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

viam/gen/stream/v1/stream_grpc.py

@@ -17,12 +17,20 @@ class StreamServiceBase(abc.ABC):
     async def AddStream(self, stream: 'grpclib.server.Stream[stream.v1.stream_pb2.AddStreamRequest, stream.v1.stream_pb2.AddStreamResponse]') -> None:
         pass
 
+    @abc.abstractmethod
+    async def GetStreamOptions(self, stream: 'grpclib.server.Stream[stream.v1.stream_pb2.GetStreamOptionsRequest, stream.v1.stream_pb2.GetStreamOptionsResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def SetStreamOptions(self, stream: 'grpclib.server.Stream[stream.v1.stream_pb2.SetStreamOptionsRequest, stream.v1.stream_pb2.SetStreamOptionsResponse]') -> None:
+        pass
+
     @abc.abstractmethod
     async def RemoveStream(self, stream: 'grpclib.server.Stream[stream.v1.stream_pb2.RemoveStreamRequest, stream.v1.stream_pb2.RemoveStreamResponse]') -> None:
         pass
 
     def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
-        return {'/proto.stream.v1.StreamService/ListStreams': grpclib.const.Handler(self.ListStreams, grpclib.const.Cardinality.UNARY_UNARY, stream.v1.stream_pb2.ListStreamsRequest, stream.v1.stream_pb2.ListStreamsResponse), '/proto.stream.v1.StreamService/AddStream': grpclib.const.Handler(self.AddStream, grpclib.const.Cardinality.UNARY_UNARY, stream.v1.stream_pb2.AddStreamRequest, stream.v1.stream_pb2.AddStreamResponse), '/proto.stream.v1.StreamService/RemoveStream': grpclib.const.Handler(self.RemoveStream, grpclib.const.Cardinality.UNARY_UNARY, stream.v1.stream_pb2.RemoveStreamRequest, stream.v1.stream_pb2.RemoveStreamResponse)}
+        return {'/proto.stream.v1.StreamService/ListStreams': grpclib.const.Handler(self.ListStreams, grpclib.const.Cardinality.UNARY_UNARY, stream.v1.stream_pb2.ListStreamsRequest, stream.v1.stream_pb2.ListStreamsResponse), '/proto.stream.v1.StreamService/AddStream': grpclib.const.Handler(self.AddStream, grpclib.const.Cardinality.UNARY_UNARY, stream.v1.stream_pb2.AddStreamRequest, stream.v1.stream_pb2.AddStreamResponse), '/proto.stream.v1.StreamService/GetStreamOptions': grpclib.const.Handler(self.GetStreamOptions, grpclib.const.Cardinality.UNARY_UNARY, stream.v1.stream_pb2.GetStreamOptionsRequest, stream.v1.stream_pb2.GetStreamOptionsResponse), '/proto.stream.v1.StreamService/SetStreamOptions': grpclib.const.Handler(self.SetStreamOptions, grpclib.const.Cardinality.UNARY_UNARY, stream.v1.stream_pb2.SetStreamOptionsRequest, stream.v1.stream_pb2.SetStreamOptionsResponse), '/proto.stream.v1.StreamService/RemoveStream': grpclib.const.Handler(self.RemoveStream, grpclib.const.Cardinality.UNARY_UNARY, stream.v1.stream_pb2.RemoveStreamRequest, stream.v1.stream_pb2.RemoveStreamResponse)}
 
 class UnimplementedStreamServiceBase(StreamServiceBase):
 
@@ -32,6 +40,12 @@ class UnimplementedStreamServiceBase(StreamServiceBase):
     async def AddStream(self, stream: 'grpclib.server.Stream[stream.v1.stream_pb2.AddStreamRequest, stream.v1.stream_pb2.AddStreamResponse]') -> None:
         raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
 
