[RSDK-812-817] Add extra param to services

cli/client.go

@@ -729,7 +729,7 @@ func (c *AppClient) StartRobotPartShell(
 		return nil
 	}
 
-	input, output, err := shellSvc.Shell(c.c.Context)
+	input, output, err := shellSvc.Shell(c.c.Context, map[string]interface{}{})
 	if err != nil {
 		fmt.Fprintln(c.c.App.ErrWriter, err)
 		cli.OsExiter(1)

components/camera/transformpipeline/detector.go

@@ -66,7 +66,7 @@ func (ds *detectorSource) Read(ctx context.Context) (image.Image, func(), error)
 	if err != nil {
 		return nil, nil, fmt.Errorf("could not get next source image: %w", err)
 	}
-	dets, err := srv.Detections(ctx, img, ds.detectorName)
+	dets, err := srv.Detections(ctx, img, ds.detectorName, map[string]interface{}{})
 	if err != nil {
 		return nil, nil, fmt.Errorf("could not get detections: %w", err)
 	}

components/camera/transformpipeline/detector_test.go

@@ -132,7 +132,7 @@ func TestColorDetectionSource(t *testing.T) {
 			"segment_size_px":   15000,
 		},
 	}
-	err = srv.AddDetector(context.Background(), detConf)
+	err = srv.AddDetector(context.Background(), detConf, map[string]interface{}{})
 	test.That(t, err, test.ShouldBeNil)
 
 	detector, err := camera.FromRobot(r, "color_detect")
@@ -169,7 +169,7 @@ func TestTFLiteDetectionSource(t *testing.T) {
 			"num_threads": 1,
 		},
 	}
-	err = srv.AddDetector(context.Background(), detConf)
+	err = srv.AddDetector(context.Background(), detConf, map[string]interface{}{})
 	test.That(t, err, test.ShouldBeNil)
 
 	detector, err := camera.FromRobot(r, "tflite_detect")
@@ -206,7 +206,7 @@ func BenchmarkColorDetectionSource(b *testing.B) {
 			"segment_size_px":   15000,
 		},
 	}
-	err = srv.AddDetector(context.Background(), detConf)
+	err = srv.AddDetector(context.Background(), detConf, map[string]interface{}{})
 	test.That(b, err, test.ShouldBeNil)
 	detector, err := camera.FromRobot(r, "color_detect")
 	test.That(b, err, test.ShouldBeNil)
@@ -241,7 +241,7 @@ func BenchmarkTFLiteDetectionSource(b *testing.B) {
 			"num_threads": 1,
 		},
 	}
-	err = srv.AddDetector(context.Background(), detConf)
+	err = srv.AddDetector(context.Background(), detConf, map[string]interface{}{})
 	test.That(b, err, test.ShouldBeNil)
 	detector, err := camera.FromRobot(r, "tflite_detect")
 	test.That(b, err, test.ShouldBeNil)

go.mod

@@ -71,7 +71,7 @@ require (
 	go.uber.org/atomic v1.10.0
 	go.uber.org/multierr v1.8.0
 	go.uber.org/zap v1.23.0
-	go.viam.com/api v0.1.5-0.20221104220238-fa20e43bb186
+	go.viam.com/api v0.1.6-0.20221107194621-d3f3c811b448
 	go.viam.com/dynamixel v0.0.0-20210507131419-60a9033552cb
 	go.viam.com/test v1.1.1-0.20220909204145-f61b7c01c33e
 	go.viam.com/utils v0.1.3-0.20221107052430-1d6f4b5bf6eb

