APP-8003 Add world state store service

proto/viam/common/v1/common.proto

@@ -89,6 +89,14 @@
   bytes mesh = 2;
 }
 
+message PointCloud {
+  bytes point_cloud = 1;
+}
+
+message Line {
+  repeated float segments = 1;
+}
+
 // Geometry contains the dimensions of a given geometry and the pose of its center. The geometry is one of either a sphere or a box.
 message Geometry {
   // Pose of a geometries center point
@@ -99,6 +107,8 @@
     RectangularPrism box = 3;
     Capsule capsule = 5;
     Mesh mesh = 6;
+    PointCloud pointcloud = 7;
+    Line line = 8;
   }
   // Label of the geometry. If none supplied, will be an empty string.
   string label = 4;
@@ -135,15 +145,31 @@
   repeated Geometry geometries = 2;
 }
 
-// Transform contains a pose and two reference frames. The first reference frame is the starting reference frame, and the second reference
-// frame is the observer reference frame. The second reference frame has a pose which represents the pose of an object in the first
-// reference frame as observed within the second reference frame.
+// Transform contains a pose and two reference frames. `parent` is the starting reference frame, and `name` is the observer reference frame.
+// `pose` represents the pose of an object in the `parent` frame as observed within the `name` frame.
 message Transform {
-  // the name of a given reference frame
-  string reference_frame = 1;
-  // the pose of the above reference frame with respect to a different observer reference frame
-  PoseInFrame pose_in_observer_frame = 2;
-  optional Geometry physical_object = 3;
+  // The name of the transform
+  string name = 1;
+  reserved "reference_frame";
+
+  // Deprecated: use `parent` and `pose` instead
+  reserved 2;
+  reserved "pose_in_observer_frame";
+
+  repeated Geometry geometry = 3;
+  reserved "physical_object";
+
+  // The name of the observer reference frame
+  string parent = 4;
+
+  // The pose of the named frame as observed from the parent frame
+  Pose pose = 5;
+
+  // The UUID of the transform
+  bytes uuid = 6;
+
+  // Can hold information like color, opacity, points colors, collision_allowed, etc...
+  optional google.protobuf.Struct metadata = 7;
 }
 
 // WorldState contains information about the physical environment around a given robot. All of the fields within this message are optional,

proto/viam/service/worldstatestore/v1/world_state_store.proto

@@ -0,0 +1,80 @@
+syntax = "proto3";
+
+package viam.service.worldstatestore.v1;
+
+import "common/v1/common.proto";
+import "google/api/annotations.proto";
+import "google/protobuf/field_mask.proto";
+import "google/protobuf/struct.proto";
+
+option go_package = "go.viam.com/api/service/worldstatestore/v1";
+option java_package = "com.viam.service.worldstatestore.v1";
+
+service WorldStateStoreService {
+  // ListUUIDs returns all world state transform UUIDs
+  rpc ListUUIDs(ListUUIDsRequest) returns (ListUUIDsResponse) {}
+
+  // GetTransform returns a world state transform by uuid
+  rpc GetTransform(GetTransformRequest) returns (GetTransformResponse) {}
+
+  // StreamTransformChanges streams changes to world state transforms
+  rpc StreamTransformChanges(StreamTransformChangesRequest) returns (stream StreamTransformChangesResponse) {
+    option (google.api.http) = {get: "/viam/api/v1/service/worldstatestore/{name}/stream_transform_changes"};
+  }
+
+  // DoCommand sends/receives arbitrary commands
+  rpc DoCommand(common.v1.DoCommandRequest) returns (common.v1.DoCommandResponse) {
+    option (google.api.http) = {post: "/viam/api/v1/service/worldstatestore/{name}/do_command"};
+  }
+}
+
+message ListUUIDsRequest {
+  // Name of the world object store service
+  string name = 1;
+
+  // Additional arguments to the method
+  google.protobuf.Struct extra = 99;
+}
+
+message ListUUIDsResponse {
+  repeated bytes uuids = 1;
+}
+
+message GetTransformRequest {
+  // Name of the world object store service
+  string name = 1;
+
+  bytes uuid = 2;
+
+  // Additional arguments to the method
+  google.protobuf.Struct extra = 99;
+}
+
+message GetTransformResponse {
+  common.v1.Transform transform = 2;
+}
+
+enum TransformChangeType {
+  TRANSFORM_CHANGE_TYPE_UNSPECIFIED = 0;
+  TRANSFORM_CHANGE_TYPE_ADDED = 1;
+  TRANSFORM_CHANGE_TYPE_REMOVED = 2;
+  TRANSFORM_CHANGE_TYPE_UPDATED = 3;
+}
+
+message StreamTransformChangesRequest {
+  // Name of the world object store service
+  string name = 1;
+
+  // Additional arguments to the method
+  google.protobuf.Struct extra = 99;
+}
+
+message StreamTransformChangesResponse {
+  TransformChangeType change_type = 1;
+  common.v1.Transform transform = 2;
+
+  // The field mask of the transform that has changed, if any. For added transforms, this will be empty. For updated
+  // transforms, this will be the fields that have changed. For removed transforms, this will be the transform's UUID
+  // path.  
+  google.protobuf.FieldMask updated_fields = 3;
+}