+    async def GetStreamOptions(self, stream: 'grpclib.server.Stream[stream.v1.stream_pb2.GetStreamOptionsRequest, stream.v1.stream_pb2.GetStreamOptionsResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def SetStreamOptions(self, stream: 'grpclib.server.Stream[stream.v1.stream_pb2.SetStreamOptionsRequest, stream.v1.stream_pb2.SetStreamOptionsResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
     async def RemoveStream(self, stream: 'grpclib.server.Stream[stream.v1.stream_pb2.RemoveStreamRequest, stream.v1.stream_pb2.RemoveStreamResponse]') -> None:
         raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
 
@@ -40,4 +54,6 @@ class StreamServiceStub:
     def __init__(self, channel: grpclib.client.Channel) -> None:
         self.ListStreams = grpclib.client.UnaryUnaryMethod(channel, '/proto.stream.v1.StreamService/ListStreams', stream.v1.stream_pb2.ListStreamsRequest, stream.v1.stream_pb2.ListStreamsResponse)
         self.AddStream = grpclib.client.UnaryUnaryMethod(channel, '/proto.stream.v1.StreamService/AddStream', stream.v1.stream_pb2.AddStreamRequest, stream.v1.stream_pb2.AddStreamResponse)
+        self.GetStreamOptions = grpclib.client.UnaryUnaryMethod(channel, '/proto.stream.v1.StreamService/GetStreamOptions', stream.v1.stream_pb2.GetStreamOptionsRequest, stream.v1.stream_pb2.GetStreamOptionsResponse)
+        self.SetStreamOptions = grpclib.client.UnaryUnaryMethod(channel, '/proto.stream.v1.StreamService/SetStreamOptions', stream.v1.stream_pb2.SetStreamOptionsRequest, stream.v1.stream_pb2.SetStreamOptionsResponse)
         self.RemoveStream = grpclib.client.UnaryUnaryMethod(channel, '/proto.stream.v1.StreamService/RemoveStream', stream.v1.stream_pb2.RemoveStreamRequest, stream.v1.stream_pb2.RemoveStreamResponse)

