Remove GetLatestMapInfo from SLAM (w/ proto updates) (#529)

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

examples/server/v1/services.py

@@ -1,4 +1,3 @@
-from datetime import datetime
 from numpy.typing import NDArray
 from typing import Dict, List, Optional, Tuple
 from tests.mocks.services import MockMLModel, MockSLAM
@@ -27,7 +26,6 @@ def __init__(self, name: str):
         self.point_cloud_chunks = MockSLAM.POINT_CLOUD_PCD_CHUNKS
         self.cloud_slam = MockSLAM.CLOUD_SLAM
         self.mapping_mode = MockSLAM.MAPPING_MODE
-        self.time = MockSLAM.LAST_UPDATE
         super().__init__(name)
 
     async def get_internal_state(self, **kwargs) -> List[bytes]:
@@ -39,8 +37,5 @@ async def get_point_cloud_map(self, **kwargs) -> List[bytes]:
     async def get_position(self, **kwargs) -> Pose:
         return self.position
 
-    async def get_latest_map_info(self, **kwargs) -> datetime:
-        return self.time
-
     async def get_properties(self, **kwargs) -> Tuple[bool, MappingMode.ValueType]:
         return (self.cloud_slam, self.mapping_mode)

src/viam/gen/service/navigation/v1/navigation_pb2.pyi

@@ -29,7 +29,7 @@ class _MapTypeEnumTypeWrapper(google.protobuf.internal.enum_type_wrapper._EnumTy
     MAP_TYPE_GPS: _MapType.ValueType
 
 class MapType(_MapType, metaclass=_MapTypeEnumTypeWrapper):
-    """MapType represents the various types of map the navigation service can ingest."""
+    """MapType represents the various types of maps the navigation service can ingest."""
 MAP_TYPE_UNSPECIFIED: MapType.ValueType
 MAP_TYPE_NONE: MapType.ValueType
 MAP_TYPE_GPS: MapType.ValueType

src/viam/gen/service/slam/v1/slam_grpc.py

@@ -7,7 +7,6 @@
 from .... import common
 import google.api.annotations_pb2
 import google.protobuf.struct_pb2
-import google.protobuf.timestamp_pb2
 from .... import service
 
 class SLAMServiceBase(abc.ABC):
@@ -24,10 +23,6 @@ async def GetPointCloudMap(self, stream: 'grpclib.server.Stream[service.slam.v1.
     async def GetInternalState(self, stream: 'grpclib.server.Stream[service.slam.v1.slam_pb2.GetInternalStateRequest, service.slam.v1.slam_pb2.GetInternalStateResponse]') -> None:
         pass
 
-    @abc.abstractmethod
-    async def GetLatestMapInfo(self, stream: 'grpclib.server.Stream[service.slam.v1.slam_pb2.GetLatestMapInfoRequest, service.slam.v1.slam_pb2.GetLatestMapInfoResponse]') -> None:
-        pass
-
     @abc.abstractmethod
     async def GetProperties(self, stream: 'grpclib.server.Stream[service.slam.v1.slam_pb2.GetPropertiesRequest, service.slam.v1.slam_pb2.GetPropertiesResponse]') -> None:
         pass
@@ -37,14 +32,13 @@ async def DoCommand(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.Do
         pass
 
