RSDK-4106: Restructure lidar name and data rate to use map

cartofacade/capi.go

@@ -99,7 +99,7 @@ const (
 
 // CartoConfig contains config values from app
 type CartoConfig struct {
-	Sensors            []string
+	Camera             map[string]string
 	MapRateSecond      int
 	DataDir            string
 	ComponentReference string
@@ -179,7 +179,7 @@ func NewCarto(cfg CartoConfig, acfg CartoAlgoConfig, vcl CartoLibInterface) (Car
 		return Carto{}, err
 	}
 
-	status = C.free_bstring_array(vcc.sensors, C.size_t(len(cfg.Sensors)))
+	status = C.free_bstring_array(vcc.sensors, C.size_t(1))
 	if status != C.BSTR_OK {
 		return Carto{}, errors.New("unable to free memory for sensor list")
 	}
@@ -354,15 +354,15 @@ func getConfig(cfg CartoConfig) (C.viam_carto_config, error) {
 	vcc := C.viam_carto_config{}
 
 	// create pointer to bstring which can represent a list of sensors
-	sz := len(cfg.Sensors)
+	sz := 1
 	pSensor := C.alloc_bstring_array(C.size_t(sz))
 	if pSensor == nil {
 		return C.viam_carto_config{}, errors.New("unable to allocate memory for sensor list")
 	}
 	sensorSlice := unsafe.Slice(pSensor, sz)
-	for i, sensor := range cfg.Sensors {
-		sensorSlice[i] = goStringToBstring(sensor)
-	}
+
+	sensorSlice[0] = goStringToBstring(cfg.Camera["name"])
+
 	lidarCfg, err := toLidarConfig(cfg.LidarConfig)
 	if err != nil {
 		return C.viam_carto_config{}, err

cartofacade/testhelpers.go

@@ -12,7 +12,7 @@ func GetTestConfig(sensor string) (CartoConfig, string, error) {
 	}
 
 	return CartoConfig{
-		Sensors:            []string{sensor, "imu"},
+		Camera:             map[string]string{"name": "test_lidar", "data_freq_hz": "20"},
 		MapRateSecond:      5,
 		DataDir:            dir,
 		ComponentReference: "component",
@@ -23,7 +23,7 @@ func GetTestConfig(sensor string) (CartoConfig, string, error) {
 // GetBadTestConfig gets a sample config for testing purposes that will cause a failure.
 func GetBadTestConfig() CartoConfig {
 	return CartoConfig{
-		Sensors:     []string{"rplidar", "imu"},
+		Camera:      map[string]string{"name": "rplidar", "data_freq_hz": "20"},
 		LidarConfig: TwoD,
 	}
 }

config/config.go

@@ -2,6 +2,8 @@
 package config
 
 import (
+	"strconv"
+
 	"github.com/edaniels/golog"
 	"github.com/pkg/errors"
 	"go.viam.com/utils"
@@ -14,19 +16,29 @@ func newError(configError string) error {
 
 // Config describes how to configure the SLAM service.
 type Config struct {
-	Sensors       []string          `json:"sensors"`
+	Camera        map[string]string `json:"camera"`
 	ConfigParams  map[string]string `json:"config_params"`
 	DataDirectory string            `json:"data_dir"`
-	DataRateMsec  int               `json:"data_rate_msec"`
 	MapRateSec    *int              `json:"map_rate_sec"`
 }
 
-var errSensorsMustNotBeEmpty = errors.New("\"sensors\" must not be empty")
+var errCameraMustHaveName = errors.New("\"camera[name]\" is required")
 
 // Validate creates the list of implicit dependencies.
 func (config *Config) Validate(path string) ([]string, error) {
-	if config.Sensors == nil || len(config.Sensors) < 1 {
-		return nil, utils.NewConfigValidationError(path, errSensorsMustNotBeEmpty)
+	_, ok := config.Camera["name"]
+	if !ok {
+		return nil, utils.NewConfigValidationError(path, errCameraMustHaveName)
+	}
+	dataFreqHz, ok := config.Camera["data_freq_hz"]
+	if ok {
+		dataFreqHz, err := strconv.Atoi(dataFreqHz)
+		if err != nil {
+			return nil, errors.New("data_freq_hz must only contain digits")
+		}
+		if dataFreqHz < 0 {
+			return nil, errors.New("cannot specify data_freq_hz less than zero")
+		}
 	}
 
 	if config.ConfigParams["mode"] == "" {
@@ -37,30 +49,19 @@ func (config *Config) Validate(path string) ([]string, error) {
 		return nil, utils.NewConfigValidationFieldRequiredError(path, "data_dir")
 	}
 
-	if config.DataRateMsec < 0 {
-		return nil, errors.New("cannot specify data_rate_msec less than zero")
-	}
-
 	if config.MapRateSec != nil && *config.MapRateSec < 0 {
 		return nil, errors.New("cannot specify map_rate_sec less than zero")
 	}
 
