RSDK-2393 Remove Name Parameter from SLAM Functions (#37)

go.mod

@@ -12,7 +12,7 @@ require (
 	github.com/rhysd/actionlint v1.6.23
 	go.opencensus.io v0.24.0
 	go.viam.com/api v0.1.106
-	go.viam.com/rdk v0.2.34-0.20230406203657-55bdeae9ff52
+	go.viam.com/rdk v0.2.34-0.20230407220031-b6a992c7135b
 	go.viam.com/slam v0.1.33
 	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2
 	go.viam.com/utils v0.1.18-0.20230327140716-bfeb34d89117

go.sum

@@ -1384,6 +1384,8 @@ go.viam.com/api v0.1.106 h1:H//FPoU/KHRtyZI5wBJzQmf5hJUronqnfAVv4Q9fk28=
 go.viam.com/api v0.1.106/go.mod h1:NQC9FZnerAfIPJLJ42vgzQMoe1WAQRuVoQEf1JauxtQ=
 go.viam.com/rdk v0.2.34-0.20230406203657-55bdeae9ff52 h1:E7iW0X/d2lJWh4U53ZDHoLaR/dUDFYGFmy/f1VqnJKc=
 go.viam.com/rdk v0.2.34-0.20230406203657-55bdeae9ff52/go.mod h1:DZlQvkrFergpm6430h7aoKavSPQxSWNmcTj1rLbySmA=
+go.viam.com/rdk v0.2.34-0.20230407220031-b6a992c7135b h1:tdYHjFQ0pVTs4qpqAGl0ImViRtmDTdyw4nrjs48c6Wo=
+go.viam.com/rdk v0.2.34-0.20230407220031-b6a992c7135b/go.mod h1:DZlQvkrFergpm6430h7aoKavSPQxSWNmcTj1rLbySmA=
 go.viam.com/slam v0.1.33 h1:5YrkYYWAyqCs5yPRwzhjQRD5gn6dxsy4y3Kl/PRnHB8=
 go.viam.com/slam v0.1.33/go.mod h1:4oJw66kSTlro9tuaxjiFaDJPQjd546CHl1Y77qCx3cI=
 go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 h1:oBiK580EnEIzgFLU4lHOXmGAE3MxnVbeR7s1wp/F3Ps=

integration_test.go

@@ -76,7 +76,7 @@ func releaseImages(t *testing.T, subAlgo viamorbslam3.SubAlgo) {
 
 // testOrbslamMap checks the orbslam map and confirms there are more than zero map points.
 func testOrbslamMap(t *testing.T, svc slam.Service) {
-	pcd, err := slam.GetPointCloudMapFull(context.Background(), svc, "test")
+	pcd, err := slam.GetPointCloudMapFull(context.Background(), svc)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, pcd, test.ShouldNotBeNil)
 
@@ -105,7 +105,7 @@ func testOrbslamPosition(t *testing.T, svc slam.Service, subAlgo viamorbslam3.Su
 		expectedOri = &spatialmath.R4AA{Theta: 0.002, RX: 0.602, RY: -0.772, RZ: -0.202}
 	}
 
-	position, componentRef, err := svc.GetPosition(context.Background(), "test")
+	position, componentRef, err := svc.GetPosition(context.Background())
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, componentRef, test.ShouldEqual, expectedComponentRef)
 
@@ -125,7 +125,7 @@ func testOrbslamPosition(t *testing.T, svc slam.Service, subAlgo viamorbslam3.Su
 
 // testOrbslamInternalState checks the orbslam internal state.
 func testOrbslamInternalState(t *testing.T, svc slam.Service, dataDir string) {
-	internalState, err := slam.GetInternalStateFull(context.Background(), svc, "test")
+	internalState, err := slam.GetInternalStateFull(context.Background(), svc)
 	test.That(t, err, test.ShouldBeNil)
 
 	// Save the data from the call to GetInternalState for use in next test.

viam-orb-slam3.go

@@ -150,6 +150,7 @@ func runtimeServiceValidation(
 // orbslamService is the structure of the ORB_SLAM3 slam service.
 type orbslamService struct {
 	generic.Unimplemented
+	name              string
 	primarySensorName string
 	subAlgo           SubAlgo
 	executableName    string // by default: DefaultExecutableName
@@ -244,11 +245,11 @@ func configureCameras(ctx context.Context,
 
