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

viam/services/vision/client.py

@@ -53,9 +53,9 @@ class VisionClient(Vision, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Mapping[str, Any]] = None,
         timeout: Optional[float] = None,
+        **kwargs,
     ) -> CaptureAllResult:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = CaptureAllFromCameraRequest(
             name=self.name,
             camera_name=camera_name,
@@ -65,11 +65,15 @@ class VisionClient(Vision, ReconfigurableResourceRPCClientBase):
             return_object_point_clouds=return_object_point_clouds,
             extra=dict_to_struct(extra),
         )
-        response: CaptureAllFromCameraResponse = await self.client.CaptureAllFromCamera(request, timeout=timeout)
+        response: CaptureAllFromCameraResponse = await self.client.CaptureAllFromCamera(request, timeout=timeout, metadata=md)
         result = CaptureAllResult()
         result.extra = struct_to_dict(response.extra)
         if return_image:
-            mime_type = CameraMimeType.from_proto(response.image.format)
+            # TODO(RSDK-11728): remove this branching logic once we deleted the format field
+            if response.image.mime_type:
+                mime_type = CameraMimeType.from_string(response.image.mime_type)
+            else:
+                mime_type = CameraMimeType.from_proto(response.image.format)
             img = ViamImage(response.image.image, mime_type)
             result.image = img
         if return_classifications:
@@ -86,11 +90,11 @@ class VisionClient(Vision, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Mapping[str, Any]] = None,
         timeout: Optional[float] = None,
+        **kwargs,
     ) -> List[Detection]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetDetectionsFromCameraRequest(name=self.name, camera_name=camera_name, extra=dict_to_struct(extra))
-        response: GetDetectionsFromCameraResponse = await self.client.GetDetectionsFromCamera(request, timeout=timeout)
+        response: GetDetectionsFromCameraResponse = await self.client.GetDetectionsFromCamera(request, timeout=timeout, metadata=md)
         return list(response.detections)
 
     async def get_detections(
@@ -99,9 +103,9 @@ class VisionClient(Vision, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Mapping[str, Any]] = None,
         timeout: Optional[float] = None,
+        **kwargs,
     ) -> List[Detection]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         mime_type = CameraMimeType.JPEG
 
         if image.width is None or image.height is None:
@@ -115,7 +119,7 @@ class VisionClient(Vision, ReconfigurableResourceRPCClientBase):
                 mime_type=mime_type,
                 extra=dict_to_struct(extra),
             )
-        response: GetDetectionsResponse = await self.client.GetDetections(request, timeout=timeout)
+        response: GetDetectionsResponse = await self.client.GetDetections(request, timeout=timeout, metadata=md)
         return list(response.detections)
 
     async def get_classifications_from_camera(
@@ -125,11 +129,13 @@ class VisionClient(Vision, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Mapping[str, Any]] = None,
         timeout: Optional[float] = None,
+        **kwargs,
     ) -> List[Classification]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetClassificationsFromCameraRequest(name=self.name, camera_name=camera_name, n=count, extra=dict_to_struct(extra))
-        response: GetClassificationsFromCameraResponse = await self.client.GetClassificationsFromCamera(request, timeout=timeout)
+        response: GetClassificationsFromCameraResponse = await self.client.GetClassificationsFromCamera(
+            request, timeout=timeout, metadata=md
+        )
         return list(response.classifications)
 
     async def get_classifications(
@@ -139,9 +145,9 @@ class VisionClient(Vision, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Mapping[str, Any]] = None,
         timeout: Optional[float] = None,
+        **kwargs,
     ) -> List[Classification]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
 
         mime_type = CameraMimeType.JPEG
         if image.width is None or image.height is None:
@@ -155,7 +161,7 @@ class VisionClient(Vision, ReconfigurableResourceRPCClientBase):
             n=count,
             extra=dict_to_struct(extra),
         )
-        response: GetClassificationsResponse = await self.client.GetClassifications(request, timeout=timeout)
+        response: GetClassificationsResponse = await self.client.GetClassifications(request, timeout=timeout, metadata=md)
         return list(response.classifications)
 
