Deprecate vision service

services/vision/colordetector/color_detector.go

@@ -59,5 +59,5 @@ func registerColorDetector(
 			return nil, errors.Errorf("could not find camera %q", conf.DefaultCamera)
 		}
 	}
-	return vision.NewService(name, r, nil, nil, detector, nil, conf.DefaultCamera)
+	return vision.DeprecatedNewService(name, r, nil, nil, detector, nil, conf.DefaultCamera)
 }

services/vision/colordetector/color_detector_test.go

@@ -8,6 +8,7 @@ import (
 	"go.viam.com/utils/artifact"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/rimage"
 	"go.viam.com/rdk/services/vision"
@@ -23,6 +24,7 @@ func TestColorDetector(t *testing.T) {
 	}
 	ctx := context.Background()
 	r := &inject.Robot{}
+	r.LoggerFunc = func() logging.Logger { return nil }
 	name := vision.Named("test_cd")
 	srv, err := registerColorDetector(ctx, name, &inp, r)
 	test.That(t, err, test.ShouldBeNil)
@@ -68,6 +70,7 @@ func TestRegistrationWithDefaultCamera(t *testing.T) {
 	}
 
 	r := &inject.Robot{}
+	r.LoggerFunc = func() logging.Logger { return nil }
 	r.ResourceByNameFunc = func(name resource.Name) (resource.Resource, error) {
 		if name == cameraName {
 			return inject.NewCamera(cameraName.Name), nil

services/vision/detectionstosegments/detections_to_3dsegments.go

@@ -72,5 +72,5 @@ func register3DSegmenterFromDetector(
 			return nil, errors.Errorf("could not find camera %q", conf.DefaultCamera)
 		}
 	}
-	return vision.NewService(name, r, nil, nil, detector, segmenter, conf.DefaultCamera)
+	return vision.DeprecatedNewService(name, r, nil, nil, detector, segmenter, conf.DefaultCamera)
 }

services/vision/detectionstosegments/detections_to_3dsegments_test.go

@@ -11,6 +11,7 @@ import (
 	"go.viam.com/test"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/logging"
 	pc "go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/rimage"
@@ -29,9 +30,10 @@ func (s *simpleDetector) Detect(context.Context, image.Image) ([]objectdetection
 
 func Test3DSegmentsFromDetector(t *testing.T) {
 	r := &inject.Robot{}
+	r.LoggerFunc = func() logging.Logger { return nil }
 	m := &simpleDetector{}
 	name := vision.Named("testDetector")
-	svc, err := vision.NewService(name, r, nil, nil, m.Detect, nil, "")
+	svc, err := vision.DeprecatedNewService(name, r, nil, nil, m.Detect, nil, "")
 	test.That(t, err, test.ShouldBeNil)
 	cam := &inject.Camera{}
 	cam.NextPointCloudFunc = func(ctx context.Context) (pc.PointCloud, error) {

services/vision/fake/vision.go

@@ -71,5 +71,5 @@ func registerFake(
 	name resource.Name,
 	r robot.Robot,
 ) (vision.Service, error) {
-	return vision.NewService(name, r, nil, fakeClassifier, fakeDetector, nil, fakeCameraName)
+	return vision.DeprecatedNewService(name, r, nil, fakeClassifier, fakeDetector, nil, fakeCameraName)
 }

services/vision/fake/vision_test.go

@@ -7,13 +7,17 @@ import (
 
 	"go.viam.com/test"
 
+	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/services/vision"
 	"go.viam.com/rdk/testutils/inject"
 )
 
 func TestFakeVision(t *testing.T) {
 	ctx := context.Background()
 	r := &inject.Robot{}
+	r.LoggerFunc = func() logging.Logger {
+		return nil
+	}
 	name := vision.Named("test_fake")
 	srv, err := registerFake(name, r)
 	test.That(t, err, test.ShouldBeNil)

services/vision/mlvision/ml_model.go

@@ -221,7 +221,7 @@ func registerMLModelVisionService(
 	}
 
 	// Don't return a close function, because you don't want to close the underlying ML service
-	return vision.NewService(name, r, nil, classifierFunc, detectorFunc, segmenter3DFunc, params.DefaultCamera)
+	return vision.DeprecatedNewService(name, r, nil, classifierFunc, detectorFunc, segmenter3DFunc, params.DefaultCamera)
 }
 
 func getLabelsFromFile(labelPath string) []string {

services/vision/mlvision/ml_model_test.go

@@ -26,7 +26,11 @@ func BenchmarkAddMLVisionModel(b *testing.B) {
 
 	b.ResetTimer()
 	for i := 0; i < b.N; i++ {
-		service, err := registerMLModelVisionService(ctx, name, &modelCfg, &inject.Robot{}, logging.NewLogger("benchmark"))
+		r := inject.Robot{}
+		r.LoggerFunc = func() logging.Logger {
+			return nil
+		}
+		service, err := registerMLModelVisionService(ctx, name, &modelCfg, &r, logging.NewLogger("benchmark"))
 		test.That(b, err, test.ShouldBeNil)
 		test.That(b, service, test.ShouldNotBeNil)
 		test.That(b, service.Name(), test.ShouldResemble, name)
@@ -42,7 +46,11 @@ func BenchmarkUseMLVisionModel(b *testing.B) {
 	test.That(b, pic, test.ShouldNotBeNil)
 	modelCfg := MLModelConfig{ModelName: name.Name}
 