     def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
-        return {'/viam.service.slam.v1.SLAMService/GetPosition': grpclib.const.Handler(self.GetPosition, grpclib.const.Cardinality.UNARY_UNARY, service.slam.v1.slam_pb2.GetPositionRequest, service.slam.v1.slam_pb2.GetPositionResponse), '/viam.service.slam.v1.SLAMService/GetPointCloudMap': grpclib.const.Handler(self.GetPointCloudMap, grpclib.const.Cardinality.UNARY_STREAM, service.slam.v1.slam_pb2.GetPointCloudMapRequest, service.slam.v1.slam_pb2.GetPointCloudMapResponse), '/viam.service.slam.v1.SLAMService/GetInternalState': grpclib.const.Handler(self.GetInternalState, grpclib.const.Cardinality.UNARY_STREAM, service.slam.v1.slam_pb2.GetInternalStateRequest, service.slam.v1.slam_pb2.GetInternalStateResponse), '/viam.service.slam.v1.SLAMService/GetLatestMapInfo': grpclib.const.Handler(self.GetLatestMapInfo, grpclib.const.Cardinality.UNARY_UNARY, service.slam.v1.slam_pb2.GetLatestMapInfoRequest, service.slam.v1.slam_pb2.GetLatestMapInfoResponse), '/viam.service.slam.v1.SLAMService/GetProperties': grpclib.const.Handler(self.GetProperties, grpclib.const.Cardinality.UNARY_UNARY, service.slam.v1.slam_pb2.GetPropertiesRequest, service.slam.v1.slam_pb2.GetPropertiesResponse), '/viam.service.slam.v1.SLAMService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)}
+        return {'/viam.service.slam.v1.SLAMService/GetPosition': grpclib.const.Handler(self.GetPosition, grpclib.const.Cardinality.UNARY_UNARY, service.slam.v1.slam_pb2.GetPositionRequest, service.slam.v1.slam_pb2.GetPositionResponse), '/viam.service.slam.v1.SLAMService/GetPointCloudMap': grpclib.const.Handler(self.GetPointCloudMap, grpclib.const.Cardinality.UNARY_STREAM, service.slam.v1.slam_pb2.GetPointCloudMapRequest, service.slam.v1.slam_pb2.GetPointCloudMapResponse), '/viam.service.slam.v1.SLAMService/GetInternalState': grpclib.const.Handler(self.GetInternalState, grpclib.const.Cardinality.UNARY_STREAM, service.slam.v1.slam_pb2.GetInternalStateRequest, service.slam.v1.slam_pb2.GetInternalStateResponse), '/viam.service.slam.v1.SLAMService/GetProperties': grpclib.const.Handler(self.GetProperties, grpclib.const.Cardinality.UNARY_UNARY, service.slam.v1.slam_pb2.GetPropertiesRequest, service.slam.v1.slam_pb2.GetPropertiesResponse), '/viam.service.slam.v1.SLAMService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)}
 
 class SLAMServiceStub:
 
     def __init__(self, channel: grpclib.client.Channel) -> None:
         self.GetPosition = grpclib.client.UnaryUnaryMethod(channel, '/viam.service.slam.v1.SLAMService/GetPosition', service.slam.v1.slam_pb2.GetPositionRequest, service.slam.v1.slam_pb2.GetPositionResponse)
         self.GetPointCloudMap = grpclib.client.UnaryStreamMethod(channel, '/viam.service.slam.v1.SLAMService/GetPointCloudMap', service.slam.v1.slam_pb2.GetPointCloudMapRequest, service.slam.v1.slam_pb2.GetPointCloudMapResponse)
         self.GetInternalState = grpclib.client.UnaryStreamMethod(channel, '/viam.service.slam.v1.SLAMService/GetInternalState', service.slam.v1.slam_pb2.GetInternalStateRequest, service.slam.v1.slam_pb2.GetInternalStateResponse)
-        self.GetLatestMapInfo = grpclib.client.UnaryUnaryMethod(channel, '/viam.service.slam.v1.SLAMService/GetLatestMapInfo', service.slam.v1.slam_pb2.GetLatestMapInfoRequest, service.slam.v1.slam_pb2.GetLatestMapInfoResponse)
         self.GetProperties = grpclib.client.UnaryUnaryMethod(channel, '/viam.service.slam.v1.SLAMService/GetProperties', service.slam.v1.slam_pb2.GetPropertiesRequest, service.slam.v1.slam_pb2.GetPropertiesResponse)
         self.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.service.slam.v1.SLAMService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)