-	deps := config.Sensors
+	deps := []string{config.Camera["name"]}
 
 	return deps, nil
 }
 
 // GetOptionalParameters sets any unset optional config parameters to the values passed to this function,
 // and returns them.
-func GetOptionalParameters(config *Config,
-	defaultDataRateMsec, defaultMapRateSec int, logger golog.Logger,
-) (int, int) {
-	dataRateMsec := config.DataRateMsec
-	if config.DataRateMsec == 0 {
-		dataRateMsec = defaultDataRateMsec
-		logger.Debugf("no data_rate_msec given, setting to default value of %d", defaultDataRateMsec)
-	}
-
+func GetOptionalParameters(config *Config, defaultMapRateSec int, logger golog.Logger,
+) int {
 	mapRateSec := 0
 	if config.MapRateSec == nil {
 		logger.Debugf("no map_rate_sec given, setting to default value of %d", defaultMapRateSec)
@@ -69,5 +70,5 @@ func GetOptionalParameters(config *Config,
 		mapRateSec = *config.MapRateSec
 	}
 
-	return dataRateMsec, mapRateSec
+	return mapRateSec
 }

config/config_test.go

@@ -18,7 +18,7 @@ func TestValidate(t *testing.T) {
 		model := resource.DefaultModelFamily.WithModel("test")
 		cfgService := resource.Config{Name: "test", API: slam.API, Model: model}
 		_, err := newConfig(cfgService)
-		test.That(t, err, test.ShouldBeError, newError("error validating \"services.slam.attributes.fake\": \"sensors\" must not be empty"))
+		test.That(t, err, test.ShouldBeError, newError("error validating \"services.slam.attributes.fake\": \"camera[name]\" is required"))
 	})
 
 	t.Run("Simplest valid config", func(t *testing.T) {
@@ -28,13 +28,13 @@ func TestValidate(t *testing.T) {
 	})
 
 	t.Run("Config without required fields", func(t *testing.T) {
-		requiredFields := []string{"data_dir", "sensors"}
+		requiredFields := []string{"data_dir", "camera"}
 		dataDirErr := utils.NewConfigValidationFieldRequiredError(testCfgPath, requiredFields[0])
-		sensorsErr := utils.NewConfigValidationError(testCfgPath, errSensorsMustNotBeEmpty)
+		cameraErr := utils.NewConfigValidationError(testCfgPath, errCameraMustHaveName)
 
 		expectedErrors := []error{
 			newError(dataDirErr.Error()),
-			newError(sensorsErr.Error()),
+			newError(cameraErr.Error()),
 		}
 		for i, requiredField := range requiredFields {
 			logger.Debugf("Testing SLAM config without %s\n", requiredField)
@@ -52,6 +52,15 @@ func TestValidate(t *testing.T) {
 		test.That(t, err, test.ShouldBeError, newError(utils.NewConfigValidationFieldRequiredError(testCfgPath, "config_params[mode]").Error()))
 	})
 
+	t.Run("Config without camera name", func(t *testing.T) {
+		// Test for missing camera name attribute
+		logger.Debug("Testing SLAM config without camera[name]")
+		cfgService := makeCfgService()
+		delete(cfgService.Attributes["camera"].(map[string]string), "name")
+		_, err := newConfig(cfgService)
+		test.That(t, err, test.ShouldBeError, newError(utils.NewConfigValidationFieldRequiredError(testCfgPath, "camera[name]").Error()))
+	})
+
 	t.Run("Config with invalid parameter type", func(t *testing.T) {
 		cfgService := makeCfgService()
 		cfgService.Attributes["data_dir"] = true
@@ -63,21 +72,39 @@ func TestValidate(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 	})
 
+	t.Run("Config with invalid camera data_freq_hz", func(t *testing.T) {
+		cfgService := makeCfgService()
+		cfgService.Attributes["camera"] = map[string]string{
+			"name":         "a",
+			"data_freq_hz": "twenty",
+		}
+		_, err := newConfig(cfgService)
+		test.That(t, err, test.ShouldBeError, newError("data_freq_hz must only contain digits"))
+	})
+
 	t.Run("Config with out of range values", func(t *testing.T) {
 		cfgService := makeCfgService()
-		cfgService.Attributes["data_rate_msec"] = -1
+		cfgService.Attributes["camera"] = map[string]string{
+			"name":         "a",
+			"data_freq_hz": "-1",
+		}
 		_, err := newConfig(cfgService)
-		test.That(t, err, test.ShouldBeError, newError("cannot specify data_rate_msec less than zero"))
-		cfgService.Attributes["data_rate_msec"] = 1
+		test.That(t, err, test.ShouldBeError, newError("cannot specify data_freq_hz less than zero"))
+		cfgService.Attributes["camera"] = map[string]string{
+			"name":         "a",
+			"data_freq_hz": "1",
+		}
 		cfgService.Attributes["map_rate_sec"] = -1
 		_, err = newConfig(cfgService)
 		test.That(t, err, test.ShouldBeError, newError("cannot specify map_rate_sec less than zero"))
 	})
 
 	t.Run("All parameters e2e", func(t *testing.T) {
 		cfgService := makeCfgService()
-		cfgService.Attributes["sensors"] = []string{"a", "b"}
-		cfgService.Attributes["data_rate_msec"] = 1001
+		cfgService.Attributes["camera"] = map[string]string{
+			"name":         "a",
+			"data_freq_hz": "20",
+		}
 		cfgService.Attributes["map_rate_sec"] = 1002
 