go.sum

@@ -1503,14 +1503,12 @@ go.uber.org/zap v1.10.0/go.mod h1:vwi/ZaCAaUcBkycHslxD9B2zi4UTXhF60s6SWpuDF0Q=
 go.uber.org/zap v1.13.0/go.mod h1:zwrFLgMcdUuIBviXEYEH1YKNaOBnKXsx2IPda5bBwHM=
 go.uber.org/zap v1.23.0 h1:OjGQ5KQDEUawVHxNwQgPpiypGHOxo2mNZsOqTak4fFY=
 go.uber.org/zap v1.23.0/go.mod h1:D+nX8jyLsMHMYrln8A0rJjFt/T/9/bGgIhAqxv5URuY=
-go.viam.com/api v0.1.5-0.20221104220238-fa20e43bb186 h1:lPyS6SrD+2zK71wEHMzZlVGfIe2OfmIUpZve+8dHK1M=
-go.viam.com/api v0.1.5-0.20221104220238-fa20e43bb186/go.mod h1:GszZtg1xX/3/rrdjp8jvWAZIeFfCreXwN+LdpHNX+Ek=
+go.viam.com/api v0.1.6-0.20221107194621-d3f3c811b448 h1:DCDf1tGNDUG8zU81QxxIO5Chp/K6blTZeFdNmoyBPGQ=
+go.viam.com/api v0.1.6-0.20221107194621-d3f3c811b448/go.mod h1:GszZtg1xX/3/rrdjp8jvWAZIeFfCreXwN+LdpHNX+Ek=
 go.viam.com/dynamixel v0.0.0-20210507131419-60a9033552cb h1:qXL9ae27upOyWn//rVGFJt90nDzT7Gz5WOaNe+9PJb8=
 go.viam.com/dynamixel v0.0.0-20210507131419-60a9033552cb/go.mod h1:bVVm3GcP8koFgCYKWJkCU0r+lkOvTQLeLaFcw8AFghE=
 go.viam.com/test v1.1.1-0.20220909204145-f61b7c01c33e h1:1tJIJv/zsobFV5feR2ZiG/+VGZkRPVHqJrSTkXbWfqQ=
 go.viam.com/test v1.1.1-0.20220909204145-f61b7c01c33e/go.mod h1:XM0tej6riszsiNLT16uoyq1YjuYPWlRBweTPRDanIts=
-go.viam.com/utils v0.1.3-0.20221107041059-332439321bcc h1:QHWU+fXBPnlzqrAyNzbms45MVTCsWpMkJ+OH06PjoGA=
-go.viam.com/utils v0.1.3-0.20221107041059-332439321bcc/go.mod h1:U6PxWfe/SsEgBjgRtlkj5n8YIfiKOXtCszUqdiCyzVs=
 go.viam.com/utils v0.1.3-0.20221107052430-1d6f4b5bf6eb h1:VoEKRB7CumnnYF8zXYfoF8Dy7cZbrUNFJkNZKvsXVHU=
 go.viam.com/utils v0.1.3-0.20221107052430-1d6f4b5bf6eb/go.mod h1:U6PxWfe/SsEgBjgRtlkj5n8YIfiKOXtCszUqdiCyzVs=
 go4.org v0.0.0-20180809161055-417644f6feb5/go.mod h1:MkTOUMDaeVYJUOUsaDXIhWPZYa1yOyC1qaOBpL57BhE=

robot/impl/local_robot_test.go

@@ -969,17 +969,17 @@ func TestSensorsService(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 
 	sensorNames := []resource.Name{movementsensor.Named("movement_sensor1"), movementsensor.Named("movement_sensor2")}
-	foundSensors, err := svc.Sensors(context.Background())
+	foundSensors, err := svc.Sensors(context.Background(), map[string]interface{}{})
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, rtestutils.NewResourceNameSet(foundSensors...), test.ShouldResemble, rtestutils.NewResourceNameSet(sensorNames...))
 
-	readings, err := svc.Readings(context.Background(), []resource.Name{movementsensor.Named("movement_sensor1")})
+	readings, err := svc.Readings(context.Background(), []resource.Name{movementsensor.Named("movement_sensor1")}, map[string]interface{}{})
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, len(readings), test.ShouldEqual, 1)
 	test.That(t, readings[0].Name, test.ShouldResemble, movementsensor.Named("movement_sensor1"))
 	test.That(t, len(readings[0].Readings), test.ShouldBeGreaterThan, 3)
 
-	readings, err = svc.Readings(context.Background(), sensorNames)
+	readings, err = svc.Readings(context.Background(), sensorNames, map[string]interface{}{})
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, len(readings), test.ShouldEqual, 2)
 

robot/impl/resource_manager_test.go

@@ -505,6 +505,7 @@ func TestManagerAdd(t *testing.T) {
 	injectVisionService.GetObjectPointCloudsFunc = func(
 		ctx context.Context,
 		cameraName, segmenterName string,
+		extra map[string]interface{},
 	) ([]*viz.Object, error) {
 		return []*viz.Object{viz.NewEmptyObject()}, nil
 	}

robot/impl/robot_reconfigure_test.go

@@ -2257,13 +2257,13 @@ func TestSensorsServiceUpdate(t *testing.T) {
 		svc, err := sensors.FromRobot(robot, resource.DefaultModelName)
 		test.That(t, err, test.ShouldBeNil)
 
-		foundSensors, err := svc.Sensors(context.Background())
+		foundSensors, err := svc.Sensors(context.Background(), map[string]interface{}{})
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, foundSensors, test.ShouldBeEmpty)
 
 		robot.Reconfigure(context.Background(), cfg)
 
-		foundSensors, err = svc.Sensors(context.Background())
+		foundSensors, err = svc.Sensors(context.Background(), map[string]interface{}{})
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, rdktestutils.NewResourceNameSet(foundSensors...), test.ShouldResemble, rdktestutils.NewResourceNameSet(sensorNames...))
 	})
@@ -2278,13 +2278,13 @@ func TestSensorsServiceUpdate(t *testing.T) {
 		svc, err := sensors.FromRobot(robot, resource.DefaultModelName)
 		test.That(t, err, test.ShouldBeNil)
 
-		foundSensors, err := svc.Sensors(context.Background())
+		foundSensors, err := svc.Sensors(context.Background(), map[string]interface{}{})
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, rdktestutils.NewResourceNameSet(foundSensors...), test.ShouldResemble, rdktestutils.NewResourceNameSet(sensorNames...))
 
 		robot.Reconfigure(context.Background(), emptyCfg)
 
-		foundSensors, err = svc.Sensors(context.Background())
+		foundSensors, err = svc.Sensors(context.Background(), map[string]interface{}{})
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, foundSensors, test.ShouldBeEmpty)
 	})
@@ -2299,13 +2299,13 @@ func TestSensorsServiceUpdate(t *testing.T) {
 		svc, err := sensors.FromRobot(robot, resource.DefaultModelName)
 		test.That(t, err, test.ShouldBeNil)
 
-		foundSensors, err := svc.Sensors(context.Background())
+		foundSensors, err := svc.Sensors(context.Background(), map[string]interface{}{})
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, rdktestutils.NewResourceNameSet(foundSensors...), test.ShouldResemble, rdktestutils.NewResourceNameSet(sensorNames...))
 
 		robot.Reconfigure(context.Background(), cfg)
 
-		foundSensors, err = svc.Sensors(context.Background())
+		foundSensors, err = svc.Sensors(context.Background(), map[string]interface{}{})
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, rdktestutils.NewResourceNameSet(foundSensors...), test.ShouldResemble, rdktestutils.NewResourceNameSet(sensorNames...))
 	})

services/datamanager/builtin/builtin.go

@@ -374,7 +374,7 @@ func (svc *builtIn) initOrUpdateSyncer(_ context.Context, intervalMins float64,
 }
 
 // Sync performs a non-scheduled sync of the data in the capture directory.
-func (svc *builtIn) Sync(_ context.Context) error {
+func (svc *builtIn) Sync(_ context.Context, extra map[string]interface{}) error {
 	if svc.syncer == nil {
 		return errors.New("called Sync on data manager service with nil syncer")
 	}

services/datamanager/builtin/builtin_test.go

@@ -527,7 +527,7 @@ func TestManualSync(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 
 	// Run and upload files.
-	err = dmsvc.Sync(context.Background())
+	err = dmsvc.Sync(context.Background(), map[string]interface{}{})
 	test.That(t, err, test.ShouldBeNil)
 	time.Sleep(syncWaitTime)
 
@@ -538,7 +538,7 @@ func TestManualSync(t *testing.T) {
 
 	// Sync again and verify it synced the second data capture file, but also validate that it didn't attempt to resync
 	// any files that were previously synced.
-	err = dmsvc.Sync(context.Background())
+	err = dmsvc.Sync(context.Background(), map[string]interface{}{})
 	test.That(t, err, test.ShouldBeNil)
 	time.Sleep(syncWaitTime)
 	_ = dmsvc.Close(context.TODO())
@@ -638,7 +638,7 @@ func TestManualAndScheduledSync(t *testing.T) {
 
 	// Perform a manual and scheduled syncDataCaptureFiles at approximately the same time, then close the svc.
 	time.Sleep(time.Millisecond * 250)
-	err = dmsvc.Sync(context.TODO())
+	err = dmsvc.Sync(context.TODO(), map[string]interface{}{})
 	test.That(t, err, test.ShouldBeNil)
 	time.Sleep(syncWaitTime)
 	_ = dmsvc.Close(context.TODO())

services/datamanager/client.go

@@ -6,6 +6,7 @@ import (
 
 	"github.com/edaniels/golog"
 	pb "go.viam.com/api/service/datamanager/v1"
+	"go.viam.com/utils/protoutils"
 	"go.viam.com/utils/rpc"
 )
 
@@ -29,8 +30,12 @@ func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, lo
 	return c
 }
 
-func (c *client) Sync(ctx context.Context) error {
-	_, err := c.client.Sync(ctx, &pb.SyncRequest{Name: c.name})
+func (c *client) Sync(ctx context.Context, extra map[string]interface{}) error {
+	ext, err := protoutils.StructToStructPb(extra)
+	if err != nil {
+		return err
+	}
+	_, err = c.client.Sync(ctx, &pb.SyncRequest{Name: c.name, Extra: ext})
 	if err != nil {
 		return err
 	}

services/datamanager/client_test.go

@@ -31,9 +31,11 @@ func TestClient(t *testing.T) {
 	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
-	injectMS := &inject.DataManagerService{}
+	var extraOptions map[string]interface{}
+
+	injectDS := &inject.DataManagerService{}
 	resourceMap := map[resource.Name]interface{}{
-		datamanager.Named(testDataManagerServiceName): injectMS,
+		datamanager.Named(testDataManagerServiceName): injectDS,
 	}
 	svc, err := subtype.New(resourceMap)
 	test.That(t, err, test.ShouldBeNil)
@@ -59,13 +61,14 @@ func TestClient(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 		client := datamanager.NewClientFromConn(context.Background(), conn, testDataManagerServiceName, logger)
 
-		injectMS.SyncFunc = func(
-			ctx context.Context,
-		) error {
+		injectDS.SyncFunc = func(ctx context.Context, extra map[string]interface{}) error {
+			extraOptions = extra
 			return nil
 		}
-		err = client.Sync(context.Background())
+		extra := map[string]interface{}{"foo": "Sync"}
+		err = client.Sync(context.Background(), extra)
 		test.That(t, err, test.ShouldBeNil)
+		test.That(t, extraOptions, test.ShouldResemble, extra)
 		test.That(t, utils.TryClose(context.Background(), client), test.ShouldBeNil)
 		test.That(t, conn.Close(), test.ShouldBeNil)
 	})
@@ -79,13 +82,11 @@ func TestClient(t *testing.T) {
 		test.That(t, ok, test.ShouldBeTrue)
 
 		passedErr := errors.New("fake sync error")
-		injectMS.SyncFunc = func(
-			ctx context.Context,
-		) error {
+		injectDS.SyncFunc = func(ctx context.Context, extra map[string]interface{}) error {
 			return passedErr
 		}
 
-		err = client2.Sync(context.Background())
+		err = client2.Sync(context.Background(), map[string]interface{}{})
 		test.That(t, err.Error(), test.ShouldContainSubstring, passedErr.Error())
 		test.That(t, utils.TryClose(context.Background(), client), test.ShouldBeNil)
 		test.That(t, conn.Close(), test.ShouldBeNil)
@@ -98,9 +99,9 @@ func TestClientDialerOption(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 	gServer := grpc.NewServer()
 
