[RSDK-11093] Make a vision.NewService() function that isn't deprecated (#5096)

Adwait and I pair programmed this; thanks for his help!

The main changes are:
- The `vizModel` struct no longer stores a `robot.Robot` within it. Instead, it stores a `logging.Logger` and a function that takes camera names and returns camera objects.
- The old `NewService()` function has been renamed `DeprecatedNewService()`. Like before, it takes a `robot.Robot` as an argument, and can be used with `DeprecatedRobotConstructor` when registering a service.
- There is a new function now named `NewService()`. It takes a `resource.Dependencies` as an object, and can be used with `Constructor` when registering a service.
- The file `deprecated_vision_service_builder.go` (created in #5094) has been renamed to non-deprecated `vision_service_builder.go`

This compiles and the tests pass, and the mlmodel vision service still works. However, nothing (yet) uses the new, non-deprecated `NewService()`. That can happen in future PRs.

We have created a new function with a new type signature using an old name. However, we don't need to worry about someone outside of RDK using this function in their module and having the module break when they upgrade RDK versions: the reason RSDK-11093 was filed in the first place was that the old code was not usable in modules at all, because `DeprecatedNewService()` doesn't play well with modules!

Author: penguinland

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)
@@ -572,7 +580,10 @@ func TestRegistrationWithDefaultCamera(t *testing.T) {
 	cameraName := camera.Named("test")
 	modelCfg := MLModelConfig{ModelName: modelName.Name}
 
-	r := &inject.Robot{}
+	r := inject.Robot{}
+	r.LoggerFunc = func() logging.Logger {
+		return nil
+	}
 	r.ResourceByNameFunc = func(name resource.Name) (resource.Resource, error) {
 		switch name {
 		case modelName:
@@ -584,23 +595,23 @@ func TestRegistrationWithDefaultCamera(t *testing.T) {
 		}
 	}
 
-	service, err := registerMLModelVisionService(ctx, modelName, &modelCfg, r, logging.NewLogger("benchmark"))
+	service, err := registerMLModelVisionService(ctx, modelName, &modelCfg, &r, logging.NewLogger("benchmark"))
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, service, test.ShouldNotBeNil)
 
 	modelCfg.DefaultCamera = cameraName.Name
-	service, err = registerMLModelVisionService(ctx, modelName, &modelCfg, r, logging.NewLogger("benchmark"))
+	service, err = registerMLModelVisionService(ctx, modelName, &modelCfg, &r, logging.NewLogger("benchmark"))
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, service, test.ShouldNotBeNil)
 
 	modelCfg.DefaultCamera = "not-camera"
-	_, err = registerMLModelVisionService(ctx, modelName, &modelCfg, r, logging.NewLogger("benchmark"))
+	_, err = registerMLModelVisionService(ctx, modelName, &modelCfg, &r, logging.NewLogger("benchmark"))
 	test.That(t, err, test.ShouldNotBeNil)
 	test.That(t, err.Error(), test.ShouldContainSubstring, "could not find camera \"not-camera\"")
 
 	// Test that *FromCamera errors when camera is not found
 	modelCfg.DefaultCamera = ""
-	service, err = registerMLModelVisionService(ctx, modelName, &modelCfg, r, logging.NewLogger("benchmark"))
+	service, err = registerMLModelVisionService(ctx, modelName, &modelCfg, &r, logging.NewLogger("benchmark"))
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, service, test.ShouldNotBeNil)
 	_, err = service.DetectionsFromCamera(ctx, "", nil)

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) {