Merge branch 'main' into 20241220_RSDK-9587-generate-series-of-waypoints-to-cover-surface-given-a-pcd-mesh

Author: biotinker

.github/CODEOWNERS

@@ -1,3 +1,6 @@
 # Team SDK is responsible for CLI best practices and wishes to maintain insight into any
 # changes currently being made to the CLI codebase.
-/cli/ @viamrobotics/sdk-netcode
+/cli/app.go @viamrobotics/sdk-netcode
+/cli/CONTRIBUTING.md @viamrobotics/sdk-netcode
+/cli/STYLEGUIDE.md @viamrobotics/sdk-netcode
+

.github/workflows/docker.yml

@@ -76,7 +76,7 @@ jobs:
 
   test:
     needs: docker-cache
-    uses: viamrobotics/rdk/.github/workflows/test.yml@main
+    uses: ./.github/workflows/test.yml
     secrets:
       MONGODB_TEST_OUTPUT_URI: ${{ secrets.MONGODB_TEST_OUTPUT_URI }}
       DOCKER_PUBLIC_READONLY_PAT: ${{ secrets.DOCKER_PUBLIC_READONLY_PAT }}

.github/workflows/test-module-generation.yml

@@ -13,29 +13,29 @@ jobs:
         language: ["python", "go"]
         resource:
           [
-            { subtype: "arm", type: "component" },
-            { subtype: "audio_input", type: "component" },
-            { subtype: "base", type: "component" },
-            { subtype: "board", type: "component" },
-            { subtype: "camera", type: "component" },
-            { subtype: "encoder", type: "component" },
-            { subtype: "gantry", type: "component" },
-            { subtype: "generic", type: "component" },
-            { subtype: "gripper", type: "component" },
-            { subtype: "input", type: "component" },
-            { subtype: "motor", type: "component" },
-            { subtype: "movement_sensor", type: "component" },
-            { subtype: "pose_tracker", type: "component" },
-            { subtype: "power_sensor", type: "component" },
-            { subtype: "sensor", type: "component" },
-            { subtype: "servo", type: "component" },
+            { subtype: "arm" },
+            { subtype: "audio_input" },
+            { subtype: "base" },
+            { subtype: "board" },
+            { subtype: "camera" },
+            { subtype: "encoder" },
+            { subtype: "gantry" },
+            { subtype: "generic_component" },
+            { subtype: "gripper" },
+            { subtype: "input" },
+            { subtype: "motor" },
+            { subtype: "movement_sensor" },
+            { subtype: "pose_tracker" },
+            { subtype: "power_sensor" },
+            { subtype: "sensor" },
+            { subtype: "servo" },
 
-            { subtype: "generic", type: "service" },
-            { subtype: "mlmodel", type: "service" },
-            { subtype: "motion", type: "service" },
-            { subtype: "navigation", type: "service" },
-            { subtype: "slam", type: "service" },
-            { subtype: "vision", type: "service" },
+            { subtype: "generic-service" },
+            { subtype: "mlmodel" },
+            { subtype: "motion" },
+            { subtype: "navigation" },
+            { subtype: "slam" },
+            { subtype: "vision" },
           ]
     steps:
       - name: Checkout Code
@@ -53,7 +53,6 @@ jobs:
           --language "${{ matrix.language }}" \
           --public-namespace "my-org" \
           --resource-subtype "${{ matrix.resource.subtype }}" \
-          --resource-type "${{ matrix.resource.type }}" \
           --model-name "model-name" \
           --dry-run
 

.github/workflows/test.yml

@@ -73,7 +73,7 @@ jobs:
       - name: Run go unit tests
         run: |
           chmod -R a+rwx . # temporary fix for arm runners
-          sudo apt-get install -y python3-venv
+          sudo apt-get update && sudo apt-get install -y python3-venv
           sudo --preserve-env=MONGODB_TEST_OUTPUT_URI,GITHUB_SHA,GITHUB_RUN_ID,GITHUB_RUN_NUMBER,GITHUB_RUN_ATTEMPT,GITHUB_X_PR_BASE_SHA,GITHUB_X_PR_BASE_REF,GITHUB_X_HEAD_REF,GITHUB_X_HEAD_SHA,GITHUB_REPOSITORY -Hu testbot bash -lc 'make test-go'
 
