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[RSDK-9314] Fully deprecate data.GetExtraFromContext #4601

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merged 2 commits into from
Dec 4, 2024
Merged

[RSDK-9314] Fully deprecate data.GetExtraFromContext #4601

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bffda3f
Remove helper
hexbabe Dec 4, 2024
6ba8c08
extraStruct -> extraStructPb
hexbabe Dec 4, 2024
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8 changes: 6 additions & 2 deletions components/camera/client.go
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Original file line number Diff line number Diff line change
Expand Up @@ -244,15 +244,19 @@ func (c *client) NextPointCloud(ctx context.Context) (pointcloud.PointCloud, err

ctx, getPcdSpan := trace.StartSpan(ctx, "camera::client::NextPointCloud::GetPointCloud")

ext, err := data.GetExtraFromContext(ctx)
extra := make(map[string]interface{})
if ctx.Value(data.FromDMContextKey{}) == true {
extra[data.FromDMString] = true
}
extraStructPb, err := goprotoutils.StructToStructPb(extra)
if err != nil {
return nil, err
}

resp, err := c.client.GetPointCloud(ctx, &pb.GetPointCloudRequest{
Name: c.name,
MimeType: utils.MimeTypePCD,
Extra: ext,
Extra: extraStructPb,
})
getPcdSpan.End()
if err != nil {
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10 changes: 0 additions & 10 deletions data/collector.go
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Expand Up @@ -383,13 +383,3 @@ func InvalidInterfaceErr(api resource.API) error {
func FailedToReadErr(component, method string, err error) error {
return errors.Errorf("failed to get reading of method %s of component %s: %v", method, component, err)
}

// GetExtraFromContext sets the extra struct with "fromDataManagement": true if the flag is true in the context.
// Deprecated: Use camera.FromContext instead.
func GetExtraFromContext(ctx context.Context) (*structpb.Struct, error) {
extra := make(map[string]interface{})
if ctx.Value(FromDMContextKey{}) == true {
extra[FromDMString] = true
}
return protoutils.StructToStructPb(extra)
}
4 changes: 2 additions & 2 deletions module/modmanager/manager.go
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Original file line number Diff line number Diff line change
Expand Up @@ -1223,13 +1223,13 @@ func (m *module) registerResources(mgr modmaninterface.ModuleManager, logger log
return mgr.AddResource(ctx, conf, DepsToNames(deps))
},
Discover: func(ctx context.Context, logger logging.Logger, extra map[string]interface{}) (interface{}, error) {
extraStruct, err := structpb.NewStruct(extra)
extraStructPb, err := structpb.NewStruct(extra)
if err != nil {
return nil, err
}
req := &robotpb.DiscoverComponentsRequest{
Queries: []*robotpb.DiscoveryQuery{
{Subtype: apiCopy.API.String(), Model: modelCopy.String(), Extra: extraStruct},
{Subtype: apiCopy.API.String(), Model: modelCopy.String(), Extra: extraStructPb},
},
}

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