remove component reference from cartofacade

JohnN193 · May 22, 2024 · bc0e97d · bc0e97d
1 parent af97519
commit bc0e97d
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Showing 6 changed files with 11 additions and 49 deletions.
diff --git a/cartofacade/capi.go b/cartofacade/capi.go
@@ -77,8 +77,6 @@ type Position struct {
 	Imag float64
 	Jmag float64
 	Kmag float64
-
-	ComponentReference string
 }
 
 // LidarConfig represents the lidar configuration
@@ -93,10 +91,9 @@ const (
 
 // CartoConfig contains config values from app
 type CartoConfig struct {
-	Camera             string
-	MovementSensor     string
-	ComponentReference string
-	LidarConfig        LidarConfig
+	Camera         string
+	MovementSensor string
+	LidarConfig    LidarConfig
 
 	EnableMapping bool
 	ExistingMap   string
@@ -440,8 +437,6 @@ func toPositionResponse(value C.viam_carto_get_position_response) Position {
 		Imag: float64(value.imag),
 		Jmag: float64(value.jmag),
 		Kmag: float64(value.kmag),
-
-		ComponentReference: bstringToGoString(value.component_reference),
 	}
 }
 

diff --git a/cartofacade/capi_test.go b/cartofacade/capi_test.go
@@ -119,7 +119,6 @@ func TestPositionResponse(t *testing.T) {
 	gpr := getTestPositionResponse()
 	t.Run("position response properly converted between C and go", func(t *testing.T) {
 		holder := toPositionResponse(gpr)
-		test.That(t, holder.ComponentReference, test.ShouldEqual, "C++ component reference")
 
 		test.That(t, holder.X, test.ShouldEqual, 100)
 		test.That(t, holder.Y, test.ShouldEqual, 200)
@@ -342,7 +341,6 @@ func TestCGoAPIWithoutMovementSensor(t *testing.T) {
 		// test position zeroed
 		position, err = vc.position()
 		test.That(t, err, test.ShouldBeNil)
-		test.That(t, position.ComponentReference, test.ShouldEqual, "my-lidar")
 		positionIsZero(t, position)
 
 		// test pointCloudMap now returns a non empty result
@@ -369,7 +367,6 @@ func TestCGoAPIWithoutMovementSensor(t *testing.T) {
 		// test position, is no longer zeroed
 		position, err = vc.position()
 		test.That(t, err, test.ShouldBeNil)
-		test.That(t, position.ComponentReference, test.ShouldEqual, "my-lidar")
 		test.That(t, position.X, test.ShouldNotEqual, 0)
 		test.That(t, position.Y, test.ShouldNotEqual, 0)
 		test.That(t, position.Z, test.ShouldEqual, 0)
@@ -604,7 +601,6 @@ func TestCGoAPIWithMovementSensor(t *testing.T) {
 		// test position is not zeroed
 		position, err = vc.position()
 		test.That(t, err, test.ShouldBeNil)
-		test.That(t, position.ComponentReference, test.ShouldEqual, "my-lidar")
 		test.That(t, r3.Vector{X: position.X, Y: position.Y, Z: position.Z}, test.ShouldNotResemble, r3.Vector{X: 0, Y: 0, Z: 0})
 
 		// test pointCloudMap returns a non empty result

diff --git a/viam-cartographer/src/carto_facade/carto_facade.cc b/viam-cartographer/src/carto_facade/carto_facade.cc
@@ -120,7 +120,6 @@ config from_viam_carto_config(viam_carto_config vcc) {
         throw VIAM_CARTO_COMPONENT_REFERENCE_INVALID;
     }
     validate_lidar_config(c.lidar_config);
-    c.component_reference = bstrcpy(vcc.camera);
 
     return c;
 };
@@ -179,7 +178,7 @@ CartoFacade::CartoFacade(viam_carto_lib *pVCL, const viam_carto_config c,
     path_to_internal_state_file = config.existing_map;
 };
 
-CartoFacade::~CartoFacade() { bdestroy(config.component_reference); }
+CartoFacade::~CartoFacade() {  }
 
 void CartoFacade::IOInit() {
     if (state != CartoFacadeState::INITIALIZED) {
@@ -538,7 +537,6 @@ void CartoFacade::GetPosition(viam_carto_get_position_response *r) {
     r->imag = pos_quat.x();
     r->jmag = pos_quat.y();
     r->kmag = pos_quat.z();
-    r->component_reference = bstrcpy(config.component_reference);
 };
 
