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randhidrandhid
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Make sensors service not configured on default (viamrobotics#4428)
1 parent c279b0b commit f9359fe

7 files changed

+13
-215
lines changed

‎robot/impl/local_robot_test.go

+4-52
Original file line numberDiff line numberDiff line change
@@ -182,7 +182,6 @@ func TestConfigRemote(t *testing.T) {
182182

183183
expected := []resource.Name{
184184
motion.Named(resource.DefaultServiceName),
185-
sensors.Named(resource.DefaultServiceName),
186185
arm.Named("squee:pieceArm"),
187186
arm.Named("foo:pieceArm"),
188187
arm.Named("bar:pieceArm"),
@@ -204,11 +203,8 @@ func TestConfigRemote(t *testing.T) {
204203
gripper.Named("foo:pieceGripper"),
205204
gripper.Named("bar:pieceGripper"),
206205
motion.Named("squee:builtin"),
207-
sensors.Named("squee:builtin"),
208206
motion.Named("foo:builtin"),
209-
sensors.Named("foo:builtin"),
210207
motion.Named("bar:builtin"),
211-
sensors.Named("bar:builtin"),
212208
}
213209

214210
resources2 := r2.ResourceNames()
@@ -424,7 +420,6 @@ func TestConfigRemoteWithAuth(t *testing.T) {
424420

425421
expected := []resource.Name{
426422
motion.Named(resource.DefaultServiceName),
427-
sensors.Named(resource.DefaultServiceName),
428423
arm.Named("bar:pieceArm"),
429424
arm.Named("foo:pieceArm"),
430425
audioinput.Named("bar:mic1"),
@@ -438,9 +433,7 @@ func TestConfigRemoteWithAuth(t *testing.T) {
438433
gripper.Named("bar:pieceGripper"),
439434
gripper.Named("foo:pieceGripper"),
440435
motion.Named("foo:builtin"),
441-
sensors.Named("foo:builtin"),
442436
motion.Named("bar:builtin"),
443-
sensors.Named("bar:builtin"),
444437
}
445438

446439
resources2 := r2.ResourceNames()
@@ -595,15 +588,13 @@ func TestConfigRemoteWithTLSAuth(t *testing.T) {
595588

596589
expected := []resource.Name{
597590
motion.Named(resource.DefaultServiceName),
598-
sensors.Named(resource.DefaultServiceName),
599591
arm.Named("foo:pieceArm"),
600592
audioinput.Named("foo:mic1"),
601593
camera.Named("foo:cameraOver"),
602594
movementsensor.Named("foo:movement_sensor1"),
603595
movementsensor.Named("foo:movement_sensor2"),
604596
gripper.Named("foo:pieceGripper"),
605597
motion.Named("foo:builtin"),
606-
sensors.Named("foo:builtin"),
607598
}
608599

609600
resources2 := r2.ResourceNames()
@@ -835,7 +826,7 @@ func TestMetadataUpdate(t *testing.T) {
835826
resources := r.ResourceNames()
836827
test.That(t, err, test.ShouldBeNil)
837828

838-
test.That(t, len(resources), test.ShouldEqual, 8)
829+
test.That(t, len(resources), test.ShouldEqual, 7)
839830
test.That(t, err, test.ShouldBeNil)
840831

841832
// 5 declared resources + default sensors
@@ -847,7 +838,6 @@ func TestMetadataUpdate(t *testing.T) {
847838
movementsensor.Named("movement_sensor1"),
848839
movementsensor.Named("movement_sensor2"),
849840
motion.Named(resource.DefaultServiceName),
850-
sensors.Named(resource.DefaultServiceName),
851841
}
852842

853843
resources = r.ResourceNames()
@@ -859,32 +849,6 @@ func TestMetadataUpdate(t *testing.T) {
859849
test.That(t, resources, test.ShouldBeEmpty)
860850
}
861851

