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

viam/components/pose_tracker/client.py

@@ -26,12 +26,11 @@ class PoseTrackerClient(PoseTracker, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Mapping[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Dict[str, PoseInFrame]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetPosesRequest(name=self.name, body_names=body_names, extra=dict_to_struct(extra))
-        response: GetPosesResponse = await self.client.GetPoses(request, timeout=timeout)
+        response: GetPosesResponse = await self.client.GetPoses(request, timeout=timeout, metadata=md)
         return {key: response.body_poses[key] for key in response.body_poses.keys()}
 
     async def do_command(
@@ -39,11 +38,13 @@ class PoseTrackerClient(PoseTracker, 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/pose_tracker/pose_tracker.py

@@ -2,7 +2,7 @@ import abc
 from typing import Any, Dict, Final, List, Mapping, Optional
 
 from viam.proto.common import PoseInFrame
-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 ..component_base import ComponentBase
 
@@ -16,7 +16,7 @@ class PoseTracker(ComponentBase):
     overridden, it must call the ``super().__init__()`` function.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "pose_tracker"
     )
 

viam/components/power_sensor/__init__.py

@@ -8,7 +8,7 @@ __all__ = [
     "PowerSensor",
 ]
 
-Registry.register_subtype(
+Registry.register_api(
     ResourceRegistration(
         PowerSensor,
         PowerSensorRPCService,

viam/components/power_sensor/client.py

@@ -30,12 +30,11 @@ class PowerSensorClient(PowerSensor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Tuple[float, bool]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetVoltageRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetVoltageResponse = await self.client.GetVoltage(request, timeout=timeout)
+        response: GetVoltageResponse = await self.client.GetVoltage(request, timeout=timeout, metadata=md)
         return response.volts, response.is_ac
 
     async def get_current(
@@ -43,12 +42,11 @@ class PowerSensorClient(PowerSensor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Tuple[float, bool]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetCurrentRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetCurrentResponse = await self.client.GetCurrent(request, timeout=timeout)
+        response: GetCurrentResponse = await self.client.GetCurrent(request, timeout=timeout, metadata=md)
         return response.amperes, response.is_ac
 
     async def get_power(
@@ -56,12 +54,11 @@ class PowerSensorClient(PowerSensor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> float:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetPowerRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetPowerResponse = await self.client.GetPower(request, timeout=timeout)
+        response: GetPowerResponse = await self.client.GetPower(request, timeout=timeout, metadata=md)
         return response.watts
 
     async def get_readings(
@@ -69,12 +66,11 @@ class PowerSensorClient(PowerSensor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Mapping[str, SensorReading]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetReadingsRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetReadingsResponse = await self.client.GetReadings(request, timeout=timeout)
+        response: GetReadingsResponse = await self.client.GetReadings(request, timeout=timeout, metadata=md)
         return sensor_readings_value_to_native(response.readings)
 
     async def do_command(
@@ -82,8 +78,9 @@ class PowerSensorClient(PowerSensor, 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)

viam/components/power_sensor/power_sensor.py

@@ -2,7 +2,7 @@ import abc
 from typing import Any, Dict, Final, Mapping, 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 viam.utils import SensorReading
 
 
@@ -16,10 +16,10 @@ class PowerSensor(ComponentBase):
 
         from viam.components.power_sensor import PowerSensor
 
-    For more information, see `Power Sensor component <https://docs.viam.com/components/power-sensor/>`_.
+    For more information, see `Power Sensor component <https://docs.viam.com/dev/reference/apis/components/power-sensor/>`_.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "power_sensor"
     )
 
@@ -29,7 +29,7 @@ class PowerSensor(ComponentBase):
 
         ::
 
-            my_power_sensor = PowerSensor.from_robot(robot=robot, name='my_power_sensor')
+            my_power_sensor = PowerSensor.from_robot(robot=machine, name='my_power_sensor')
 
             # Get the voltage reading from the power sensor
             voltage, is_ac = await my_power_sensor.get_voltage()
@@ -39,7 +39,7 @@ class PowerSensor(ComponentBase):
             Tuple[float, bool]: A float representing the voltage reading in V. A bool indicating whether the voltage is AC (`true`) or DC
             (`false`).
 
