don't modify status: it doesn't contain the extra data

Author: penguinland

src/viam/sdk/components/board.cpp

@@ -23,14 +23,7 @@ API API::traits<Board>::api() {
 Board::status Board::from_proto(const viam::component::board::v1::Status& proto) {
     Board::status status;
     for (const auto& analog : proto.analogs()) {
-        Board::analog_value result;
-        result.value = analog.second;
-        // The status does not contain the extra data to describe the accuracy of the reader. We
-        // fill those in with 0's instead.
-        result.min_range = 0.0;
-        result.max_range = 0.0;
-        result.step_size = 0.0;
-        status.analog_reader_values.emplace(analog.first, result);
+        status.analog_reader_values.emplace(analog.first, analog.second);
     }
     for (const auto& digital : proto.digital_interrupts()) {
         status.digital_interrupt_values.emplace(digital.first, digital.second);
@@ -57,7 +50,7 @@ Board::power_mode Board::from_proto(viam::component::board::v1::PowerMode proto)
 viam::component::board::v1::Status Board::to_proto(const status& status) {
     viam::component::board::v1::Status proto;
     for (const auto& analog : status.analog_reader_values) {
-        proto.mutable_analogs()->insert({analog.first, analog.second.value});
+        proto.mutable_analogs()->insert({analog.first, analog.second});
     }
 
     for (const auto& digital : status.digital_interrupt_values) {
@@ -87,10 +80,5 @@ bool operator==(const Board::status& lhs, const Board::status& rhs) {
             lhs.digital_interrupt_values == rhs.digital_interrupt_values);
 }
 
-bool operator==(const Board::analog_value& lhs, const Board::analog_value& rhs) {
-    return (lhs.value == rhs.value && lhs.min_range == rhs.min_range &&
-            lhs.max_range == rhs.max_range && lhs.step_size == rhs.step_size);
-}
-
 }  // namespace sdk
 }  // namespace viam

src/viam/sdk/components/board.hpp

@@ -25,13 +25,18 @@ namespace sdk {
 /// specific board implementations. This class cannot be used on its own.
 class Board : public Component {
    public:
-    /// @brief Represents the value received by the registered analog to digital converter (ADC).
-    /// The range and conversion mechanism to voltage will vary depending on the specific ADC
-    /// registered to the pin, though the min and max voltages and step_size can often help with
-    /// this conversion. Consult your ADC's documentation and Viam's `Board` documentation for
-    /// more details.
-    struct analog_value {
-        int32_t value;
+    /// @brief Represents the raw value received by the registered analog to digital converter
+	/// (ADC). The range and conversion mechanism to voltage will vary depending on the specific
+	/// ADC registered to the pin.
+	using analog_value = int32_t;
+
+	/// @brief Represents the response received when reading the registered analog to digital
+	/// converter (ADC). The range and conversion mechanism to voltage will vary depending on the
+	/// specific ADC registered to the pin, though the min and max voltages and step_size can often
+	/// help with this conversion. Consult your ADC's documentation and Viam's `Board`
+	/// documentation for more details.
+    struct analog_response {
+        analog_value value;
         float min_range;  // Minimum possible voltage read by the analog reader
         float max_range;  // Maximum possible voltage read by the analog reader
         float step_size;  // Volts represented in each step in the value
@@ -166,16 +171,16 @@ class Board : public Component {
     /// @brief Reads off the current value of an analog reader on a board. Consult your ADC's docs
     /// or Viam's `Board` docs for more information.
     /// @param analog_reader_name analog reader to read from
-    inline analog_value read_analog(const std::string& analog_reader_name) {
+    inline analog_response read_analog(const std::string& analog_reader_name) {
         return read_analog(analog_reader_name, {});
     }
 
     /// @brief Reads off the current value of an analog reader on a board. Consult your ADC's docs
     /// or Viam's `Board` docs for more information.
     /// @param analog_reader_name analog reader to read from
     /// @param extra Any additional arguments to the method
-    virtual analog_value read_analog(const std::string& analog_reader_name,
-                                     const AttributeMap& extra) = 0;
+    virtual analog_response read_analog(const std::string& analog_reader_name,
+                                        const AttributeMap& extra) = 0;
 
     /// @brief Writes the value to the analog writer of the board.
     /// @param pin the pin to write to
@@ -267,7 +272,6 @@ struct API::traits<Board> {
 };
 
 bool operator==(const Board::status& lhs, const Board::status& rhs);
-bool operator==(const Board::analog_value& lhs, const Board::analog_value& rhs);
 
 }  // namespace sdk
 }  // namespace viam

src/viam/sdk/components/private/board_client.cpp

@@ -85,7 +85,7 @@ AttributeMap BoardClient::do_command(const AttributeMap& command) {
 
 // TODO(RSDK-6048) update `client_wrapper` to allow for requests without a `mutable_name()` method,
 // then wrap here.
-Board::analog_value BoardClient::read_analog(const std::string& analog_reader_name,
+Board::analog_result BoardClient::read_analog(const std::string& analog_reader_name,
                                              const AttributeMap& extra) {
     viam::component::board::v1::ReadAnalogReaderRequest request;
     viam::component::board::v1::ReadAnalogReaderResponse response;
@@ -99,12 +99,7 @@ Board::analog_value BoardClient::read_analog(const std::string& analog_reader_na
     if (!status.ok()) {
         throw GRPCException(status);
     }
-    Board::analog_value result = {};
-    result.value = response.value();
-    result.min_range = response.min_range();
-    result.max_range = response.max_range();
-    result.step_size = response.step_size();
-    return result;
+    return {response.value(), response.min_range(), response.max_range, response.step_size()};
 }
 
 void BoardClient::write_analog(const std::string& pin, int value, const AttributeMap& extra) {

src/viam/sdk/components/private/board_client.hpp

@@ -34,8 +34,8 @@ class BoardClient : public Board {
     void set_pwm_frequency(const std::string& pin,
                            uint64_t frequency_hz,
                            const AttributeMap& extra) override;
-    analog_value read_analog(const std::string& analog_reader_name,
-                             const AttributeMap& extra) override;
+    analog_result read_analog(const std::string& analog_reader_name,
+                              const AttributeMap& extra) override;
     void write_analog(const std::string& pin, int value, const AttributeMap& extra) override;
     digital_value read_digital_interrupt(const std::string& digital_interrupt_name,
                                          const AttributeMap& extra) override;

src/viam/sdk/components/private/board_server.cpp

@@ -103,7 +103,7 @@ ::grpc::Status BoardServer::ReadAnalogReader(
         extra = struct_to_map(request->extra());
     }
 
-    const Board::analog_value result = board->read_analog(request->analog_reader_name(), extra);
+    const Board::analog_response result = board->read_analog(request->analog_reader_name(), extra);
     response->set_value(result.value);
     response->set_min_range(result.min_range);
     response->set_max_range(result.max_range);