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RSDK-14230: Update MachineStatus type #704

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88a6344
update MachineStatus type
gabegottlob Aug 25, 2026
131f2b3
update test_robot and mock_robot
gabegottlob Aug 25, 2026
0200612
fix linting
gabegottlob Aug 25, 2026
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214 changes: 202 additions & 12 deletions src/viam/sdk/robot/client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#include <grpcpp/grpcpp.h>
#include <grpcpp/support/status.h>

#include <viam/api/app/packages/v1/packages.pb.h>
#include <viam/api/common/v1/common.pb.h>
#include <viam/api/robot/v1/robot.grpc.pb.h>
#include <viam/api/robot/v1/robot.pb.h>
Expand All @@ -36,9 +37,16 @@ namespace viam {
namespace sdk {

using google::protobuf::RepeatedPtrField;
using viam::app::packages::v1::PackageType;
using viam::common::v1::Transform;
using viam::robot::v1::ConfigStatus;
using viam::robot::v1::FrameSystemConfig;
using viam::robot::v1::GetMachineStatusResponse;
using viam::robot::v1::JobStatus;
using viam::robot::v1::ModuleStatus;
using viam::robot::v1::Operation;
using viam::robot::v1::PackageStatus;
using viam::robot::v1::ResourceStatus;
using viam::robot::v1::RobotService;

// gRPC responses are frequently coming back with a spurious `Stream removed`
Expand Down Expand Up @@ -76,6 +84,164 @@ RobotClient::operation from_proto_impl<Operation>::operator()(const Operation* p
return op;
}

RobotClient::resource_status from_proto_impl<ResourceStatus>::operator()(
const ResourceStatus* proto) const {
RobotClient::resource_status rs;
rs.name = from_proto(proto->name());
switch (proto->state()) {
case robot::v1::ResourceStatus_State_STATE_UNCONFIGURED:
rs.state = RobotClient::resource_status::resource_state::k_unconfigured;
break;
case robot::v1::ResourceStatus_State_STATE_CONFIGURING:
rs.state = RobotClient::resource_status::resource_state::k_configuring;
break;
case robot::v1::ResourceStatus_State_STATE_READY:
rs.state = RobotClient::resource_status::resource_state::k_ready;
break;
case robot::v1::ResourceStatus_State_STATE_REMOVING:
rs.state = RobotClient::resource_status::resource_state::k_removing;
break;
case robot::v1::ResourceStatus_State_STATE_UNHEALTHY:
rs.state = RobotClient::resource_status::resource_state::k_unhealthy;
break;
case robot::v1::ResourceStatus_State_STATE_UNSPECIFIED:
default:
rs.state = RobotClient::resource_status::resource_state::k_unspecified;
}
if (proto->has_last_updated()) {
rs.last_updated = from_proto(proto->last_updated());
}
rs.revision = proto->revision();
rs.error = proto->error();
return rs;
}

RobotClient::config_status from_proto_impl<ConfigStatus>::operator()(
const ConfigStatus* proto) const {
RobotClient::config_status cs;
cs.revision = proto->revision();
if (proto->has_last_updated()) {
cs.last_updated = from_proto(proto->last_updated());
}
return cs;
}

RobotClient::module_status from_proto_impl<ModuleStatus>::operator()(
const ModuleStatus* proto) const {
RobotClient::module_status ms;
ms.module_name = proto->module_name();
switch (proto->state()) {
case robot::v1::ModuleStatus_State_STATE_PENDING:
ms.state = RobotClient::module_status::module_state::k_pending;
break;
case robot::v1::ModuleStatus_State_STATE_STARTING:
ms.state = RobotClient::module_status::module_state::k_starting;
break;
case robot::v1::ModuleStatus_State_STATE_READY:
ms.state = RobotClient::module_status::module_state::k_ready;
break;
case robot::v1::ModuleStatus_State_STATE_UNHEALTHY:
ms.state = RobotClient::module_status::module_state::k_unhealthy;
break;
case robot::v1::ModuleStatus_State_STATE_CLOSING:
ms.state = RobotClient::module_status::module_state::k_closing;
break;
case robot::v1::ModuleStatus_State_STATE_UNSPECIFIED:
default:
ms.state = RobotClient::module_status::module_state::k_unspecified;
}
if (proto->has_last_updated()) {
ms.last_updated = from_proto(proto->last_updated());
}
ms.error = proto->error();
ms.consecutive_failures = proto->consecutive_failures();
return ms;
}

RobotClient::package_status from_proto_impl<PackageStatus>::operator()(
const PackageStatus* proto) const {
RobotClient::package_status ps;
ps.name = proto->name();
switch (proto->type()) {
case PackageType::PACKAGE_TYPE_ARCHIVE:
ps.type = RobotClient::package_status::package_type::k_archive;
break;
case PackageType::PACKAGE_TYPE_ML_MODEL:
ps.type = RobotClient::package_status::package_type::k_ml_model;
break;
case PackageType::PACKAGE_TYPE_MODULE:
ps.type = RobotClient::package_status::package_type::k_module;
break;
case PackageType::PACKAGE_TYPE_SLAM_MAP:
ps.type = RobotClient::package_status::package_type::k_slam_map;
break;
case PackageType::PACKAGE_TYPE_ML_TRAINING:
ps.type = RobotClient::package_status::package_type::k_ml_training;
break;
case PackageType::PACKAGE_TYPE_UNSPECIFIED:
default:
ps.type = RobotClient::package_status::package_type::k_unspecified;
}
switch (proto->state()) {
case robot::v1::PackageStatus_State_STATE_DOWNLOADING:
ps.state = RobotClient::package_status::package_state::k_downloading;
break;
case robot::v1::PackageStatus_State_STATE_LOADING:
ps.state = RobotClient::package_status::package_state::k_loading;
break;
case robot::v1::PackageStatus_State_STATE_FIRST_RUN:
ps.state = RobotClient::package_status::package_state::k_first_run;
break;
case robot::v1::PackageStatus_State_STATE_READY:
ps.state = RobotClient::package_status::package_state::k_ready;
break;
case robot::v1::PackageStatus_State_STATE_FAILED:
ps.state = RobotClient::package_status::package_state::k_failed;
break;
case robot::v1::PackageStatus_State_STATE_UNSPECIFIED:
default:
ps.state = RobotClient::package_status::package_state::k_unspecified;
}
ps.error = proto->error();
if (proto->has_last_updated()) {
ps.last_updated = from_proto(proto->last_updated());
}
ps.version = proto->version();
ps.bytes_downloaded = proto->bytes_downloaded();
ps.total_bytes = proto->total_bytes();
return ps;
}

