Remove GetLatestMapInfo from SLAM

go.mod

@@ -329,3 +329,5 @@ require (
 	periph.io/x/conn/v3 v3.7.0 // indirect
 	periph.io/x/host/v3 v3.8.2 // indirect
 )
+
+replace go.viam.com/rdk => /Users/jeremyhyde/Development/rdk

go.sum

@@ -1392,8 +1392,6 @@ go.uber.org/zap v1.26.0 h1:sI7k6L95XOKS281NhVKOFCUNIvv9e0w4BF8N3u+tCRo=
 go.uber.org/zap v1.26.0/go.mod h1:dtElttAiwGvoJ/vj4IwHBS/gXsEu/pZ50mUIRWuG0so=
 go.viam.com/api v0.1.245 h1:DL5x1fxg0VUwPJRI1KaSwXeCZR/PnknTpw7AU0Mmu18=
 go.viam.com/api v0.1.245/go.mod h1:msa4TPrMVeRDcG4YzKA/S6wLEUC7GyHQE973JklrQ10=
-go.viam.com/rdk v0.18.0 h1:PiqAdBrE+4xr6X43AD5qbELQIJ0jMWgj49uY6x1aJXA=
-go.viam.com/rdk v0.18.0/go.mod h1:zOfpk0LP2QKkdWmNwvSUTZldZ2KjrXCIo8KzF+eDfnk=
 go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 h1:oBiK580EnEIzgFLU4lHOXmGAE3MxnVbeR7s1wp/F3Ps=
 go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2/go.mod h1:XM0tej6riszsiNLT16uoyq1YjuYPWlRBweTPRDanIts=
 go.viam.com/utils v0.1.54 h1:1ENNj0atwDngCVKAOr4gXSJnoQdVd88qm38tEnqghaE=

testhelper/integrationtesthelper.go

@@ -116,19 +116,14 @@ func testCartographerPosition(t *testing.T, svc slam.Service, useIMU bool, expec
 
 // Checks the cartographer map and confirms there at least 100 map points.
 func testCartographerMap(t *testing.T, svc slam.Service, localizationMode bool) {
-	timestamp1, err := svc.LatestMapInfo(context.Background())
+	prop, err := svc.Properties(context.Background())
 	test.That(t, err, test.ShouldBeNil)
+	test.That(t, prop.cloud_slam, test.ShouldBeFalse)
+	test.That(t, prop.mapping_mode, test.ShouldEqual)
+
 	pcd, err := slam.PointCloudMapFull(context.Background(), svc)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, pcd, test.ShouldNotBeNil)
-	timestamp2, err := svc.LatestMapInfo(context.Background())
-	test.That(t, err, test.ShouldBeNil)
-
-	if localizationMode {
-		test.That(t, timestamp1, test.ShouldResemble, timestamp2)
-	} else {
-		test.That(t, timestamp2.After(timestamp1), test.ShouldBeTrue)
-	}
 
 	pointcloud, err := pointcloud.ReadPCD(bytes.NewReader(pcd))
 	test.That(t, err, test.ShouldBeNil)

viam_cartographer.go

@@ -254,7 +254,6 @@ func New(
 		logger:                     logger,
 		cartoFacadeTimeout:         cartoFacadeTimeout,
 		cartoFacadeInternalTimeout: cartoFacadeInternalTimeout,
-		mapTimestamp:               time.Now().UTC(),
 		enableMapping:              optionalConfigParams.EnableMapping,
 		existingMap:                optionalConfigParams.ExistingMap,
 	}
@@ -501,8 +500,7 @@ type CartographerService struct {
 	sensorProcessWorkers    sync.WaitGroup
 	cartoFacadeWorkers      sync.WaitGroup
 
-	mapTimestamp time.Time
-	jobDone      atomic.Bool
+	jobDone atomic.Bool
 
 	postprocessed           atomic.Bool
 	postprocessingTasks     []postprocess.Task
@@ -637,23 +635,6 @@ func (cartoSvc *CartographerService) Properties(ctx context.Context) (slam.Prope
 	return props, nil
 }
 