src/viam/gen/service/slam/v1/slam_pb2.py

@@ -7,8 +7,7 @@
 from ....common.v1 import common_pb2 as common_dot_v1_dot_common__pb2
 from google.api import annotations_pb2 as google_dot_api_dot_annotations__pb2
 from google.protobuf import struct_pb2 as google_dot_protobuf_dot_struct__pb2
-from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1aservice/slam/v1/slam.proto\x12\x14viam.service.slam.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto\x1a\x1fgoogle/protobuf/timestamp.proto"(\n\x12GetPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"\x9f\x01\n\x13GetPositionResponse\x12(\n\x04pose\x18\x01 \x01(\x0b2\x14.viam.common.v1.PoseR\x04pose\x12/\n\x13component_reference\x18\x02 \x01(\tR\x12componentReference\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"-\n\x17GetPointCloudMapRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"M\n\x18GetPointCloudMapResponse\x121\n\x15point_cloud_pcd_chunk\x18\x01 \x01(\x0cR\x12pointCloudPcdChunk"-\n\x17GetInternalStateRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"L\n\x18GetInternalStateResponse\x120\n\x14internal_state_chunk\x18\x01 \x01(\x0cR\x12internalStateChunk"-\n\x17GetLatestMapInfoRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"^\n\x18GetLatestMapInfoResponse\x12B\n\x0flast_map_update\x18\x01 \x01(\x0b2\x1a.google.protobuf.TimestampR\rlastMapUpdate"*\n\x14GetPropertiesRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"|\n\x15GetPropertiesResponse\x12\x1d\n\ncloud_slam\x18\x01 \x01(\x08R\tcloudSlam\x12D\n\x0cmapping_mode\x18\x02 \x01(\x0e2!.viam.service.slam.v1.MappingModeR\x0bmappingMode*\x92\x01\n\x0bMappingMode\x12\x1c\n\x18MAPPING_MODE_UNSPECIFIED\x10\x00\x12\x1f\n\x1bMAPPING_MODE_CREATE_NEW_MAP\x10\x01\x12\x1e\n\x1aMAPPING_MODE_LOCALIZE_ONLY\x10\x02\x12$\n MAPPING_MODE_UPDATE_EXISTING_MAP\x10\x032\xdc\x07\n\x0bSLAMService\x12\x95\x01\n\x0bGetPosition\x12(.viam.service.slam.v1.GetPositionRequest\x1a).viam.service.slam.v1.GetPositionResponse"1\x82\xd3\xe4\x93\x02+\x12)/viam/api/v1/service/slam/{name}/position\x12\xad\x01\n\x10GetPointCloudMap\x12-.viam.service.slam.v1.GetPointCloudMapRequest\x1a..viam.service.slam.v1.GetPointCloudMapResponse"8\x82\xd3\xe4\x93\x022\x120/viam/api/v1/service/slam/{name}/point_cloud_map0\x01\x12\xac\x01\n\x10GetInternalState\x12-.viam.service.slam.v1.GetInternalStateRequest\x1a..viam.service.slam.v1.GetInternalStateResponse"7\x82\xd3\xe4\x93\x021\x12//viam/api/v1/service/slam/{name}/internal_state0\x01\x12\xad\x01\n\x10GetLatestMapInfo\x12-.viam.service.slam.v1.GetLatestMapInfoRequest\x1a..viam.service.slam.v1.GetLatestMapInfoResponse":\x82\xd3\xe4\x93\x024\x122/viam/api/v1/component/slam/{name}/latest_map_info\x12\x9d\x01\n\rGetProperties\x12*.viam.service.slam.v1.GetPropertiesRequest\x1a+.viam.service.slam.v1.GetPropertiesResponse"3\x82\xd3\xe4\x93\x02-\x12+/viam/api/v1/service/slam/{name}/properties\x12\x85\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"3\x82\xd3\xe4\x93\x02-"+/viam/api/v1/service/slam/{name}/do_commandB;\n\x18com.viam.service.slam.v1Z\x1fgo.viam.com/api/service/slam/v1b\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1aservice/slam/v1/slam.proto\x12\x14viam.service.slam.