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RSDK-2954 Move module manager to be owned by resource manager #2315

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merged 5 commits into from
May 3, 2023
Merged

RSDK-2954 Move module manager to be owned by resource manager #2315

merged 5 commits into from
May 3, 2023

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benjirewis
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@benjirewis benjirewis commented May 2, 2023 •
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RSDK-2954

Moves the module manager to be owned by the resource manager instead of by local robot.

Currently, local robot has both a module manager object and a resource manager object. Increasingly, the module manager must interface with the resource manager and vice versa. It may be wise to have the module manager be owned by the resource manager (like the process manager). This turns the weird MM <-> LR <-> RM interaction into something more like LR -> RM -> MM.

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels May 2, 2023
@benjirewis benjirewis requested review from edaniels and Otterverse May 2, 2023 19:37
@benjirewis benjirewis marked this pull request as ready for review May 2, 2023 19:37
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels May 2, 2023
@benjirewis benjirewis mentioned this pull request May 2, 2023
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@benjirewis benjirewis requested a review from cheukt May 3, 2023 17:42
edaniels
edaniels approved these changes May 3, 2023
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LGTM except 1 possible change

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels May 3, 2023
Otterverse
Otterverse approved these changes May 3, 2023
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LGTM! Good idea to simplify in this way!

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels May 3, 2023
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github-actions bot commented May 3, 2023

