add BoudingRegions to arguments of MoveOnGlobe + update server test

services/motion/builtin/move_request.go

@@ -446,7 +446,7 @@ func (ms *builtIn) newMoveOnGlobeRequest(
 	// ensure arguments are well behaved
 	obstacles := req.Obstacles
 	if obstacles == nil {
-		obstacles = []*spatialmath.GeoObstacle{}
+		obstacles = []*spatialmath.GeoGeometry{}
 	}
 	if req.Destination == nil {
 		return nil, errors.New("destination cannot be nil")
@@ -518,7 +518,7 @@ func (ms *builtIn) newMoveOnGlobeRequest(
 		return nil, err
 	}
 
-	geomsRaw := spatialmath.GeoObstaclesToGeometries(obstacles, origin)
+	geomsRaw := spatialmath.GeoGeometriesToGeometries(obstacles, origin)
 
 	mr, err := ms.createBaseMoveRequest(
 		ctx,

services/motion/motion.go

@@ -56,7 +56,9 @@ type MoveOnGlobeReq struct {
 	Obstacles []*spatialmath.GeoGeometry
 	// Optional motion configuration
 	MotionCfg *MotionConfiguration
-	Extra     map[string]interface{}
+	//Set of obstacles which the robot must remain within while navigating
+	BoundingRegions []*spatialmath.GeoGeometry
+	Extra           map[string]interface{}
 }
 
 func (r MoveOnGlobeReq) String() string {

services/motion/pbhelpers.go

@@ -186,6 +186,13 @@ func (r MoveOnGlobeReq) toProto(name string) (*pb.MoveOnGlobeRequest, error) {
 		}
 		req.Obstacles = obstaclesProto
 	}
+	if len(r.BoundingRegions) > 0 {
+		obstaclesProto := make([]*commonpb.GeoGeometry, 0, len(r.Obstacles))
+		for _, obstacle := range r.BoundingRegions {
+			obstaclesProto = append(obstaclesProto, spatialmath.GeoGeometryToProtobuf(obstacle))
+		}
+		req.BoundingRegions = obstaclesProto
+	}
 	return req, nil
 }
 
@@ -212,6 +219,17 @@ func moveOnGlobeRequestFromProto(req *pb.MoveOnGlobeRequest) (MoveOnGlobeReq, er
 		}
 		obstacles = append(obstacles, convObst)
 	}
+
+	boundingRegionGeometriesProto := req.GetBoundingRegions()
+	boundingRegionGeometries := make([]*spatialmath.GeoGeometry, 0, len(boundingRegionGeometriesProto))
+	for _, eachProtoObst := range boundingRegionGeometriesProto {
+		convObst, err := spatialmath.GeoGeometryFromProtobuf(eachProtoObst)
+		if err != nil {
+			return MoveOnGlobeReq{}, err
+		}
+		boundingRegionGeometries = append(boundingRegionGeometries, convObst)
+	}
+
 	protoComponentName := req.GetComponentName()
 	if protoComponentName == nil {
 		return MoveOnGlobeReq{}, errors.New("received nil *commonpb.ResourceName")
@@ -232,6 +250,7 @@ func moveOnGlobeRequestFromProto(req *pb.MoveOnGlobeRequest) (MoveOnGlobeReq, er
 		MovementSensorName: movementSensorName,
 		Obstacles:          obstacles,
 		MotionCfg:          motionCfg,
+		BoundingRegions:    boundingRegionGeometries,
 		Extra:              req.Extra.AsMap(),
 	}, nil
 }

services/motion/server_test.go

@@ -221,6 +221,10 @@ func TestServerMoveOnGlobe(t *testing.T) {
 			spatialmath.GeoGeometryToProtobuf(geoGeometry1),
 			spatialmath.GeoGeometryToProtobuf(geoGeometry2),
 		}
+		boundingRegionGeoms := []*commonpb.GeoGeometry{
+			spatialmath.GeoGeometryToProtobuf(geoGeometry1),
+			spatialmath.GeoGeometryToProtobuf(geoGeometry2),
+		}
 		angularDegsPerSec := 1.
 		linearMPerSec := 2.
 		planDeviationM := 3.
@@ -252,6 +256,7 @@ func TestServerMoveOnGlobe(t *testing.T) {
 				PositionPollingFrequencyHz: &positionPollingFrequencyHz,
 				ObstacleDetectors:          obstacleDetectorsPB,
 			},
+			BoundingRegions: boundingRegionGeoms,
 		}
 
 		firstExecutionID := uuid.New()
@@ -274,6 +279,9 @@ func TestServerMoveOnGlobe(t *testing.T) {
 			test.That(t, req.MotionCfg.ObstacleDetectors[0].CameraName, test.ShouldResemble, camera.Named("camera 1"))
 			test.That(t, req.MotionCfg.ObstacleDetectors[1].VisionServiceName, test.ShouldResemble, vision.Named("vision service 2"))
 			test.That(t, req.MotionCfg.ObstacleDetectors[1].CameraName, test.ShouldResemble, camera.Named("camera 2"))
+			test.That(t, len(req.BoundingRegions), test.ShouldEqual, 2)
+			test.That(t, req.BoundingRegions[0], test.ShouldResemble, geoGeometry1)
+			test.That(t, req.BoundingRegions[1], test.ShouldResemble, geoGeometry2)
 			return firstExecutionID, nil
 		}
 		moveOnGlobeResponse, err := server.MoveOnGlobe(context.Background(), moveOnGlobeRequest)

services/navigation/navigation.go

@@ -92,7 +92,7 @@ type Service interface {
 	AddWaypoint(ctx context.Context, point *geo.Point, extra map[string]interface{}) error
 	RemoveWaypoint(ctx context.Context, id primitive.ObjectID, extra map[string]interface{}) error
 
-	Obstacles(ctx context.Context, extra map[string]interface{}) ([]*spatialmath.GeoObstacle, error)
+	Obstacles(ctx context.Context, extra map[string]interface{}) ([]*spatialmath.GeoGeometry, error)
 
 	Paths(ctx context.Context, extra map[string]interface{}) ([]*Path, error)