-        For more information, see `Power Sensor component <https://docs.viam.com/components/power-sensor/>`_.
+        For more information, see `Power Sensor component <https://docs.viam.com/dev/reference/apis/components/power-sensor/#getvoltage>`_.
         """
         ...
 
@@ -49,7 +49,7 @@ class PowerSensor(ComponentBase):
 
         ::
 
-            my_power_sensor = PowerSensor.from_robot(robot=robot, name='my_power_sensor')
+            my_power_sensor = PowerSensor.from_robot(robot=machine, name='my_power_sensor')
 
             # Get the current reading from the power sensor
             current, is_ac = await my_power_sensor.get_current()
@@ -59,7 +59,7 @@ class PowerSensor(ComponentBase):
             Tuple[float, bool]: A tuple which includes a float representing the current reading in amps, and a bool indicating whether the
             current is AC (`true`) or DC (`false`).
 
-        For more information, see `Power Sensor component <https://docs.viam.com/components/power-sensor/>`_.
+        For more information, see `Power Sensor component <https://docs.viam.com/dev/reference/apis/components/power-sensor/#getcurrent>`_.
         """
         ...
 
@@ -69,7 +69,7 @@ class PowerSensor(ComponentBase):
 
         ::
 
-            my_power_sensor = PowerSensor.from_robot(robot=robot, name='my_power_sensor')
+            my_power_sensor = PowerSensor.from_robot(robot=machine, name='my_power_sensor')
 
             # Get the power reading from the power sensor
             power = await my_power_sensor.get_power()
@@ -78,7 +78,7 @@ class PowerSensor(ComponentBase):
         Returns:
             float: The power reading in watts.
 
-        For more information, see `Power Sensor component <https://docs.viam.com/components/power-sensor/>`_.
+        For more information, see `Power Sensor component <https://docs.viam.com/dev/reference/apis/components/power-sensor/#getpower>`_.
         """
         ...
 
@@ -90,15 +90,15 @@ class PowerSensor(ComponentBase):
 
         ::
 
-            my_power_sensor = PowerSensor.from_robot(robot=robot, name='my_power_sensor')
+            my_power_sensor = PowerSensor.from_robot(robot=machine, name='my_power_sensor')
 
             # Get the readings provided by the sensor.
             readings = await my_power_sensor.get_readings()
 
         Returns:
             Mapping[str, Any]: The readings for the PowerSensor. Can be of any type. Includes voltage in volts (float), current in
-                amperes (float), is_ac (bool), and power in watts (float).
+            amperes (float), is_ac (bool), and power in watts (float).
 
-        For more information, see `Power Sensor component <https://docs.viam.com/components/power-sensor/>`_.
+        For more information, see `Power Sensor component <https://docs.viam.com/dev/reference/apis/components/power-sensor/#getreadings>`_.
         """
         ...

viam/components/sensor/__init__.py

@@ -9,7 +9,7 @@ __all__ = [
     "Sensor",
 ]
 
-Registry.register_subtype(
+Registry.register_api(
     ResourceRegistration(
         Sensor,
         SensorRPCService,

viam/components/sensor/client.py

@@ -25,12 +25,11 @@ class SensorClient(Sensor, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Mapping[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Mapping[str, SensorReading]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetReadingsRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetReadingsResponse = await self.client.GetReadings(request, timeout=timeout)
+        response: GetReadingsResponse = await self.client.GetReadings(request, timeout=timeout, metadata=md)
         return sensor_readings_value_to_native(response.readings)
 
     async def do_command(
@@ -38,11 +37,13 @@ class SensorClient(Sensor, 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/sensor/sensor.py

@@ -1,7 +1,7 @@
 import abc
 from typing import Any, Final, Mapping, Optional
 
-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 viam.utils import SensorReading
 
 from ..component_base import ComponentBase
@@ -19,10 +19,10 @@ class Sensor(ComponentBase):
 
         from viam.components.sensor import Sensor
 
-    For more information, see `Sensor component <https://docs.viam.com/components/sensor/>`_.
+    For more information, see `Sensor component <https://docs.viam.com/dev/reference/apis/components/sensor/>`_.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "sensor"
     )
 
@@ -35,7 +35,7 @@ class Sensor(ComponentBase):
 
         ::
 
-            my_sensor = Sensor.from_robot(robot=robot, name='my_sensor')
+            my_sensor = Sensor.from_robot(robot=machine, name='my_sensor')
 
             # Get the readings provided by the sensor.
             readings = await my_sensor.get_readings()
@@ -43,6 +43,6 @@ class Sensor(ComponentBase):
         Returns:
             Mapping[str, Any]: The measurements. Can be of any type.
 