     async def get_object_point_clouds(
@@ -164,16 +170,16 @@ class VisionClient(Vision, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Mapping[str, Any]] = None,
         timeout: Optional[float] = None,
+        **kwargs,
     ) -> List[PointCloudObject]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetObjectPointCloudsRequest(
             name=self.name,
             camera_name=camera_name,
             mime_type=CameraMimeType.PCD,
             extra=dict_to_struct(extra),
         )
-        response: GetObjectPointCloudsResponse = await self.client.GetObjectPointClouds(request, timeout=timeout)
+        response: GetObjectPointCloudsResponse = await self.client.GetObjectPointClouds(request, timeout=timeout, metadata=md)
         return list(response.objects)
 
     async def get_properties(
@@ -181,14 +187,14 @@ class VisionClient(Vision, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Mapping[str, Any]] = None,
         timeout: Optional[float] = None,
+        **kwargs,
     ) -> Vision.Properties:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetPropertiesRequest(
             name=self.name,
             extra=dict_to_struct(extra),
         )
-        response: GetPropertiesResponse = await self.client.GetProperties(request, timeout=timeout)
+        response: GetPropertiesResponse = await self.client.GetProperties(request, timeout=timeout, metadata=md)
         return response
 
     async def do_command(
@@ -196,8 +202,9 @@ class VisionClient(Vision, 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/services/vision/service.py

@@ -26,7 +26,7 @@ from viam.utils import dict_to_struct, struct_to_dict
 from .vision import Vision
 
 
-class VisionRPCService(UnimplementedVisionServiceBase, ResourceRPCServiceBase):
+class VisionRPCService(UnimplementedVisionServiceBase, ResourceRPCServiceBase[Vision]):
     """
     gRPC service for a Vision service
     """
@@ -50,9 +50,11 @@ class VisionRPCService(UnimplementedVisionServiceBase, ResourceRPCServiceBase):
         )
         img = None
         if result.image is not None:
-            fmt = result.image.mime_type.to_proto()
+            mime_type = CameraMimeType.from_string(result.image.mime_type)
+            # TODO(RSDK-11728): remove this fmt logic once we deleted the format field
+            fmt = mime_type.to_proto()  # Will be Format.FORMAT_UNSPECIFIED if an unsupported/custom mime type is set
             img_bytes = result.image.data
-            img = Image(source_name=request.camera_name, format=fmt, image=img_bytes)
+            img = Image(source_name=request.camera_name, mime_type=mime_type, format=fmt, image=img_bytes)
         response = CaptureAllFromCameraResponse(
             image=img,
             detections=result.detections,
@@ -79,8 +81,7 @@ class VisionRPCService(UnimplementedVisionServiceBase, ResourceRPCServiceBase):
         extra = struct_to_dict(request.extra)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
 
-        mime_type = CameraMimeType.from_string(request.mime_type)
-        image = ViamImage(request.image, mime_type)
+        image = ViamImage(request.image, CameraMimeType.from_string(request.mime_type))
 
         result = await vision.get_detections(image, extra=extra, timeout=timeout)
         response = GetDetectionsResponse(detections=result)
@@ -105,8 +106,7 @@ class VisionRPCService(UnimplementedVisionServiceBase, ResourceRPCServiceBase):
         extra = struct_to_dict(request.extra)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
 
-        mime_type = CameraMimeType.from_string(request.mime_type)
-        image = ViamImage(request.image, mime_type)
+        image = ViamImage(request.image, CameraMimeType.from_string(request.mime_type))
 
         result = await vision.get_classifications(image, request.n, extra=extra, timeout=timeout)
         response = GetClassificationsResponse(classifications=result)
@@ -119,7 +119,7 @@ class VisionRPCService(UnimplementedVisionServiceBase, ResourceRPCServiceBase):
         extra = struct_to_dict(request.extra)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
         result = await vision.get_object_point_clouds(request.camera_name, extra=extra, timeout=timeout)
-        response = GetObjectPointCloudsResponse(mime_type=CameraMimeType.PCD.value, objects=result)
+        response = GetObjectPointCloudsResponse(mime_type=CameraMimeType.PCD, objects=result)
         await stream.send_message(response)
 
     async def GetProperties(self, stream: Stream[GetPropertiesRequest, GetPropertiesResponse]) -> None:

viam/services/vision/vision.py

@@ -5,7 +5,7 @@ from typing import Final, List, Mapping, Optional
 from viam.media.video import ViamImage
 from viam.proto.common import PointCloudObject
 from viam.proto.service.vision import Classification, Detection, GetPropertiesResponse
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE, Subtype
+from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE
 from viam.utils import ValueTypes
 
 from ..service_base import ServiceBase
@@ -60,10 +60,10 @@ class Vision(ServiceBase):
     vision implementations. This cannot be used on its own. If the ``__init__()`` function is
     overridden, it must call the ``super().__init__()`` function.
 
