RSDK-4573: remove proto types from robot client apis (viamrobotics#207)

Co-authored-by: Ethan Rodkin <ethan@viam.com>

src/viam/examples/camera/example_camera.cpp

@@ -44,11 +44,12 @@ int main() {
             throw;
         }
 
-        std::vector<vs::ResourceName>* resource_names = robot->resource_names();
+        std::vector<vs::Name> resource_names = robot->resource_names();
 
         cout << "Resources of the robot:" << endl;
-        for (vs::ResourceName resource : *resource_names) {
-            cout << " - " << resource.name() << " (" << resource.subtype() << ")" << endl;
+        for (const auto& resource : resource_names) {
+            cout << " - " << resource.name() << " (" << resource.api().resource_subtype() << ")"
+                 << endl;
         }
 
         std::string camera_name("camera1");

src/viam/examples/dial/example_dial.cpp

@@ -40,26 +40,25 @@ int main() {
     std::shared_ptr<RobotClient> robot = RobotClient::at_address(address, options);
 
     // ensure we can query resources
-    std::vector<ResourceName>* resource_names = robot->resource_names();
+    std::vector<Name> resource_names = robot->resource_names();
     std::cout << "Resources" << std::endl;
-    for (const ResourceName& resource : *resource_names) {
-        std::cout << "\tname: " << resource.name() << " (type:" << resource.type()
-                  << " subtype:" << resource.subtype() << ")" << std::endl;
+    for (const Name& resource : resource_names) {
+        std::cout << "\t" << resource << "\n" << std::endl;
     }
 
     // ensure we can query statuses
-    std::vector<Status> status_plural = robot->get_status();
+    std::vector<RobotClient::status> status_plural = robot->get_status();
     std::cout << "Status plural len " << status_plural.size() << std::endl;
-    for (const Status& s : status_plural) {
-        std::cout << " Status! " << s.name().subtype() << std::endl;
+    for (const RobotClient::status& s : status_plural) {
+        std::cout << " Status! " << s.name->api().resource_subtype() << std::endl;
     }
 
     // ensure we can send requests for specific resources
-    std::vector<ResourceName> just_one = {resource_names->at(0)};
-    std::vector<Status> status_singular = robot->get_status(just_one);
+    std::vector<Name> just_one = {resource_names[0]};
+    std::vector<RobotClient::status> status_singular = robot->get_status(just_one);
     std::cout << "Status singular len " << status_singular.size() << std::endl;
-    for (const Status& s : status_singular) {
-        std::cout << " Status! " << s.name().subtype() << std::endl;
+    for (const RobotClient::status& s : status_singular) {
+        std::cout << " Status! " << s.name->api().resource_subtype() << std::endl;
     }
 
     // ensure we can create clients to the robot

src/viam/examples/dial_api_key/example_dial_api_key.cpp

@@ -42,26 +42,25 @@ int main() {
     std::shared_ptr<RobotClient> robot = RobotClient::at_address(address, options);
 
     // ensure we can query resources
-    std::vector<ResourceName>* resource_names = robot->resource_names();
+    std::vector<Name> resource_names = robot->resource_names();
     std::cout << "Resources" << std::endl;
-    for (const ResourceName& resource : *resource_names) {
-        std::cout << "\tname: " << resource.name() << " (type:" << resource.type()
-                  << " subtype:" << resource.subtype() << ")" << std::endl;
+    for (const Name& resource : resource_names) {
+        std::cout << "\t" << resource << "\n" << std::endl;
     }
 
     // ensure we can query statuses
-    std::vector<Status> status_plural = robot->get_status();
+    std::vector<RobotClient::status> status_plural = robot->get_status();
     std::cout << "Status plural len " << status_plural.size() << std::endl;
-    for (const Status& s : status_plural) {
-        std::cout << " Status! " << s.name().subtype() << std::endl;
+    for (const RobotClient::status& s : status_plural) {
+        std::cout << " Status! " << s.name->api().resource_subtype() << std::endl;
     }
 
     // ensure we can send requests for specific resources
-    std::vector<ResourceName> just_one = {resource_names->at(0)};
-    std::vector<Status> status_singular = robot->get_status(just_one);
+    std::vector<Name> just_one = {resource_names[0]};
+    std::vector<RobotClient::status> status_singular = robot->get_status(just_one);
     std::cout << "Status singular len " << status_singular.size() << std::endl;
-    for (const Status& s : status_singular) {
-        std::cout << " Status! " << s.name().subtype() << std::endl;
+    for (const RobotClient::status& s : status_singular) {
+        std::cout << " Status! " << s.name->api().resource_subtype() << std::endl;
     }
 
     return EXIT_SUCCESS;

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

@@ -46,10 +46,9 @@ int main() {
     std::shared_ptr<RobotClient> robot = RobotClient::at_address(address, options);
     // Print resources.
     std::cout << "Resources" << std::endl;
-    std::vector<ResourceName>* resource_names = robot->resource_names();
-    for (const ResourceName& resource : *resource_names) {
-        std::cout << "\tname: " << resource.name() << " (type:" << resource.type()
-                  << " subtype:" << resource.subtype() << ")" << std::endl;
+    std::vector<Name> resource_names = robot->resource_names();
+    for (const Name& resource : resource_names) {
+        std::cout << "\t" << resource << "\n";
     }
 
     // Exercise Gizmo methods.

