{}{1.1, 2.2, 3.3}},
-			"is_moving":       true,
-		},
-	)
-
-	convMap := &pb.Status{}
-	decoder, err := mapstructure.NewDecoder(&mapstructure.DecoderConfig{TagName: "json", Result: &convMap})
-	test.That(t, err, test.ShouldBeNil)
-	err = decoder.Decode(newStruct.AsMap())
-	test.That(t, err, test.ShouldBeNil)
-	test.That(t, convMap, test.ShouldResemble, status)
-}
-
-func TestCreateStatus(t *testing.T) {
-	successfulPose := spatialmath.NewPose(
-		r3.Vector{-802.801508917897990613710135, -248.284077946287368376943050, 9.115758604150467903082244},
-		&spatialmath.R4AA{1.5810814917942602, 0.992515011486776, -0.0953988491934626, 0.07624310818669232},
-	)
-	successfulStatus := &pb.Status{
-		EndPosition:    spatialmath.PoseToProtobuf(successfulPose),
-		JointPositions: &pb.JointPositions{Values: []float64{1.1, 2.2, 3.3, 1.1, 2.2, 3.3}},
-		IsMoving:       true,
-	}
-
-	injectArm := &inject.Arm{}
-
-	//nolint:unparam
-	successfulJointPositionsFunc := func(context.Context, map[string]interface{}) ([]referenceframe.Input, error) {
-		return referenceframe.FloatsToInputs(referenceframe.JointPositionsToRadians(successfulStatus.JointPositions)), nil
-	}
-
-	successfulIsMovingFunc := func(context.Context) (bool, error) {
-		return true, nil
-	}
-
-	successfulModelFrameFunc := func() referenceframe.Model {
-		model, _ := ur.MakeModelFrame("ur5e")
-		return model
-	}
-
-	t.Run("working", func(t *testing.T) {
-		injectArm.JointPositionsFunc = successfulJointPositionsFunc
-		injectArm.IsMovingFunc = successfulIsMovingFunc
-		injectArm.ModelFrameFunc = successfulModelFrameFunc
-
-		expectedPose := successfulPose
-		expectedStatus := successfulStatus
-
-		actualStatus, err := arm.CreateStatus(context.Background(), injectArm)
-		test.That(t, err, test.ShouldBeNil)
-		test.That(t, actualStatus.IsMoving, test.ShouldEqual, expectedStatus.IsMoving)
-		test.That(t, actualStatus.JointPositions, test.ShouldResemble, expectedStatus.JointPositions)
-
-		actualPose := spatialmath.NewPoseFromProtobuf(actualStatus.EndPosition)
-		test.That(t, spatialmath.PoseAlmostEqualEps(actualPose, expectedPose, 0.01), test.ShouldBeTrue)
-
-		resourceAPI, ok, err := resource.LookupAPIRegistration[arm.Arm](arm.API)
-		test.That(t, err, test.ShouldBeNil)
-		test.That(t, ok, test.ShouldBeTrue)
-		statusInterface, err := resourceAPI.Status(context.Background(), injectArm)
-		test.That(t, err, test.ShouldBeNil)
-
-		statusMap, err := protoutils.InterfaceToMap(statusInterface)
-		test.That(t, err, test.ShouldBeNil)
-
-		endPosMap, err := protoutils.InterfaceToMap(statusMap["end_position"])
-		test.That(t, err, test.ShouldBeNil)
-		actualPose = spatialmath.NewPose(
-			r3.Vector{endPosMap["x"].(float64), endPosMap["y"].(float64), endPosMap["z"].(float64)},
-			&spatialmath.OrientationVectorDegrees{
-				endPosMap["theta"].(float64), endPosMap["o_x"].(float64),
-				endPosMap["o_y"].(float64), endPosMap["o_z"].(float64),
-			},
-		)