-        For more information, see `Sensor component <https://docs.viam.com/components/sensor/>`_.
+        For more information, see `Sensor component <https://docs.viam.com/dev/reference/apis/components/sensor/#getreadings>`_.
         """
         ...

viam/components/servo/__init__.py

@@ -1,9 +1,4 @@
-import asyncio
-
-from viam.proto.component.servo import Status as ServoStatus
-from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
-from viam.utils import message_to_struct
 
 from .client import ServoClient
 from .service import ServoRPCService
@@ -13,11 +8,4 @@ __all__ = [
     "Servo",
 ]
 
-
-async def create_status(component: Servo) -> Status:
-    (position_deg, is_moving) = await asyncio.gather(component.get_position(), component.is_moving())
-    s = ServoStatus(position_deg=position_deg, is_moving=is_moving)
-    return Status(name=Servo.get_resource_name(component.name), status=message_to_struct(s))
-
-
-Registry.register_subtype(ResourceRegistration(Servo, ServoRPCService, lambda name, channel: ServoClient(name, channel), create_status))
+Registry.register_api(ResourceRegistration(Servo, ServoRPCService, lambda name, channel: ServoClient(name, channel)))

viam/components/servo/client.py

@@ -33,12 +33,11 @@ class ServoClient(Servo, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Mapping[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> int:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetPositionRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout)
+        response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout, metadata=md)
         return response.position_deg
 
     async def move(
@@ -47,28 +46,27 @@ class ServoClient(Servo, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Mapping[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = MoveRequest(name=self.name, angle_deg=angle, extra=dict_to_struct(extra))
-        await self.client.Move(request, timeout=timeout)
+        await self.client.Move(request, timeout=timeout, metadata=md)
 
     async def stop(
         self,
         *,
         extra: Optional[Mapping[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = StopRequest(name=self.name, extra=dict_to_struct(extra))
-        await self.client.Stop(request, timeout=timeout)
+        await self.client.Stop(request, timeout=timeout, metadata=md)
 
-    async def is_moving(self, *, timeout: Optional[float] = None) -> bool:
+    async def is_moving(self, *, timeout: Optional[float] = None, **kwargs) -> bool:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = IsMovingRequest(name=self.name)
-        response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout)
+        response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout, metadata=md)
         return response.is_moving
 
     async def do_command(
@@ -76,11 +74,13 @@ class ServoClient(Servo, 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/servo/servo.py

@@ -1,7 +1,7 @@
 import abc
 from typing import Any, Final, Mapping, Optional
 
-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 ..component_base import ComponentBase
 
@@ -18,10 +18,10 @@ class Servo(ComponentBase):
 
         from viam.components.servo import Servo
 
-    For more information, see `Servo component <https://docs.viam.com/components/servo/>`_.
+    For more information, see `Servo component <https://docs.viam.com/dev/reference/apis/components/servo/>`_.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "servo"
     )
 
@@ -32,7 +32,7 @@ class Servo(ComponentBase):
 
         ::
 
-            my_servo = Servo.from_robot(robot=robot, name="my_servo")
+            my_servo = Servo.from_robot(robot=machine, name="my_servo")
 
             # Move the servo from its origin to the desired angle of 10 degrees.
             await my_servo.move(10)
@@ -43,7 +43,7 @@ class Servo(ComponentBase):
         Args:
             angle (int): The desired angle of the servo in degrees.
 
-        For more information, see `Servo component <https://docs.viam.com/components/servo/>`_.
+        For more information, see `Servo component <https://docs.viam.com/dev/reference/apis/components/servo/#move>`_.
         """
         ...
 
@@ -54,7 +54,7 @@ class Servo(ComponentBase):
 
         ::
 
-            my_servo = Servo.from_robot(robot=robot, name="my_servo")
+            my_servo = Servo.from_robot(robot=machine, name="my_servo")
 
             # Move the servo from its origin to the desired angle of 10 degrees.
             await my_servo.move(10)
@@ -71,7 +71,7 @@ class Servo(ComponentBase):
         Returns:
             int: The current angle of the servo in degrees.
 