src/viam/examples/motor/example_motor.cpp

@@ -56,11 +56,11 @@ int main() {
             throw;
         }
 
-        std::vector<vs::ResourceName>* resource_names = robot->resource_names();
+        std::vector<vs::Name> resource_names = robot->resource_names();
 
         cout << "Resources of the robot:" << endl;
-        for (const vs::ResourceName& resource : *resource_names) {
-            cout << " - " << resource.name() << " (" << resource.subtype() << ")" << endl;
+        for (const vs::Name& resource : resource_names) {
+            cout << resource << endl;
         }
 
         std::string motor_name("motor1");

src/viam/sdk/common/proto_type.cpp

@@ -38,7 +38,7 @@ Struct map_to_struct(AttributeMap dict) {
 
 // NOLINTNEXTLINE(misc-no-recursion)
 AttributeMap struct_to_map(Struct struct_) {
-    std::shared_ptr<std::unordered_map<std::string, std::shared_ptr<ProtoType>>> map =
+    AttributeMap map =
         std::make_shared<std::unordered_map<std::string, std::shared_ptr<ProtoType>>>();
 
     for (const auto& val : struct_.fields()) {

src/viam/sdk/common/proto_type.hpp

@@ -52,6 +52,7 @@ class ProtoType {
 
     explicit ProtoType(bool b) : proto_type_(std::move(b)) {}
     explicit ProtoType(std::string s) : proto_type_(std::move(s)) {}
+    explicit ProtoType(const char* c) : proto_type_(std::string(c)) {}
     explicit ProtoType(int i) : proto_type_(std::move(i)) {}
     explicit ProtoType(double d) : proto_type_(std::move(d)) {}
     explicit ProtoType(AttributeMap m) : proto_type_(std::move(m)) {}

src/viam/sdk/common/utils.cpp

@@ -21,13 +21,13 @@
 namespace viam {
 namespace sdk {
 
-using viam::common::v1::ResourceName;
 using time_point = std::chrono::time_point<long long, std::chrono::nanoseconds>;
 
-std::vector<ResourceName> resource_names_for_resource(const std::shared_ptr<Resource>& resource) {
+// TODO: RSDK-6627 : move this function to `Resource` class.
+std::vector<Name> resource_names_for_resource(const std::shared_ptr<Resource>& resource) {
     std::string resource_type;
     std::string resource_subtype;
-    std::vector<ResourceName> resource_names;
+    std::vector<Name> resource_names;
     for (const auto& kv : Registry::registered_models()) {
         const std::shared_ptr<const ModelRegistration> reg = kv.second;
         if (reg->api().to_string() == resource->api().to_string()) {
@@ -41,12 +41,7 @@ std::vector<ResourceName> resource_names_for_resource(const std::shared_ptr<Reso
             resource_subtype = resource->name();
         }
 
-        ResourceName r;
-        *r.mutable_namespace_() = kRDK;
-        *r.mutable_name() = resource->name();
-        *r.mutable_type() = resource_type;
-        *r.mutable_subtype() = resource_subtype;
-        resource_names.push_back(r);
+        resource_names.push_back({{kRDK, resource_type, resource_subtype}, "", resource->name()});
     }
     return resource_names;
 }

src/viam/sdk/common/utils.hpp

@@ -12,35 +12,18 @@
 
 #include <viam/sdk/common/proto_type.hpp>
 #include <viam/sdk/components/component.hpp>
+#include <viam/sdk/resource/resource_api.hpp>
 
 namespace viam {
 namespace sdk {
 
-using viam::common::v1::ResourceName;
 const std::string kComponent = "component";
 const std::string kResource = "resource";
 const std::string kService = "service";
 const std::string kRDK = "rdk";
 const std::string kBuiltin = "builtin";
 
-std::vector<viam::common::v1::ResourceName> resource_names_for_resource(
-    const std::shared_ptr<Resource>& resource);
-
-class ResourceNameHasher {
-   public:
-    size_t operator()(ResourceName const& key) const {
-        return std::hash<std::string>()(key.SerializeAsString());
-    }
-};
-class ResourceNameEqual {
-   public:
-    bool operator()(ResourceName const& t1, ResourceName const& t2) const {
-        return !(t1.SerializeAsString().compare(t2.SerializeAsString()));
-    }
-    static bool check_equal(const ResourceName r1, const ResourceName r2) {
-        return r1.SerializeAsString().compare(r2.SerializeAsString());
-    }
-};
+std::vector<Name> resource_names_for_resource(const std::shared_ptr<Resource>& resource);
 
 struct response_metadata {
     std::chrono::time_point<long long, std::chrono::nanoseconds> captured_at;

src/viam/sdk/module/service.cpp

@@ -67,7 +67,7 @@ std::shared_ptr<Resource> ModuleService::get_parent_resource_(Name name) {
         parent_ = RobotClient::at_local_socket(parent_addr_, {0, boost::none});
     }
 
-    return parent_->resource_by_name(name.to_proto());
+    return parent_->resource_by_name(name);
 }
 
 // TODO(RSDK-6528) - to the extent possible, switch to using `server_helper`

src/viam/sdk/resource/resource.cpp

@@ -12,6 +12,8 @@
 namespace viam {
 namespace sdk {
 
+using common::v1::ResourceName;
+
 Resource::~Resource() = default;
 Resource::Resource(std::string name) : name_(std::move(name)) {}