[RSDK-7904] Remove status and streaming status from robot interface #4461
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Warning your change may break code samples. If your change modifies any of the following functions please contact @viamrobotics/fleet-management. Thanks!
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viambot
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ya we should only remove it when local rc no longer relies on this |
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Waiting on #4520 to be merged in. |
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are we removing it in the api repo too? |
Not in this pr, I don't want to do an API break - that's too much sdk work plus I have no clue if you guys still use last_reconfigured from it. |
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randhid
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Dec 5, 2024
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viambot
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robot/web/web_test.go
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| } | ||
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| conn, err := rgrpc.Dial(context.Background(), addr, logger, | ||
| rpc.WithWebRTCOptions(rpc.DialWebRTCOptions{Disable: true})) | ||
| test.That(t, err, test.ShouldBeNil) | ||
| client := robotpb.NewRobotServiceClient(conn) | ||
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| // Use GetStatus and a context with a deadline to call injected status function. | ||
| // // Use GetMachineStatus and a context with a deadline to call injected status function. |
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| // // Use GetMachineStatus and a context with a deadline to call injected status function. | |
| // Use GetMachineStatus and a context with a deadline to call injected status function. |
robot/web/web_test.go
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| // // Use an injected status function to check that the default deadline was not | ||
| // // added to the context, and the deadline passed to GetMachineStatus was used instead. |
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| // // Use an injected status function to check that the default deadline was not | |
| // // added to the context, and the deadline passed to GetMachineStatus was used instead. | |
| // Use an injected status function to check that the default deadline was not | |
| // added to the context, and the deadline passed to GetMachineStatus was used instead. |
robot/impl/local_robot_test.go
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| statuses, err = r2.MachineStatus(context.Background()) | ||
| test.That(t, err, test.ShouldBeNil) | ||
| test.That(t, len(statuses), test.ShouldEqual, 1) | ||
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| armStatus := &armpb.Status{ | ||
| EndPosition: &commonpb.Pose{X: 500, Z: 300, OZ: 1}, | ||
| JointPositions: &armpb.JointPositions{Values: []float64{0.0}}, | ||
| } | ||
| convMap := &armpb.Status{} | ||
| decoder, err := mapstructure.NewDecoder(&mapstructure.DecoderConfig{TagName: "json", Result: &convMap}) | ||
| test.That(t, err, test.ShouldBeNil) | ||
| err = decoder.Decode(statuses[0].Status) | ||
| test.That(t, err, test.ShouldBeNil) | ||
| test.That(t, convMap, test.ShouldResemble, armStatus) | ||
| test.That(t, statuses, test.ShouldNotBeNil) |
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can probably straight up delete these lines
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Since this API is deprecated, I am doing some cleaning and removing it from component registrations.
Manually tested with a Mac viam-server and fake components that change their state, control card still works.
This breaks the local rc card, so I may wait until that is updated until I merge this.
Still to do: