viam-sdk 0.25.2__py3-none-linux_armv7l.whl → 0.62.0__py3-none-linux_armv7l.whl

viam/components/gripper/gripper.py

@@ -1,8 +1,11 @@
 import abc
-from typing import Any, Dict, Final, Optional
+from dataclasses import dataclass
+from typing import Any, Dict, Final, Optional, Tuple
 
 from viam.components.component_base import ComponentBase
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
+from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT
+
+from . import KinematicsFileFormat
 
 
 class Gripper(ComponentBase):
@@ -17,13 +20,24 @@ class Gripper(ComponentBase):
 
         from viam.components.gripper import Gripper
 
-    For more information, see `Gripper component <https://docs.viam.com/components/gripper/>`_.
+    For more information, see `Gripper component <https://docs.viam.com/dev/reference/apis/components/gripper/>`_.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "gripper"
     )
 
+    @dataclass
+    class HoldingStatus:
+        """
+        HoldingStatus represents whether the gripper is currently holding onto an object. The
+        additional ``meta`` attribute contains other optional contextual information (i.e. confidence
+        interval, pressure, etc.)
+        """
+
+        is_holding_something: bool
+        meta: Optional[Dict[str, Any]] = None
+
     @abc.abstractmethod
     async def open(
         self,
@@ -37,12 +51,12 @@ class Gripper(ComponentBase):
 
         ::
 
-            my_gripper = Gripper.from_robot(robot=robot, name="my_gripper")
+            my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")
 
             # Open the gripper.
             await my_gripper.open()
 
-        For more information, see `Gripper component <https://docs.viam.com/components/gripper/>`_.
+        For more information, see `Gripper component <https://docs.viam.com/dev/reference/apis/components/gripper/#open>`_.
         """
         ...
 
@@ -59,7 +73,7 @@ class Gripper(ComponentBase):
 
         ::
 
-            my_gripper = Gripper.from_robot(robot=robot, name="my_gripper")
+            my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")
 
             # Grab with the gripper.
             grabbed = await my_gripper.grab()
@@ -67,10 +81,37 @@ class Gripper(ComponentBase):
         Returns:
             bool: Indicates if the gripper grabbed something.
 
-        For more information, see `Gripper component <https://docs.viam.com/components/gripper/>`_.
+        For more information, see `Gripper component <https://docs.viam.com/dev/reference/apis/components/gripper/#grab>`_.
         """
         ...
 
+    @abc.abstractmethod
+    async def is_holding_something(
+        self,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> HoldingStatus:
+        """
+        Get information about whether the gripper is currently holding onto an object.
+
+        ::
+
+            my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")
+
+            # Grab with the gripper.
+            holding_status = await my_gripper.is_holding_something()
+            # get the boolean result
+            is_holding_something = holding_status.is_holding_something
+
+        Returns:
+            HoldingStatus: see documentation on `HoldingStatus` for more information
+
+        For more information, see `Gripper component <https://docs.viam.com/dev/reference/apis/components/gripper/#grab>`_.
+
+        """
+
     @abc.abstractmethod
     async def stop(
         self,
@@ -84,12 +125,12 @@ class Gripper(ComponentBase):
 
         ::
 
-            my_gripper = Gripper.from_robot(robot=robot, name="my_gripper")
+            my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")
 
             # Stop the gripper.
             await my_gripper.stop()
 
-        For more information, see `Gripper component <https://docs.viam.com/components/gripper/>`_.
+        For more information, see `Gripper component <https://docs.viam.com/dev/reference/apis/components/gripper/#stop>`_.
         """
         ...
 
@@ -100,7 +141,7 @@ class Gripper(ComponentBase):
 
         ::
 
-            my_gripper = Gripper.from_robot(robot=robot, name="my_gripper")
+            my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")
 
             # Check whether the gripper is currently moving.
             moving = await my_gripper.is_moving()
@@ -109,6 +150,40 @@ class Gripper(ComponentBase):
         Returns:
             bool: Whether the gripper is moving.
 
