[RSDK-3786] full-mod-new-close

Makefile

@@ -95,9 +95,14 @@ else
 	$(error "Unsupported system. Only apt and brew currently supported.")
 endif
 
-build: ensure-submodule-initialized grpc/buf build-module
+build: bin/cartographer-module
+
+viam-cartographer/build/carto_grpc_server: ensure-submodule-initialized grpc/buf
 	cd viam-cartographer && cmake -Bbuild -G Ninja ${EXTRA_CMAKE_FLAGS} && cmake --build build
 
+bin/cartographer-module: viam-cartographer/build/carto_grpc_server
+	mkdir -p bin && go build $(GO_BUILD_LDFLAGS) -o bin/cartographer-module module/main.go
+
 # Ideally build-asan would be added to build-debug, but can't yet 
 # as these options they fail on arm64 linux. This is b/c that 
 # platform currently uses gcc as opposed to clang & gcc doesn't
@@ -111,9 +116,6 @@ build-asan: build-debug
 build-debug: EXTRA_CMAKE_FLAGS += -DCMAKE_BUILD_TYPE=Debug -DFORCE_DEBUG_BUILD=True
 build-debug: build
 
-build-module:
-	mkdir -p bin && go build $(GO_BUILD_LDFLAGS) -o bin/cartographer-module module/main.go
-
 test-cpp:
 	viam-cartographer/build/unit_tests -p -l all
 

cartofacade/capi.go

@@ -77,8 +77,10 @@ type GetPosition struct {
 type LidarConfig int64
 
 const (
-	twoD LidarConfig = iota
-	threeD
+	// TwoD LidarConfig denotes a 2d lidar
+	TwoD LidarConfig = iota
+	// ThreeD LidarConfig denotes a 3d lidar
+	ThreeD
 )
 
 // CartoConfig contains config values from app
@@ -92,19 +94,19 @@ type CartoConfig struct {
 
 // CartoAlgoConfig contains config values from app
 type CartoAlgoConfig struct {
-	optimizeOnStart      bool
-	optimizeEveryNNodes  int
-	numRangeData         int
-	missingDataRayLength float32
-	maxRange             float32
-	minRange             float32
-	maxSubmapsToKeep     int
-	freshSubmapsCount    int
-	minCoveredArea       float64
-	minAddedSubmapsCount int
-	occupiedSpaceWeight  float64
-	translationWeight    float64
-	rotationWeight       float64
+	OptimizeOnStart      bool
+	OptimizeEveryNNodes  int
+	NumRangeData         int
+	MissingDataRayLength float32
+	MaxRange             float32
+	MinRange             float32
+	MaxSubmapsToKeep     int
+	FreshSubmapsCount    int
+	MinCoveredArea       float64
+	MinAddedSubmapsCount int
+	OccupiedSpaceWeight  float64
+	TranslationWeight    float64
+	RotationWeight       float64
 }
 
 // NewLib calls viam_carto_lib_init and returns a pointer to a viam carto lib object.
@@ -311,9 +313,9 @@ func goStringToBstring(goStr string) C.bstring {
 
 func toLidarConfig(lidarConfig LidarConfig) (C.viam_carto_LIDAR_CONFIG, error) {
 	switch lidarConfig {
-	case twoD:
+	case TwoD:
 		return C.VIAM_CARTO_TWO_D, nil
-	case threeD:
+	case ThreeD:
 		return C.VIAM_CARTO_THREE_D, nil
 	default:
 		return 0, errors.New("invalid lidar config value")
@@ -349,19 +351,19 @@ func getConfig(cfg CartoConfig) (C.viam_carto_config, error) {
 
