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viam-modules · Jul 10, 2023 · 9305149 · 9305149
1 parent 4b1c2fb
commit 9305149
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Showing 6 changed files with 19 additions and 7 deletions.
diff --git a/internal/dim-2d/dim-2d.go → sensors/lidar/dim-2d/dim-2d.go b/internal/dim-2d/dim-2d.go → sensors/lidar/dim-2d/dim-2d.go
@@ -55,8 +55,11 @@ func NewLidar(
 	return lidar, nil
 }
 
-// TODO: Move to 2d.
-func GetData(ctx context.Context, lidar lidar.Lidar) (time.Time, pointcloud.PointCloud, error) {
+// GetTimedData returns a 2d lidar reading, the timestamp from when it wask taken
+// (eitehr in live mode or offline mode)
+// and an error if an error occurred getting the lidar data or parsing the offline
+// timestamp.
+func GetTimedData(ctx context.Context, lidar lidar.Lidar) (time.Time, pointcloud.PointCloud, error) {
 	ctx, md := contextutils.ContextWithMetadata(ctx)
 	reqTime := time.Now().UTC()
 	pointcloud, err := lidar.GetData(ctx)
@@ -74,6 +77,10 @@ func GetData(ctx context.Context, lidar lidar.Lidar) (time.Time, pointcloud.Poin
 	return reqTime, pointcloud, nil
 }
 
+// ValidateGetData checks every sensorValidationIntervalSec if the provided lidar
+// returned a valid timed lidar readings every sensorValidationIntervalSec
+// until either success or sensorValidationMaxTimeoutSec has elapsed.
+// returns an error if no valid lidar readings were returned.
 func ValidateGetData(
 	ctx context.Context,
 	lidar lidar.Lidar,
@@ -87,7 +94,7 @@ func ValidateGetData(
 	startTime := time.Now().UTC()
 
 	for {
-		_, _, err := GetData(ctx, lidar)
+		_, _, err := GetTimedData(ctx, lidar)
 		if err == nil {
 			break
 		}

diff --git a/internal/dim-2d/dim-2d_test.go → sensors/lidar/dim-2d/dim-2d_test.go b/internal/dim-2d/dim-2d_test.go → sensors/lidar/dim-2d/dim-2d_test.go
@@ -10,9 +10,9 @@ import (
 	"github.com/pkg/errors"
 	"go.viam.com/test"
 
-	dim2d "github.com/viamrobotics/viam-cartographer/internal/dim-2d"
 	internaltesthelper "github.com/viamrobotics/viam-cartographer/internal/testhelper"
 	"github.com/viamrobotics/viam-cartographer/sensors/lidar"
+	dim2d "github.com/viamrobotics/viam-cartographer/sensors/lidar/dim-2d"
 	"github.com/viamrobotics/viam-cartographer/testhelper"
 )
 

diff --git a/internal/dim-2d/sensor-indices.go → sensors/lidar/dim-2d/sensor-indices.go b/internal/dim-2d/sensor-indices.go → sensors/lidar/dim-2d/sensor-indices.go
diff --git a/internal/inject/slam_service.go → testhelper/inject/slam_service.go b/internal/inject/slam_service.go → testhelper/inject/slam_service.go
diff --git a/viam-cartographer.go b/viam-cartographer.go
@@ -27,9 +27,9 @@ import (
 
 	"github.com/viamrobotics/viam-cartographer/cartofacade"
 	vcConfig "github.com/viamrobotics/viam-cartographer/config"
-	dim2d "github.com/viamrobotics/viam-cartographer/internal/dim-2d"
 	"github.com/viamrobotics/viam-cartographer/sensorprocess"
 	"github.com/viamrobotics/viam-cartographer/sensors/lidar"
+	dim2d "github.com/viamrobotics/viam-cartographer/sensors/lidar/dim-2d"
 	vcUtils "github.com/viamrobotics/viam-cartographer/utils"
 )
 
@@ -230,7 +230,12 @@ func New(
 	}()
 
 	if modularizationV2Enabled {
-		if err := dim2d.ValidateGetData(cancelCtx, cartoSvc.lidar, cartoSvc.sensorValidationMaxTimeoutSec, cartoSvc.sensorValidationIntervalSec, cartoSvc.logger); err != nil {
+		if err := dim2d.ValidateGetData(
+			cancelCtx,
+			cartoSvc.lidar,
+			cartoSvc.sensorValidationMaxTimeoutSec,
+			cartoSvc.sensorValidationIntervalSec,
+			cartoSvc.logger); err != nil {
 			err := errors.Wrap(err, "failed to get data from lidar")
 			return nil, err
 		}

diff --git a/viam-cartographer_internal_test.go b/viam-cartographer_internal_test.go
@@ -16,7 +16,7 @@ import (
 	"google.golang.org/grpc"
 	"google.golang.org/protobuf/types/known/structpb"
 
-	inject "github.com/viamrobotics/viam-cartographer/internal/inject"
+	inject "github.com/viamrobotics/viam-cartographer/testhelper/inject"
 )
 
 type pointCloudClientMock struct {