RSDK6734 - Remove viam/api imports from public headers

src/viam/examples/dial/example_dial.cpp

@@ -13,16 +13,11 @@
 #include <grpcpp/grpcpp.h>
 #include <grpcpp/support/status.h>
 
-#include <viam/api/common/v1/common.pb.h>
-#include <viam/api/robot/v1/robot.grpc.pb.h>
-#include <viam/api/robot/v1/robot.pb.h>
-
 #include <viam/sdk/components/generic.hpp>
 #include <viam/sdk/robot/client.hpp>
 #include <viam/sdk/robot/service.hpp>
 #include <viam/sdk/rpc/dial.hpp>
 
-using viam::robot::v1::Status;
 using namespace viam::sdk;
 
 int main() {

src/viam/examples/dial_api_key/example_dial_api_key.cpp

@@ -14,10 +14,6 @@
 #include <grpcpp/grpcpp.h>
 #include <grpcpp/support/status.h>
 
-#include <viam/api/common/v1/common.pb.h>
-#include <viam/api/robot/v1/robot.grpc.pb.h>
-#include <viam/api/robot/v1/robot.pb.h>
-
 #include <viam/sdk/robot/client.hpp>
 #include <viam/sdk/robot/service.hpp>
 #include <viam/sdk/rpc/dial.hpp>

src/viam/examples/modules/complex/client.cpp

@@ -1,5 +1,4 @@
 #include <cstddef>
-#include <functional>
 #include <iostream>
 #include <memory>
 #include <ostream>
@@ -12,10 +11,6 @@
 #include <grpcpp/grpcpp.h>
 #include <grpcpp/support/status.h>
 
-#include <viam/api/common/v1/common.pb.h>
-#include <viam/api/robot/v1/robot.grpc.pb.h>
-#include <viam/api/robot/v1/robot.pb.h>
-
 #include <viam/sdk/components/motor.hpp>
 #include <viam/sdk/robot/client.hpp>
 #include <viam/sdk/robot/service.hpp>

src/viam/examples/modules/complex/main.cpp

@@ -5,10 +5,6 @@
 #include <grpcpp/grpcpp.h>
 #include <grpcpp/server_context.h>
 
-#include <viam/api/common/v1/common.grpc.pb.h>
-#include <viam/api/component/generic/v1/generic.grpc.pb.h>
-#include <viam/api/robot/v1/robot.pb.h>
-
 #include <viam/sdk/components/base.hpp>
 #include <viam/sdk/components/component.hpp>
 #include <viam/sdk/config/resource.hpp>

src/viam/examples/modules/complex/proto/buf.lock

@@ -4,5 +4,5 @@ deps:
   - remote: buf.build
     owner: googleapis
     repository: googleapis
-    commit: e7f8d366f5264595bcc4cd4139af9973
-    digest: shake256:e5e5f1c12f82e028ea696faa43b4f9dc6258a6d1226282962a8c8b282e10946281d815884f574bd279ebd9cd7588629beb3db17b892af6c33b56f92f8f67f509
+    commit: 553fd4b4b3a640be9b69a3fa0c17b383
+    digest: shake256:e30e3247f84b7ff9d09941ce391eb4b6f04734e1e5fae796bfc471f167e6f90813630cc39397ee46b8bc0ea7d6935c416d15c219cc5732d9778cbfdf73a1ed6e

src/viam/examples/modules/complex/test_complex_module.cpp

@@ -7,8 +7,6 @@
 
 #include <boost/test/included/unit_test.hpp>
 
-#include <viam/api/common/v1/common.pb.h>
-
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/tests/test_utils.hpp>
 

src/viam/examples/modules/simple/main.cpp

@@ -6,10 +6,6 @@
 #include <grpcpp/grpcpp.h>
 #include <grpcpp/server_context.h>
 
-#include <viam/api/common/v1/common.grpc.pb.h>
-#include <viam/api/robot/v1/robot.pb.h>
-#include <viam/api/service/generic/v1/generic.grpc.pb.h>
-
 #include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/config/resource.hpp>

src/viam/sdk/CMakeLists.txt

@@ -50,6 +50,7 @@ target_sources(viamsdk
     common/exception.cpp
     common/linear_algebra.cpp
     common/pose.cpp
+    common/private/proto_conversions.cpp
     common/proto_value.cpp
     common/service_helper.cpp
     common/utils.cpp
@@ -76,6 +77,7 @@ target_sources(viamsdk
     components/private/board_server.cpp
     components/private/camera_client.cpp
     components/private/camera_server.cpp
+    components/private/encoder.cpp
     components/private/encoder_client.cpp
     components/private/encoder_server.cpp
     components/private/gantry_client.cpp

src/viam/sdk/common/client_helper.hpp

@@ -4,6 +4,7 @@
 #include <grpcpp/support/sync_stream.h>
 
 #include <viam/sdk/common/exception.hpp>
+#include <viam/sdk/common/private/client_helper.hpp>
 #include <viam/sdk/common/private/utils.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/common/utils.hpp>

src/viam/sdk/common/linear_algebra.cpp

@@ -2,8 +2,6 @@
 
 #include <array>
 
-#include <viam/api/common/v1/common.pb.h>
-
 namespace viam {
 namespace sdk {
 
@@ -45,17 +43,5 @@ std::array<double, 3>& Vector3::data() {
     return this->data_;
 }
 