862-
func TestSensorsService(t *testing.T) {
863-
logger := logging.NewTestLogger(t)
864-
cfg, err := config.Read(context.Background(), "data/fake.json", logger)
865-
test.That(t, err, test.ShouldBeNil)
866-
867-
r := setupLocalRobot(t, context.Background(), cfg, logger)
868-
869-
svc, err := sensors.FromRobot(r, resource.DefaultServiceName)
870-
test.That(t, err, test.ShouldBeNil)
871-
872-
sensorNames := []resource.Name{movementsensor.Named("movement_sensor1"), movementsensor.Named("movement_sensor2")}
873-
foundSensors, err := svc.Sensors(context.Background(), map[string]interface{}{})
874-
test.That(t, err, test.ShouldBeNil)
875-
rtestutils.VerifySameResourceNames(t, foundSensors, sensorNames)
876-
877-
readings, err := svc.Readings(context.Background(), []resource.Name{movementsensor.Named("movement_sensor1")}, map[string]interface{}{})
878-
test.That(t, err, test.ShouldBeNil)
879-
test.That(t, len(readings), test.ShouldEqual, 1)
880-
test.That(t, readings[0].Name, test.ShouldResemble, movementsensor.Named("movement_sensor1"))
881-
test.That(t, len(readings[0].Readings), test.ShouldBeGreaterThan, 3)
882-
883-
readings, err = svc.Readings(context.Background(), sensorNames, map[string]interface{}{})
884-
test.That(t, err, test.ShouldBeNil)
885-
test.That(t, len(readings), test.ShouldEqual, 2)
886-
}
887-
888852
func TestStatusService(t *testing.T) {
889853
logger := logging.NewTestLogger(t)
890854
cfg, err := config.Read(context.Background(), "data/fake.json", logger)
@@ -1062,7 +1026,7 @@ func TestStatus(t *testing.T) {
10621026
test.That(t, err, test.ShouldBeNil)
10631027
// 5 because the 3 default services are always added to a local_robot. We only care
10641028
// about the first two (working1 and button1) however.
1065-
test.That(t, len(resp), test.ShouldEqual, 4)
1029+
test.That(t, len(resp), test.ShouldEqual, 3)
10661030

10671031
// although the response is length 5, the only thing we actually care about for testing
10681032
// is consistency with the expected values in the workingResourceMap. So we eliminate
@@ -1178,7 +1142,6 @@ func TestStatusRemote(t *testing.T) {
11781142
r.ResourceNames(),
11791143
[]resource.Name{
11801144
motion.Named(resource.DefaultServiceName),
1181-
sensors.Named(resource.DefaultServiceName),
11821145
arm.Named("foo:arm1"),
11831146
arm.Named("foo:arm2"),
11841147
arm.Named("bar:arm1"),
@@ -1286,7 +1249,6 @@ func TestGetRemoteResourceAndGrandFather(t *testing.T) {
12861249
r.ResourceNames(),
12871250
[]resource.Name{
12881251
motion.Named(resource.DefaultServiceName),
1289-
sensors.Named(resource.DefaultServiceName),
12901252
arm.Named("remote:foo:arm1"), arm.Named("remote:foo:arm2"),
12911253
arm.Named("remote:pieceArm"),
12921254
arm.Named("remote:foo:pieceArm"),
@@ -1296,9 +1258,7 @@ func TestGetRemoteResourceAndGrandFather(t *testing.T) {
12961258
movementsensor.Named("remote:movement_sensor2"),
12971259
gripper.Named("remote:pieceGripper"),
12981260
motion.Named("remote:builtin"),
1299-
sensors.Named("remote:builtin"),
13001261
motion.Named("remote:foo:builtin"),
1301-
sensors.Named("remote:foo:builtin"),
13021262
},
13031263
)
13041264
arm1, err := r.ResourceByName(arm.Named("remote:foo:arm1"))
@@ -1770,7 +1730,7 @@ func TestConfigMethod(t *testing.T) {
17701730
// Assert that Config method returns the two default services: motion and sensors.
17711731
actualCfg := r.Config()
17721732
defaultSvcs := removeDefaultServices(actualCfg)
1773-
test.That(t, len(defaultSvcs), test.ShouldEqual, 2)
1733+
test.That(t, len(defaultSvcs), test.ShouldEqual, 1)
17741734
for _, svc := range defaultSvcs {
17751735
test.That(t, svc.API.SubtypeName, test.ShouldBeIn,
17761736
motion.API.SubtypeName, sensors.API.SubtypeName)
@@ -1875,7 +1835,7 @@ func TestConfigMethod(t *testing.T) {
18751835
// Assert that default motion and sensor services are still present, but data
18761836
// manager default service has been replaced by the "fake1" data manager service.
18771837
defaultSvcs = removeDefaultServices(actualCfg)
1878-
test.That(t, len(defaultSvcs), test.ShouldEqual, 2)
1838+
test.That(t, len(defaultSvcs), test.ShouldEqual, 1)
18791839
for _, svc := range defaultSvcs {
18801840
test.That(t, svc.API.SubtypeName, test.ShouldBeIn, motion.API.SubtypeName,
18811841
sensors.API.SubtypeName)
@@ -3445,14 +3405,6 @@ func getExpectedDefaultStatuses(revision string) []resource.Status {
34453405
State: resource.NodeStateReady,
34463406
Revision: revision,
34473407
},
3448-
{
3449-
Name: resource.Name{
3450-
API: resource.APINamespaceRDK.WithServiceType("sensors"),
3451-
Name: "builtin",
3452-
},
3453-
State: resource.NodeStateReady,
3454-
Revision: revision,
3455-
},
34563408
}
34573409
}
34583410