-		test.That(t, spatialmath.PoseAlmostEqualEps(actualPose, expectedPose, 0.01), test.ShouldBeTrue)
-
-		moving := statusMap["is_moving"].(bool)
-		test.That(t, moving, test.ShouldEqual, expectedStatus.IsMoving)
-
-		jPosFace := statusMap["joint_positions"].(map[string]interface{})["values"].([]interface{})
-		actualJointPositions := []float64{
-			jPosFace[0].(float64), jPosFace[1].(float64), jPosFace[2].(float64),
-			jPosFace[3].(float64), jPosFace[4].(float64), jPosFace[5].(float64),
-		}
-		test.That(t, actualJointPositions, test.ShouldResemble, expectedStatus.JointPositions.Values)
-	})
-
-	t.Run("not moving", func(t *testing.T) {
-		injectArm.JointPositionsFunc = successfulJointPositionsFunc
-		injectArm.ModelFrameFunc = successfulModelFrameFunc
-
-		injectArm.IsMovingFunc = func(context.Context) (bool, error) {
-			return false, nil
-		}
-
-		expectedPose := successfulPose
-		expectedStatus := &pb.Status{
-			EndPosition:    successfulStatus.EndPosition, //nolint:govet
-			JointPositions: successfulStatus.JointPositions,
-			IsMoving:       false,
-		}
-
-		actualStatus, err := arm.CreateStatus(context.Background(), injectArm)
-		test.That(t, err, test.ShouldBeNil)
-		test.That(t, actualStatus.IsMoving, test.ShouldEqual, expectedStatus.IsMoving)
-		test.That(t, actualStatus.JointPositions, test.ShouldResemble, expectedStatus.JointPositions)
-		actualPose := spatialmath.NewPoseFromProtobuf(actualStatus.EndPosition)
-		test.That(t, spatialmath.PoseAlmostEqualEps(actualPose, expectedPose, 0.01), test.ShouldBeTrue)
-	})
-
-	t.Run("fail on JointPositions", func(t *testing.T) {
-		injectArm.IsMovingFunc = successfulIsMovingFunc
-		injectArm.ModelFrameFunc = successfulModelFrameFunc
-
-		errFail := errors.New("can't get joint positions")
-		injectArm.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
-			return nil, errFail
-		}
-
-		actualStatus, err := arm.CreateStatus(context.Background(), injectArm)
-		test.That(t, err, test.ShouldBeError, errFail)
-		test.That(t, actualStatus, test.ShouldBeNil)
-	})
-
-	t.Run("nil model frame", func(t *testing.T) {
-		injectArm.IsMovingFunc = successfulIsMovingFunc
-		injectArm.JointPositionsFunc = successfulJointPositionsFunc
-		injectArm.ModelFrameFunc = func() referenceframe.Model {
-			return nil
-		}
-
-		expectedStatus := &pb.Status{
-			EndPosition:    nil,
-			JointPositions: successfulStatus.JointPositions,
-			IsMoving:       successfulStatus.IsMoving,
-		}
-
-		actualStatus, err := arm.CreateStatus(context.Background(), injectArm)
-		test.That(t, err, test.ShouldBeNil)
-		test.That(t, actualStatus.EndPosition, test.ShouldEqual, expectedStatus.EndPosition)
-		test.That(t, actualStatus.JointPositions, test.ShouldResemble, expectedStatus.JointPositions)
-		test.That(t, actualStatus.IsMoving, test.ShouldEqual, expectedStatus.IsMoving)
-	})
-}
-
 func TestXArm6Locations(t *testing.T) {
 	// check the exact values/locations of arm geometries at a couple different poses
 	logger := logging.NewTestLogger(t)