-        For more information, see `Servo component <https://docs.viam.com/components/servo/>`_.
+        For more information, see `Servo component <https://docs.viam.com/dev/reference/apis/components/servo/#getposition>`_.
         """
         ...
 
@@ -82,7 +82,7 @@ class Servo(ComponentBase):
 
         ::
 
-            my_servo = Servo.from_robot(robot=robot, name="my_servo")
+            my_servo = Servo.from_robot(robot=machine, name="my_servo")
 
             # Move the servo from its origin to the desired angle of 10 degrees.
             await my_servo.move(10)
@@ -90,7 +90,7 @@ class Servo(ComponentBase):
             # Stop the servo. It is assumed that the servo stops moving immediately.
             await my_servo.stop()
 
-        For more information, see `Servo component <https://docs.viam.com/components/servo/>`_.
+        For more information, see `Servo component <https://docs.viam.com/dev/reference/apis/components/servo/#stop>`_.
         """
         ...
 
@@ -101,14 +101,14 @@ class Servo(ComponentBase):
 
         ::
 
-            my_servo = Servo.from_robot(robot=robot, name="my_servo")
+            my_servo = Servo.from_robot(robot=machine, name="my_servo")
 
-            print(my_servo.is_moving())
+            print(await my_servo.is_moving())
 
 
         Returns:
             bool: Whether the servo is moving.
 
-        For more information, see `Servo component <https://docs.viam.com/components/servo/>`_.
+        For more information, see `Servo component <https://docs.viam.com/dev/reference/apis/components/servo/#ismoving>`_.
         """
         ...

viam/components/switch/__init__.py

@@ -0,0 +1,10 @@
+import viam.gen.component.switch.v1.switch_pb2
+from viam.resource.registry import Registry, ResourceRegistration
+
+from .client import SwitchClient
+from .service import SwitchRPCService
+from .switch import Switch
+
+__all__ = ["Switch"]
+
+Registry.register_api(ResourceRegistration(Switch, SwitchRPCService, lambda name, channel: SwitchClient(name, channel)))

viam/components/switch/client.py

@@ -0,0 +1,83 @@
+from typing import Any, Mapping, Optional
+
+from grpclib.client import Channel
+
+from viam.gen.component.switch.v1.switch_pb2 import (
+    GetNumberOfPositionsRequest,
+    GetNumberOfPositionsResponse,
+    GetPositionRequest,
+    GetPositionResponse,
+    SetPositionRequest,
+)
+from viam.proto.common import (
+    DoCommandRequest,
+    DoCommandResponse,
+)
+from viam.proto.component.switch import SwitchServiceStub
+from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
+from viam.utils import (
+    ValueTypes,
+    dict_to_struct,
+    struct_to_dict,
+)
+
+from .switch import Switch
+
+
+class SwitchClient(Switch, ReconfigurableResourceRPCClientBase):
+    """
+    gRPC client for Switch component
+    """
+
+    def __init__(self, name: str, channel: Channel):
+        self.channel = channel
+        self.client = SwitchServiceStub(channel)
+        super().__init__(name)
+
+    async def get_position(
+        self,
+        *,
+        extra: Optional[Mapping[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> int:
+        md = kwargs.get("metadata", self.Metadata()).proto
+        request = GetPositionRequest(name=self.name, extra=dict_to_struct(extra))
+        response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout, metadata=md)
+        return response.position
+
+    async def set_position(
+        self,
+        position: int,
+        *,
+        extra: Optional[Mapping[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> None:
+        md = kwargs.get("metadata", self.Metadata()).proto
+        request = SetPositionRequest(name=self.name, position=position, extra=dict_to_struct(extra))
+        await self.client.SetPosition(request, timeout=timeout, metadata=md)
+
+    async def get_number_of_positions(
+        self,
+        *,
+        extra: Optional[Mapping[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> int:
+        md = kwargs.get("metadata", self.Metadata()).proto
+        request = GetNumberOfPositionsRequest(name=self.name, extra=dict_to_struct(extra))
+        response: GetNumberOfPositionsResponse = await self.client.GetNumberOfPositions(request, timeout=timeout, metadata=md)
+        return response.number_of_positions
+
+    async def do_command(
+        self,
+        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, metadata=md)
+        return struct_to_dict(response.result)