 		cfgService.Attributes["config_params"] = map[string]string{
@@ -88,8 +115,7 @@ func TestValidate(t *testing.T) {
 		cfg, err := newConfig(cfgService)
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, cfg.DataDirectory, test.ShouldEqual, cfgService.Attributes["data_dir"])
-		test.That(t, cfg.Sensors, test.ShouldResemble, cfgService.Attributes["sensors"])
-		test.That(t, cfg.DataRateMsec, test.ShouldEqual, cfgService.Attributes["data_rate_msec"])
+		test.That(t, cfg.Camera, test.ShouldResemble, cfgService.Attributes["camera"])
 		test.That(t, *cfg.MapRateSec, test.ShouldEqual, cfgService.Attributes["map_rate_sec"])
 		test.That(t, cfg.ConfigParams, test.ShouldResemble, cfgService.Attributes["config_params"])
 	})
@@ -104,7 +130,10 @@ func makeCfgService() resource.Config {
 		"mode": "test mode",
 	}
 	cfgService.Attributes["data_dir"] = "path"
-	cfgService.Attributes["sensors"] = []string{"a"}
+	cfgService.Attributes["camera"] = map[string]string{
+		"name":         "a",
+		"data_freq_hz": "20",
+	}
 	return cfgService
 }
 
@@ -113,32 +142,30 @@ func TestGetOptionalParameters(t *testing.T) {
 
 	t.Run("Pass default parameters", func(t *testing.T) {
 		cfgService := makeCfgService()
-		cfgService.Attributes["sensors"] = []string{"a"}
+		cfgService.Attributes["camera"] = map[string]string{"name": "a"}
 		cfg, err := newConfig(cfgService)
 		test.That(t, err, test.ShouldBeNil)
-		dataRateMsec, mapRateSec := GetOptionalParameters(
+		mapRateSec := GetOptionalParameters(
 			cfg,
 			1001,
-			1002,
 			logger)
-		test.That(t, dataRateMsec, test.ShouldEqual, 1001)
 		test.That(t, mapRateSec, test.ShouldEqual, 1002)
 	})
 
 	t.Run("Return overrides", func(t *testing.T) {
 		cfgService := makeCfgService()
-		cfgService.Attributes["sensors"] = []string{"a"}
+		cfgService.Attributes["camera"] = map[string]string{
+			"name":         "a",
+			"data_freq_hz": "1",
+		}
 		cfg, err := newConfig(cfgService)
 		two := 2
-		cfg.DataRateMsec = 1
 		cfg.MapRateSec = &two
 		test.That(t, err, test.ShouldBeNil)
-		dataRateMsec, mapRateSec := GetOptionalParameters(
+		mapRateSec := GetOptionalParameters(
 			cfg,
-			1001,
 			1002,
 			logger)
-		test.That(t, dataRateMsec, test.ShouldEqual, 1)
 		test.That(t, mapRateSec, test.ShouldEqual, 2)
 	})
 }

go.mod

@@ -11,12 +11,12 @@ require (
 	github.com/rhysd/actionlint v1.6.24
 	github.com/viamrobotics/gostream v0.0.0-20230609200515-c5d67c29ed25
 	go.opencensus.io v0.24.0
+	go.uber.org/multierr v1.11.0
+	go.uber.org/zap v1.24.0
 	go.viam.com/api v0.1.156
 	go.viam.com/rdk v0.5.1-0.20230719205427-c10eab2aa624
 	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2
 	go.viam.com/utils v0.1.38
-	google.golang.org/grpc v1.56.0
-	google.golang.org/protobuf v1.30.0
 )
 
 require (
@@ -278,8 +278,6 @@ require (
 	go.mongodb.org/mongo-driver v1.12.0-prerelease.0.20221109213319-d3466eeae7a7 // indirect
 	go.uber.org/atomic v1.11.0 // indirect
 	go.uber.org/goleak v1.2.1 // indirect
-	go.uber.org/multierr v1.11.0 // indirect
-	go.uber.org/zap v1.24.0 // indirect
 	goji.io v2.0.2+incompatible // indirect
 	golang.org/x/crypto v0.10.0 // indirect
 	golang.org/x/exp v0.0.0-20230522175609-2e198f4a06a1 // indirect
@@ -300,6 +298,8 @@ require (
 	google.golang.org/genproto v0.0.0-20230530153820-e85fd2cbaebc // indirect
 	google.golang.org/genproto/googleapis/api v0.0.0-20230530153820-e85fd2cbaebc // indirect
 	google.golang.org/genproto/googleapis/rpc v0.0.0-20230530153820-e85fd2cbaebc // indirect
+	google.golang.org/grpc v1.56.0 // indirect
+	google.golang.org/protobuf v1.30.0 // indirect
 	gopkg.in/ini.v1 v1.67.0 // indirect
 	gopkg.in/square/go-jose.v2 v2.6.0 // indirect
 	gopkg.in/src-d/go-billy.v4 v4.3.2 // indirect