-// LatestMapInfo returns a new timestamp every time it is called when in mapping mode, to signal
-// that the map should be updated. In localizing, the timestamp returned is the timestamp of the session.
-func (cartoSvc *CartographerService) LatestMapInfo(ctx context.Context) (time.Time, error) {
-	_, span := trace.StartSpan(ctx, "viamcartographer::CartographerService::LatestMapInfo")
-	defer span.End()
-
-	if err := cartoSvc.isOpenAndRunningLocally("LatestMapInfo"); err != nil {
-		return time.Time{}, err
-	}
-
-	if cartoSvc.SlamMode != cartofacade.LocalizingMode {
-		cartoSvc.mapTimestamp = time.Now().UTC()
-	}
-
-	return cartoSvc.mapTimestamp, nil
-}
-
 // DoCommand receives arbitrary commands.
 func (cartoSvc *CartographerService) DoCommand(ctx context.Context, req map[string]interface{}) (map[string]interface{}, error) {
 	_, span := trace.StartSpan(ctx, "viamcartographer::CartographerService::DoCommand")

viam_cartographer_test.go

@@ -70,10 +70,6 @@ func TestNew(t *testing.T) {
 		test.That(t, gisF, test.ShouldBeNil)
 		test.That(t, err, test.ShouldBeError, viamcartographer.ErrUseCloudSlamEnabled)
 
-		mapTime, err := svc.LatestMapInfo(ctx)
-		test.That(t, err, test.ShouldBeError, viamcartographer.ErrUseCloudSlamEnabled)
-		test.That(t, mapTime, test.ShouldResemble, time.Time{})
-
 		prop, err := svc.Properties(ctx)
 		test.That(t, err, test.ShouldBeError, viamcartographer.ErrUseCloudSlamEnabled)
 		test.That(t, prop, test.ShouldResemble, slam.Properties{})
@@ -162,9 +158,6 @@ func TestNew(t *testing.T) {
 		test.That(t, ok, test.ShouldBeTrue)
 		test.That(t, cs.SlamMode, test.ShouldEqual, cartofacade.LocalizingMode)
 
-		timestamp1, err := svc.LatestMapInfo(context.Background())
-		test.That(t, err, test.ShouldBeNil)
-
 		// Test position
 		pose, componentReference, err := svc.Position(context.Background())
 		test.That(t, pose, test.ShouldBeNil)
@@ -188,11 +181,6 @@ func TestNew(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, is, test.ShouldNotBeNil)
 
-		timestamp2, err := svc.LatestMapInfo(context.Background())
-		test.That(t, err, test.ShouldBeNil)
-		test.That(t, timestamp1.After(_zeroTime), test.ShouldBeTrue)
-		test.That(t, timestamp1, test.ShouldResemble, timestamp2)
-
 		// Test properties
 		prop, err := svc.Properties(context.Background())
 		test.That(t, err, test.ShouldBeNil)
@@ -230,9 +218,6 @@ func TestNew(t *testing.T) {
 		test.That(t, err, test.ShouldNotBeNil)
 		test.That(t, err.Error(), test.ShouldContainSubstring, "VIAM_CARTO_GET_POSITION_NOT_INITIALIZED")
 
-		timestamp1, err := svc.LatestMapInfo(context.Background())
-		test.That(t, err, test.ShouldBeNil)
-
 		// Test pointcloud map
 		pcmFunc, err := svc.PointCloudMap(context.Background())
 		test.That(t, err, test.ShouldBeNil)
@@ -249,12 +234,6 @@ func TestNew(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, is, test.ShouldNotBeNil)
 
-		timestamp2, err := svc.LatestMapInfo(context.Background())
-		test.That(t, err, test.ShouldBeNil)
-
-		test.That(t, timestamp1.After(_zeroTime), test.ShouldBeTrue)
-		test.That(t, timestamp2.After(timestamp1), test.ShouldBeTrue)
-
 		// Test properties
 		prop, err := svc.Properties(context.Background())
 		test.That(t, err, test.ShouldBeNil)
@@ -341,10 +320,6 @@ func TestClose(t *testing.T) {
 		test.That(t, gisF, test.ShouldBeNil)
 		test.That(t, err, test.ShouldBeError, viamcartographer.ErrClosed)
 
-		mapTime, err := svc.LatestMapInfo(ctx)
-		test.That(t, err, test.ShouldBeError, viamcartographer.ErrClosed)
-		test.That(t, mapTime, test.ShouldResemble, time.Time{})
-
 		prop, err := svc.Properties(ctx)
 		test.That(t, err, test.ShouldBeError, viamcartographer.ErrClosed)
 		test.That(t, prop, test.ShouldResemble, slam.Properties{})