 func toAlgoConfig(acfg CartoAlgoConfig) C.viam_carto_algo_config {
 	vcac := C.viam_carto_algo_config{}
-	vcac.optimize_on_start = C.bool(acfg.optimizeOnStart)
-	vcac.optimize_every_n_nodes = C.int(acfg.optimizeEveryNNodes)
-	vcac.num_range_data = C.int(acfg.numRangeData)
-	vcac.missing_data_ray_length = C.float(acfg.missingDataRayLength)
-	vcac.max_range = C.float(acfg.maxRange)
-	vcac.min_range = C.float(acfg.minRange)
-	vcac.max_submaps_to_keep = C.int(acfg.maxSubmapsToKeep)
-	vcac.fresh_submaps_count = C.int(acfg.freshSubmapsCount)
-	vcac.min_covered_area = C.double(acfg.minCoveredArea)
-	vcac.min_added_submaps_count = C.int(acfg.minAddedSubmapsCount)
-	vcac.occupied_space_weight = C.double(acfg.occupiedSpaceWeight)
-	vcac.translation_weight = C.double(acfg.translationWeight)
-	vcac.rotation_weight = C.double(acfg.rotationWeight)
+	vcac.optimize_on_start = C.bool(acfg.OptimizeOnStart)
+	vcac.optimize_every_n_nodes = C.int(acfg.OptimizeEveryNNodes)
+	vcac.num_range_data = C.int(acfg.NumRangeData)
+	vcac.missing_data_ray_length = C.float(acfg.MissingDataRayLength)
+	vcac.max_range = C.float(acfg.MaxRange)
+	vcac.min_range = C.float(acfg.MinRange)
+	vcac.max_submaps_to_keep = C.int(acfg.MaxSubmapsToKeep)
+	vcac.fresh_submaps_count = C.int(acfg.FreshSubmapsCount)
+	vcac.min_covered_area = C.double(acfg.MinCoveredArea)
+	vcac.min_added_submaps_count = C.int(acfg.MinAddedSubmapsCount)
+	vcac.occupied_space_weight = C.double(acfg.OccupiedSpaceWeight)
+	vcac.translation_weight = C.double(acfg.TranslationWeight)
+	vcac.rotation_weight = C.double(acfg.RotationWeight)
 	return vcac
 }
 

cartofacade/capi_test.go

@@ -72,7 +72,7 @@ func TestGetConfig(t *testing.T) {
 
 		freeBstringArray(vcc.sensors, vcc.sensors_len)
 
-		test.That(t, vcc.lidar_config, test.ShouldEqual, twoD)
+		test.That(t, vcc.lidar_config, test.ShouldEqual, TwoD)
 	})
 }
 

cartofacade/testhelpers.go

@@ -16,33 +16,33 @@ func GetTestConfig(sensor string) (CartoConfig, string, error) {
 		MapRateSecond:      5,
 		DataDir:            dir,
 		ComponentReference: "component",
-		LidarConfig:        twoD,
+		LidarConfig:        TwoD,
 	}, dir, nil
 }
 
 // GetBadTestConfig gets a sample config for testing purposes that will cause a failure.
 func GetBadTestConfig() CartoConfig {
 	return CartoConfig{
 		Sensors:     []string{"rplidar", "imu"},
-		LidarConfig: twoD,
+		LidarConfig: TwoD,
 	}
 }
 
 // GetTestAlgoConfig gets a sample algo config for testing purposes.
 func GetTestAlgoConfig() CartoAlgoConfig {
 	return CartoAlgoConfig{
-		optimizeOnStart:      false,
-		optimizeEveryNNodes:  3,
-		numRangeData:         100,
-		missingDataRayLength: 25.0,
-		maxRange:             25.0,
-		minRange:             0.2,
-		maxSubmapsToKeep:     3,
-		freshSubmapsCount:    3,
-		minCoveredArea:       1.0,
-		minAddedSubmapsCount: 1,
-		occupiedSpaceWeight:  20.0,
-		translationWeight:    10.0,
-		rotationWeight:       1.0,
+		OptimizeOnStart:      false,
+		OptimizeEveryNNodes:  3,
+		NumRangeData:         100,
+		MissingDataRayLength: 25.0,
+		MaxRange:             25.0,
+		MinRange:             0.2,
+		MaxSubmapsToKeep:     3,
+		FreshSubmapsCount:    3,
+		MinCoveredArea:       1.0,
+		MinAddedSubmapsCount: 1,
+		OccupiedSpaceWeight:  20.0,
+		TranslationWeight:    10.0,
+		RotationWeight:       1.0,
 	}
 }