-        For more information, see `Gripper component <https://docs.viam.com/components/gripper/>`_.
+        For more information, see `Gripper component <https://docs.viam.com/dev/reference/apis/components/gripper/#is_moving>`_.
+        """
+        ...
+
+    @abc.abstractmethod
+    async def get_kinematics(
+        self,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> Tuple[KinematicsFileFormat.ValueType, bytes]:
+        """
+        Get the kinematics information associated with the gripper.
+
+        ::
+
+            my_gripper = Gripper.from_robot(robot=machine, name="my_gripper")
+
+            # Get the kinematics information associated with the gripper.
+            kinematics = await my_gripper.get_kinematics()
+
+            # Get the format of the kinematics file.
+            k_file = kinematics[0]
+
+            # Get the byte contents of the file.
+            k_bytes = kinematics[1]
+
+        Returns:
+            Tuple[KinematicsFileFormat.ValueType, bytes]: A tuple containing two values; the first [0] value represents the format of the
+            file, either in URDF format (``KinematicsFileFormat.KINEMATICS_FILE_FORMAT_URDF``) or
+            Viam's kinematic parameter format (spatial vector algebra) (``KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA``),
+            and the second [1] value represents the byte contents of the file.
+
+        For more information, see `Gripper component <https://docs.viam.com/dev/reference/apis/components/gripper/#getkinematics>`_.
         """
         ...

viam/components/gripper/service.py

@@ -1,10 +1,19 @@
 from grpclib.server import Stream
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
+from viam.proto.common import (
+    DoCommandRequest,
+    DoCommandResponse,
+    GetGeometriesRequest,
+    GetGeometriesResponse,
+    GetKinematicsRequest,
+    GetKinematicsResponse,
+)
 from viam.proto.component.gripper import (
     GrabRequest,
     GrabResponse,
     GripperServiceBase,
+    IsHoldingSomethingRequest,
+    IsHoldingSomethingResponse,
     IsMovingRequest,
     IsMovingResponse,
     OpenRequest,
@@ -62,6 +71,17 @@ class GripperRPCService(GripperServiceBase, ResourceRPCServiceBase[Gripper]):
         response = IsMovingResponse(is_moving=is_moving)
         await stream.send_message(response)
 
+    async def IsHoldingSomething(self, stream: Stream[IsHoldingSomethingRequest, IsHoldingSomethingResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        gripper = self.get_resource(name)
+        holding_status = await gripper.is_holding_something()
+        response = IsHoldingSomethingResponse(
+            is_holding_something=holding_status.is_holding_something, meta=dict_to_struct(holding_status.meta)
+        )
+        await stream.send_message(response)
+
     async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -> None:
         request = await stream.recv_message()
         assert request is not None
@@ -74,8 +94,17 @@ class GripperRPCService(GripperServiceBase, ResourceRPCServiceBase[Gripper]):
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
         request = await stream.recv_message()
         assert request is not None
-        arm = self.get_resource(request.name)
+        gripper = self.get_resource(request.name)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        geometries = await arm.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        geometries = await gripper.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
         response = GetGeometriesResponse(geometries=geometries)
         await stream.send_message(response)
+
+    async def GetKinematics(self, stream: Stream[GetKinematicsRequest, GetKinematicsResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        gripper = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        format, kinematics_data = await gripper.get_kinematics(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetKinematicsResponse(format=format, kinematics_data=kinematics_data)
+        await stream.send_message(response)

viam/components/input/__init__.py

@@ -1,7 +1,4 @@
-from viam.proto.component.inputcontroller import Status as InputStatus
-from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
-from viam.utils import message_to_struct
 
 from .client import ControllerClient
 from .input import Control, ControlFunction, Controller, Event, EventType
@@ -15,14 +12,4 @@ __all__ = [
     "EventType",
 ]
 
-
-async def create_status(component: Controller) -> Status:
-    return Status(
-        name=Controller.get_resource_name(component.name),
-        status=message_to_struct(InputStatus(events=[event.proto for event in (await component.get_events()).values()])),
-    )
-
-
-Registry.register_subtype(
-    ResourceRegistration(Controller, InputControllerRPCService, lambda name, channel: ControllerClient(name, channel), create_status)
-)
+Registry.register_api(ResourceRegistration(Controller, InputControllerRPCService, lambda name, channel: ControllerClient(name, channel)))

viam/components/input/client.py

@@ -21,7 +21,7 @@ from viam.proto.component.inputcontroller import (
     StreamEventsResponse,
     TriggerEventRequest,
 )
-from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
+from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase, ResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
 from .input import Control, ControlFunction, Controller, Event, EventType
@@ -48,12 +48,11 @@ class ControllerClient(Controller, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> List[Control]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetControlsRequest(controller=self.name, extra=dict_to_struct(extra))
-        response: GetControlsResponse = await self.client.GetControls(request, timeout=timeout)
+        response: GetControlsResponse = await self.client.GetControls(request, timeout=timeout, metadata=md)
         return [Control(control) for control in response.controls]
 