RobotClient::job_status from_proto_impl<JobStatus>::operator()(const JobStatus* proto) const {
RobotClient::job_status js;
js.job_name = proto->job_name();
js.recent_successful_runs = impl::from_repeated_field(proto->recent_successful_runs());
js.recent_failed_runs = impl::from_repeated_field(proto->recent_failed_runs());
return js;
}

RobotClient::machine_status from_proto_impl<GetMachineStatusResponse>::operator()(
const GetMachineStatusResponse* proto) const {
RobotClient::machine_status ms;
switch (proto->state()) {
case robot::v1::GetMachineStatusResponse_State_STATE_INITIALIZING:
ms.state = RobotClient::status::k_initializing;
break;
case robot::v1::GetMachineStatusResponse_State_STATE_RUNNING:
ms.state = RobotClient::status::k_running;
break;
case robot::v1::GetMachineStatusResponse_State_STATE_UNSPECIFIED:
default:
ms.state = RobotClient::status::k_unspecified;
}
ms.resources = impl::from_repeated_field(proto->resources());
ms.config = from_proto(proto->config());
ms.modules = impl::from_repeated_field(proto->modules());
ms.packages = impl::from_repeated_field(proto->packages());
ms.job_statuses = impl::from_repeated_field(proto->job_statuses());
return ms;
}

} // namespace proto_convert_details

bool operator==(const RobotClient::frame_system_config& lhs,
Expand All @@ -89,6 +255,40 @@ bool operator==(const RobotClient::operation& lhs, const RobotClient::operation&
lhs.arguments == rhs.arguments && lhs.started == rhs.started;
}

bool operator==(const RobotClient::resource_status& lhs, const RobotClient::resource_status& rhs) {
return lhs.name == rhs.name && lhs.state == rhs.state && lhs.last_updated == rhs.last_updated &&
lhs.revision == rhs.revision && lhs.error == rhs.error;
}

bool operator==(const RobotClient::config_status& lhs, const RobotClient::config_status& rhs) {
return lhs.revision == rhs.revision && lhs.last_updated == rhs.last_updated;
}

bool operator==(const RobotClient::module_status& lhs, const RobotClient::module_status& rhs) {
return lhs.module_name == rhs.module_name && lhs.state == rhs.state &&
lhs.last_updated == rhs.last_updated && lhs.error == rhs.error &&
lhs.consecutive_failures == rhs.consecutive_failures;
}

bool operator==(const RobotClient::package_status& lhs, const RobotClient::package_status& rhs) {
return lhs.name == rhs.name && lhs.type == rhs.type && lhs.state == rhs.state &&
lhs.error == rhs.error && lhs.last_updated == rhs.last_updated &&
lhs.version == rhs.version && lhs.bytes_downloaded == rhs.bytes_downloaded &&
lhs.total_bytes == rhs.total_bytes;
}

bool operator==(const RobotClient::job_status& lhs, const RobotClient::job_status& rhs) {
return lhs.job_name == rhs.job_name &&
lhs.recent_successful_runs == rhs.recent_successful_runs &&
lhs.recent_failed_runs == rhs.recent_failed_runs;
}

bool operator==(const RobotClient::machine_status& lhs, const RobotClient::machine_status& rhs) {
return lhs.state == rhs.state && lhs.resources == rhs.resources && lhs.config == rhs.config &&
lhs.modules == rhs.modules && lhs.packages == rhs.packages &&
lhs.job_statuses == rhs.job_statuses;
}

struct RobotClient::impl {
impl(std::unique_ptr<RobotService::Stub> stub, ViamChannel& channel)
: stub(std::move(stub)), channel_(&channel) {}
Expand Down Expand Up @@ -488,19 +688,9 @@ pose_in_frame RobotClient::get_pose(const std::string& component_name,
.invoke([](const auto& resp) { return from_proto(resp.pose()); });
}

RobotClient::status RobotClient::get_machine_status() const {
RobotClient::machine_status RobotClient::get_machine_status() const {
return impl::client_helper(impl_, &RobotService::Stub::GetMachineStatus)
.invoke([](const auto& resp) {
switch (resp.state()) {
case robot::v1::GetMachineStatusResponse_State_STATE_INITIALIZING:
return RobotClient::status::k_initializing;
case robot::v1::GetMachineStatusResponse_State_STATE_RUNNING:
return RobotClient::status::k_running;
case robot::v1::GetMachineStatusResponse_State_STATE_UNSPECIFIED:
default:
return RobotClient::status::k_unspecified;
}
});
.invoke([](const auto& resp) { return from_proto(resp); });
}

} // namespace sdk
Expand Down
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