integration_test.go

@@ -26,7 +26,8 @@ import (
 	viamcartographer "github.com/viamrobotics/viam-cartographer"
 	vcConfig "github.com/viamrobotics/viam-cartographer/config"
 	"github.com/viamrobotics/viam-cartographer/dataprocess"
-	"github.com/viamrobotics/viam-cartographer/internal/testhelper"
+	internaltesthelper "github.com/viamrobotics/viam-cartographer/internal/testhelper"
+	"github.com/viamrobotics/viam-cartographer/testhelper"
 )
 
 const (
@@ -99,7 +100,7 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 		t.Skip()
 	}
 
-	dataDir, err := testhelper.CreateTempFolderArchitecture(logger)
+	dataDir, err := internaltesthelper.CreateTempFolderArchitecture(logger)
 	test.That(t, err, test.ShouldBeNil)
 
 	prevNumFiles := 0
@@ -126,14 +127,14 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 	// Release point cloud for service validation
 	testhelper.IntegrationLidarReleasePointCloudChan <- 1
 	// Create slam service using a real cartographer binary
-	svc, err := testhelper.CreateSLAMService(t, attrCfg, logger, true, viamcartographer.DefaultExecutableName)
+	svc, err := internaltesthelper.CreateSLAMService(t, attrCfg, logger, true, viamcartographer.DefaultExecutableName)
 	test.That(t, err, test.ShouldBeNil)
 
 	// Release point cloud, since cartographer looks for the second most recent point cloud
 	testhelper.IntegrationLidarReleasePointCloudChan <- 1
 
 	// Make sure we initialize in mapping mode
-	logReader := svc.(testhelper.Service).GetSLAMProcessBufferedLogReader()
+	logReader := svc.(internaltesthelper.Service).GetSLAMProcessBufferedLogReader()
 	for {
 		line, err := logReader.ReadString('\n')
 		test.That(t, err, test.ShouldBeNil)
@@ -153,7 +154,7 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 			line, err := logReader.ReadString('\n')
 			test.That(t, err, test.ShouldBeNil)
 			if strings.Contains(line, "Passed sensor data to SLAM") {
-				prevNumFiles = testhelper.CheckDeleteProcessedData(
+				prevNumFiles = internaltesthelper.CheckDeleteProcessedData(
 					t,
 					subAlgo,
 					dataDir,
@@ -206,11 +207,11 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 	}
 
 	// Create slam service using a real cartographer binary
-	svc, err = testhelper.CreateSLAMService(t, attrCfg, golog.NewTestLogger(t), true, viamcartographer.DefaultExecutableName)
+	svc, err = internaltesthelper.CreateSLAMService(t, attrCfg, golog.NewTestLogger(t), true, viamcartographer.DefaultExecutableName)
 	test.That(t, err, test.ShouldBeNil)
 
 	// Make sure we initialize in mapping mode
-	logReader = svc.(testhelper.Service).GetSLAMProcessBufferedLogReader()
+	logReader = svc.(internaltesthelper.Service).GetSLAMProcessBufferedLogReader()
 	for {
 		line, err := logReader.ReadString('\n')
 		test.That(t, err, test.ShouldBeNil)
@@ -226,7 +227,7 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 		line, err := logReader.ReadString('\n')
 		test.That(t, err, test.ShouldBeNil)
 		if strings.Contains(line, "Passed sensor data to SLAM") {
-			prevNumFiles = testhelper.CheckDeleteProcessedData(
+			prevNumFiles = internaltesthelper.CheckDeleteProcessedData(
 				t,
 				subAlgo,
 				dataDir,
@@ -252,7 +253,7 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 	time.Sleep(time.Millisecond * cartoSleepMsec)
 
 	// Remove existing pointclouds, but leave maps and config (so we keep the lua files).
-	test.That(t, testhelper.ResetFolder(dataDir+"/data"), test.ShouldBeNil)
+	test.That(t, internaltesthelper.ResetFolder(dataDir+"/data"), test.ShouldBeNil)
 	prevNumFiles = 0
 