‎robot/impl/robot_framesystem_test.go

-3
Original file line numberDiff line numberDiff line change
@@ -19,8 +19,6 @@ import (
1919
_ "go.viam.com/rdk/services/datamanager/builtin"
2020
"go.viam.com/rdk/services/motion"
2121
_ "go.viam.com/rdk/services/motion/builtin"
22-
"go.viam.com/rdk/services/sensors"
23-
_ "go.viam.com/rdk/services/sensors/builtin"
2422
"go.viam.com/rdk/spatialmath"
2523
"go.viam.com/rdk/testutils/robottestutils"
2624
rutils "go.viam.com/rdk/utils"
@@ -129,7 +127,6 @@ func TestFrameSystemConfigWithRemote(t *testing.T) {
129127

130128
finalSet := []resource.Name{
131129
motion.Named(resource.DefaultServiceName),
132-
sensors.Named(resource.DefaultServiceName),
133130
base.Named("foo"),
134131
gripper.Named("myParentIsRemote"),
135132
}

‎robot/impl/robot_reconfigure_remote_test.go

-27
Original file line numberDiff line numberDiff line change
@@ -19,7 +19,6 @@ import (
1919
// TODO(RSDK-7884): change everything that depends on this import to a mock.
2020
"go.viam.com/rdk/services/motion"
2121
// TODO(RSDK-7884): change all referenced resources to mocks.
22-
"go.viam.com/rdk/services/sensors"
2322
rdktestutils "go.viam.com/rdk/testutils"
2423
"go.viam.com/rdk/testutils/robottestutils"
2524
)
@@ -109,11 +108,9 @@ func TestRemoteRobotsGold(t *testing.T) {
109108
r.ResourceNames(),
110109
[]resource.Name{
111110
motion.Named(resource.DefaultServiceName),
112-
sensors.Named(resource.DefaultServiceName),
113111
arm.Named("arm1"),
114112
arm.Named("foo:remoteArm"),
115113
motion.Named("foo:builtin"),
116-
sensors.Named("foo:builtin"),
117114
},
118115
)
119116

@@ -123,15 +120,12 @@ func TestRemoteRobotsGold(t *testing.T) {
123120

124121
mainPartAndFooAndBarResources := []resource.Name{
125122
motion.Named(resource.DefaultServiceName),
126-
sensors.Named(resource.DefaultServiceName),
127123
arm.Named("arm1"),
128124
arm.Named("arm2"),
129125
arm.Named("foo:remoteArm"),
130126
motion.Named("foo:builtin"),
131-
sensors.Named("foo:builtin"),
132127
arm.Named("bar:remoteArm"),
133128
motion.Named("bar:builtin"),
134-
sensors.Named("bar:builtin"),
135129
}
136130
testutils.WaitForAssertionWithSleep(t, time.Millisecond*100, 300, func(tb testing.TB) {
137131
rdktestutils.VerifySameResourceNames(tb, r.ResourceNames(), mainPartAndFooAndBarResources)
@@ -143,11 +137,9 @@ func TestRemoteRobotsGold(t *testing.T) {
143137
verifyReachableResourceNames(tb, r,
144138
[]resource.Name{
145139
motion.Named(resource.DefaultServiceName),
146-
sensors.Named(resource.DefaultServiceName),
147140
arm.Named("arm1"),
148141
arm.Named("foo:remoteArm"),
149142
motion.Named("foo:builtin"),
150-
sensors.Named("foo:builtin"),
151143
},
152144
)
153145
})
@@ -214,19 +206,14 @@ func TestRemoteRobotsUpdate(t *testing.T) {
214206