viam/gen/stream/v1/stream_pb2.py

@@ -1,26 +1,39 @@
 """Generated protocol buffer code."""
-from google.protobuf.internal import builder as _builder
 from google.protobuf import descriptor as _descriptor
 from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 2, '', 'stream/v1/stream.proto')
 _sym_db = _symbol_database.Default()
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x16stream/v1/stream.proto\x12\x0fproto.stream.v1"\x14\n\x12ListStreamsRequest"+\n\x13ListStreamsResponse\x12\x14\n\x05names\x18\x01 \x03(\tR\x05names"&\n\x10AddStreamRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"\x13\n\x11AddStreamResponse")\n\x13RemoveStreamRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"\x16\n\x14RemoveStreamResponse2\x9a\x02\n\rStreamService\x12X\n\x0bListStreams\x12#.proto.stream.v1.ListStreamsRequest\x1a$.proto.stream.v1.ListStreamsResponse\x12R\n\tAddStream\x12!.proto.stream.v1.AddStreamRequest\x1a".proto.stream.v1.AddStreamResponse\x12[\n\x0cRemoveStream\x12$.proto.stream.v1.RemoveStreamRequest\x1a%.proto.stream.v1.RemoveStreamResponseB.Z,github.com/edaniels/gostream/proto/stream/v1b\x06proto3')
-_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
-_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'stream.v1.stream_pb2', globals())
-if _descriptor._USE_C_DESCRIPTORS == False:
-    DESCRIPTOR._options = None
-    DESCRIPTOR._serialized_options = b'Z,github.com/edaniels/gostream/proto/stream/v1'
-    _LISTSTREAMSREQUEST._serialized_start = 43
-    _LISTSTREAMSREQUEST._serialized_end = 63
-    _LISTSTREAMSRESPONSE._serialized_start = 65
-    _LISTSTREAMSRESPONSE._serialized_end = 108
-    _ADDSTREAMREQUEST._serialized_start = 110
-    _ADDSTREAMREQUEST._serialized_end = 148
-    _ADDSTREAMRESPONSE._serialized_start = 150
-    _ADDSTREAMRESPONSE._serialized_end = 169
-    _REMOVESTREAMREQUEST._serialized_start = 171
-    _REMOVESTREAMREQUEST._serialized_end = 212
-    _REMOVESTREAMRESPONSE._serialized_start = 214
-    _REMOVESTREAMRESPONSE._serialized_end = 236
-    _STREAMSERVICE._serialized_start = 239
-    _STREAMSERVICE._serialized_end = 521
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x16stream/v1/stream.proto\x12\x0fproto.stream.v1"\x14\n\x12ListStreamsRequest"+\n\x13ListStreamsResponse\x12\x14\n\x05names\x18\x01 \x03(\tR\x05names"&\n\x10AddStreamRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"\x13\n\x11AddStreamResponse")\n\x13RemoveStreamRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"\x16\n\x14RemoveStreamResponse":\n\nResolution\x12\x14\n\x05width\x18\x01 \x01(\x05R\x05width\x12\x16\n\x06height\x18\x02 \x01(\x05R\x06height"-\n\x17GetStreamOptionsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"Y\n\x18GetStreamOptionsResponse\x12=\n\x0bresolutions\x18\x01 \x03(\x0b2\x1b.proto.stream.v1.ResolutionR\x0bresolutions"j\n\x17SetStreamOptionsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12;\n\nresolution\x18\x02 \x01(\x0b2\x1b.proto.stream.v1.ResolutionR\nresolution"\x1a\n\x18SetStreamOptionsResponse2\xec\x03\n\rStreamService\x12X\n\x0bListStreams\x12#.proto.stream.v1.ListStreamsRequest\x1a$.proto.stream.v1.ListStreamsResponse\x12R\n\tAddStream\x12!.proto.stream.v1.AddStreamRequest\x1a".proto.stream.v1.AddStreamResponse\x12g\n\x10GetStreamOptions\x12(.proto.stream.v1.GetStreamOptionsRequest\x1a).proto.stream.v1.GetStreamOptionsResponse\x12g\n\x10SetStreamOptions\x12(.proto.stream.v1.SetStreamOptionsRequest\x1a).proto.stream.v1.SetStreamOptionsResponse\x12[\n\x0cRemoveStream\x12$.proto.stream.v1.RemoveStreamRequest\x1a%.proto.stream.v1.RemoveStreamResponseB.Z,github.com/edaniels/gostream/proto/stream/v1b\x06proto3')
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'stream.v1.stream_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+    _globals['DESCRIPTOR']._loaded_options = None
+    _globals['DESCRIPTOR']._serialized_options = b'Z,github.com/edaniels/gostream/proto/stream/v1'
+    _globals['_LISTSTREAMSREQUEST']._serialized_start = 43
+    _globals['_LISTSTREAMSREQUEST']._serialized_end = 63
+    _globals['_LISTSTREAMSRESPONSE']._serialized_start = 65
+    _globals['_LISTSTREAMSRESPONSE']._serialized_end = 108
+    _globals['_ADDSTREAMREQUEST']._serialized_start = 110
+    _globals['_ADDSTREAMREQUEST']._serialized_end = 148
+    _globals['_ADDSTREAMRESPONSE']._serialized_start = 150
+    _globals['_ADDSTREAMRESPONSE']._serialized_end = 169
+    _globals['_REMOVESTREAMREQUEST']._serialized_start = 171
+    _globals['_REMOVESTREAMREQUEST']._serialized_end = 212
+    _globals['_REMOVESTREAMRESPONSE']._serialized_start = 214
+    _globals['_REMOVESTREAMRESPONSE']._serialized_end = 236
+    _globals['_RESOLUTION']._serialized_start = 238
+    _globals['_RESOLUTION']._serialized_end = 296
+    _globals['_GETSTREAMOPTIONSREQUEST']._serialized_start = 298
+    _globals['_GETSTREAMOPTIONSREQUEST']._serialized_end = 343
+    _globals['_GETSTREAMOPTIONSRESPONSE']._serialized_start = 345
+    _globals['_GETSTREAMOPTIONSRESPONSE']._serialized_end = 434
+    _globals['_SETSTREAMOPTIONSREQUEST']._serialized_start = 436
+    _globals['_SETSTREAMOPTIONSREQUEST']._serialized_end = 542
+    _globals['_SETSTREAMOPTIONSRESPONSE']._serialized_start = 544
+    _globals['_SETSTREAMOPTIONSRESPONSE']._serialized_end = 570
+    _globals['_STREAMSERVICE']._serialized_start = 573
+    _globals['_STREAMSERVICE']._serialized_end = 1065

