RSDK-2393 Remove Name Parameter from SLAM Functions (#40)

go.mod

@@ -12,7 +12,7 @@ require (
 	github.com/rhysd/actionlint v1.6.23
 	go.opencensus.io v0.24.0
 	go.viam.com/api v0.1.106
-	go.viam.com/rdk v0.2.34-0.20230406203657-55bdeae9ff52
+	go.viam.com/rdk v0.2.34-0.20230407220031-b6a992c7135b
 	go.viam.com/slam v0.1.34-0.20230404174630-f82fcc184401
 	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2
 	go.viam.com/utils v0.1.18-0.20230327140716-bfeb34d89117

go.sum

@@ -1384,6 +1384,8 @@ go.viam.com/api v0.1.106 h1:H//FPoU/KHRtyZI5wBJzQmf5hJUronqnfAVv4Q9fk28=
 go.viam.com/api v0.1.106/go.mod h1:NQC9FZnerAfIPJLJ42vgzQMoe1WAQRuVoQEf1JauxtQ=
 go.viam.com/rdk v0.2.34-0.20230406203657-55bdeae9ff52 h1:E7iW0X/d2lJWh4U53ZDHoLaR/dUDFYGFmy/f1VqnJKc=
 go.viam.com/rdk v0.2.34-0.20230406203657-55bdeae9ff52/go.mod h1:DZlQvkrFergpm6430h7aoKavSPQxSWNmcTj1rLbySmA=
+go.viam.com/rdk v0.2.34-0.20230407220031-b6a992c7135b h1:tdYHjFQ0pVTs4qpqAGl0ImViRtmDTdyw4nrjs48c6Wo=
+go.viam.com/rdk v0.2.34-0.20230407220031-b6a992c7135b/go.mod h1:DZlQvkrFergpm6430h7aoKavSPQxSWNmcTj1rLbySmA=
 go.viam.com/slam v0.1.34-0.20230404174630-f82fcc184401 h1:BEOffh7pXjC6bpJfE3LD9Mqzhj1RSJD8SkNzT2edoBk=
 go.viam.com/slam v0.1.34-0.20230404174630-f82fcc184401/go.mod h1:4oJw66kSTlro9tuaxjiFaDJPQjd546CHl1Y77qCx3cI=
 go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 h1:oBiK580EnEIzgFLU4lHOXmGAE3MxnVbeR7s1wp/F3Ps=

integration_test.go

@@ -37,7 +37,7 @@ const (
 
 // Checks the cartographer map and confirms there at least 100 map points.
 func testCartographerMap(t *testing.T, svc slam.Service) {
-	pcd, err := slam.GetPointCloudMapFull(context.Background(), svc, "test")
+	pcd, err := slam.GetPointCloudMapFull(context.Background(), svc)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, pcd, test.ShouldNotBeNil)
 
@@ -53,7 +53,7 @@ func testCartographerPosition(t *testing.T, svc slam.Service, expectedComponentR
 	expectedOri := &spatialmath.R4AA{Theta: 0, RX: 0, RY: 1, RZ: 0}
 	toleranceOri := 0.5
 
-	position, componentRef, err := svc.GetPosition(context.Background(), "test")
+	position, componentRef, err := svc.GetPosition(context.Background())
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, componentRef, test.ShouldEqual, expectedComponentRef)
 
@@ -73,7 +73,7 @@ func testCartographerPosition(t *testing.T, svc slam.Service, expectedComponentR
 
 // Checks the cartographer internal state.
 func testCartographerInternalState(t *testing.T, svc slam.Service, dataDir string) {
-	internalState, err := slam.GetInternalStateFull(context.Background(), svc, "test")
+	internalState, err := slam.GetInternalStateFull(context.Background(), svc)
 	test.That(t, err, test.ShouldBeNil)
 
 	// Save the data from the call to GetInternalState for use in next test.

viam-cartographer.go

@@ -133,6 +133,7 @@ func New(
 
 	// Cartographer SLAM Service Object
 	cartoSvc := &cartographerService{
+		name:                  config.Name,
 		primarySensorName:     lidar.Name,
 		executableName:        executableName,
 		subAlgo:               subAlgo,
@@ -187,6 +188,7 @@ func New(
 // cartographerService is the structure of the slam service.
 type cartographerService struct {
 	generic.Unimplemented
+	name              string
 	primarySensorName string
 	executableName    string
 	subAlgo           SubAlgo
@@ -215,11 +217,11 @@ type cartographerService struct {
 