       - name: Upload test.json
@@ -108,7 +108,7 @@ jobs:
             --platform linux/arm/v7 \
             -v `pwd`:/rdk \
             ghcr.io/viamrobotics/rdk-devenv:armhf-cache \
-            sudo -Hu testbot bash -lc 'sudo apt-get install -y python3-venv && cd /rdk && go test -v ./...'
+            sudo -Hu testbot bash -lc 'sudo apt-get update && sudo apt-get install -y python3-venv && cd /rdk && go test -v ./...'
 
   motion_tests:
     name: Test Longer-running Motion Plans if affected

.gitignore

@@ -92,3 +92,6 @@ web/cmd/server/*.core
 
 # direnv (optional dev tool)
 .envrc
+
+# codegpt
+.codegpt/*

Makefile

@@ -83,7 +83,8 @@ full-static:
 
 windows:
 	mkdir -p bin/windows
-	GOOS=windows go build -tags no_cgo -ldflags="-extldflags=-static $(COMMON_LDFLAGS)" -o bin/windows/viam-server-$(shell go env GOARCH) ./web/cmd/server
+	GOOS=windows go build -tags no_cgo -ldflags="-extldflags=-static $(COMMON_LDFLAGS)" -o bin/windows/viam-server-$(shell go env GOARCH).exe ./web/cmd/server
+	cd bin/windows && zip viam.zip viam-server-$(shell go env GOARCH).exe
 
 server-static-compressed: server-static
 	upx --best --lzma $(BIN_OUTPUT_PATH)/viam-server

app/app_client.go

@@ -857,6 +857,17 @@ func (c *AppClient) OrganizationGetLogo(ctx context.Context, orgID string) (stri
 	return resp.Url, nil
 }
 
+// ListOAuthApps gets the client's list of OAuth applications.
+func (c *AppClient) ListOAuthApps(ctx context.Context, orgID string) ([]string, error) {
+	resp, err := c.client.ListOAuthApps(ctx, &pb.ListOAuthAppsRequest{
+		OrgId: orgID,
+	})
+	if err != nil {
+		return nil, err
+	}
+	return resp.ClientIds, nil
+}
+
 // CreateLocation creates a location with the given name under the given organization.
 func (c *AppClient) CreateLocation(ctx context.Context, orgID, name string, opts *CreateLocationOptions) (*Location, error) {
 	var parentID *string

app/app_client_test.go

@@ -740,6 +740,21 @@ func TestAppClient(t *testing.T) {
 		test.That(t, resp, test.ShouldEqual, "https://logo.com")
 	})
 
+	t.Run("ListOAuthApps", func(t *testing.T) {
+		grpcClient.ListOAuthAppsFunc = func(
+			ctx context.Context, in *pb.ListOAuthAppsRequest, opts ...grpc.CallOption,
+		) (*pb.ListOAuthAppsResponse, error) {
+			test.That(t, in.OrgId, test.ShouldEqual, organizationID)
+			return &pb.ListOAuthAppsResponse{
+				ClientIds: []string{"clientId"},
+			}, nil
+		}
+
+		resp, err := client.ListOAuthApps(context.Background(), organizationID)
+		test.That(t, err, test.ShouldBeNil)
+		test.That(t, resp, test.ShouldResemble, []string{"clientId"})
+	})
+
 	t.Run("GetSupportEmail", func(t *testing.T) {
 		grpcClient.OrganizationGetSupportEmailFunc = func(
 			ctx context.Context, in *pb.OrganizationGetSupportEmailRequest, opts ...grpc.CallOption,
@@ -989,6 +1004,19 @@ func TestAppClient(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 	})
 
+	t.Run("EnableBillingSevice", func(t *testing.T) {
+		grpcClient.EnableBillingServiceFunc = func(
+			ctx context.Context, in *pb.EnableBillingServiceRequest, opts ...grpc.CallOption,
+		) (*pb.EnableBillingServiceResponse, error) {
+			test.That(t, in.OrgId, test.ShouldEqual, organizationID)
+			test.That(t, in.BillingAddress, test.ShouldResemble, &pbAddress)
+			return &pb.EnableBillingServiceResponse{}, nil
+		}
+
+		err := client.EnableBillingService(context.Background(), organizationID, &address)
+		test.That(t, err, test.ShouldBeNil)
+	})
+
 	t.Run("UpdateBillingService", func(t *testing.T) {
 		grpcClient.UpdateBillingServiceFunc = func(
 			ctx context.Context, in *pb.UpdateBillingServiceRequest, opts ...grpc.CallOption,

app/billing_client.go

@@ -192,7 +192,7 @@ func (c *BillingClient) SendPaymentRequiredEmail(ctx context.Context, customerOr
 }
 