215207
expectedSet := []resource.Name{
216208
motion.Named(resource.DefaultServiceName),
217-
sensors.Named(resource.DefaultServiceName),
218209
arm.Named("foo:arm1"),
219210
motion.Named("foo:builtin"),
220-
sensors.Named("foo:builtin"),
221211
arm.Named("bar:arm1"),
222212
motion.Named("bar:builtin"),
223-
sensors.Named("bar:builtin"),
224213
arm.Named("hello:arm1"),
225214
motion.Named("hello:builtin"),
226-
sensors.Named("hello:builtin"),
227215
arm.Named("world:arm1"),
228216
motion.Named("world:builtin"),
229-
sensors.Named("world:builtin"),
230217
}
231218
testutils.WaitForAssertionWithSleep(t, time.Millisecond*100, 300, func(tb testing.TB) {
232219
rdktestutils.VerifySameResourceNames(tb, r.ResourceNames(), expectedSet)
@@ -238,7 +225,6 @@ func TestRemoteRobotsUpdate(t *testing.T) {
238225
verifyReachableResourceNames(tb, r,
239226
[]resource.Name{
240227
motion.Named(resource.DefaultServiceName),
241-
sensors.Named(resource.DefaultServiceName),
242228
},
243229
)
244230
})
@@ -291,11 +277,9 @@ func TestInferRemoteRobotDependencyConnectAtStartup(t *testing.T) {
291277
r := setupLocalRobot(t, ctx, localConfig, logger.Sublogger("local"))
292278
expectedSet := []resource.Name{
293279
motion.Named(resource.DefaultServiceName),
294-
sensors.Named(resource.DefaultServiceName),
295280
arm.Named("arm1"),
296281
arm.Named("foo:pieceArm"),
297282
motion.Named("foo:builtin"),
298-
sensors.Named("foo:builtin"),
299283
}
300284

301285
rdktestutils.VerifySameResourceNames(t, r.ResourceNames(), expectedSet)
@@ -306,7 +290,6 @@ func TestInferRemoteRobotDependencyConnectAtStartup(t *testing.T) {
306290
verifyReachableResourceNames(tb, r,
307291
[]resource.Name{
308292
motion.Named(resource.DefaultServiceName),
309-
sensors.Named(resource.DefaultServiceName),
310293
},
311294
)
312295
})
@@ -374,19 +357,16 @@ func TestInferRemoteRobotDependencyConnectAfterStartup(t *testing.T) {
374357
rdktestutils.VerifySameResourceNames(t, r.ResourceNames(),
375358
[]resource.Name{
376359
motion.Named(resource.DefaultServiceName),
377-
sensors.Named(resource.DefaultServiceName),
378360
},
379361
)
380362
err := foo.StartWeb(ctx, options)
381363
test.That(t, err, test.ShouldBeNil)
382364

383365
expectedSet := []resource.Name{
384366
motion.Named(resource.DefaultServiceName),
385-
sensors.Named(resource.DefaultServiceName),
386367
arm.Named("arm1"),
387368
arm.Named("foo:pieceArm"),
388369
motion.Named("foo:builtin"),
389-
sensors.Named("foo:builtin"),
390370
}
391371
testutils.WaitForAssertionWithSleep(t, time.Millisecond*100, 300, func(tb testing.TB) {
392372
rdktestutils.VerifySameResourceNames(tb, r.ResourceNames(), expectedSet)
@@ -398,7 +378,6 @@ func TestInferRemoteRobotDependencyConnectAfterStartup(t *testing.T) {
398378
verifyReachableResourceNames(tb, r,
399379
[]resource.Name{
400380
motion.Named(resource.DefaultServiceName),
401-
sensors.Named(resource.DefaultServiceName),
402381
},
403382
)
404383
})
@@ -463,13 +442,10 @@ func TestInferRemoteRobotDependencyAmbiguous(t *testing.T) {
463442

464443
expectedSet := []resource.Name{
465444
motion.Named(resource.DefaultServiceName),
466-
sensors.Named(resource.DefaultServiceName),
467445
arm.Named("foo:pieceArm"),
468446
motion.Named("foo:builtin"),
469-
sensors.Named("foo:builtin"),
470447
arm.Named("bar:pieceArm"),
471448
motion.Named("bar:builtin"),
472-
sensors.Named("bar:builtin"),
473449
}
474450

475451
rdktestutils.VerifySameResourceNames(t, r.ResourceNames(), expectedSet)
@@ -507,13 +483,10 @@ func TestInferRemoteRobotDependencyAmbiguous(t *testing.T) {
507483

508484
finalSet := []resource.Name{
509485
motion.Named(resource.DefaultServiceName),
510-
sensors.Named(resource.DefaultServiceName),
511486
arm.Named("foo:pieceArm"),
512487
motion.Named("foo:builtin"),
513-
sensors.Named("foo:builtin"),
514488
arm.Named("bar:pieceArm"),
515489
motion.Named("bar:builtin"),
516-
sensors.Named("bar:builtin"),
517490
arm.Named("arm1"),
518491
}
519492

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