-viam::common::v1::Vector3 Vector3::to_proto() const {
-    viam::common::v1::Vector3 result;
-    result.set_x(x());
-    result.set_y(y());
-    result.set_z(z());
-    return result;
-};
-
-Vector3 Vector3::from_proto(const viam::common::v1::Vector3& vec) {
-    return {vec.x(), vec.y(), vec.z()};
-}
-
 }  // namespace sdk
 }  // namespace viam

src/viam/sdk/common/linear_algebra.hpp

@@ -5,7 +5,6 @@
 #include <boost/qvm/vec.hpp>
 #include <boost/qvm/vec_traits.hpp>
 
-#include <viam/api/common/v1/common.pb.h>
 namespace viam {
 namespace sdk {
 
@@ -30,8 +29,6 @@ class Vector3 {
 
     const std::array<scalar_type, 3>& data() const;
     std::array<scalar_type, 3>& data();
-    viam::common::v1::Vector3 to_proto() const;
-    static Vector3 from_proto(const viam::common::v1::Vector3& vec);
 
    private:
     std::array<scalar_type, 3> data_;

src/viam/sdk/common/pose.cpp

@@ -1,40 +1,8 @@
 #include <viam/sdk/common/pose.hpp>
 
-#include <common/v1/common.pb.h>
-
 namespace viam {
 namespace sdk {
 
-common::v1::PoseInFrame pose_in_frame::to_proto() const {
-    common::v1::PoseInFrame pif;
-    *pif.mutable_reference_frame() = reference_frame;
-    common::v1::Pose proto_pose;
-    proto_pose.set_x(pose.coordinates.x);
-    proto_pose.set_y(pose.coordinates.y);
-    proto_pose.set_z(pose.coordinates.z);
-    proto_pose.set_o_x(pose.orientation.o_x);
-    proto_pose.set_o_y(pose.orientation.o_y);
-    proto_pose.set_o_z(pose.orientation.o_z);
-    proto_pose.set_theta(pose.theta);
-    *pif.mutable_pose() = std::move(proto_pose);
-    return pif;
-};
-
-pose_in_frame pose_in_frame::from_proto(const common::v1::PoseInFrame& proto) {
-    pose_in_frame pif;
-    pif.reference_frame = proto.reference_frame();
-    const auto& proto_pose = proto.pose();
-    pif.pose.orientation.o_x = proto_pose.o_x();
-    pif.pose.orientation.o_y = proto_pose.o_y();
-    pif.pose.orientation.o_z = proto_pose.o_z();
-    pif.pose.coordinates.x = proto_pose.x();
-    pif.pose.coordinates.y = proto_pose.y();
-    pif.pose.coordinates.z = proto_pose.z();
-    pif.pose.theta = proto_pose.theta();
-
-    return pif;
-}
-
 bool operator==(const pose_in_frame& lhs, const pose_in_frame& rhs) {
     return lhs.pose == rhs.pose && lhs.reference_frame == rhs.reference_frame;
 }

src/viam/sdk/common/pose.hpp

@@ -1,6 +1,6 @@
 #pragma once
 
-#include <common/v1/common.pb.h>
+#include <ostream>
 
 namespace viam {
 namespace sdk {
@@ -20,16 +20,11 @@ struct pose {
     pose_orientation orientation;
     double theta;
 
-    static pose from_proto(const viam::common::v1::Pose& proto);
-    viam::common::v1::Pose to_proto() const;
-
     friend bool operator==(const pose& lhs, const pose& rhs);
     friend std::ostream& operator<<(std::ostream& os, const pose& v);
 };
 
 struct pose_in_frame {
-    viam::common::v1::PoseInFrame to_proto() const;
-    static pose_in_frame from_proto(const viam::common::v1::PoseInFrame& proto);
     pose_in_frame(std::string reference_frame_, struct pose pose_)
         : reference_frame(std::move(reference_frame_)), pose(std::move(pose_)) {}
     pose_in_frame() {}

src/viam/sdk/common/private/client_helper.hpp

@@ -0,0 +1 @@
+#include <google/protobuf/struct.pb.h>