 func usageCostTypeFromProto(costType pb.UsageCostType) UsageCostType {
-	//nolint:exhaustive
+	//nolint:exhaustive,deprecated,staticcheck
 	switch costType {
 	case pb.UsageCostType_USAGE_COST_TYPE_UNSPECIFIED:
 		return UsageCostTypeUnspecified

app/billing_client_test.go

@@ -101,18 +101,22 @@ func usageCostTypeToProto(costType UsageCostType) pb.UsageCostType {
 	case UsageCostTypeUnspecified:
 		return pb.UsageCostType_USAGE_COST_TYPE_UNSPECIFIED
 	case UsageCostTypeDataUpload:
+		//nolint:deprecated,staticcheck
 		return pb.UsageCostType_USAGE_COST_TYPE_DATA_UPLOAD
 	case UsageCostTypeDataEgress:
+		//nolint:deprecated,staticcheck
 		return pb.UsageCostType_USAGE_COST_TYPE_DATA_EGRESS
 	case UsageCostTypeRemoteControl:
 		return pb.UsageCostType_USAGE_COST_TYPE_REMOTE_CONTROL
 	case UsageCostTypeStandardCompute:
 		return pb.UsageCostType_USAGE_COST_TYPE_STANDARD_COMPUTE
 	case UsageCostTypeCloudStorage:
+		//nolint:deprecated,staticcheck
 		return pb.UsageCostType_USAGE_COST_TYPE_CLOUD_STORAGE
 	case UsageCostTypeBinaryDataCloudStorage:
 		return pb.UsageCostType_USAGE_COST_TYPE_BINARY_DATA_CLOUD_STORAGE
 	case UsageCostTypeOtherCloudStorage:
+		//nolint:deprecated,staticcheck
 		return pb.UsageCostType_USAGE_COST_TYPE_OTHER_CLOUD_STORAGE
 	case UsageCostTypePerMachine:
 		return pb.UsageCostType_USAGE_COST_TYPE_PER_MACHINE

app/data_client.go

@@ -438,11 +438,11 @@ func (d *DataClient) TabularDataBySQL(ctx context.Context, organizationID, sqlQu
 
 // TabularDataByMQL queries tabular data with MQL (MongoDB Query Language) queries.
 func (d *DataClient) TabularDataByMQL(
-	ctx context.Context, organizationID string, mqlQueries []map[string]interface{},
+	ctx context.Context, organizationID string, query []map[string]interface{},
 ) ([]map[string]interface{}, error) {
 	mqlBinary := [][]byte{}
-	for _, query := range mqlQueries {
-		binary, err := bson.Marshal(query)
+	for _, q := range query {
+		binary, err := bson.Marshal(q)
 		if err != nil {
 			return nil, fmt.Errorf("failed to marshal BSON query: %w", err)
 		}

cli/CONTRIBUTING.md

@@ -0,0 +1,55 @@
+# Contributing
+
+Contributions to the Viam CLI are always welcome and appreciated! Every bit helps, and
+credit will always be given. 
+
+## Types of Contributions
+
+### Report Bugs
+
+If you are reporting a bug, please include:
+
+- Your operating system name and version.
+- Which version of the viam CLI you are using (viewable with command `viam version`)
+- Any details about your local setup that might be helpful in troubleshooting.
+- The observed behavior.
+- Detailed steps to reproduce the bug.
+
+### Fix Bugs
+
+Look through the GitHub issues for bugs. Anything tagged with "bug" and "help
+wanted" is open to whoever wants to implement it.
+
+### Implement Features
+
+Look through the GitHub issues for features. Anything tagged with "enhancement"
+and "help wanted" is open to whoever wants to implement it. When contributing, please
+consult the [style guide](STYLEGUIDE.md) to ensure consistency within the codebase.
+
+### Write Documentation
+
+You can never have enough documentation! Please feel free to contribute to any
+part of the documentation, such as the official docs, docstrings, or even
+on the web in blog posts, articles, and such.
+
+### Submit Feedback
+
+If you are proposing a feature:
+
+- Explain in detail how it would work.
+- Keep the scope as narrow as possible, to make it easier to implement.
+
+## Get Started!
+
+Ready to contribute? You can follow the instructions in [README.md](README.md) to install and develop
+the viam CLI tool.
+
+## Pull Request Guidelines
+
+Before you submit a pull request, check that it meets these guidelines:
+
+1. The pull request should include additional tests if appropriate.
+2. If the pull request adds functionality, the docs should be updated.
+3. The pull request should work for all currently supported operating systems and versions of Python.
+
+