 void CartoFacade::GetPointCloudMap(viam_carto_get_point_cloud_map_response *r) {
@@ -642,11 +640,6 @@ void CartoFacade::AddLidarReading(const viam_carto_lidar_reading *sr) {
                    << CartoFacadeState::STARTED;
         throw VIAM_CARTO_NOT_IN_STARTED_STATE;
     }
-    if (biseq(config.component_reference, sr->lidar) == false) {
-        VLOG(1) << "expected sensor: " << to_std_string(sr->lidar) << " to be "
-                << config.component_reference;
-        throw VIAM_CARTO_UNKNOWN_SENSOR_NAME;
-    }
     std::string lidar_reading = to_std_string(sr->lidar_reading);
     if (lidar_reading.length() == 0) {
         throw VIAM_CARTO_LIDAR_READING_EMPTY;
@@ -1135,12 +1128,6 @@ extern int viam_carto_get_position_response_destroy(
         return VIAM_CARTO_GET_POSITION_RESPONSE_INVALID;
     }
     int return_code = VIAM_CARTO_SUCCESS;
-    int rc = BSTR_OK;
-    rc = bdestroy(r->component_reference);
-    if (rc != BSTR_OK) {
-        return_code = VIAM_CARTO_DESTRUCTOR_ERROR;
-    }
-    r->component_reference = nullptr;
     return return_code;
 };
 

diff --git a/viam-cartographer/src/carto_facade/carto_facade.h b/viam-cartographer/src/carto_facade/carto_facade.h
@@ -55,8 +55,6 @@ typedef struct viam_carto_get_position_response {
     double imag;
     double jmag;
     double kmag;
-
-    bstring component_reference;
 } viam_carto_get_position_response;
 
 typedef struct viam_carto_get_point_cloud_map_response {
@@ -372,7 +370,6 @@ static const double resolutionMeters = 0.05;
 typedef struct config {
     std::string camera;
     std::string movement_sensor;
-    bstring component_reference;
     viam_carto_LIDAR_CONFIG lidar_config;
     bool enable_mapping;
     std::string existing_map;
@@ -411,7 +408,7 @@ class CartoFacade {
 
     // GetPosition returns the relative pose of the robot w.r.t the "origin"
     // of the map, which is the starting point from where the map was initially
-    // created along with a component reference.
+    // created
     void GetPosition(viam_carto_get_position_response *r);
 
     // GetPointCloudMap returns a stream of the current sampled pointcloud

diff --git a/viam-cartographer/src/carto_facade/carto_facade_test.cc b/viam-cartographer/src/carto_facade/carto_facade_test.cc
@@ -249,7 +249,6 @@ BOOST_AUTO_TEST_CASE(CartoFacade_init_validate) {
 
     // TODO: Move all suite level setup & teardown to boost test hook
     // Teardown
-    viam_carto_config_teardown(vcc_empty_component_ref);
     viam_carto_config_teardown(vcc_invalid_lidar_config);
     viam_carto_config_teardown(vcc_invalid_movement_sensor_config);
     viam_carto_config_teardown(vcc_with_movement_sensor_succ);
@@ -490,7 +489,6 @@ BOOST_AUTO_TEST_CASE(CartoFacade_init_terminate_without_movement_sensor) {
     BOOST_TEST(((cf->state) == CartoFacadeState::IO_INITIALIZED));
     BOOST_TEST((cf->config.camera) == camera);
     BOOST_TEST((cf->config.movement_sensor) == movement_sensor);
-    BOOST_TEST(to_std_string(cf->config.component_reference) == "lidar");
     BOOST_TEST((cf->config.lidar_config) == VIAM_CARTO_THREE_D);
 
     BOOST_TEST(viam_carto_terminate(&vc) == VIAM_CARTO_SUCCESS);
@@ -764,7 +762,6 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_movement_sensor) {
         BOOST_TEST(pr.jmag == 0);
         BOOST_TEST(pr.kmag == 0);
         BOOST_TEST(pr.real == 1);
-        BOOST_TEST(to_std_string(pr.component_reference) == "lidar");
 
         BOOST_TEST(viam_carto_get_position_response_destroy(&pr) ==
                    VIAM_CARTO_SUCCESS);
@@ -820,7 +817,6 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_without_movement_sensor) {
         BOOST_TEST(pr.jmag == 0);
         BOOST_TEST(pr.kmag != 0);
         BOOST_TEST(pr.real != 1);
-        BOOST_TEST(to_std_string(pr.component_reference) == "lidar");
 
         BOOST_TEST(viam_carto_get_position_response_destroy(&pr) ==
                    VIAM_CARTO_SUCCESS);
@@ -907,14 +903,12 @@ BOOST_AUTO_TEST_CASE(CartoFacade_config_without_movement_sensor) {
 
     struct config c = viam::carto_facade::from_viam_carto_config(vcc);
 
