[RSDK-13506] Round trip tool for trajectory generation

CMakeLists.txt

@@ -239,7 +239,7 @@ target_compile_definitions(viam-ur
 
 target_link_libraries(viam-ur
   PUBLIC
-    viam::trajex::service
+    viam::trajex::totg::tools
     urcl
     viam-cpp-sdk::viamapi # Proxy for gRPC
     viam-cpp-sdk::viamsdk

src/viam/trajex/CMakeLists.txt

@@ -133,10 +133,10 @@ endif()
 
 
 #
-# Targets
+# Library targets
 #
 
-# Legacy target: reference implementation from third_party/trajectories submodule
+# Legacy library: reference implementation from third_party/trajectories submodule
 add_library(viam-trajex-totg-legacy)
 
 set_target_properties(viam-trajex-totg-legacy PROPERTIES SYSTEM TRUE)
@@ -160,10 +160,10 @@ target_link_libraries(viam-trajex-totg-legacy
     Eigen3::Eigen
 )
 
-add_library(viam::trajex::totg-legacy ALIAS viam-trajex-totg-legacy)
+add_library(viam::trajex::totg::legacy ALIAS viam-trajex-totg-legacy)
 
 
-# Core target: TOTG implementation
+# New TOTG implementation
 add_library(viam-trajex-totg)
 
 target_sources(viam-trajex-totg
@@ -198,95 +198,113 @@ apply_wall_werror(viam-trajex-totg)
 add_library(viam::trajex::totg ALIAS viam-trajex-totg)
 
 
-# Service layer: Eigen-dependent helpers (always built) and the MLModelService
-# wrapper (conditionally built when VIAM_TRAJEX_BUILD_SERVICE is ON).
-add_library(viam-trajex-service)
+# Support and tooling for new TOTG and legacy
+add_library(viam-trajex-totg-tools)
 
-target_sources(viam-trajex-service
+target_sources(viam-trajex-totg-tools
   PRIVATE
-    src/viam/trajex/service/colinearization.cpp
-)
-
-target_include_directories(viam-trajex-service
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>
-    $<INSTALL_INTERFACE:include>
+    src/viam/trajex/totg/tools/legacy.cpp
+    src/viam/trajex/totg/tools/planner.cpp
+    src/viam/trajex/totg/tools/replay.cpp
 )
 
-target_link_libraries(viam-trajex-service
+target_link_libraries(viam-trajex-totg-tools
   PUBLIC
     Eigen3::Eigen
     viam::trajex::totg
-    viam::trajex::totg-legacy
+    viam::trajex::totg::legacy
+  PRIVATE
+    jsoncpp_lib
 )
 
-apply_wall_werror(viam-trajex-service)
+apply_wall_werror(viam-trajex-totg-tools)
 
-add_library(viam::trajex::service ALIAS viam-trajex-service)
+add_library(viam::trajex::totg::tools ALIAS viam-trajex-totg-tools)
 
 
-#
-# Service executable and SDK-dependent sources
-# Always built (provides testing in both standalone and FetchContent modes)
-# Only installed/packaged in standalone mode
-#
+# Service layer: SDK-facing MLModel service. Only layer that depends on viam-cpp-sdk.
 
 if(NOT TARGET viam-cpp-sdk::viamsdk)
   find_package(viam-cpp-sdk CONFIG REQUIRED viamsdk)
 endif()
 
+add_library(viam-trajex-service)
+
 target_sources(viam-trajex-service
   PRIVATE
-    src/viam/trajex/service/trajex_mlmodel_service.cpp
+    src/viam/trajex/service/mlmodel.cpp
+)
+
+target_include_directories(viam-trajex-service
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>
+    $<INSTALL_INTERFACE:include>
 )
 
 target_link_libraries(viam-trajex-service
   PUBLIC
     viam-cpp-sdk::viamsdk
+  PRIVATE
+    viam::trajex::totg::tools
 )
 
-add_executable(trajex-service
-  src/viam/trajex/service/main.cpp
+apply_wall_werror(viam-trajex-service)
+
+add_library(viam::trajex::service ALIAS viam-trajex-service)
+
+
+#
+# Service executable target
+#
+
+add_executable(viam-trajex-service-exe)
+
+target_sources(viam-trajex-service-exe
+  PRIVATE
+    src/viam/trajex/service/main.cpp
 )
 
-set_target_properties(trajex-service PROPERTIES OUTPUT_NAME viam-trajex-service)
+set_target_properties(viam-trajex-service-exe PROPERTIES OUTPUT_NAME viam-trajex-service)
 
-target_link_libraries(trajex-service
+target_link_libraries(viam-trajex-service-exe
   PRIVATE
     viam::trajex::service
 )
 
-apply_wall_werror(trajex-service)
+apply_wall_werror(viam-trajex-service-exe)
 
-add_executable(trajex-service-test
-  src/viam/trajex/service/test/trajex_mlmodel_service.cpp
-)
 
-target_link_libraries(trajex-service-test
+#
+# Tools
+#
+
+add_executable(viam-trajex-totg-replay-exe)
+
+target_sources(viam-trajex-totg-replay-exe
   PRIVATE
-    viam::trajex::service
-    Boost::boost
+    src/viam/trajex/totg/tools/replay_main.cpp
 )
 
-apply_wall_werror(trajex-service-test)
+set_target_properties(viam-trajex-totg-replay-exe PROPERTIES OUTPUT_NAME viam-trajex-totg-replay)
 
