isolate nlopt dependency further by moving inject.motion_service.go to its own package

protoutils/messages.go

@@ -6,7 +6,7 @@ import (
 	"strconv"
 
 	"github.com/golang/geo/r3"
-	protov1 "github.com/golang/protobuf/proto" //nolint:staticcheck
+	protov1 "github.com/golang/protobuf/proto" 
 	commonpb "go.viam.com/api/common/v1"
 	robotpb "go.viam.com/api/robot/v1"
 	"go.viam.com/utils/protoutils"

robot/impl/resource_manager_test.go

@@ -59,7 +59,6 @@ import (
 	"go.viam.com/rdk/robot/framesystem"
 	"go.viam.com/rdk/robot/packages"
 	weboptions "go.viam.com/rdk/robot/web/options"
-	"go.viam.com/rdk/services/motion"
 	"go.viam.com/rdk/services/shell"
 	"go.viam.com/rdk/services/vision"
 	"go.viam.com/rdk/session"
@@ -462,13 +461,6 @@ func TestManagerAdd(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, resource1, test.ShouldEqual, injectBoard)
 
-	injectMotionService := &inject.MotionService{}
-	objectMResName := motion.Named("motion1")
-	manager.resources.AddNode(objectMResName, resource.NewConfiguredGraphNode(resource.Config{}, injectMotionService, unknownModel))
-	motionService, err := manager.ResourceByName(objectMResName)
-	test.That(t, err, test.ShouldBeNil)
-	test.That(t, motionService, test.ShouldEqual, injectMotionService)
-
 	injectVisionService := &inject.VisionService{}
 	injectVisionService.GetObjectPointCloudsFunc = func(
 		ctx context.Context,

services/motion/client_test.go

@@ -27,7 +27,7 @@ import (
 	"go.viam.com/rdk/services/slam"
 	"go.viam.com/rdk/spatialmath"
 	"go.viam.com/rdk/testutils"
-	"go.viam.com/rdk/testutils/inject"
+	injectmotion "go.viam.com/rdk/testutils/inject/motion"
 )
 
 var (
@@ -43,7 +43,7 @@ func TestClient(t *testing.T) {
 	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
-	injectMS := &inject.MotionService{}
+	injectMS := injectmotion.NewMotionService("test")
 	resources := map[resource.Name]motion.Service{
 		testMotionServiceName: injectMS,
 	}

services/motion/motion_helpers_test.go

@@ -18,11 +18,12 @@ import (
 	"go.viam.com/rdk/services/motion"
 	"go.viam.com/rdk/spatialmath"
 	"go.viam.com/rdk/testutils/inject"
+	injectmotion "go.viam.com/rdk/testutils/inject/motion"
 )
 
 func TestPollHistoryUntilSuccessOrError(t *testing.T) {
 	ctx := context.Background()
-	ms := inject.NewMotionService("my motion")
+	ms := injectmotion.NewMotionService("my motion")
 	t.Run("returns error if context is cancelled", func(t *testing.T) {
 		cancelledCtx, cancelFn := context.WithCancel(context.Background())
 		cancelFn()

services/motion/server_test.go

@@ -28,7 +28,7 @@ import (
 	"go.viam.com/rdk/services/vision"
 	"go.viam.com/rdk/spatialmath"
 	"go.viam.com/rdk/testutils"
-	"go.viam.com/rdk/testutils/inject"
+	injectmotion "go.viam.com/rdk/testutils/inject/motion"
 )
 
 func newServer(resources map[resource.Name]motion.Service) (pb.MotionServiceServer, error) {
@@ -53,7 +53,7 @@ func TestServerMove(t *testing.T) {
 	test.That(t, err, test.ShouldBeError, errors.New("resource \"rdk:service:motion/motion1\" not found"))
 
 	// error
-	injectMS := &inject.MotionService{}
+	injectMS := injectmotion.NewMotionService("test")
 	resources = map[resource.Name]motion.Service{
 		testMotionServiceName: injectMS,
 	}
@@ -76,7 +76,7 @@ func TestServerMove(t *testing.T) {
 	test.That(t, resp.GetSuccess(), test.ShouldBeTrue)
 
