2026 cloudslam updates

Makefile

@@ -20,7 +20,6 @@ build-go:
 tool-install:
 	GOBIN=`pwd`/$(TOOL_BIN) go install \
 		github.com/edaniels/golinters/cmd/combined \
-		github.com/golangci/golangci-lint/cmd/golangci-lint \
 		github.com/AlekSi/gocov-xml \
 		github.com/axw/gocov/gocov \
 		gotest.tools/gotestsum \
@@ -29,10 +28,12 @@ tool-install:
 lint: lint-go
 	PATH=$(TOOL_BIN) actionlint
 
+GOVERSION = $(shell grep '^go ' go.mod | head -n1 | cut -d' ' -f2)
+
 lint-go: tool-install
 	go mod tidy
 	export pkgs="`go list -f '{{.Dir}}' ./... | grep -v /proto/`" && echo "$$pkgs" | xargs go vet -vettool=$(TOOL_BIN)/combined
-	GOGC=50 $(TOOL_BIN)/golangci-lint run -v --fix --config=./etc/golangci.yaml
+	GOTOOLCHAIN=go$(GOVERSION) GOGC=50 go run github.com/golangci/golangci-lint/cmd/golangci-lint@v1.64.8 run -v --fix --config=./etc/golangci.yaml
 
 test: test-go
 

README.md

@@ -17,11 +17,12 @@ On the new service panel, copy and paste the following attribute template into y
    "api_key": "<location-api-key>",
    "api_key_id": "<location-api-key-id>",
    "organization_id": "<organization_id>",
-   "location_id": "<location_id>",
-   "machine_id": "<machine_id>",
+   "location_id": "<location_id>"
 }
 ```
 
+> **Note:** `machine_id` and `machine_part_id` are automatically read from the `VIAM_MACHINE_ID` and `VIAM_MACHINE_PART_ID` environment variables that viam-server sets on every machine. You only need to set them explicitly in the config when running outside of viam-server.
+
 In addition, in your Cartographer config the setting `"use_cloud_slam"` must be set to `true`. This only applies when trying to use cloudslam. Uploading a locally built map does not require this setting.
 
 ### Attributes
@@ -35,8 +36,8 @@ The following attributes are available for `viam:cloudslam-wrapper:cloudslam`
 | `api_key_id` | string | **Required**     | location owner API key id        |
 | `organization_id` | string | **Required**     | id string for your [organization](https://docs.viam.com/cloud/organizations/)        |
 | `location_id` | string | **Required**     | id string for your [location](https://docs.viam.com/cloud/locations/)        |
-| `machine_id` | string | **Required**     | id string for your [machine](https://docs.viam.com/appendix/apis/fleet/#find-machine-id)        |
-| `machine_part_id` | string | Optional     | optional id string for the [machine part](https://docs.viam.com/appendix/apis/fleet/#find-machine-id). Used for local package creation and updating mode       |
+| `machine_id` | string | Optional     | id string for your [machine](https://docs.viam.com/appendix/apis/fleet/#find-machine-id). Defaults to the `VIAM_MACHINE_ID` env var set by viam-server        |
+| `machine_part_id` | string | Optional     | id string for the [machine part](https://docs.viam.com/appendix/apis/fleet/#find-machine-id). Defaults to the `VIAM_MACHINE_PART_ID` env var set by viam-server. Used for data capture validation, local package creation, and updating mode       |
 | `viam_version` | string | Optional     | optional string to identify which version of viam-server to use with cloudslam. Defaults to `stable`        |
 | `slam_version` | string | Optional     | optional string to identify which version of cartographer to use with cloudslam. Defaults to `stable`         |
 | `camera_freq_hz` | float | Optional     | set the expected capture frequency for your camera/lidar components. Defaults to `5`        |
@@ -47,16 +48,14 @@ The following attributes are available for `viam:cloudslam-wrapper:cloudslam`
 ```json
 {
   "slam_service": "my-actual-slam-service",
-   "api_key": "location-api-key",
-   "api_key_id": "location-api-key-id",
-   "organization_id": "organization_id",
-   "location_id": "location_id",
-   "machine_id": "machine_id",
-   "machine_part_id": "machine_part_id", 
-   "camera_freq_hz": 5.0,
-   "movement_sensor_freq_hz": 20.0, 
-   "slam_version": "stable", 
-   "viam_version": "stable", 
+  "api_key": "location-api-key",
+  "api_key_id": "location-api-key-id",
+  "organization_id": "organization_id",
+  "location_id": "location_id",
+  "camera_freq_hz": 5.0,
+  "movement_sensor_freq_hz": 20.0,
+  "slam_version": "stable",
+  "viam_version": "stable"
 }
 ```
 
@@ -110,4 +109,4 @@ To interact with a cloudslam mapping session, go to the `DoCommand` on the [Cont
 - {`"stop": ""`} will stop an active cloudslam mapping session if one is running. The completed map can be found on the SLAM library tab of the machines page
 - {`"save-local-map": "<MAP_NAME>"`} will grab the current map from the configured SLAM service and upload it to your location, in the SLAM library tab of the machines page
 