Code Coverage

Package Line Rate Delta Health
go.viam.com/rdk/components/arm 63% 0.00% ➖
go.viam.com/rdk/components/arm/fake 29% 0.00% ❌
go.viam.com/rdk/components/arm/universalrobots 41% 0.00% ❌
go.viam.com/rdk/components/arm/wrapper 21% 0.00% ❌
go.viam.com/rdk/components/arm/xarm 23% 0.00% ❌
go.viam.com/rdk/components/arm/yahboom 6% 0.00% ❌
go.viam.com/rdk/components/audioinput 43% -0.47% ❌
go.viam.com/rdk/components/base 41% 0.00% ❌
go.viam.com/rdk/components/base/agilex 63% 0.00% ➖
go.viam.com/rdk/components/base/boat 40% 0.00% ❌
go.viam.com/rdk/components/base/fake 52% 0.00% ➖
go.viam.com/rdk/components/base/wheeled 75% 0.00% ✅
go.viam.com/rdk/components/board 60% +0.22% ➖
go.viam.com/rdk/components/board/fake 40% 0.00% ❌
go.viam.com/rdk/components/board/genericlinux 19% 0.00% ❌
go.viam.com/rdk/components/board/numato 19% 0.00% ❌
go.viam.com/rdk/components/board/pi 50% 0.00% ➖
go.viam.com/rdk/components/camera 57% 0.00% ➖
go.viam.com/rdk/components/camera/align 58% 0.00% ➖
go.viam.com/rdk/components/camera/fake 74% 0.00% ✅
go.viam.com/rdk/components/camera/ffmpeg 81% 0.00% ✅
go.viam.com/rdk/components/camera/rtsp 46% 0.00% ❌
go.viam.com/rdk/components/camera/transformpipeline 77% 0.00% ✅
go.viam.com/rdk/components/camera/videosource 33% 0.00% ❌
go.viam.com/rdk/components/encoder 57% 0.00% ➖
go.viam.com/rdk/components/encoder/ams 64% 0.00% ➖
go.viam.com/rdk/components/encoder/fake 83% 0.00% ✅
go.viam.com/rdk/components/encoder/incremental 80% 0.00% ✅
go.viam.com/rdk/components/encoder/single 86% 0.00% ✅
go.viam.com/rdk/components/gantry 56% 0.00% ➖
go.viam.com/rdk/components/gantry/multiaxis 87% 0.00% ✅
go.viam.com/rdk/components/gantry/oneaxis 87% 0.00% ✅
go.viam.com/rdk/components/generic 79% 0.00% ✅
go.viam.com/rdk/components/gripper 69% 0.00% ➖
go.viam.com/rdk/components/input 88% 0.00% ✅
go.viam.com/rdk/components/input/fake 93% 0.00% ✅
go.viam.com/rdk/components/input/gpio 85% 0.00% ✅
go.viam.com/rdk/components/motor 71% 0.00% ✅
go.viam.com/rdk/components/motor/dimensionengineering 66% 0.00% ➖
go.viam.com/rdk/components/motor/dmc4000 70% 0.00% ✅
go.viam.com/rdk/components/motor/fake 55% 0.00% ➖
go.viam.com/rdk/components/motor/gpio 60% +0.60% ➖
go.viam.com/rdk/components/motor/gpiostepper 52% +0.62% ➖
go.viam.com/rdk/components/motor/tmcstepper 64% 0.00% ➖
go.viam.com/rdk/components/motor/ulnstepper 53% 0.00% ➖
go.viam.com/rdk/components/movementsensor 76% 0.00% ✅
go.viam.com/rdk/components/movementsensor/adxl345 66% 0.00% ➖
go.viam.com/rdk/components/movementsensor/cameramono 41% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsnmea 51% 0.00% ➖
go.viam.com/rdk/components/movementsensor/gpsrtk 28% -1.24% ❌
go.viam.com/rdk/components/movementsensor/mpu6050 84% 0.00% ✅
go.viam.com/rdk/components/posetracker 71% 0.00% ✅
go.viam.com/rdk/components/sensor 52% 0.00% ➖
go.viam.com/rdk/components/sensor/ultrasonic 43% 0.00% ❌
go.viam.com/rdk/components/servo 62% 0.00% ➖
go.viam.com/rdk/components/servo/gpio 72% 0.00% ✅
go.viam.com/rdk/config 79% 0.00% ✅
go.viam.com/rdk/control 57% 0.00% ➖
go.viam.com/rdk/data 77% 0.00% ✅
go.viam.com/rdk/examples/customresources/demos/remoteserver 0% 0.00% ❌
go.viam.com/rdk/grpc 25% 0.00% ❌
go.viam.com/rdk/internal/cloud 100% 0.00% ✅
go.viam.com/rdk/ml 67% 0.00% ➖
go.viam.com/rdk/ml/inference 71% 0.00% ✅
go.viam.com/rdk/module 76% 0.00% ✅
go.viam.com/rdk/module/modmanager 81% +0.20% ✅
go.viam.com/rdk/motionplan 71% +0.24% ✅
go.viam.com/rdk/operation 82% 0.00% ✅
go.viam.com/rdk/pointcloud 69% 0.00% ➖
go.viam.com/rdk/protoutils 49% 0.00% ❌
go.viam.com/rdk/referenceframe 73% 0.00% ✅
go.viam.com/rdk/resource 75% 0.00% ✅
go.viam.com/rdk/rimage 78% 0.00% ✅
go.viam.com/rdk/rimage/depthadapter 94% 0.00% ✅
go.viam.com/rdk/rimage/transform 75% 0.00% ✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration 67% 0.00% ➖
go.viam.com/rdk/robot 86% 0.00% ✅
go.viam.com/rdk/robot/client 82% 0.00% ✅
go.viam.com/rdk/robot/framesystem 66% 0.00% ➖
go.viam.com/rdk/robot/impl 82% +0.23% ✅
go.viam.com/rdk/robot/packages 80% 0.00% ✅
go.viam.com/rdk/robot/server 53% 0.00% ➖
go.viam.com/rdk/robot/web 65% +0.16% ➖
go.viam.com/rdk/robot/web/stream 87% 0.00% ✅
go.viam.com/rdk/services/baseremotecontrol 50% 0.00% ➖
go.viam.com/rdk/services/baseremotecontrol/builtin 82% 0.00% ✅
go.viam.com/rdk/services/datamanager 65% 0.00% ➖
go.viam.com/rdk/services/datamanager/builtin 86% +0.48% ✅
go.viam.com/rdk/services/datamanager/datacapture 73% 0.00% ✅
go.viam.com/rdk/services/datamanager/datasync 0% 0.00% ❌
go.viam.com/rdk/services/mlmodel 83% 0.00% ✅
go.viam.com/rdk/services/mlmodel/tflitecpu 82% 0.00% ✅
go.viam.com/rdk/services/motion 51% 0.00% ➖
go.viam.com/rdk/services/motion/builtin 88% 0.00% ✅
go.viam.com/rdk/services/navigation 53% 0.00% ➖
go.viam.com/rdk/services/sensors 81% 0.00% ✅
go.viam.com/rdk/services/sensors/builtin 95% 0.00% ✅
go.viam.com/rdk/services/shell 11% 0.00% ❌
go.viam.com/rdk/services/slam 93% 0.00% ✅
go.viam.com/rdk/services/slam/fake 90% 0.00% ✅
go.viam.com/rdk/services/vision 35% 0.00% ❌
go.viam.com/rdk/services/vision/colordetector 56% 0.00% ➖
go.viam.com/rdk/services/vision/detectionstosegments 67% 0.00% ➖
go.viam.com/rdk/services/vision/mlvision 68% 0.00% ➖
go.viam.com/rdk/services/vision/radiusclustering 59% 0.00% ➖
go.viam.com/rdk/session 97% 0.00% ✅
go.viam.com/rdk/spatialmath 84% 0.00% ✅
go.viam.com/rdk/utils 71% -0.14% ✅
go.viam.com/rdk/vision 26% 0.00% ❌
go.viam.com/rdk/vision/chess 80% 0.00% ✅
go.viam.com/rdk/vision/delaunay 87% 0.00% ✅
go.viam.com/rdk/vision/keypoints 92% 0.00% ✅
go.viam.com/rdk/vision/objectdetection 82% 0.00% ✅
go.viam.com/rdk/vision/odometry 60% 0.00% ➖
go.viam.com/rdk/vision/odometry/cmd 0% 0.00% ❌
go.viam.com/rdk/vision/segmentation 49% 0.00% ❌
go.viam.com/rdk/web/server 26% 0.00% ❌
Summary 65% (21543 / 33019) -0.01% ➖

@benjirewis benjirewis merged commit 632f9e2 into viamrobotics:main May 3, 2023
@benjirewis benjirewis deleted the RSDK-2594 branch May 3, 2023 21:48
bazile-clyde pushed a commit to bazile-clyde/rdk that referenced this pull request Jan 5, 2024
@benjirewis
RSDK-2954 Move module manager to be owned by resource manager (viamro…
03d5d52 
…botics#2315)
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@edaniels edaniels edaniels approved these changes

@Otterverse Otterverse Otterverse approved these changes

@cheukt cheukt cheukt approved these changes

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@benjirewis @edaniels @Otterverse @cheukt @viambot