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RSDK6734 - Remove viam/api imports from public headers #325

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RSDK6734 - Remove viam/api imports from public headers #325

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317f4f7
remove proto from public headers
stuqdog Nov 15, 2024
6479191
timestamp conversion too
stuqdog Nov 15, 2024
ff26416
Merge branch 'main' into make-proto-conversions-private
stuqdog Nov 15, 2024
0b428a9
get rid of id_, some unnecessary google imports
stuqdog Nov 15, 2024
9340e59
Merge branch 'make-proto-conversions-private' of ssh://github.com/stu…
stuqdog Nov 15, 2024
021ca38
make the formattr happy
stuqdog Nov 15, 2024
a30fd97
explicitly include memory
stuqdog Nov 15, 2024
d0f622e
std move values
stuqdog Nov 15, 2024
069373b
NOLINTNEXTLINE
stuqdog Nov 15, 2024
1af0f6f
import unordered_map
stuqdog Nov 16, 2024
0f8a7a8
Merge branch 'main' of ssh://github.com/viamrobotics/viam-cpp-sdk int…
stuqdog Nov 19, 2024
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5 changes: 0 additions & 5 deletions src/viam/examples/dial/example_dial.cpp
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Expand Up @@ -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() {
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4 changes: 0 additions & 4 deletions src/viam/examples/dial_api_key/example_dial_api_key.cpp
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Expand Up @@ -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>
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5 changes: 0 additions & 5 deletions src/viam/examples/modules/complex/client.cpp
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@@ -1,5 +1,4 @@
#include <cstddef>
#include <functional>
#include <iostream>
#include <memory>
#include <ostream>
Expand All @@ -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>
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4 changes: 0 additions & 4 deletions src/viam/examples/modules/complex/main.cpp
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Expand Up @@ -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>
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4 changes: 2 additions & 2 deletions src/viam/examples/modules/complex/proto/buf.lock
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Expand Up @@ -4,5 +4,5 @@ deps:
- remote: buf.build
owner: googleapis
repository: googleapis
commit: e7f8d366f5264595bcc4cd4139af9973
digest: shake256:e5e5f1c12f82e028ea696faa43b4f9dc6258a6d1226282962a8c8b282e10946281d815884f574bd279ebd9cd7588629beb3db17b892af6c33b56f92f8f67f509
commit: 553fd4b4b3a640be9b69a3fa0c17b383
digest: shake256:e30e3247f84b7ff9d09941ce391eb4b6f04734e1e5fae796bfc471f167e6f90813630cc39397ee46b8bc0ea7d6935c416d15c219cc5732d9778cbfdf73a1ed6e
2 changes: 0 additions & 2 deletions src/viam/examples/modules/complex/test_complex_module.cpp
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Expand Up @@ -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>

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4 changes: 0 additions & 4 deletions src/viam/examples/modules/simple/main.cpp
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Expand Up @@ -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>
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2 changes: 2 additions & 0 deletions src/viam/sdk/CMakeLists.txt
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Expand Up @@ -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
Expand All @@ -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
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1 change: 1 addition & 0 deletions src/viam/sdk/common/client_helper.hpp
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Expand Up @@ -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>
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16 changes: 1 addition & 15 deletions src/viam/sdk/common/linear_algebra.cpp
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Expand Up @@ -2,13 +2,11 @@

#include <array>

#include <viam/api/common/v1/common.pb.h>

namespace viam {
namespace sdk {

Vector3::Vector3(scalar_type x, scalar_type y, scalar_type z) : data_{x, y, z} {};
Vector3::Vector3() : Vector3(0.0, 0.0, 0.0){};
Vector3::Vector3() : Vector3(0.0, 0.0, 0.0) {};

double Vector3::x() const {
return this->data_[0];
Expand Down Expand Up @@ -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
3 changes: 0 additions & 3 deletions src/viam/sdk/common/linear_algebra.hpp
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Expand Up @@ -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 {

Expand All @@ -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_;
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32 changes: 0 additions & 32 deletions src/viam/sdk/common/pose.cpp
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@@ -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;
}
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7 changes: 1 addition & 6 deletions src/viam/sdk/common/pose.hpp
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@@ -1,6 +1,6 @@
#pragma once

#include <common/v1/common.pb.h>
#include <ostream>

namespace viam {
namespace sdk {
Expand All @@ -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() {}
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1 change: 1 addition & 0 deletions src/viam/sdk/common/private/client_helper.hpp
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Note the existence of this is only to hide the google/protobuf import from the public client_helper.hpp

Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
#include <google/protobuf/struct.pb.h>
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