-add_test(
-  NAME trajex-service
-  COMMAND trajex-service-test
+target_link_libraries(viam-trajex-totg-replay-exe
+  PRIVATE
+    viam::trajex::totg::tools
 )
 
+apply_wall_werror(viam-trajex-totg-replay-exe)
+
 
 #
 # Tests
 #
 
 enable_testing()
 
-add_executable(trajex-test)
+add_executable(viam-trajex-totg-test)
 
-target_sources(trajex-test
+target_sources(viam-trajex-totg-test
   PRIVATE
-    src/viam/trajex/service/test/trajectory_planner.cpp
     src/viam/trajex/totg/test/main.cpp
     src/viam/trajex/totg/test/test_utils.cpp
     src/viam/trajex/totg/test/waypoint_accumulator.cpp
@@ -301,43 +319,91 @@ target_sources(trajex-test
     src/viam/trajex/totg/test/observers.cpp
 )
 
-target_link_libraries(trajex-test
+target_link_libraries(viam-trajex-totg-test
   PRIVATE
-    viam::trajex::service
+    viam::trajex::totg::tools
     Boost::boost
     jsoncpp_lib
 )
 
-apply_wall_werror(trajex-test)
+target_compile_definitions(viam-trajex-totg-test PRIVATE
+    VIAM_TRAJEX_TEST_DATA_DIR="${CMAKE_CURRENT_SOURCE_DIR}/src/viam/trajex/totg/test/data"
+)
+
+apply_wall_werror(viam-trajex-totg-test)
 
 add_test(
-  NAME trajex
-  COMMAND trajex-test
+  NAME viam-trajex-totg-test
+  COMMAND viam-trajex-totg-test
 )
 
 
-add_executable(trajex-types-test)
+add_executable(viam-trajex-totg-tools-test)
 
-target_sources(trajex-types-test
+target_sources(viam-trajex-totg-tools-test
+  PRIVATE
+    src/viam/trajex/totg/tools/test/main.cpp
+    src/viam/trajex/totg/tools/test/legacy.cpp
+    src/viam/trajex/totg/tools/test/planner.cpp
+)
+
+target_link_libraries(viam-trajex-totg-tools-test
+  PRIVATE
+    viam::trajex::totg::tools
+    Boost::boost
+)
+
+apply_wall_werror(viam-trajex-totg-tools-test)
+
+add_test(
+  NAME viam-trajex-totg-tools-test
+  COMMAND viam-trajex-totg-tools-test
+)
+
+
+add_executable(viam-trajex-types-test)
+
+target_sources(viam-trajex-types-test
   PRIVATE
     src/viam/trajex/types/test.cpp
 )
 
-target_include_directories(trajex-types-test
+target_include_directories(viam-trajex-types-test
   PRIVATE
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>
 )
 
-target_link_libraries(trajex-types-test
+target_link_libraries(viam-trajex-types-test
+  PRIVATE
+    Boost::boost
+)
+
+apply_wall_werror(viam-trajex-types-test)
+
+add_test(
+  NAME viam-trajex-types-test
+  COMMAND viam-trajex-types-test
+)
+
+
+add_executable(viam-trajex-service-test)
+
+target_sources(viam-trajex-service-test
   PRIVATE
+    src/viam/trajex/service/test/mlmodel.cpp
+)
+
+target_link_libraries(viam-trajex-service-test
+  PRIVATE
+    viam::trajex::service
     Boost::boost
 )
 
-apply_wall_werror(trajex-types-test)
+apply_wall_werror(viam-trajex-service-test)
 
 add_test(
-  NAME trajex-types
-  COMMAND trajex-types-test
+  NAME viam-trajex-service-test
+  COMMAND viam-trajex-service-test
 )
 
 
@@ -347,12 +413,14 @@ add_test(
 
 include(GNUInstallDirs)
 
-# Always install libraries (UR uses service library for colinearization)
+# Always install libraries and diagnostic tools
 install(
   TARGETS
   viam-trajex-totg-legacy
   viam-trajex-totg
+  viam-trajex-totg-tools
   viam-trajex-service
+  viam-trajex-totg-replay-exe
   RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
   LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
   ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
@@ -362,7 +430,7 @@ if(TRAJEX_STANDALONE_BUILD)
   # Install service executable (standalone only)
   install(
     TARGETS
-    trajex-service
+    viam-trajex-service-exe
     RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
   )
 

src/viam/trajex/src/viam/trajex/service/main.cpp

@@ -7,7 +7,7 @@
 #include <viam/sdk/registry/registry.hpp>
 #include <viam/sdk/services/mlmodel.hpp>
 
-#include <viam/trajex/service/trajex_mlmodel_service.hpp>
+#include <viam/trajex/service/mlmodel.hpp>
 
 namespace {
 
@@ -20,9 +20,9 @@ int serve(const std::string& socket_path) try {
         vsdk::API::get<vsdk::MLModelService>(),
         vsdk::Model{"viam", "trajex", "mlmodel"},
         [](vsdk::Dependencies deps, vsdk::ResourceConfig config) {
-            return std::make_shared<viam::trajex::trajex_mlmodel_service>(std::move(deps), std::move(config));
+            return std::make_shared<viam::trajex::service::mlmodel>(std::move(deps), std::move(config));
         },
-        &viam::trajex::trajex_mlmodel_service::validate);
+        &viam::trajex::service::mlmodel::validate);
 
     vsdk::Registry::get().register_model(registration);