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"(\n\x12GetPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"\x9f\x01\n\x13GetPositionResponse\x12(\n\x04pose\x18\x01 \x01(\x0b2\x14.viam.common.v1.PoseR\x04pose\x12/\n\x13component_reference\x18\x02 \x01(\tR\x12componentReference\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"-\n\x17GetPointCloudMapRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"M\n\x18GetPointCloudMapResponse\x121\n\x15point_cloud_pcd_chunk\x18\x01 \x01(\x0cR\x12pointCloudPcdChunk"-\n\x17GetInternalStateRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"L\n\x18GetInternalStateResponse\x120\n\x14internal_state_chunk\x18\x01 \x01(\x0cR\x12internalStateChunk"*\n\x14GetPropertiesRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"|\n\x15GetPropertiesResponse\x12\x1d\n\ncloud_slam\x18\x01 \x01(\x08R\tcloudSlam\x12D\n\x0cmapping_mode\x18\x02 \x01(\x0e2!.viam.service.slam.v1.MappingModeR\x0bmappingMode*\x92\x01\n\x0bMappingMode\x12\x1c\n\x18MAPPING_MODE_UNSPECIFIED\x10\x00\x12\x1f\n\x1bMAPPING_MODE_CREATE_NEW_MAP\x10\x01\x12\x1e\n\x1aMAPPING_MODE_LOCALIZE_ONLY\x10\x02\x12$\n MAPPING_MODE_UPDATE_EXISTING_MAP\x10\x032\xac\x06\n\x0bSLAMService\x12\x95\x01\n\x0bGetPosition\x12(.viam.service.slam.v1.GetPositionRequest\x1a).viam.service.slam.v1.GetPositionResponse"1\x82\xd3\xe4\x93\x02+\x12)/viam/api/v1/service/slam/{name}/position\x12\xad\x01\n\x10GetPointCloudMap\x12-.viam.service.slam.v1.GetPointCloudMapRequest\x1a..viam.service.slam.v1.GetPointCloudMapResponse"8\x82\xd3\xe4\x93\x022\x120/viam/api/v1/service/slam/{name}/point_cloud_map0\x01\x12\xac\x01\n\x10GetInternalState\x12-.viam.service.slam.v1.GetInternalStateRequest\x1a..viam.service.slam.v1.GetInternalStateResponse"7\x82\xd3\xe4\x93\x021\x12//viam/api/v1/service/slam/{name}/internal_state0\x01\x12\x9d\x01\n\rGetProperties\x12*.viam.service.slam.v1.GetPropertiesRequest\x1a+.viam.service.slam.v1.GetPropertiesResponse"3\x82\xd3\xe4\x93\x02-\x12+/viam/api/v1/service/slam/{name}/properties\x12\x85\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"3\x82\xd3\xe4\x93\x02-"+/viam/api/v1/service/slam/{name}/do_commandB;\n\x18com.viam.service.slam.v1Z\x1fgo.viam.com/api/service/slam/v1b\x06proto3')
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'service.slam.v1.slam_pb2', globals())
 if _descriptor._USE_C_DESCRIPTORS == False:
@@ -20,33 +19,27 @@
     _SLAMSERVICE.methods_by_name['GetPointCloudMap']._serialized_options = b'\x82\xd3\xe4\x93\x022\x120/viam/api/v1/service/slam/{name}/point_cloud_map'
     _SLAMSERVICE.methods_by_name['GetInternalState']._options = None