 // GetPosition forwards the request for positional data to the slam library's gRPC service. Once a response is received,
 // it is unpacked into a Pose and a component reference string.
-func (orbSvc *orbslamService) GetPosition(ctx context.Context, name string) (spatialmath.Pose, string, error) {
+func (orbSvc *orbslamService) GetPosition(ctx context.Context) (spatialmath.Pose, string, error) {
 	ctx, span := trace.StartSpan(ctx, "viamorbslam3::orbslamService::GetPosition")
 	defer span.End()
 
-	req := &pb.GetPositionRequest{Name: name}
+	req := &pb.GetPositionRequest{Name: orbSvc.name}
 
 	resp, err := orbSvc.clientAlgo.GetPosition(ctx, req)
 	if err != nil {
@@ -263,20 +264,20 @@ func (orbSvc *orbslamService) GetPosition(ctx context.Context, name string) (spa
 
 // GetPointCloudMap creates a request, calls the slam algorithms GetPointCloudMap endpoint and returns a callback
 // function which will return the next chunk of the current pointcloud map.
-func (orbSvc *orbslamService) GetPointCloudMap(ctx context.Context, name string) (func() ([]byte, error), error) {
+func (orbSvc *orbslamService) GetPointCloudMap(ctx context.Context) (func() ([]byte, error), error) {
 	ctx, span := trace.StartSpan(ctx, "viamorbslam3::orbslamService::GetPointCloudMap")
 	defer span.End()
 
-	return grpchelper.GetPointCloudMapCallback(ctx, name, orbSvc.clientAlgo)
+	return grpchelper.GetPointCloudMapCallback(ctx, orbSvc.name, orbSvc.clientAlgo)
 }
 
 // GetInternalState creates a request, calls the slam algorithms GetInternalState endpoint and returns a callback
 // function which will return the next chunk of the current internal state of the slam algo.
-func (orbSvc *orbslamService) GetInternalState(ctx context.Context, name string) (func() ([]byte, error), error) {
+func (orbSvc *orbslamService) GetInternalState(ctx context.Context) (func() ([]byte, error), error) {
 	ctx, span := trace.StartSpan(ctx, "viamorbslam3::orbslamService::GetInternalState")
 	defer span.End()
 
-	return grpchelper.GetInternalStateCallback(ctx, name, orbSvc.clientAlgo)
+	return grpchelper.GetInternalStateCallback(ctx, orbSvc.name, orbSvc.clientAlgo)
 }
 
 // New returns a new slam service for the given robot.
@@ -342,6 +343,7 @@ func New(ctx context.Context,
 
 	// SLAM Service Object
 	orbSvc := &orbslamService{
+		name:                  config.Name,
 		primarySensorName:     primarySensorName,
 		subAlgo:               subAlgo,
 		executableName:        executableName,

viam-orb-slam3_test.go

@@ -741,19 +741,19 @@ func TestEndpointFailures(t *testing.T) {
 	svc, err := createSLAMService(t, attrCfg, logger, false, true, testExecutableName)
 	test.That(t, err, test.ShouldBeNil)
 
-	pNew, frame, err := svc.GetPosition(context.Background(), "slam_test_name")
+	pNew, frame, err := svc.GetPosition(context.Background())
 	test.That(t, pNew, test.ShouldBeNil)
 	test.That(t, frame, test.ShouldBeEmpty)
 	test.That(t, fmt.Sprint(err), test.ShouldContainSubstring, "error getting SLAM position")
 
-	callbackPointCloud, err := svc.GetPointCloudMap(context.Background(), "slam_test_name")
+	callbackPointCloud, err := svc.GetPointCloudMap(context.Background())
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, callbackPointCloud, test.ShouldNotBeNil)
 	chunkPCD, err := callbackPointCloud()
 	test.That(t, err.Error(), test.ShouldContainSubstring, "error receiving pointcloud chunk")
 	test.That(t, chunkPCD, test.ShouldBeNil)
 
-	callbackInternalState, err := svc.GetInternalState(context.Background(), "slam_test_name")
+	callbackInternalState, err := svc.GetInternalState(context.Background())
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, callbackInternalState, test.ShouldNotBeNil)
 	chunkInternalState, err := callbackInternalState()