viam/gen/stream/v1/stream_pb2.pyi

@@ -80,4 +80,82 @@ class RemoveStreamResponse(google.protobuf.message.Message):
 
     def __init__(self) -> None:
         ...
-global___RemoveStreamResponse = RemoveStreamResponse
+global___RemoveStreamResponse = RemoveStreamResponse
+
+@typing.final
+class Resolution(google.protobuf.message.Message):
+    """Resolution details the width and height of a stream."""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    WIDTH_FIELD_NUMBER: builtins.int
+    HEIGHT_FIELD_NUMBER: builtins.int
+    width: builtins.int
+    height: builtins.int
+
+    def __init__(self, *, width: builtins.int=..., height: builtins.int=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['height', b'height', 'width', b'width']) -> None:
+        ...
+global___Resolution = Resolution
+
+@typing.final
+class GetStreamOptionsRequest(google.protobuf.message.Message):
+    """GetStreamOptionsRequest requests the options for a particular stream."""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    name: builtins.str
+
+    def __init__(self, *, name: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['name', b'name']) -> None:
+        ...
+global___GetStreamOptionsRequest = GetStreamOptionsRequest
+
+@typing.final
+class GetStreamOptionsResponse(google.protobuf.message.Message):
+    """GetStreamOptionsResponse details the options for a particular stream."""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    RESOLUTIONS_FIELD_NUMBER: builtins.int
+
+    @property
+    def resolutions(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___Resolution]:
+        ...
+
+    def __init__(self, *, resolutions: collections.abc.Iterable[global___Resolution] | None=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['resolutions', b'resolutions']) -> None:
+        ...
+global___GetStreamOptionsResponse = GetStreamOptionsResponse
+
+@typing.final
+class SetStreamOptionsRequest(google.protobuf.message.Message):
+    """SetStreamOptionsRequest sets the options for a particular stream."""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    RESOLUTION_FIELD_NUMBER: builtins.int
+    name: builtins.str
+
+    @property
+    def resolution(self) -> global___Resolution:
+        ...
+
+    def __init__(self, *, name: builtins.str=..., resolution: global___Resolution | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['resolution', b'resolution']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['name', b'name', 'resolution', b'resolution']) -> None:
+        ...
+global___SetStreamOptionsRequest = SetStreamOptionsRequest
+
+@typing.final
+class SetStreamOptionsResponse(google.protobuf.message.Message):
+    """SetStreamOptionsResponse is returned after a successful SetStreamOptionsRequest."""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    def __init__(self) -> None:
+        ...
+global___SetStreamOptionsResponse = SetStreamOptionsResponse