-	injectMS := &inject.DataManagerService{}
+	injectDS := &inject.DataManagerService{}
 	resourceMap := map[resource.Name]interface{}{
-		datamanager.Named(testDataManagerServiceName): injectMS,
+		datamanager.Named(testDataManagerServiceName): injectDS,
 	}
 	server, err := newServer(resourceMap)
 	test.That(t, err, test.ShouldBeNil)

services/datamanager/data_manager.go

@@ -40,7 +40,7 @@ func init() {
 
 // Service defines what a Data Manager Service should expose to the users.
 type Service interface {
-	Sync(ctx context.Context) error
+	Sync(ctx context.Context, extra map[string]interface{}) error
 }
 
 var (
@@ -65,7 +65,6 @@ var Subtype = resource.NewSubtype(
 )
 
 // Named is a helper for getting the named datamanager's typed resource name.
-// RSDK-347 Implements datamanager's Named.
 func Named(name string) resource.Name {
 	return resource.NameFromSubtype(Subtype, name)
 }
@@ -102,10 +101,10 @@ type reconfigurableDataManager struct {
 	actual Service
 }
 
-func (svc *reconfigurableDataManager) Sync(ctx context.Context) error {
+func (svc *reconfigurableDataManager) Sync(ctx context.Context, extra map[string]interface{}) error {
 	svc.mu.RLock()
 	defer svc.mu.RUnlock()
-	return svc.actual.Sync(ctx)
+	return svc.actual.Sync(ctx, extra)
 }
 
 func (svc *reconfigurableDataManager) Close(ctx context.Context) error {

services/datamanager/data_manager_test.go

@@ -42,8 +42,8 @@ func TestReconfigurable(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, reconfSvc1, test.ShouldNotBeNil)
 
-	actualArm2 := &mock{name: testSvcName2}
-	reconfSvc2, err := datamanager.WrapWithReconfigurable(actualArm2)
+	actualSvc2 := &mock{name: testSvcName2}
+	reconfSvc2, err := datamanager.WrapWithReconfigurable(actualSvc2)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, reconfSvc2, test.ShouldNotBeNil)
 	test.That(t, actualSvc1.reconfCount, test.ShouldEqual, 0)
@@ -58,10 +58,27 @@ func TestReconfigurable(t *testing.T) {
 	test.That(t, err, test.ShouldBeError, rutils.NewUnexpectedTypeError(reconfSvc1, nil))
 }
 
+func TestExtraOptions(t *testing.T) {
+	actualSvc1 := &mock{name: testSvcName1}
+	reconfSvc1, err := datamanager.WrapWithReconfigurable(actualSvc1)
+	test.That(t, err, test.ShouldBeNil)
+
+	test.That(t, actualSvc1.extra, test.ShouldEqual, nil)
+
+	reconfSvc1.(datamanager.Service).Sync(context.Background(), map[string]interface{}{"foo": "bar"})
+	test.That(t, actualSvc1.extra, test.ShouldResemble, map[string]interface{}{"foo": "bar"})
+}
+
 type mock struct {
 	datamanager.Service
 	name        string
 	reconfCount int
+	extra       map[string]interface{}
+}
+
+func (m *mock) Sync(_ context.Context, extra map[string]interface{}) error {
+	m.extra = extra
+	return nil
 }
 
 func (m *mock) Close(_ context.Context) error {

services/datamanager/internal/data_manager_test_helper.go

@@ -14,7 +14,7 @@ import (
 // updating processes in the data manager service. These functions are not exported to the user. This resolves
 // a circular import caused by the inject package.
 type DMService interface {
-	Sync(ctx context.Context) error
+	Sync(ctx context.Context, extra map[string]interface{}) error
 	Update(ctx context.Context, cfg *config.Config) error
 	Close(ctx context.Context) error
 	SetSyncerConstructor(fn datasync.ManagerConstructor)

services/datamanager/server.go

@@ -38,10 +38,7 @@ func (server *subtypeServer) Sync(ctx context.Context, req *pb.SyncRequest) (*pb
 	if err != nil {
 		return nil, err
 	}
-	err = svc.Sync(
-		ctx,
-	)
-	if err != nil {
+	if err := svc.Sync(ctx, req.Extra.AsMap()); err != nil {
 		return nil, err
 	}
 	return &pb.SyncResponse{}, nil