 // GetPosition 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.
-func (cartoSvc *cartographerService) GetPosition(ctx context.Context, name string) (spatialmath.Pose, string, error) {
+func (cartoSvc *cartographerService) GetPosition(ctx context.Context) (spatialmath.Pose, string, error) {
 	ctx, span := trace.StartSpan(ctx, "viamcartographer::cartographerService::GetPosition")
 	defer span.End()
 
-	req := &pb.GetPositionRequest{Name: name}
+	req := &pb.GetPositionRequest{Name: cartoSvc.name}
 
 	resp, err := cartoSvc.clientAlgo.GetPosition(ctx, req)
 	if err != nil {
@@ -234,20 +236,20 @@ func (cartoSvc *cartographerService) GetPosition(ctx context.Context, name strin
 
 // GetPointCloudMap creates a request, calls the slam algorithms GetPointCloudMap endpoint and returns a callback
 // function which will return the next chunk of the current pointcloud map.
-func (cartoSvc *cartographerService) GetPointCloudMap(ctx context.Context, name string) (func() ([]byte, error), error) {
+func (cartoSvc *cartographerService) GetPointCloudMap(ctx context.Context) (func() ([]byte, error), error) {
 	ctx, span := trace.StartSpan(ctx, "viamcartographer::cartographerService::GetPointCloudMap")
 	defer span.End()
 
-	return grpchelper.GetPointCloudMapCallback(ctx, name, cartoSvc.clientAlgo)
+	return grpchelper.GetPointCloudMapCallback(ctx, cartoSvc.name, cartoSvc.clientAlgo)
 }
 
 // GetInternalState creates a request, calls the slam algorithms GetInternalState endpoint and returns a callback
 // function which will return the next chunk of the current internal state of the slam algo.
-func (cartoSvc *cartographerService) GetInternalState(ctx context.Context, name string) (func() ([]byte, error), error) {
+func (cartoSvc *cartographerService) GetInternalState(ctx context.Context) (func() ([]byte, error), error) {
 	ctx, span := trace.StartSpan(ctx, "viamcartographer::cartographerService::GetInternalState")
 	defer span.End()
 
-	return grpchelper.GetInternalStateCallback(ctx, name, cartoSvc.clientAlgo)
+	return grpchelper.GetInternalStateCallback(ctx, cartoSvc.name, cartoSvc.clientAlgo)
 }
 
 // StartDataProcess starts a go routine that saves data from the lidar to the user-defined data directory.

viam-cartographer_test.go

@@ -210,19 +210,19 @@ func TestEndpointFailures(t *testing.T) {
 	svc, err := testhelper.CreateSLAMService(t, attrCfg, logger, false, testExecutableName)
 	test.That(t, err, test.ShouldBeNil)
 
-	pNew, frame, err := svc.GetPosition(context.Background(), "slam service name")
+	pNew, frame, err := svc.GetPosition(context.Background())
 	test.That(t, pNew, test.ShouldBeNil)
 	test.That(t, frame, test.ShouldBeEmpty)
 	test.That(t, fmt.Sprint(err), test.ShouldContainSubstring, "error getting SLAM position")
 
-	callbackPointCloud, err := svc.GetPointCloudMap(context.Background(), "slam service name")
+	callbackPointCloud, err := svc.GetPointCloudMap(context.Background())
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, callbackPointCloud, test.ShouldNotBeNil)
 	chunkPCD, err := callbackPointCloud()
 	test.That(t, err.Error(), test.ShouldContainSubstring, "error receiving pointcloud chunk")
 	test.That(t, chunkPCD, test.ShouldBeNil)
 
-	callbackInternalState, err := svc.GetInternalState(context.Background(), "hi")
+	callbackInternalState, err := svc.GetInternalState(context.Background())
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, callbackInternalState, test.ShouldNotBeNil)
 	chunkInternalState, err := callbackInternalState()