viam/gen/tagger/v1/tagger_pb2.py

@@ -1,15 +1,16 @@
 """Generated protocol buffer code."""
-from google.protobuf.internal import builder as _builder
 from google.protobuf import descriptor as _descriptor
 from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 2, '', 'tagger/v1/tagger.proto')
 _sym_db = _symbol_database.Default()
 from google.protobuf import descriptor_pb2 as google_dot_protobuf_dot_descriptor__pb2
 DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x16tagger/v1/tagger.proto\x12\ttagger.v1\x1a google/protobuf/descriptor.proto:3\n\x04tags\x12\x1d.google.protobuf.FieldOptions\x18\xc3\xe03 \x01(\tR\x04tags:>\n\noneof_tags\x12\x1d.google.protobuf.OneofOptions\x18\xc3\xe03 \x01(\tR\toneofTagsB4Z2github.com/srikrsna/protoc-gen-gotag/tagger;taggerb\x06proto3')
-_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
-_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'tagger.v1.tagger_pb2', globals())
-if _descriptor._USE_C_DESCRIPTORS == False:
-    google_dot_protobuf_dot_descriptor__pb2.FieldOptions.RegisterExtension(tags)
-    google_dot_protobuf_dot_descriptor__pb2.OneofOptions.RegisterExtension(oneof_tags)
-    DESCRIPTOR._options = None
-    DESCRIPTOR._serialized_options = b'Z2github.com/srikrsna/protoc-gen-gotag/tagger;tagger'
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'tagger.v1.tagger_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+    _globals['DESCRIPTOR']._loaded_options = None
+    _globals['DESCRIPTOR']._serialized_options = b'Z2github.com/srikrsna/protoc-gen-gotag/tagger;tagger'

viam/logging.py

@@ -4,6 +4,7 @@ import sys
 from copy import copy
 from datetime import datetime
 from logging import DEBUG, ERROR, FATAL, INFO, WARN, WARNING  # noqa: F401
+from threading import Event, Lock, Thread
 from typing import TYPE_CHECKING, Dict, Iterable, List, Optional, Union
 
 from grpclib.exceptions import StreamTerminatedError
@@ -19,22 +20,63 @@ LOGGERS: Dict[str, logging.Logger] = {}
 _MODULE_PARENT: Optional["RobotClient"] = None
 
 
+class _SingletonEventLoopThread:
+    _instance = None
+    _lock = Lock()
+    # We use a threading.Event instead of an asyncio.Event because the latter are not thread safe,
+    # and this is set in a separate thread than it is waited on.
+    _ready_event = Event()
+    _loop: asyncio.AbstractEventLoop
+    _thread: Thread
+
+    def __new__(cls):
+        # Ensure singleton precondition
+        if cls._instance is None:
+            with cls._lock:
+                if cls._instance is None:
+                    cls._instance = super(_SingletonEventLoopThread, cls).__new__(cls)
+                    cls._instance._loop = asyncio.new_event_loop()
+                    cls._instance._thread = Thread(target=cls._instance._run)
+                    cls._instance._thread.start()
+        return cls._instance
+
+    def _run(self):
+        asyncio.set_event_loop(self._loop)
+        self._ready_event.set()
+        self._loop.run_forever()
+
+    def stop(self):
+        if self._loop is not None:
+            self._loop.call_soon_threadsafe(self._loop.stop)
+        self._thread.join()
+
+    def get_loop(self):
+        if self._loop is None:
+            raise RuntimeError("Event loop is None. Did you call .start() and .wait_until_ready()?")
+        return self._loop
+
+    def wait_until_ready(self):
+        self._ready_event.wait()
+
+
 class _ModuleHandler(logging.Handler):
     _parent: "RobotClient"
     _logger: logging.Logger
+    _worker: _SingletonEventLoopThread
 
     def __init__(self, parent: "RobotClient"):
+        super().__init__()
         self._parent = parent
         self._logger = logging.getLogger("ModuleLogger")
         addHandlers(self._logger, True)
-        super().__init__()
         self._logger.setLevel(self.level)
+        self._worker = _SingletonEventLoopThread()
 
     def setLevel(self, level: Union[int, str]) -> None:
         self._logger.setLevel(level)
         return super().setLevel(level)
 