     async def get_events(
@@ -61,12 +60,11 @@ class ControllerClient(Controller, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Dict[Control, Event]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetEventsRequest(controller=self.name, extra=dict_to_struct(extra))
-        response: GetEventsResponse = await self.client.GetEvents(request, timeout=timeout)
+        response: GetEventsResponse = await self.client.GetEvents(request, timeout=timeout, metadata=md)
         return {Control(event.control): Event.from_proto(event) for (event) in response.events}
 
     def register_control_callback(
@@ -75,10 +73,9 @@ class ControllerClient(Controller, ReconfigurableResourceRPCClientBase):
         triggers: List[EventType],
         function: Optional[ControlFunction],
         extra: Optional[Dict[str, Any]] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata())
         self._callback_extra = dict_to_struct(extra)
         with self._lock:
             callbacks = self.callbacks.get(control, {})
@@ -99,7 +96,7 @@ class ControllerClient(Controller, ReconfigurableResourceRPCClientBase):
             except Exception:
                 LOGGER.exception("Exception raised by task = %r", task)
 
-        task = asyncio.create_task(self._stream_events(), name=f"{viam._TASK_PREFIX}-input_stream_events")
+        task = asyncio.create_task(self._stream_events(md), name=f"{viam._TASK_PREFIX}-input_stream_events")
         task.add_done_callback(handle_task_result)
 
     def reset_channel(self, channel: Channel):
@@ -115,19 +112,18 @@ class ControllerClient(Controller, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = TriggerEventRequest(controller=self.name, event=event.proto, extra=dict_to_struct(extra))
         try:
-            await self.client.TriggerEvent(request, timeout=timeout)
+            await self.client.TriggerEvent(request, timeout=timeout, metadata=md)
         except GRPCError as e:
             if e.status == Status.UNIMPLEMENTED and ("does not support triggering events" in e.message if e.message else False):
                 raise NotSupportedError(f"Input controller named {self.name} does not support triggering events")
             raise e
 
-    async def _stream_events(self):
+    async def _stream_events(self, metadata: ResourceRPCClientBase.Metadata):
         with self._stream_lock:
             if self._is_streaming:
                 return
@@ -136,6 +132,7 @@ class ControllerClient(Controller, ReconfigurableResourceRPCClientBase):
         if not self.callbacks:
             return
 
+        md = metadata.proto
         request = StreamEventsRequest(controller=self.name, events=[], extra=self._callback_extra)
         with self._lock:
             for control, callbacks in self.callbacks.items():
@@ -147,7 +144,7 @@ class ControllerClient(Controller, ReconfigurableResourceRPCClientBase):
                 request.events.append(event)
 
         try:
-            async with self.client.StreamEvents.open() as stream:
+            async with self.client.StreamEvents.open(metadata=md) as stream:
                 await stream.send_message(request, end=True)
                 self._send_connection_status(True)
                 reply: StreamEventsResponse
@@ -185,11 +182,13 @@ class ControllerClient(Controller, ReconfigurableResourceRPCClientBase):
         command: Mapping[str, ValueTypes],
         *,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Mapping[str, ValueTypes]:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
-        response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
+        response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout, metadata=md)
         return struct_to_dict(response.result)
 
-    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
-        return await get_geometries(self.client, self.name, extra, timeout)
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
+        md = kwargs.get("metadata", self.Metadata())
+        return await get_geometries(self.client, self.name, extra, timeout, md)

viam/components/input/input.py

@@ -10,7 +10,7 @@ from typing_extensions import Self
 from viam.components.component_base import ComponentBase
 from viam.errors import NotSupportedError
 from viam.proto.component.inputcontroller import Event as PBEvent
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
+from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT
 
 
 class EventType(str, Enum):
@@ -140,10 +140,10 @@ class Controller(ComponentBase):
 
         from viam.components.input import Control, Controller, EventType
 
-    For more information, see `Input Controller component <https://docs.viam.com/components/input-controller/>`_.
+    For more information, see `Input Controller component <https://docs.viam.com/dev/reference/apis/components/input-controller/>`_.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "input_controller"
     )
 
@@ -156,7 +156,7 @@ class Controller(ComponentBase):
 
             # Get the controller from the machine.
             my_controller = Controller.from_robot(
-                robot=myRobotWithController, name="my_controller")
+                robot=machine, "my_controller")
 
             # Get the list of Controls provided by the controller.
             controls = await my_controller.get_controls()
@@ -167,7 +167,7 @@ class Controller(ComponentBase):
         Returns:
             List[Control]: List of controls provided by the Controller
 
-        For more information, see `Input Controller component <https://docs.viam.com/components/input-controller/>`_.
+        For more information, see `Input Controller component <https://docs.viam.com/dev/reference/apis/components/input-controller/#getcontrols>`_.
         """
         ...
 