components/base/base.go

@@ -8,7 +8,6 @@ import (
 	"context"
 
 	"github.com/golang/geo/r3"
-	commonpb "go.viam.com/api/common/v1"
 	pb "go.viam.com/api/component/base/v1"
 
 	"go.viam.com/rdk/resource"
@@ -17,7 +16,6 @@ import (
 
 func init() {
 	resource.RegisterAPI(API, resource.APIRegistration[Base]{
-		Status:                      resource.StatusFunc(CreateStatus),
 		RPCServiceServerConstructor: NewRPCServiceServer,
 		RPCServiceHandler:           pb.RegisterBaseServiceHandlerFromEndpoint,
 		RPCServiceDesc:              &pb.BaseService_ServiceDesc,
@@ -144,12 +142,3 @@ func FromRobot(r robot.Robot, name string) (Base, error) {
 func NamesFromRobot(r robot.Robot) []string {
 	return robot.NamesByAPI(r, API)
 }
-
-// CreateStatus creates a status from the base.
-func CreateStatus(ctx context.Context, b Base) (*commonpb.ActuatorStatus, error) {
-	isMoving, err := b.IsMoving(ctx)
-	if err != nil {
-		return nil, err
-	}
-	return &commonpb.ActuatorStatus{IsMoving: isMoving}, nil
-}

components/base/base_test.go

@@ -1,13 +1,9 @@
 package base_test
 
 import (
-	"context"
 	"testing"
 
-	"github.com/go-viper/mapstructure/v2"
-	commonpb "go.viam.com/api/common/v1"
 	"go.viam.com/test"
-	"go.viam.com/utils/protoutils"
 
 	"go.viam.com/rdk/components/base"
 	"go.viam.com/rdk/components/generic"
@@ -21,66 +17,6 @@ const (
 	failBaseName = "base2"
 )
 
-func TestStatusValid(t *testing.T) {
-	status := &commonpb.ActuatorStatus{
-		IsMoving: true,
-	}
-	newStruct, err := protoutils.StructToStructPb(status)
-	test.That(t, err, test.ShouldBeNil)
-	test.That(
-		t,
-		newStruct.AsMap(),
-		test.ShouldResemble,
-		map[string]interface{}{
-			"is_moving": true,
-		},
-	)
-
-	convMap := &commonpb.ActuatorStatus{}
-	decoder, err := mapstructure.NewDecoder(&mapstructure.DecoderConfig{TagName: "json", Result: &convMap})
-	test.That(t, err, test.ShouldBeNil)
-	err = decoder.Decode(newStruct.AsMap())
-	test.That(t, err, test.ShouldBeNil)
-	test.That(t, convMap, test.ShouldResemble, status)
-}
-
-func TestCreateStatus(t *testing.T) {
-	t.Run("is moving", func(t *testing.T) {
-		status := &commonpb.ActuatorStatus{
-			IsMoving: true,
-		}
-
-		injectBase := &inject.Base{}
-		injectBase.IsMovingFunc = func(context.Context) (bool, error) {
-			return true, nil
-		}
-		status1, err := base.CreateStatus(context.Background(), injectBase)
-		test.That(t, err, test.ShouldBeNil)
-		test.That(t, status1, test.ShouldResemble, status)
-
-		resourceAPI, ok, err := resource.LookupAPIRegistration[base.Base](base.API)
-		test.That(t, err, test.ShouldBeNil)
-		test.That(t, ok, test.ShouldBeTrue)
-		status2, err := resourceAPI.Status(context.Background(), injectBase)
-		test.That(t, err, test.ShouldBeNil)
-		test.That(t, status2, test.ShouldResemble, status)
-	})
-
-	t.Run("is not moving", func(t *testing.T) {
-		status := &commonpb.ActuatorStatus{
-			IsMoving: false,
-		}
-
-		injectBase := &inject.Base{}
-		injectBase.IsMovingFunc = func(context.Context) (bool, error) {
-			return false, nil
-		}
-		status1, err := base.CreateStatus(context.Background(), injectBase)
-		test.That(t, err, test.ShouldBeNil)
-		test.That(t, status1, test.ShouldResemble, status)
-	})
-}
-
 func TestFromRobot(t *testing.T) {
 	r := &inject.Robot{}
 	rs := map[resource.Name]resource.Resource{

components/board/board.go

@@ -20,7 +20,6 @@ import (
 
 func init() {
 	resource.RegisterAPI(API, resource.APIRegistration[Board]{
-		Status:                      resource.StatusFunc(CreateStatus),
 		RPCServiceServerConstructor: NewRPCServiceServer,
 		RPCServiceHandler:           pb.RegisterBoardServiceHandlerFromEndpoint,
 		RPCServiceDesc:              &pb.BoardService_ServiceDesc,