 	// Count the initial number of maps in the map directory (should equal 1)
@@ -280,11 +281,11 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 	// Release point cloud for service validation
 	testhelper.IntegrationLidarReleasePointCloudChan <- 1
 	// Create slam service using a real cartographer binary
-	svc, err = testhelper.CreateSLAMService(t, attrCfg, golog.NewTestLogger(t), true, viamcartographer.DefaultExecutableName)
+	svc, err = internaltesthelper.CreateSLAMService(t, attrCfg, golog.NewTestLogger(t), true, viamcartographer.DefaultExecutableName)
 	test.That(t, err, test.ShouldBeNil)
 
 	// Make sure we initialize in localization mode
-	logReader = svc.(testhelper.Service).GetSLAMProcessBufferedLogReader()
+	logReader = svc.(internaltesthelper.Service).GetSLAMProcessBufferedLogReader()
 	for {
 		line, err := logReader.ReadString('\n')
 		test.That(t, err, test.ShouldBeNil)
@@ -304,7 +305,7 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 			line, err := logReader.ReadString('\n')
 			test.That(t, err, test.ShouldBeNil)
 			if strings.Contains(line, "Passed sensor data to SLAM") {
-				prevNumFiles = testhelper.CheckDeleteProcessedData(
+				prevNumFiles = internaltesthelper.CheckDeleteProcessedData(
 					t,
 					subAlgo,
 					dataDir,
@@ -320,7 +321,7 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 	testCartographerMap(t, svc, true)
 
 	// Remove maps so that testing is done on the map generated by the internal map
-	test.That(t, testhelper.ResetFolder(dataDir+"/map"), test.ShouldBeNil)
+	test.That(t, internaltesthelper.ResetFolder(dataDir+"/map"), test.ShouldBeNil)
 
 	testCartographerInternalState(t, svc, dataDir)
 
@@ -334,7 +335,7 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 	time.Sleep(time.Millisecond * cartoSleepMsec)
 
 	// Remove existing pointclouds, but leave maps and config (so we keep the lua files).
-	test.That(t, testhelper.ResetFolder(dataDir+"/data"), test.ShouldBeNil)
+	test.That(t, internaltesthelper.ResetFolder(dataDir+"/data"), test.ShouldBeNil)
 	prevNumFiles = 0
 
 	// Test online mode using the map generated in the offline test
@@ -356,11 +357,11 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 	// Release point cloud for service validation
 	testhelper.IntegrationLidarReleasePointCloudChan <- 1
 	// Create slam service using a real cartographer binary
-	svc, err = testhelper.CreateSLAMService(t, attrCfg, golog.NewTestLogger(t), true, viamcartographer.DefaultExecutableName)
+	svc, err = internaltesthelper.CreateSLAMService(t, attrCfg, golog.NewTestLogger(t), true, viamcartographer.DefaultExecutableName)
 	test.That(t, err, test.ShouldBeNil)
 
 	// Make sure we initialize in updating mode
-	logReader = svc.(testhelper.Service).GetSLAMProcessBufferedLogReader()
+	logReader = svc.(internaltesthelper.Service).GetSLAMProcessBufferedLogReader()
 	for {
 		line, err := logReader.ReadString('\n')
 		test.That(t, err, test.ShouldBeNil)
@@ -380,7 +381,7 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 			line, err := logReader.ReadString('\n')
 			test.That(t, err, test.ShouldBeNil)
 			if strings.Contains(line, "Passed sensor data to SLAM") {
-				prevNumFiles = testhelper.CheckDeleteProcessedData(
+				prevNumFiles = internaltesthelper.CheckDeleteProcessedData(
 					t,
 					subAlgo,
 					dataDir,
@@ -404,7 +405,7 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 	testCartographerDir(t, dataDir, 2)
 
 	// Clear out directory
-	testhelper.ClearDirectory(t, dataDir)
+	internaltesthelper.ClearDirectory(t, dataDir)
 }
 
 // Checks the current slam directory to see if the number of files matches the expected amount.