-    def handle_task_result(self, task: asyncio.Task):
+    async def handle_task_result(self, task: asyncio.Task):
         try:
             _ = task.result()
         except (asyncio.CancelledError, asyncio.InvalidStateError, StreamTerminatedError):
@@ -42,30 +84,35 @@ class _ModuleHandler(logging.Handler):
 
     def emit(self, record: logging.LogRecord):
         assert isinstance(record, logging.LogRecord)
-        name = record.name.split(".")[-1]
+        # Fully qualified name of form "{API triplet}/{name}", e.g. "rdk:component:arm/myarm"
+        name = record.name.replace(".", "/")
         message = f"{record.filename}:{record.lineno}\t{record.getMessage()}"
         stack = f"exc_info: {record.exc_info}, exc_text: {record.exc_text}, stack_info: {record.stack_info}"
         time = datetime.fromtimestamp(record.created)
 
         try:
-            assert self._parent is not None
-            try:
-                loop = asyncio.get_event_loop()
-                loop.create_task(
-                    self._parent.log(name, record.levelname, time, message, stack), name=f"{viam._TASK_PREFIX}-LOG-{record.created}"
-                ).add_done_callback(self.handle_task_result)
-            except RuntimeError:
-                # If the log is coming from a thread that doesn't have an event loop, create and set a new one.
-                loop = asyncio.new_event_loop()
-                asyncio.set_event_loop(loop)
-                loop.create_task(
-                    self._parent.log(name, record.levelname, time, message, stack), name=f"{viam._TASK_PREFIX}-LOG-{record.created}"
-                ).add_done_callback(self.handle_task_result)
+            loop = self._worker.get_loop()
+            asyncio.run_coroutine_threadsafe(
+                self._asynchronously_emit(record, name, message, stack, time),
+                loop,
+            )
         except Exception as err:
             # If the module log fails, log using stdout/stderr handlers
             self._logger.error(f"ModuleLogger failed for {record.name} - {err}")
             self._logger.log(record.levelno, message)
 
+    async def _asynchronously_emit(self, record: logging.LogRecord, name: str, message: str, stack: str, time: datetime):
+        self._worker.wait_until_ready()
+        task = self._worker.get_loop().create_task(
+            self._parent.log(name, record.levelname, time, message, stack),
+            name=f"{viam._TASK_PREFIX}-LOG-{record.created}",
+        )
+        task.add_done_callback(lambda t: asyncio.run_coroutine_threadsafe(self.handle_task_result(t), self._worker.get_loop()))
+
+    def close(self):
+        self._worker.stop()
+        super().close()
+
 
 class _ColorFormatter(logging.Formatter):
     MAPPING = {
@@ -76,8 +123,8 @@ class _ColorFormatter(logging.Formatter):
         "CRITICAL": 41,  # white on red bg
     }
 
-    def __init__(self, patern):
-        logging.Formatter.__init__(self, patern)
+    def __init__(self, pattern):
+        logging.Formatter.__init__(self, pattern)
 
     def format(self, record):
         colored_record = copy(record)
@@ -106,6 +153,14 @@ def addHandlers(logger: logging.Logger, use_default_handlers=False):
     _addHandlers([logger], use_default_handlers)
 
 
+def update_log_level(logger: logging.Logger, level: Union[int, str]):
+    if level == "":
+        level = LOG_LEVEL
+    logger.setLevel(level)
+    for handler in logger.handlers:
+        handler.setLevel(level)
+
+
 def _addHandlers(loggers: Iterable[logging.Logger], use_default_handlers=False):
     format = _ColorFormatter("%(asctime)s\t\t" + "%(levelname)s\t" + "%(name)s (%(filename)s:%(lineno)d)\t" + "%(message)s\t")
 
@@ -156,3 +211,7 @@ def setLevel(level: int):
 
 def silence():
     setLevel(FATAL + 1)
+
+
+def shutdown():
+    logging.shutdown()

viam/media/audio.py

@@ -1,4 +1,5 @@
 from dataclasses import dataclass
+from enum import Enum
 
 from viam.proto.component.audioinput import AudioChunk, AudioChunkInfo
 from viam.streams import Stream, StreamReader
@@ -14,3 +15,30 @@ class Audio:
 
 AudioReader = StreamReader[Audio]
 AudioStream = Stream[Audio]
+
+
+class AudioCodec(str, Enum):
+    """Common audio codec identifiers.
+
+    These constants represent commonly supported audio codecs
+    for audioin and audioout components.
+
+    Example::
+
+        from viam.components.codecs import AudioCodec
+        from viam.proto.common import AudioInfo
+
+        audio_info = AudioInfo(
+            codec=AudioCodec.PCM16,
+            sample_rate_hz=44100,
+            num_channels=2
+        )
+    """
+
+    PCM16 = "pcm16"
+    PCM32 = "pcm32"
+    PCM32_FLOAT = "pcm32_float"
+    MP3 = "mp3"
+    AAC = "aac"
+    OPUS = "opus"
+    FLAC = "flac"

viam/media/utils/pil/__init__.py

@@ -14,7 +14,7 @@ def viam_to_pil_image(image: ViamImage) -> Image.Image:
     Convert a ViamImage to a PIL.Image.
 
     In order to use this function, Pillow must be installed.
-    https://python-pillow.org/
+    https://pillow.readthedocs.io/
 
     Args:
         image (ViamImage): The image to convert.
@@ -30,7 +30,7 @@ def pil_to_viam_image(image: Image.Image, mime_type: CameraMimeType) -> ViamImag
     Convert a PIL.Image to a ViamImage.
 
     In order to use this function, Pillow must be installed.
-    https://python-pillow.org/
+    https://pillow.readthedocs.io/
 
     Args:
         image (Image.Image): The image to convert.
@@ -39,6 +39,10 @@ def pil_to_viam_image(image: Image.Image, mime_type: CameraMimeType) -> ViamImag
     Returns:
         ViamImage: The resulting ViamImage
     """
+    # Make sure at runtime the mime_type string is actually a CameraMimeType
+    if not isinstance(mime_type, CameraMimeType):
+        raise ValueError(f"Cannot encode to unsupported mimetype: {mime_type}")
+
     if mime_type.name in LIBRARY_SUPPORTED_FORMATS:
         buf = BytesIO()
         if image.mode == "RGBA" and mime_type == CameraMimeType.JPEG:
@@ -46,6 +50,6 @@ def pil_to_viam_image(image: Image.Image, mime_type: CameraMimeType) -> ViamImag
         image.save(buf, format=mime_type.name)
         data = buf.getvalue()
     else:
-        raise ValueError(f"Cannot encode image to {mime_type}")
+        raise ValueError(f"Cannot encode to unsupported mimetype: {mime_type}")
 
     return ViamImage(data, mime_type)

viam/media/video.py

@@ -1,8 +1,7 @@
 from array import array
-from enum import Enum
-from typing import List, Optional, Tuple
+from typing import Any, List, Optional, Tuple
 
-from typing_extensions import Self
+from typing_extensions import ClassVar, Self
 
 from viam.errors import NotSupportedError
 from viam.proto.component.camera import Format
@@ -10,19 +9,69 @@ from viam.proto.component.camera import Format
 from .viam_rgba import RGBA_HEADER_LENGTH, RGBA_MAGIC_NUMBER
 