-    For more information, see `Computer Vision service <https://docs.viam.com/services/vision/>`_.
+    For more information, see `Computer Vision service <https://docs.viam.com/dev/reference/apis/services/vision/>`_.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE, "vision"
     )
 
@@ -93,17 +93,16 @@ class Vision(ServiceBase):
 
         ::
 
-            camera_name = "cam1"
+            my_detector = VisionClient.from_robot(machine, "my_detector")
 
-            # Grab the detector you configured on your machine
-            my_detector = VisionClient.from_robot(robot, "my_detector")
-
-            # capture all from the next image from the camera
+            # Get the captured data for a camera
             result = await my_detector.capture_all_from_camera(
-                camera_name,
+                "my_camera",
                 return_image=True,
                 return_detections=True,
             )
+            image = result.image
+            detections = result.detections
 
         Args:
             camera_name (str): The name of the camera to use for detection
@@ -117,7 +116,7 @@ class Vision(ServiceBase):
             It can  return the image from the camera along with its associated detections, classifications,
             and objects, as well as any extra info the model may provide.
 
-        For more information, see `Computer Vision service <https://docs.viam.com/services/vision/>`_.
+        For more information, see `Computer Vision service <https://docs.viam.com/dev/reference/apis/services/vision/#captureallfromcamera>`_.
         """
         ...
 
@@ -133,13 +132,10 @@ class Vision(ServiceBase):
 
         ::
 
-            camera_name = "cam1"
-
-            # Grab the detector you configured on your machine
-            my_detector = VisionClient.from_robot(robot, "my_detector")
+            my_detector = VisionClient.from_robot(robot=machine, "my_detector")
 
-            # Get detections from the next image from the camera
-            detections = await my_detector.get_detections_from_camera(camera_name)
+            # Get detections for the next image from the specified camera
+            detections = await my_detector.get_detections_from_camera("my_camera")
 
         Args:
             camera_name (str): The name of the camera to use for detection
@@ -152,7 +148,7 @@ class Vision(ServiceBase):
             confidence score of the labels, around the found objects in the next 2D image
             from the given camera, with the given detector applied to it.
 
-        For more information, see `Computer Vision service <https://docs.viam.com/services/vision/>`_.
+        For more information, see `Computer Vision service <https://docs.viam.com/dev/reference/apis/services/vision/#getdetectionsfromcamera>`_.
         """
         ...
 
@@ -168,20 +164,17 @@ class Vision(ServiceBase):
 
         ::
 
-            # Grab camera from the machine
-            cam1 = Camera.from_robot(robot, "cam1")
-
-            # Get the detector you configured on your machine
-            my_detector = VisionClient.from_robot(robot, "my_detector")
+            my_camera = Camera.from_robot(robot=machine, "my_camera")
+            my_detector = VisionClient.from_robot(robot=machine, "my_detector")
 
             # Get an image from the camera
-            img = await cam1.get_image()
+            img = await my_camera.get_image()
 
-            # Get detections from that image
+            # Get detections for that image
             detections = await my_detector.get_detections(img)
 
         Args:
-            image (Image | RawImage): The image to get detections from
+            image (ViamImage): The image to get detections for
 
         Raises:
             ViamError: Raised if given an image without a specified width and height
@@ -191,7 +184,7 @@ class Vision(ServiceBase):
             confidence score of the labels, around the found objects in the next 2D image
             from the given camera, with the given detector applied to it.
 
-        For more information, see `Computer Vision service <https://docs.viam.com/services/vision/>`_.
+        For more information, see `Computer Vision service <https://docs.viam.com/dev/reference/apis/services/vision/#getdetections>`_.
         """
         ...
 
@@ -208,14 +201,11 @@ class Vision(ServiceBase):
 
         ::
 
-            camera_name = "cam1"
+            my_classifier = VisionClient.from_robot(robot=machine, "my_classifier")
 
-            # Grab the classifier you configured on your machine
-            my_classifier = VisionClient.from_robot(robot, "my_classifier")
-
-            # Get the 2 classifications with the highest confidence scores from the next image from the camera
+            # Get the 2 classifications with the highest confidence scores for the next image from the camera
             classifications = await my_classifier.get_classifications_from_camera(
-                camera_name, 2)
+                "my_camera", 2)
 
         Args:
             camera_name (str): The name of the camera to use for detection
@@ -224,7 +214,7 @@ class Vision(ServiceBase):
         returns:
             List[viam.proto.service.vision.Classification]: The list of Classifications
 
-        For more information, see `Computer Vision service <https://docs.viam.com/services/vision/>`_.
+        For more information, see `Computer Vision service <https://docs.viam.com/dev/reference/apis/services/vision/#getclassificationsfromcamera>`_.
         """
         ...
 
