APP-14317 Add arrow shape metadata, parse and render snapshot file

.gitignore

@@ -32,3 +32,7 @@ vite.config.ts.timestamp-*
 
 # Sentry Config File
 .env.sentry-build-plugin
+
+# Protobuf
+gen
+src/lib/gen

.prettierignore

@@ -2,4 +2,8 @@
 package-lock.json
 pnpm-lock.yaml
 yarn.lock
-.changeset
+.changeset
+
+# Protobuf
+gen
+src/lib/gen

Makefile

@@ -1,4 +1,4 @@
-.PHONY: help setup up
+.PHONY: help setup up proto-generate proto-lint proto-format proto-clean
 
 # Default target - show help when no target is specified
 .DEFAULT_GOAL := help
@@ -8,12 +8,37 @@ help:
 	@echo 'Usage: make [target]'
 	@echo ''
 	@echo 'Available targets:'
-	@echo '  setup  - Set up development environment (install pnpm, bun, dependencies)'
-	@echo '  up     - Start development server'
-	@echo '  help   - Show this help message'
+	@echo '  setup          - Set up development environment (install pnpm, bun, dependencies)'
+	@echo '  up             - Start development server'
+	@echo '  proto-generate - Generate Go and TypeScript code from protobuf definitions'
+	@echo '  proto-lint     - Lint protobuf files'
+	@echo '  proto-format   - Format protobuf files'
+	@echo '  proto-clean    - Clean generated protobuf code'
+	@echo '  help           - Show this help message'
 
 setup:
 	@./etc/setup.sh
 
 up:
 	pnpm dev
+
+proto-clean:
+	@echo 'Cleaning generated protobuf code...'
+	@rm -rf gen src/lib/gen
+	@echo 'Clean complete!'
+
+proto-gen: proto-clean
+	@echo 'Generating protobuf code...'
+	@echo 'Updating buf dependencies...'
+	@pnpm exec buf dep update
+	@echo 'Installing protoc-gen-go...'
+	@go install google.golang.org/protobuf/cmd/protoc-gen-go@latest
+	@echo 'Generating code...'
+	@PATH="$(shell go env GOPATH)/bin:$(shell pnpm bin):$$PATH" pnpm exec buf generate
+	@echo 'Protobuf code generation complete!'
+
+proto-lint:
+	@pnpm exec buf lint
+
+proto-format:
+	@pnpm exec buf format -w

buf.gen.yaml

@@ -0,0 +1,16 @@
+version: v2
+managed:
+  enabled: false
+plugins:
+  # Go code generation
+  - local: protoc-gen-go
+    out: gen
+    opt: paths=source_relative
+
+  # TypeScript code generation (v1 - matches Viam SDK)
+  - remote: buf.build/bufbuild/es:v1.10.0
+    out: src/lib/gen
+    opt:
+      - target=ts
+      - import_extension=none
+    include_imports: true

buf.lock

@@ -0,0 +1,9 @@
+# Generated by buf. DO NOT EDIT.
+version: v2
+deps:
+  - name: buf.build/googleapis/googleapis
+    commit: 62f35d8aed1149c291d606d958a7ce32
+    digest: b5:d66bf04adc77a0870bdc9328aaf887c7188a36fb02b83a480dc45ef9dc031b4d39fc6e9dc6435120ccf4fe5bfd5c6cb6592533c6c316595571f9a31420ab47fe
+  - name: buf.build/viamrobotics/api
+    commit: a4b2b3ea4a094ad69b9c26f96d1f43aa
+    digest: b5:8997d57a7bba43c2c0b8ad1884e1ec43d337bce946fb2750b9324b859a15983271c2db4b0ceae648f929d62768c4839686d1cb8477d323f51c49cb91df73709c

buf.yaml

@@ -0,0 +1,11 @@
+version: v2
+modules:
+  - path: protos
+deps:
+  - buf.build/viamrobotics/api
+lint:
+  use:
+    - STANDARD
+breaking:
+  use:
+    - FILE

client/client/client.go

@@ -18,7 +18,7 @@ import (
 
 	"github.com/golang/geo/r3"
 	"github.com/viam-labs/motion-tools/client/colorutil"
-	"github.com/viam-labs/motion-tools/client/shapes"
+	"github.com/viam-labs/motion-tools/draw"
 	"google.golang.org/protobuf/encoding/protojson"
 