 	// Multiple Servies names Valid
-	injectMS = &inject.MotionService{}
+	injectMS = injectmotion.NewMotionService("test")
 	resources = map[resource.Name]motion.Service{
 		testMotionServiceName:  injectMS,
 		testMotionServiceName2: injectMS,
@@ -97,7 +97,7 @@ func TestServerMove(t *testing.T) {
 }
 
 func TestServerMoveOnGlobe(t *testing.T) {
-	injectMS := &inject.MotionService{}
+	injectMS := injectmotion.NewMotionService("test")
 	resources := map[resource.Name]motion.Service{
 		testMotionServiceName: injectMS,
 	}
@@ -279,7 +279,7 @@ func TestServerMoveOnGlobe(t *testing.T) {
 }
 
 func TestServerMoveOnMap(t *testing.T) {
-	injectMS := &inject.MotionService{}
+	injectMS := injectmotion.NewMotionService("test")
 	resources := map[resource.Name]motion.Service{
 		testMotionServiceName: injectMS,
 	}
@@ -450,7 +450,7 @@ func TestServerMoveOnMap(t *testing.T) {
 }
 
 func TestServerStopPlan(t *testing.T) {
-	injectMS := &inject.MotionService{}
+	injectMS := injectmotion.NewMotionService("test")
 	resources := map[resource.Name]motion.Service{
 		testMotionServiceName: injectMS,
 	}
@@ -515,7 +515,7 @@ func TestServerStopPlan(t *testing.T) {
 }
 
 func TestServerListPlanStatuses(t *testing.T) {
-	injectMS := &inject.MotionService{}
+	injectMS := injectmotion.NewMotionService("test")
 	resources := map[resource.Name]motion.Service{
 		testMotionServiceName: injectMS,
 	}
@@ -621,7 +621,7 @@ func TestServerListPlanStatuses(t *testing.T) {
 }
 
 func TestServerGetPlan(t *testing.T) {
-	injectMS := &inject.MotionService{}
+	injectMS := injectmotion.NewMotionService("test")
 	resources := map[resource.Name]motion.Service{
 		testMotionServiceName: injectMS,
 	}
@@ -751,7 +751,7 @@ func TestServerGetPlan(t *testing.T) {
 
 func TestServerDoCommand(t *testing.T) {
 	resourceMap := map[resource.Name]motion.Service{
-		testMotionServiceName: &inject.MotionService{
+		testMotionServiceName: &injectmotion.MotionService{
 			DoCommandFunc: testutils.EchoFunc,
 		},
 	}

services/navigation/builtin/builtin_test.go

@@ -37,12 +37,13 @@ import (
 	_ "go.viam.com/rdk/services/vision/colordetector"
 	"go.viam.com/rdk/spatialmath"
 	"go.viam.com/rdk/testutils/inject"
+	injectmotion "go.viam.com/rdk/testutils/inject/motion"
 	viz "go.viam.com/rdk/vision"
 )
 
 type startWaypointState struct {
 	ns             navigation.Service
-	injectMS       *inject.MotionService
+	injectMS       *injectmotion.MotionService
 	base           base.Base
 	movementSensor *inject.MovementSensor
 	closeFunc      func()
@@ -230,7 +231,7 @@ func TestNew(t *testing.T) {
 		}
 		deps := resource.Dependencies{
 			resource.NewName(base.API, "base"):                      inject.NewBase("new_base"),
-			resource.NewName(motion.API, "builtin"):                 inject.NewMotionService("new_motion"),
+			resource.NewName(motion.API, "builtin"):                 injectmotion.NewMotionService("new_motion"),
 			resource.NewName(movementsensor.API, "movement_sensor"): inject.NewMovementSensor("movement_sensor"),
 		}
 
@@ -252,7 +253,7 @@ func TestNew(t *testing.T) {
 		}
 		deps := resource.Dependencies{
 			resource.NewName(base.API, "base"):                      inject.NewBase("new_base"),
-			resource.NewName(motion.API, "builtin"):                 inject.NewMotionService("new_motion"),
+			resource.NewName(motion.API, "builtin"):                 injectmotion.NewMotionService("new_motion"),
 			resource.NewName(movementsensor.API, "movement_sensor"): inject.NewMovementSensor("movement_sensor"),
 		}
 
@@ -285,7 +286,7 @@ func TestNew(t *testing.T) {
 		deps := resource.Dependencies{
 			resource.NewName(base.API, "base"):      &inject.Base{},
 			resource.NewName(camera.API, "camera"):  inject.NewCamera("camera"),
-			resource.NewName(motion.API, "builtin"): inject.NewMotionService("motion"),
+			resource.NewName(motion.API, "builtin"): injectmotion.NewMotionService("motion"),
 			resource.NewName(vision.API, "vision"):  inject.NewVisionService("vision"),
 		}
 