 
-class CameraMimeType(str, Enum):
-    VIAM_RGBA = "image/vnd.viam.rgba"
-    VIAM_RAW_DEPTH = "image/vnd.viam.dep"
-    JPEG = "image/jpeg"
-    PNG = "image/png"
-    PCD = "pointcloud/pcd"
+class _FrozenClassAttributesMeta(type):
+    """
+    A metaclass that prevents the reassignment of existing class attributes.
+    """
+
+    def __setattr__(cls, name: str, value: Any):
+        # Check if the attribute `name` already exists on the class
+        if name in cls.__dict__:
+            # If it exists, raise an error to prevent overwriting
+            raise AttributeError(f"Cannot reassign constant '{name}'")
+        # If it's a new attribute, allow it to be set
+        super().__setattr__(name, value)
+
+
+class CameraMimeType(str, metaclass=_FrozenClassAttributesMeta):
+    """
+    The compatible mime-types for cameras and vision services.
+
+    You can use the `CameraMimeType.CUSTOM(...)` method to use an unlisted mime-type.
+    """
+
+    VIAM_RGBA: ClassVar[Self]
+    VIAM_RAW_DEPTH: ClassVar[Self]
+    JPEG: ClassVar[Self]
+    PNG: ClassVar[Self]
+    PCD: ClassVar[Self]
+
+    @property
+    def name(self) -> str:
+        for key, value in self.__class__.__dict__.items():
+            if value == self:
+                return key
+        return "CUSTOM"
+
+    @property
+    def value(self) -> str:
+        return self
+
+    @classmethod
+    def CUSTOM(cls, mime_type: str) -> Self:
+        """
+        Create a custom mime type.
+
+        Args:
+            mime_type (str): The mimetype as a string
+        """
+        return cls.from_string(mime_type)
 
     @classmethod
     def from_string(cls, value: str) -> Self:
-        return cls(value)
+        """Return the mimetype from a string.
+
+        Args:
+            value (str): The mimetype as a string
+
+        Returns:
+            Self: The mimetype
+        """
+        value_mime = value[:-5] if value.endswith("+lazy") else value  # ViamImage lazy encodes by default
+        return cls(value_mime)
 
     @classmethod
-    def from_proto(cls, format: Format.ValueType) -> "CameraMimeType":
+    def from_proto(cls, format: Format.ValueType) -> Self:
         """Returns the mimetype from a proto enum.
 
         Args:
@@ -32,14 +81,15 @@ class CameraMimeType(str, Enum):
             Self: The mimetype.
         """
         mimetypes = {
-            Format.FORMAT_RAW_RGBA: CameraMimeType.VIAM_RGBA,
-            Format.FORMAT_RAW_DEPTH: CameraMimeType.VIAM_RAW_DEPTH,
-            Format.FORMAT_JPEG: CameraMimeType.JPEG,
-            Format.FORMAT_PNG: CameraMimeType.PNG,
+            Format.FORMAT_RAW_RGBA: cls.VIAM_RGBA,
+            Format.FORMAT_RAW_DEPTH: cls.VIAM_RAW_DEPTH,
+            Format.FORMAT_JPEG: cls.JPEG,
+            Format.FORMAT_PNG: cls.PNG,
         }
-        return mimetypes.get(format, CameraMimeType.JPEG)
+        return cls(mimetypes.get(format, cls.JPEG))
 
-    def to_proto(self) -> Format.ValueType:
+    @property
+    def proto(self) -> Format.ValueType:
         """Returns the mimetype in a proto enum.
 
         Returns:
@@ -53,6 +103,19 @@ class CameraMimeType(str, Enum):
         }
         return formats.get(self, Format.FORMAT_UNSPECIFIED)
 
+    def to_proto(self) -> Format.ValueType:
+        """
+        DEPRECATED: Use `CameraMimeType.proto`
+        """
+        return self.proto
+
+
+CameraMimeType.VIAM_RGBA = CameraMimeType.from_string("image/vnd.viam.rgba")
+CameraMimeType.VIAM_RAW_DEPTH = CameraMimeType.from_string("image/vnd.viam.dep")
+CameraMimeType.JPEG = CameraMimeType.from_string("image/jpeg")
+CameraMimeType.PNG = CameraMimeType.from_string("image/png")
+CameraMimeType.PCD = CameraMimeType.from_string("pointcloud/pcd")
+
 
 class ViamImage:
     """A native implementation of an image.