 	"go.viam.com/rdk/referenceframe"
@@ -402,18 +402,9 @@ func DrawPoses(poses []spatialmath.Pose, colors []string, arrowHeadAtPose bool)
 //   - nurbs: A nurbs curve
 //   - color: The color of the line
 //   - name: A unique label for the curve
-func DrawNurbs(nurbs shapes.Nurbs, color string, name string) error {
-	poseData := make([]json.RawMessage, len(nurbs.ControlPts))
-	for i, pose := range nurbs.ControlPts {
-		data, err := protojson.Marshal(spatialmath.PoseToProtobuf(pose))
-		if err != nil {
-			return err
-		}
-		poseData[i] = json.RawMessage(data)
-	}
-
+func DrawNurbs(nurbs *draw.Nurbs, color string, name string) error {
 	wrappedData := map[string]interface{}{
-		"ControlPts": poseData,
+		"ControlPts": nurbs.ControlPoints,
 		"Degree":     nurbs.Degree,
 		"Weights":    nurbs.Weights,
 		"Knots":      nurbs.Knots,
@@ -465,18 +456,8 @@ func RemoveAllSpatialObjects() error {
 //   - lookAt: The direction the camera should look at
 //   - animate: Whether or not to animate to this pose
 func SetCameraPose(position r3.Vector, lookAt r3.Vector, animate bool) error {
-	positionM := map[string]interface{}{
-		"X": position.X / 1000.0,
-		"Y": position.Y / 1000.0,
-		"Z": position.Z / 1000.0,
-	}
-
-	lookAtM := map[string]interface{}{
-		"X": lookAt.X / 1000.0,
-		"Y": lookAt.Y / 1000.0,
-		"Z": lookAt.Z / 1000.0,
-	}
-
+	positionM := position.Mul(0.001)
+	lookAtM := lookAt.Mul(0.001)
 	data := map[string]interface{}{
 		"setCameraPose": true,
 		"Position":      positionM,

client/client/draw_nurbs_test.go

@@ -13,6 +13,6 @@ func TestDrawNurbs(t *testing.T) {
 	t.Run("DrawNurbs", func(t *testing.T) {
 		nurbs := shapes.GenerateNURBS(20, 3, r3.Vector{X: 0, Y: 0, Z: 0})
 
-		test.That(t, DrawNurbs(nurbs, "#40E0D0", "nurbs-1"), test.ShouldBeNil)
+		test.That(t, DrawNurbs(&nurbs, "#40E0D0", "nurbs-1"), test.ShouldBeNil)
 	})
 }

client/client/draw_pointcloud_test.go

@@ -33,8 +33,8 @@ func TestDrawPointCloud(t *testing.T) {
 		pc, err := pointcloud.NewFromFile("../data/Zaghetto.pcd", pointcloud.BasicType)
 		test.That(t, err, test.ShouldBeNil)
 
-		for i := 0; i < 10; i++ {
-			time.Sleep(16 * time.Millisecond)
+		for i := range 10 {
+			time.Sleep(100 * time.Millisecond)
 			test.That(t, DrawPointCloud("Zaghetto"+strconv.Itoa(i+1), pc, nil), test.ShouldBeNil)
 		}
 	})

client/shapes/shapes.go

@@ -4,18 +4,12 @@ import (
 	"math/rand"
 
 	"github.com/golang/geo/r3"
+	"github.com/viam-labs/motion-tools/draw"
 	"go.viam.com/rdk/spatialmath"
 )
 
-type Nurbs struct {
-	ControlPts []spatialmath.Pose
-	Degree     int
-	Weights    []float64
-	Knots      []float64
-}
-
 // Generate a NURBS structure similar to the Three.js version
-func GenerateNURBS(numControlPoints int, degree int, offset r3.Vector) Nurbs {
+func GenerateNURBS(numControlPoints int, degree int, offset r3.Vector) draw.Nurbs {
 	controlPts := make([]spatialmath.Pose, numControlPoints)
 	weights := make([]float64, numControlPoints)
 	knots := make([]float64, numControlPoints+degree+1)
@@ -42,11 +36,11 @@ func GenerateNURBS(numControlPoints int, degree int, offset r3.Vector) Nurbs {
 		knots[i+degree+1] = clamp(knot, 0, 1)
 	}
 
-	return Nurbs{
-		ControlPts: controlPts,
-		Degree:     degree,
-		Weights:    weights,
-		Knots:      knots,
+	return draw.Nurbs{
+		ControlPoints: controlPts,
+		Degree:        int32(degree),
+		Weights:       weights,
+		Knots:         knots,
 	}
 }
 

draw/.gitignore

@@ -0,0 +1 @@
+__snapshots__