-	service, err := registerMLModelVisionService(ctx, name, &modelCfg, &inject.Robot{}, logging.NewLogger("benchmark"))
+	r := inject.Robot{}
+	r.LoggerFunc = func() logging.Logger {
+		return nil
+	}
+	service, err := registerMLModelVisionService(ctx, name, &modelCfg, &r, logging.NewLogger("benchmark"))
 	test.That(b, err, test.ShouldBeNil)
 	test.That(b, service, test.ShouldNotBeNil)
 	test.That(b, service.Name(), test.ShouldResemble, name)
@@ -573,6 +581,9 @@ func TestRegistrationWithDefaultCamera(t *testing.T) {
 	modelCfg := MLModelConfig{ModelName: modelName.Name}
 
 	r := &inject.Robot{}
+	r.LoggerFunc = func() logging.Logger {
+		return nil
+	}
 	r.ResourceByNameFunc = func(name resource.Name) (resource.Resource, error) {
 		switch name {
 		case modelName:

services/vision/obstaclesdepth/obstacles_depth.go

@@ -101,7 +101,7 @@ func registerObstaclesDepth(
 	}
 
 	segmenter := myObsDep.buildObsDepth(logger) // does the thing
-	return svision.NewService(name, r, nil, nil, nil, segmenter, conf.DefaultCamera)
+	return svision.DeprecatedNewService(name, r, nil, nil, nil, segmenter, conf.DefaultCamera)
 }
 
 // BuildObsDepth will check for intrinsics and determine how to build based on that.

services/vision/obstaclesdistance/obstacles_distance.go

@@ -120,7 +120,7 @@ func registerObstacleDistanceDetector(
 			return nil, errors.Errorf("could not find camera %q", conf.DefaultCamera)
 		}
 	}
-	return svision.NewService(name, r, nil, nil, nil, segmenter, conf.DefaultCamera)
+	return svision.DeprecatedNewService(name, r, nil, nil, nil, segmenter, conf.DefaultCamera)
 }
 
 func medianFromPointClouds(ctx context.Context, clouds []pointcloud.PointCloud) (r3.Vector, error) {

services/vision/obstaclesdistance/obstacles_distance_test.go

@@ -10,6 +10,7 @@ import (
 	"go.viam.com/utils/artifact"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/logging"
 	pc "go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/rimage"
@@ -37,6 +38,9 @@ func TestObstacleDist(t *testing.T) {
 	cam.NextPointCloudFunc = func(ctx context.Context) (pc.PointCloud, error) {
 		return nil, errors.New("no pointcloud")
 	}
+	r.LoggerFunc = func() logging.Logger {
+		return nil
+	}
 	r.ResourceNamesFunc = func() []resource.Name {
 		return []resource.Name{camera.Named("fakeCamera")}
 	}
@@ -139,6 +143,9 @@ func TestRegistrationWithDefaultCamera(t *testing.T) {
 	}
 
 	r := &inject.Robot{}
+	r.LoggerFunc = func() logging.Logger {
+		return nil
+	}
 	r.ResourceByNameFunc = func(name resource.Name) (resource.Resource, error) {
 		if name == cameraName {
 			return inject.NewCamera(cameraName.Name), nil

services/vision/obstaclespointcloud/obstacles_pointcloud.go

@@ -60,5 +60,5 @@ func registerOPSegmenter(
 			return nil, errors.Errorf("could not find camera %q", conf.DefaultCamera)
 		}
 	}
-	return vision.NewService(name, r, nil, nil, nil, segmenter, conf.DefaultCamera)
+	return vision.DeprecatedNewService(name, r, nil, nil, nil, segmenter, conf.DefaultCamera)
 }

services/vision/obstaclespointcloud/obstacles_pointcloud_test.go

@@ -10,6 +10,7 @@ import (
 	"go.viam.com/test"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/logging"
 	pc "go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/services/vision"
@@ -19,6 +20,7 @@ import (
 
 func TestRadiusClusteringSegmentation(t *testing.T) {
 	r := &inject.Robot{}
+	r.LoggerFunc = func() logging.Logger { return nil }
 	cam := &inject.Camera{}
 	cam.NextPointCloudFunc = func(ctx context.Context) (pc.PointCloud, error) {
 		return nil, errors.New("no pointcloud")