     _SLAMSERVICE.methods_by_name['GetInternalState']._serialized_options = b'\x82\xd3\xe4\x93\x021\x12//viam/api/v1/service/slam/{name}/internal_state'
-    _SLAMSERVICE.methods_by_name['GetLatestMapInfo']._options = None
-    _SLAMSERVICE.methods_by_name['GetLatestMapInfo']._serialized_options = b'\x82\xd3\xe4\x93\x024\x122/viam/api/v1/component/slam/{name}/latest_map_info'
     _SLAMSERVICE.methods_by_name['GetProperties']._options = None
     _SLAMSERVICE.methods_by_name['GetProperties']._serialized_options = b'\x82\xd3\xe4\x93\x02-\x12+/viam/api/v1/service/slam/{name}/properties'
     _SLAMSERVICE.methods_by_name['DoCommand']._options = None
     _SLAMSERVICE.methods_by_name['DoCommand']._serialized_options = b'\x82\xd3\xe4\x93\x02-"+/viam/api/v1/service/slam/{name}/do_command'
-    _MAPPINGMODE._serialized_start = 938
-    _MAPPINGMODE._serialized_end = 1084
-    _GETPOSITIONREQUEST._serialized_start = 169
-    _GETPOSITIONREQUEST._serialized_end = 209
-    _GETPOSITIONRESPONSE._serialized_start = 212
-    _GETPOSITIONRESPONSE._serialized_end = 371
-    _GETPOINTCLOUDMAPREQUEST._serialized_start = 373
-    _GETPOINTCLOUDMAPREQUEST._serialized_end = 418
-    _GETPOINTCLOUDMAPRESPONSE._serialized_start = 420
-    _GETPOINTCLOUDMAPRESPONSE._serialized_end = 497
-    _GETINTERNALSTATEREQUEST._serialized_start = 499
-    _GETINTERNALSTATEREQUEST._serialized_end = 544
-    _GETINTERNALSTATERESPONSE._serialized_start = 546
-    _GETINTERNALSTATERESPONSE._serialized_end = 622
-    _GETLATESTMAPINFOREQUEST._serialized_start = 624
-    _GETLATESTMAPINFOREQUEST._serialized_end = 669
-    _GETLATESTMAPINFORESPONSE._serialized_start = 671
-    _GETLATESTMAPINFORESPONSE._serialized_end = 765
-    _GETPROPERTIESREQUEST._serialized_start = 767
-    _GETPROPERTIESREQUEST._serialized_end = 809
-    _GETPROPERTIESRESPONSE._serialized_start = 811
-    _GETPROPERTIESRESPONSE._serialized_end = 935
-    _SLAMSERVICE._serialized_start = 1087
-    _SLAMSERVICE._serialized_end = 2075
+    _MAPPINGMODE._serialized_start = 762
+    _MAPPINGMODE._serialized_end = 908
+    _GETPOSITIONREQUEST._serialized_start = 136
+    _GETPOSITIONREQUEST._serialized_end = 176
+    _GETPOSITIONRESPONSE._serialized_start = 179
+    _GETPOSITIONRESPONSE._serialized_end = 338
+    _GETPOINTCLOUDMAPREQUEST._serialized_start = 340
+    _GETPOINTCLOUDMAPREQUEST._serialized_end = 385
+    _GETPOINTCLOUDMAPRESPONSE._serialized_start = 387
+    _GETPOINTCLOUDMAPRESPONSE._serialized_end = 464
+    _GETINTERNALSTATEREQUEST._serialized_start = 466
+    _GETINTERNALSTATEREQUEST._serialized_end = 511
+    _GETINTERNALSTATERESPONSE._serialized_start = 513
+    _GETINTERNALSTATERESPONSE._serialized_end = 589
+    _GETPROPERTIESREQUEST._serialized_start = 591
+    _GETPROPERTIESREQUEST._serialized_end = 633
+    _GETPROPERTIESRESPONSE._serialized_start = 635
+    _GETPROPERTIESRESPONSE._serialized_end = 759
+    _SLAMSERVICE._serialized_start = 911
+    _SLAMSERVICE._serialized_end = 1723

src/viam/gen/service/slam/v1/slam_pb2.pyi

@@ -8,7 +8,6 @@ import google.protobuf.descriptor
 import google.protobuf.internal.enum_type_wrapper
 import google.protobuf.message
 import google.protobuf.struct_pb2
-import google.protobuf.timestamp_pb2
 import sys
 import typing
 if sys.version_info >= (3, 10):
@@ -136,39 +135,6 @@ class GetInternalStateResponse(google.protobuf.message.Message):
         ...
 global___GetInternalStateResponse = GetInternalStateResponse
 
-@typing_extensions.final
-class GetLatestMapInfoRequest(google.protobuf.message.Message):
-    DESCRIPTOR: google.protobuf.descriptor.Descriptor
-    NAME_FIELD_NUMBER: builtins.int
-    name: builtins.str
-    'Name of the SLAM algo'
-
-    def __init__(self, *, name: builtins.str=...) -> None:
-        ...
-
-    def ClearField(self, field_name: typing_extensions.Literal['name', b'name']) -> None:
-        ...
-global___GetLatestMapInfoRequest = GetLatestMapInfoRequest
-
-@typing_extensions.final
-class GetLatestMapInfoResponse(google.protobuf.message.Message):
-    DESCRIPTOR: google.protobuf.descriptor.Descriptor
-    LAST_MAP_UPDATE_FIELD_NUMBER: builtins.int
-
-    @property
-    def last_map_update(self) -> google.protobuf.timestamp_pb2.Timestamp:
-        ...
-
-    def __init__(self, *, last_map_update: google.protobuf.timestamp_pb2.Timestamp | None=...) -> None:
-        ...
-
-    def HasField(self, field_name: typing_extensions.Literal['last_map_update', b'last_map_update']) -> builtins.bool:
-        ...
-
-    def ClearField(self, field_name: typing_extensions.Literal['last_map_update', b'last_map_update']) -> None:
-        ...
-global___GetLatestMapInfoResponse = GetLatestMapInfoResponse
-
 @typing_extensions.final
 class GetPropertiesRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor

src/viam/proto/service/slam/__init__.py

@@ -6,8 +6,6 @@
 from ....gen.service.slam.v1.slam_pb2 import (
     GetInternalStateRequest,
     GetInternalStateResponse,
-    GetLatestMapInfoRequest,
-    GetLatestMapInfoResponse,
     GetPointCloudMapRequest,
     GetPointCloudMapResponse,
     GetPositionRequest,
@@ -22,8 +20,6 @@
     "SLAMServiceStub",
     "GetInternalStateRequest",
     "GetInternalStateResponse",
-    "GetLatestMapInfoRequest",
-    "GetLatestMapInfoResponse",
     "GetPointCloudMapRequest",
     "GetPointCloudMapResponse",
     "GetPositionRequest",

src/viam/services/slam/client.py

@@ -1,4 +1,3 @@
-from datetime import datetime
 from typing import List, Mapping, Optional, Tuple
 
 from grpclib.client import Channel
@@ -7,8 +6,6 @@
 from viam.proto.service.slam import (
     GetInternalStateRequest,
     GetInternalStateResponse,
-    GetLatestMapInfoRequest,
-    GetLatestMapInfoResponse,
     GetPointCloudMapRequest,
     GetPointCloudMapResponse,
     GetPositionRequest,
@@ -51,11 +48,6 @@ async def get_internal_state(self, *, timeout: Optional[float] = None) -> List[b
         response: List[GetInternalStateResponse] = await self.client.GetInternalState(request, timeout=timeout)
         return [r.internal_state_chunk for r in response]
 
-    async def get_latest_map_info(self, *, timeout: Optional[float] = None) -> datetime:
-        request = GetLatestMapInfoRequest(name=self.name)
-        response: GetLatestMapInfoResponse = await self.client.GetLatestMapInfo(request, timeout=timeout)
-        return response.last_map_update.ToDatetime()
-
     async def get_properties(self, *, timeout: Optional[float] = None) -> Tuple[bool, MappingMode.ValueType]:
         request = GetPropertiesRequest(name=self.name)
         response: GetPropertiesResponse = await self.client.GetProperties(request, timeout=timeout)