-For updating a map using cloudslam, a `machine_part_id` must be configured. When configured, the module will check the machine's config to see if any slam maps are configured on the robot. If a slam map is found, cloudslam will be configured for updating mode and the map name will be inherited from the configured map.
+For updating a map using cloudslam, the module checks the machine's config for any slam map packages. If one is found and the SLAM service is not in new-map mode, cloudslam will start in updating mode and inherit the map name from the configured package.

cloudslam/app.go

@@ -3,6 +3,7 @@ package cloudslam
 
 import (
 	"context"
+	"fmt"
 	"io"
 	"net/http"
 	"net/url"
@@ -12,6 +13,7 @@ import (
 	pbPackage "go.viam.com/api/app/packages/v1"
 	pbApp "go.viam.com/api/app/v1"
 	"go.viam.com/rdk/logging"
+	"go.viam.com/rdk/services/slam"
 	"go.viam.com/utils/rpc"
 )
 
@@ -27,6 +29,7 @@ type AppClient struct {
 	SyncClient    pbDataSync.DataSyncServiceClient
 	RobotClient   pbApp.RobotServiceClient
 	HTTPClient    *http.Client // used for downloading pcds of the current cloudslam session
+	logger        logging.Logger
 }
 
 // CreateCloudSLAMClient creates a new grpc cloud configured to communicate with the robot service based on the cloud config given.
@@ -61,6 +64,7 @@ func CreateCloudSLAMClient(ctx context.Context, apiKey, apiKeyID, baseURL string
 		// This might be redundant with CloseIdleConnections in Close(),
 		// and unsure if the extra cost of redoing the TLS handshake makes this change worth it
 		HTTPClient: &http.Client{Transport: &http.Transport{DisableKeepAlives: true}},
+		logger:     logger,
 	}, nil
 }
 
@@ -101,6 +105,80 @@ func (app *AppClient) GetDataFromHTTP(ctx context.Context, dataURL string) ([]by
 	return io.ReadAll(res.Body)
 }
 
+// CheckSensorsDataCapture verifies that all of the provided sensors have at least one enabled
+// data capture method configured in the machine part's config. Returns an error listing any sensors
+// that are missing enabled capture.
+func (app *AppClient) CheckSensorsDataCapture(ctx context.Context, partID string, sensors []*cloudslamSensorInfo) error {
+	req := pbApp.ConfigRequest{Id: partID}
+	resp, err := app.RobotClient.Config(ctx, &req)
+	if err != nil {
+		return err
+	}
+
+	pending := make(map[string]struct{}, len(sensors))
+	sensorTypes := make(map[string]slam.SensorType, len(sensors))
+	for _, s := range sensors {
+		pending[s.name] = struct{}{}
+		sensorTypes[s.name] = s.sensorType
+	}
+
+	for _, comp := range resp.GetConfig().GetComponents() {
+		if _, ok := pending[comp.GetName()]; !ok {
+			continue
+		}
+		app.logger.Debugf("checking data capture for sensor %q (type %v)", comp.GetName(), sensorTypes[comp.GetName()])
+		for _, svcConfig := range comp.GetServiceConfigs() {
+			app.logger.Debugf("  service config type: %q, attributes: %v", svcConfig.GetType(), svcConfig.GetAttributes())
+		}
+		if hasEnabledDataCapture(comp, sensorTypes[comp.GetName()]) {
+			delete(pending, comp.GetName())
+		}
+	}
+
+	if len(pending) > 0 {
+		missing := make([]string, 0, len(pending))
+		for name := range pending {
+			missing = append(missing, name)
+		}
+		return fmt.Errorf("the following sensors do not have data capture enabled: %v", missing)
+	}
+	return nil
+}
+
+// hasEnabledDataCapture returns true if the component has an appropriate enabled capture method
+// in its data_manager service config. For cameras, NextPointCloud must be configured and enabled.
+// For other sensor types, any enabled capture method is sufficient.
+func hasEnabledDataCapture(comp *pbApp.ComponentConfig, sensorType slam.SensorType) bool {
+	for _, svcConfig := range comp.GetServiceConfigs() {
+		if svcConfig.GetType() != "rdk:service:data_manager" {
+			continue
+		}
+		captureMethods := svcConfig.GetAttributes().GetFields()["capture_methods"]
+		if captureMethods == nil {
+			continue
+		}
+		for _, method := range captureMethods.GetListValue().GetValues() {
+			fields := method.GetStructValue().GetFields()
+			if fields["disabled"].GetBoolValue() {
+				continue
+			}
+			if sensorType == slam.SensorTypeCamera {
+				if fields["method"].GetStringValue() == "NextPointCloud" {
+					return true
+				}
+			} else {
+				return true
+			}
+		}
+	}
+	return false
+}
+
+// SLAMMapURL returns the app URL for viewing a SLAM map package.
+func (app *AppClient) SLAMMapURL(mapName, version string) string {
+	return app.baseURL + "/robots?page=slam&name=" + mapName + "&version=" + version
+}
+
 // Close closes the app clients.
 func (app *AppClient) Close() error {
 	// close any idle connections to prevent goleaks. Possibly redundant with DisableKeepAlives