@@ -183,7 +183,7 @@ class Controller(ComponentBase):
 
             # Get the controller from the machine.
             my_controller = Controller.from_robot(
-                robot=myRobotWithController, name="my_controller")
+                robot=machine, "my_controller")
 
             # Get the most recent Event for each Control.
             recent_events = await my_controller.get_events()
@@ -194,7 +194,7 @@ class Controller(ComponentBase):
         Returns:
             Dict[Control, Event]: The most recent event for each input
 
-        For more information, see `Input Controller component <https://docs.viam.com/components/input-controller/>`_.
+        For more information, see `Input Controller component <https://docs.viam.com/dev/reference/apis/components/input-controller/#getevents>`_.
         """
         ...
 
@@ -214,6 +214,8 @@ class Controller(ComponentBase):
 
         ::
 
+            from viam.components.input import Control, EventType
+
             # Define a function to handle pressing the Start Menu Button "BUTTON_START" on
             # your controller, printing out the start time.
             def print_start_time(event):
@@ -245,10 +247,10 @@ class Controller(ComponentBase):
 
                 # Get your controller from the machine.
                 my_controller = Controller.from_robot(
-                    robot=myRobotWithController, name="my_controller")
+                    robot=machine, "my_controller")
 
                 # Run the handleController function.
-                await handleController(my_controller)
+                await handle_controller(my_controller)
 
                 # ... < INSERT ANY OTHER CODE FOR MAIN FUNCTION >
 
@@ -259,7 +261,7 @@ class Controller(ComponentBase):
             function (ControlFunction): The function to run on
                 specific triggers
 
-        For more information, see `Input Controller component <https://docs.viam.com/components/input-controller/>`_.
+        For more information, see `Input Controller component <https://docs.viam.com/dev/reference/apis/components/input-controller/#registercontrolcallback>`_.
         """
         ...
 
@@ -275,17 +277,21 @@ class Controller(ComponentBase):
 
         ::
 
+            # Get your controller from the machine.
+            my_controller = Controller.from_robot(
+                robot=machine, "my_controller")
+
             # Define a "Button is Pressed" event for the control BUTTON_START.
             button_is_pressed_event = Event(
                 time(), EventType.BUTTON_PRESS, Control.BUTTON_START, 1.0)
 
             # Trigger the event on your controller. Set this trigger to timeout if it has
             # not completed in 7 seconds.
-            await myController.trigger_event(event=my_event, timeout=7.0)
+            await my_controller.trigger_event(event=button_is_pressed_event, timeout=7.0)
 
         Args:
             event (Event): The event to trigger
 
-        For more information, see `Input Controller component <https://docs.viam.com/components/input-controller/>`_.
+        For more information, see `Input Controller component <https://docs.viam.com/dev/reference/apis/components/input-controller/#triggerevent>`_.
         """
         raise NotSupportedError(f"Input controller named {self.name} does not support triggering events")

viam/components/motor/__init__.py

@@ -1,9 +1,4 @@
-import asyncio
-
-from viam.proto.component.motor import Status as MotorStatus
-from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
-from viam.utils import message_to_struct
 
 from .client import MotorClient
 from .motor import Motor
@@ -13,19 +8,4 @@ __all__ = [
     "Motor",
 ]
 
-
-async def create_status(component: Motor) -> Status:
-    ((is_powered, _), position, is_moving) = await asyncio.gather(
-        component.is_powered(),
-        component.get_position(),
-        component.is_moving(),
-    )
-    s = MotorStatus(
-        is_powered=is_powered,
-        position=position,
-        is_moving=is_moving,
-    )
-    return Status(name=Motor.get_resource_name(component.name), status=message_to_struct(s))
-
-
-Registry.register_subtype(ResourceRegistration(Motor, MotorRPCService, lambda name, channel: MotorClient(name, channel), create_status))
+Registry.register_api(ResourceRegistration(Motor, MotorRPCService, lambda name, channel: MotorClient(name, channel)))