[RSDK-6871] add edited map to slam client (#261)

Author: JohnN193

src/services/slam/client.test.ts

@@ -9,6 +9,7 @@ vi.mock('../../robot');
 import { EventDispatcher } from '../../events';
 import {
   GetInternalStateResponse,
+  GetPointCloudMapRequest,
   GetPointCloudMapResponse,
 } from '../../gen/service/slam/v1/slam_pb';
 import { SlamClient } from './client';
@@ -39,21 +40,34 @@ export class TestResponseStream<T> extends EventDispatcher {
 
 let pcdStream: ResponseStream<GetPointCloudMapResponse>;
 let testPcdStream: TestResponseStream<GetPointCloudMapResponse> | undefined;
+let testPcdStreamEdited:
+  | TestResponseStream<GetPointCloudMapResponse>
+  | undefined;
 let internalStream: ResponseStream<GetInternalStateResponse>;
 let testInternalStream:
   | TestResponseStream<GetInternalStateResponse>
   | undefined;
 
+const pointCloudMapMockfn = (
+  requestMessage: GetPointCloudMapRequest
+): TestResponseStream<GetPointCloudMapResponse> | undefined => {
+  if (requestMessage.getReturnEditedMap()) {
+    return testPcdStreamEdited;
+  }
+  return testPcdStream;
+};
+
 beforeEach(() => {
   testPcdStream = new TestResponseStream(pcdStream);
+  testPcdStreamEdited = new TestResponseStream(pcdStream);
   testInternalStream = new TestResponseStream(internalStream);
   RobotClient.prototype.createServiceClient = vi
     .fn()
     .mockImplementation(() => new SLAMServiceClient('myslam'));
 
   SLAMServiceClient.prototype.getPointCloudMap = vi
     .fn()
-    .mockImplementation(() => testPcdStream);
+    .mockImplementation(pointCloudMapMockfn);
   SLAMServiceClient.prototype.getInternalState = vi
     .fn()
     .mockImplementation(() => testInternalStream);
@@ -83,6 +97,24 @@ describe('getPointCloudMap tests', () => {
 
     const array = new Uint8Array([4, 13, 16, 25]);
     expect(promise).resolves.toStrictEqual(array);
+
+    // test map edit bool
+    const promiseEdit = slam.getPointCloudMap(true);
+    // unused chunk
+    const response3 = new GetPointCloudMapResponse();
+    const chunk3 = new Uint8Array([4, 27]);
+    response3.setPointCloudPcdChunk(chunk3);
+    testPcdStream?.emit('data', response3);
+    testPcdStream?.emit('end', { code: 0 });
+    // used chunk
+    const response3Edited = new GetPointCloudMapResponse();
+    const chunk3Edited = new Uint8Array([5, 38]);
+    response3Edited.setPointCloudPcdChunk(chunk3Edited);
+    testPcdStreamEdited?.emit('data', response3Edited);
+    testPcdStreamEdited?.emit('end', { code: 0 });
+
+    const arrayEdit = new Uint8Array([5, 38]);
+    expect(promiseEdit).resolves.toStrictEqual(arrayEdit);
   });
 
   it('end getPcdMap stream with wrong code', () => {

src/services/slam/client.ts

@@ -41,9 +41,12 @@ export class SlamClient implements Slam {
     return response.toObject();
   }
 
-  getPointCloudMap = async (): Promise<Uint8Array> => {
+  getPointCloudMap = async (returnEditedMap?: boolean): Promise<Uint8Array> => {
     const request = new pb.GetPointCloudMapRequest();
     request.setName(this.name);
+    if (returnEditedMap) {
+      request.setReturnEditedMap(returnEditedMap);
+    }
     this.options.requestLogger?.(request);
 
     const chunks: Uint8Array[] = [];

src/services/slam/slam.ts

@@ -13,7 +13,7 @@ export interface Slam extends Resource {
   getPosition: () => Promise<SlamPosition>;
 
   /** Get the point cloud SLAM map. */
-  getPointCloudMap: () => Promise<Uint8Array>;
+  getPointCloudMap: (returnEditedMap?: boolean) => Promise<Uint8Array>;
 
   /**
    * Get the internal state of the SLAM algorithm required to continue