@@ -319,7 +320,7 @@ func TestNew(t *testing.T) {
 		deps := resource.Dependencies{
 			resource.NewName(base.API, "base"):      &inject.Base{},
 			resource.NewName(camera.API, "camera"):  inject.NewCamera("camera"),
-			resource.NewName(motion.API, "builtin"): inject.NewMotionService("motion"),
+			resource.NewName(motion.API, "builtin"): injectmotion.NewMotionService("motion"),
 			resource.NewName(vision.API, "vision"):  inject.NewVisionService("vision"),
 		}
 
@@ -361,7 +362,7 @@ func TestNew(t *testing.T) {
 		}
 		deps := resource.Dependencies{
 			resource.NewName(base.API, "base"):      &inject.Base{},
-			resource.NewName(motion.API, "builtin"): inject.NewMotionService("motion"),
+			resource.NewName(motion.API, "builtin"): injectmotion.NewMotionService("motion"),
 		}
 
 		err := svc.Reconfigure(ctx, deps, resource.Config{ConvertedAttributes: cfg})
@@ -381,7 +382,7 @@ func TestNew(t *testing.T) {
 		}
 		deps := resource.Dependencies{
 			resource.NewName(base.API, "base"):                      &inject.Base{},
-			resource.NewName(motion.API, "builtin"):                 inject.NewMotionService("motion"),
+			resource.NewName(motion.API, "builtin"):                 injectmotion.NewMotionService("motion"),
 			resource.NewName(camera.API, "camera"):                  inject.NewCamera("camera"),
 			resource.NewName(movementsensor.API, "movement_sensor"): inject.NewMovementSensor("movement_sensor"),
 		}
@@ -403,7 +404,7 @@ func TestNew(t *testing.T) {
 		}
 		deps := resource.Dependencies{
 			resource.NewName(base.API, "base"):                      &inject.Base{},
-			resource.NewName(motion.API, "builtin"):                 inject.NewMotionService("motion"),
+			resource.NewName(motion.API, "builtin"):                 injectmotion.NewMotionService("motion"),
 			resource.NewName(vision.API, "vision"):                  inject.NewVisionService("vision"),
 			resource.NewName(movementsensor.API, "movement_sensor"): inject.NewMovementSensor("movement_sensor"),
 		}
@@ -425,7 +426,7 @@ func TestNew(t *testing.T) {
 		}
 		deps := resource.Dependencies{
 			resource.NewName(base.API, "base"):                      &inject.Base{},
-			resource.NewName(motion.API, "builtin"):                 inject.NewMotionService("motion"),
+			resource.NewName(motion.API, "builtin"):                 injectmotion.NewMotionService("motion"),
 			resource.NewName(vision.API, "vision"):                  inject.NewVisionService("vision"),
 			resource.NewName(camera.API, "camera"):                  inject.NewCamera("camera"),
 			resource.NewName(movementsensor.API, "movement_sensor"): inject.NewMovementSensor("movement_sensor"),
@@ -633,7 +634,7 @@ func setupStartWaypoint(ctx context.Context, t *testing.T, logger logging.Logger
 			},
 		},
 	}
-	injectMS := inject.NewMotionService("test_motion")
+	injectMS := injectmotion.NewMotionService("test_motion")
 	deps := resource.Dependencies{
 		injectMS.Name():             injectMS,
 		fakeBase.Name():             fakeBase,
@@ -684,7 +685,7 @@ func setupStartWaypointExplore(ctx context.Context, t *testing.T, logger logging
 			},
 		},
 	}
-	injectMS := inject.NewMotionService("test_motion")
+	injectMS := injectmotion.NewMotionService("test_motion")
 	deps := resource.Dependencies{
 		injectMS.Name():             injectMS,
 		fakeBase.Name():             fakeBase,
@@ -1722,7 +1723,7 @@ func TestGetObstacles(t *testing.T) {
 	)
 	test.That(t, err, test.ShouldBeNil)
 
-	injectMS := inject.NewMotionService("test_motion")
+	injectMS := injectmotion.NewMotionService("test_motion")
 	injectedVis := inject.NewVisionService("test_vision")
 	injectMovementSensor := inject.NewMovementSensor("test_movement")
 	injectedCam := inject.NewCamera("test_camera")

testutils/inject/motion_service.go → testutils/inject/motion/motion_service.go

@@ -1,3 +1,4 @@
+// Package inject separates the injected motion service from the rest of the injected packages to isolate an NLopt dependency.
 package inject
 
 import (