@@ -241,26 +231,23 @@ class Vision(ServiceBase):
 
         ::
 
-            # Grab camera from the machine
-            cam1 = Camera.from_robot(robot, "cam1")
-
-            # Get the classifier you configured on your machine
-            my_classifier = VisionClient.from_robot(robot, "my_classifier")
+            my_camera = Camera.from_robot(robot=machine, "my_camera")
+            my_classifier = VisionClient.from_robot(robot=machine, "my_classifier")
 
             # Get an image from the camera
-            img = await cam1.get_image()
+            img = await my_camera.get_image()
 
-            # Get the 2 classifications with the highest confidence scores
+            # Get the 2 classifications with the highest confidence scores for the image
             classifications = await my_classifier.get_classifications(img, 2)
 
         Args:
-            image (Image | RawImage): The image to get detections from
+            image (ViamImage): The image to get detections for
             count (int): The number of classifications desired
 
         Returns:
             List[viam.proto.service.vision.Classification]: The list of Classifications
 
-        For more information, see `Computer Vision service <https://docs.viam.com/services/vision/>`_.
+        For more information, see `Computer Vision service <https://docs.viam.com/dev/reference/apis/services/vision/#getclassifications>`_.
         """
         ...
 
@@ -283,12 +270,9 @@ class Vision(ServiceBase):
             import numpy as np
             import open3d as o3d
 
-            # Grab the 3D camera from the machine
-            cam1 = Camera.from_robot(robot, "cam1")
-            # Grab the object segmenter you configured on your machine
-            my_segmenter = VisionClient.from_robot(robot, "my_segmenter")
+            my_segmenter = VisionClient.from_robot(robot=machine, "my_segmenter")
             # Get the objects from the camera output
-            objects = await my_segmenter.get_object_point_clouds(cam1)
+            objects = await my_segmenter.get_object_point_clouds("my_camera")
             # write the first object point cloud into a temporary file
             with open("/tmp/pointcloud_data.pcd", "wb") as f:
                 f.write(objects[0].point_cloud)
@@ -301,7 +285,7 @@ class Vision(ServiceBase):
         Returns:
             List[viam.proto.common.PointCloudObject]: The pointcloud objects with metadata
 
-        For more information, see `Computer Vision service <https://docs.viam.com/services/vision/>`_.
+        For more information, see `Computer Vision service <https://docs.viam.com/dev/reference/apis/services/vision/#getobjectpointclouds>`_.
         """
         ...
 
@@ -318,15 +302,14 @@ class Vision(ServiceBase):
 
         ::
 
-            # Grab the detector you configured on your machine
-            my_detector = VisionClient.from_robot(robot, "my_detector")
+            my_detector = VisionClient.from_robot(robot=machine, "my_detector")
             properties = await my_detector.get_properties()
-            properties.detections_supported      # returns True
-            properties.classifications_supported # returns False
+            detections_supported = properties.detections_supported
+            classifications_supported = properties.classifications_supported
 
         Returns:
             Properties: The properties of the vision service
 
-        For more information, see `Computer Vision service <https://docs.viam.com/services/vision/>`_.
+        For more information, see `Computer Vision service <https://docs.viam.com/dev/reference/apis/services/vision/#getproperties>`_.
         """
         ...