-    BOOST_TEST(to_std_string(c.component_reference) == "lidar");
     BOOST_TEST(c.lidar_config == VIAM_CARTO_THREE_D);
     BOOST_TEST(c.camera == "lidar");
     BOOST_TEST(c.movement_sensor == "");
     BOOST_TEST(c.enable_mapping == true);
 
     viam_carto_config_teardown(vcc);
-    BOOST_TEST(bdestroy(c.component_reference) == BSTR_OK);
 
     // library terminate
     BOOST_TEST(viam_carto_lib_terminate(&lib) == VIAM_CARTO_SUCCESS);
@@ -993,7 +987,6 @@ BOOST_AUTO_TEST_CASE(CartoFacade_init_terminate_with_movement_sensor) {
     BOOST_TEST(((cf->state) == CartoFacadeState::IO_INITIALIZED));
     BOOST_TEST((cf->config.camera) == camera);
     BOOST_TEST((cf->config.movement_sensor) == movement_sensor);
-    BOOST_TEST(to_std_string(cf->config.component_reference) == "lidar");
     BOOST_TEST((cf->config.lidar_config) == VIAM_CARTO_THREE_D);
 
     BOOST_TEST(viam_carto_terminate(&vc) == VIAM_CARTO_SUCCESS);
@@ -1346,7 +1339,6 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_movement_sensor) {
         BOOST_TEST(pr.jmag != 0);
         BOOST_TEST(pr.kmag != 0);
         BOOST_TEST(pr.real != 1);
-        BOOST_TEST(to_std_string(pr.component_reference) == "lidar");
 
         BOOST_TEST(viam_carto_get_position_response_destroy(&pr) ==
                    VIAM_CARTO_SUCCESS);
@@ -1402,7 +1394,6 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_movement_sensor) {
         BOOST_TEST(pr.jmag != 0);
         BOOST_TEST(pr.kmag != 0);
         BOOST_TEST(pr.real != 1);
-        BOOST_TEST(to_std_string(pr.component_reference) == "lidar");
 
         BOOST_TEST(viam_carto_get_position_response_destroy(&pr) ==
                    VIAM_CARTO_SUCCESS);
@@ -1459,7 +1450,6 @@ BOOST_AUTO_TEST_CASE(CartoFacade_demo_with_movement_sensor) {
         BOOST_TEST(pr.jmag != 0);
         BOOST_TEST(pr.kmag != 0);
         BOOST_TEST(pr.real != 1);
-        BOOST_TEST(to_std_string(pr.component_reference) == "lidar");
 
         BOOST_TEST(viam_carto_get_position_response_destroy(&pr) ==
                    VIAM_CARTO_SUCCESS);
@@ -1589,14 +1579,12 @@ BOOST_AUTO_TEST_CASE(CartoFacade_config_with_movement_sensor) {
 
     struct config c = viam::carto_facade::from_viam_carto_config(vcc);
 
-    BOOST_TEST(to_std_string(c.component_reference) == "lidar");
     BOOST_TEST(c.lidar_config == VIAM_CARTO_THREE_D);
     BOOST_TEST(c.camera == "lidar");
     BOOST_TEST(c.movement_sensor == "movement_sensor");
     BOOST_TEST(c.enable_mapping == true);
 
     viam_carto_config_teardown(vcc);
-    BOOST_TEST(bdestroy(c.component_reference) == BSTR_OK);
 
     // library terminate
     BOOST_TEST(viam_carto_lib_terminate(&lib) == VIAM_CARTO_SUCCESS);

diff --git a/viam_cartographer.go b/viam_cartographer.go
@@ -489,12 +489,11 @@ func initCartoFacade(ctx context.Context, cartoSvc *CartographerService) error {
 	}
 
 	cartoCfg := cartofacade.CartoConfig{
-		Camera:             cartoSvc.lidar.Name(),
-		MovementSensor:     movementSensorName,
-		ComponentReference: cartoSvc.lidar.Name(),
-		LidarConfig:        cartofacade.TwoD,
-		EnableMapping:      cartoSvc.enableMapping,
-		ExistingMap:        cartoSvc.existingMap,
+		Camera:         cartoSvc.lidar.Name(),
+		MovementSensor: movementSensorName,
+		LidarConfig:    cartofacade.TwoD,
+		EnableMapping:  cartoSvc.enableMapping,
+		ExistingMap:    cartoSvc.existingMap,
 	}
 
 	cf := cartofacade.New(&cartoLib, cartoCfg, cartoAlgoConfig)
@@ -576,7 +575,7 @@ type CartographerService struct {
 }
 
 // Position forwards the request for positional data to the slam library's gRPC service. Once a response is received,
-// it is unpacked into a Pose and a component reference string.
+// it is unpacked into a Pose.
 func (cartoSvc *CartographerService) Position(ctx context.Context) (spatialmath.Pose, error) {
 	ctx, span := trace.StartSpan(ctx, "viamcartographer::CartographerService::Position")
 	defer span.End()