RSDK-6443 - Change RDK implementation of MoveOnMap to use MoveOnMapNew (viamrobotics#3479)

Author: nicksanford

go.mod

@@ -83,7 +83,7 @@ require (
 	go.uber.org/atomic v1.10.0
 	go.uber.org/multierr v1.11.0
 	go.uber.org/zap v1.24.0
-	go.viam.com/api v0.1.253
+	go.viam.com/api v0.1.255
 	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2
 	go.viam.com/utils v0.1.59
 	goji.io v2.0.2+incompatible

go.sum

@@ -1489,8 +1489,8 @@ go.uber.org/zap v1.18.1/go.mod h1:xg/QME4nWcxGxrpdeYfq7UvYrLh66cuVKdrbD1XF/NI=
 go.uber.org/zap v1.23.0/go.mod h1:D+nX8jyLsMHMYrln8A0rJjFt/T/9/bGgIhAqxv5URuY=
 go.uber.org/zap v1.24.0 h1:FiJd5l1UOLj0wCgbSE0rwwXHzEdAZS6hiiSnxJN/D60=
 go.uber.org/zap v1.24.0/go.mod h1:2kMP+WWQ8aoFoedH3T2sq6iJ2yDWpHbP0f6MQbS9Gkg=
-go.viam.com/api v0.1.253 h1:lqTtDtwpBy2r2Z4TPaT2rb6msK6IAU/E2MTRdprjQno=
-go.viam.com/api v0.1.253/go.mod h1:msa4TPrMVeRDcG4YzKA/S6wLEUC7GyHQE973JklrQ10=
+go.viam.com/api v0.1.255 h1:ApxFMQaPug1oVZuw/07pKax2I2z8pzQJx+14ziFMzR4=
+go.viam.com/api v0.1.255/go.mod h1:msa4TPrMVeRDcG4YzKA/S6wLEUC7GyHQE973JklrQ10=
 go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 h1:oBiK580EnEIzgFLU4lHOXmGAE3MxnVbeR7s1wp/F3Ps=
 go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2/go.mod h1:XM0tej6riszsiNLT16uoyq1YjuYPWlRBweTPRDanIts=
 go.viam.com/utils v0.1.59 h1:h6x9aFlX00DIS3x1DWwonG5XICIgIE5m4R3RDGObXuw=

services/motion/builtin/builtin.go

@@ -240,46 +240,23 @@ func (ms *builtIn) Move(
 	return true, nil
 }
 
-// MoveOnMap will move the given component to the given destination on the slam map generated from a slam service specified by slamName.
-// Bases are the only component that supports this.
-func (ms *builtIn) MoveOnMap(
-	ctx context.Context,
-	componentName resource.Name,
-	destination spatialmath.Pose,
-	slamName resource.Name,
-	extra map[string]interface{},
-) (bool, error) {
+func (ms *builtIn) MoveOnMap(ctx context.Context, req motion.MoveOnMapReq) (motion.ExecutionID, error) {
+	if err := ctx.Err(); err != nil {
+		return uuid.Nil, err
+	}
 	ms.mu.RLock()
 	defer ms.mu.RUnlock()
+	ms.logger.CDebugf(ctx, "MoveOnMap called with %s", req)
+
+	// TODO: Deprecated: remove once no motion apis use the opid system
 	operation.CancelOtherWithLabel(ctx, builtinOpLabel)
-	// make call to motionplan
-	mr, err := ms.newMoveOnMapRequest(ctx, motion.MoveOnMapReq{
-		ComponentName: componentName,
-		Destination:   destination,
-		SlamName:      slamName,
-		Extra:         extra,
-	}, nil, defaultMaxReplans)
-	if err != nil {
-		return false, fmt.Errorf("error making plan for MoveOnMap: %w", err)
-	}
 
-	planResp, err := mr.Plan(ctx)
-	if err != nil {
-		return false, err
-	}
-	resp, err := mr.Execute(ctx, planResp.Waypoints)
-	// Error
+	id, err := state.StartExecution(ctx, ms.state, req.ComponentName, req, ms.newMoveOnMapRequest)
 	if err != nil {
-		return false, err
+		return uuid.Nil, err
 	}
 
-	// Didn't reach goal
-	if resp.Replan {
-		ms.logger.CWarnf(ctx, "didn't reach the goal. Reason: %s\n", resp.ReplanReason)
-		return false, nil
-	}
-	// Reached goal
-	return true, nil
+	return id, nil
 }
 
 func (ms *builtIn) MoveOnMapNew(ctx context.Context, req motion.MoveOnMapReq) (motion.ExecutionID, error) {