viam/services/worldstatestore/__init__.py

@@ -0,0 +1,18 @@
+from viam.proto.service.worldstatestore import StreamTransformChangesResponse, TransformChangeType
+from viam.resource.registry import Registry, ResourceRegistration
+
+from .client import WorldStateStoreClient
+from .service import WorldStateStoreService
+from .worldstatestore import WorldStateStore
+
+__all__ = [
+    "WorldStateStore",
+    "WorldStateStoreClient",
+    "WorldStateStoreService",
+    "StreamTransformChangesResponse",
+    "TransformChangeType",
+]
+
+Registry.register_api(
+    ResourceRegistration(WorldStateStore, WorldStateStoreService, lambda name, channel: WorldStateStoreClient(name, channel))
+)

viam/services/worldstatestore/client.py

@@ -0,0 +1,94 @@
+from typing import Any, AsyncGenerator, List, Mapping, Optional
+
+from grpclib.client import Channel
+
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Transform
+from viam.proto.service.worldstatestore import (
+    GetTransformRequest,
+    GetTransformResponse,
+    ListUUIDsRequest,
+    ListUUIDsResponse,
+    StreamTransformChangesRequest,
+    StreamTransformChangesResponse,
+    WorldStateStoreServiceStub,
+)
+from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
+from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
+
+from .worldstatestore import WorldStateStore
+
+
+class WorldStateStoreClient(WorldStateStore, ReconfigurableResourceRPCClientBase):
+    """
+    gRPC client for the WorldStateStore service.
+    """
+
+    client: WorldStateStoreServiceStub
+
+    def __init__(self, name: str, channel: Channel):
+        self.channel = channel
+        self.client = WorldStateStoreServiceStub(channel)
+        super().__init__(name)
+
+    async def list_uuids(
+        self,
+        *,
+        extra: Optional[Mapping[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> List[bytes]:
+        md = kwargs.get("metadata", self.Metadata()).proto
+        request = ListUUIDsRequest(
+            name=self.name,
+            extra=dict_to_struct(extra),
+        )
+        response: ListUUIDsResponse = await self.client.ListUUIDs(request, timeout=timeout, metadata=md)
+        return list(response.uuids)
+
+    async def get_transform(
+        self,
+        uuid: bytes,
+        *,
+        extra: Optional[Mapping[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> "Transform":
+        md = kwargs.get("metadata", self.Metadata()).proto
+        request = GetTransformRequest(
+            name=self.name,
+            uuid=uuid,
+            extra=dict_to_struct(extra),
+        )
+        response: GetTransformResponse = await self.client.GetTransform(request, timeout=timeout, metadata=md)
+        return response.transform
+
+    async def stream_transform_changes(
+        self,
+        *,
+        extra: Optional[Mapping[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> AsyncGenerator[StreamTransformChangesResponse, None]:
+        md = kwargs.get("metadata", self.Metadata()).proto
+        request = StreamTransformChangesRequest(
+            name=self.name,
+            extra=dict_to_struct(extra),
+        )
+        responses = await self.client.StreamTransformChanges(request, timeout=timeout, metadata=md)
+        for response in responses:
+            yield response
+
+    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)

viam/services/worldstatestore/service.py

@@ -0,0 +1,55 @@
+from grpclib.server import Stream
+
+from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.service.worldstatestore import (
+    GetTransformRequest,
+    GetTransformResponse,
+    ListUUIDsRequest,
+    ListUUIDsResponse,
+    StreamTransformChangesRequest,
+    StreamTransformChangesResponse,
+    UnimplementedWorldStateStoreServiceBase,
+)
+from viam.resource.rpc_service_base import ResourceRPCServiceBase
+from viam.utils import dict_to_struct, struct_to_dict
+
+from .worldstatestore import WorldStateStore
+
+
+class WorldStateStoreService(UnimplementedWorldStateStoreServiceBase, ResourceRPCServiceBase[WorldStateStore]):
+    RESOURCE_TYPE = WorldStateStore
+
+    async def ListUUIDs(self, stream: Stream[ListUUIDsRequest, ListUUIDsResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        service = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        uuids = await service.list_uuids(extra=struct_to_dict(request.extra), timeout=timeout)
+        await stream.send_message(ListUUIDsResponse(uuids=uuids))
+
+    async def GetTransform(self, stream: Stream[GetTransformRequest, GetTransformResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        service = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        transform = await service.get_transform(uuid=request.uuid, extra=struct_to_dict(request.extra), timeout=timeout)
+        await stream.send_message(GetTransformResponse(transform=transform))
+
+    async def StreamTransformChanges(
+        self,
+        stream: Stream[StreamTransformChangesRequest, StreamTransformChangesResponse],
+    ) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        service = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        async for change in service.stream_transform_changes(extra=struct_to_dict(request.extra), timeout=timeout):
+            await stream.send_message(change)
+
+    async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        worldstatestore = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        result = await worldstatestore.do_command(struct_to_dict(request.command), timeout=timeout)
+        await stream.send_message(DoCommandResponse(result=dict_to_struct(result)))