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

viam/components/audio_out/client.py

@@ -0,0 +1,67 @@
+from typing import Any, Dict, List, Mapping, Optional
+
+from grpclib.client import Channel
+
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, GetPropertiesRequest, GetPropertiesResponse
+from viam.proto.component.audioout import AudioOutServiceStub, PlayRequest
+from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
+from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
+
+from .audio_out import AudioInfo, AudioOut
+
+
+class AudioOutClient(AudioOut, ReconfigurableResourceRPCClientBase):
+    """gRPC client for AudioOut component."""
+
+    def __init__(self, name: str, channel: Channel) -> None:
+        self.channel = channel
+        self.client = AudioOutServiceStub(channel)
+        super().__init__(name)
+
+    async def play(
+        self,
+        data: bytes,
+        info: Optional[AudioInfo] = None,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> None:
+        if extra is None:
+            extra = {}
+
+        md = kwargs.get("metadata", self.Metadata()).proto
+        request = PlayRequest(
+            name=self.name,
+            audio_data=data,
+            audio_info=info,
+            extra=dict_to_struct(extra),
+        )
+        await self.client.Play(request, timeout=timeout, metadata=md)
+
+    async def get_properties(
+        self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs
+    ) -> AudioOut.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, metadata=md)
+        return 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)
+
+    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/audio_out/service.py

@@ -0,0 +1,63 @@
+from grpclib.server import Stream
+
+from viam.proto.common import (
+    DoCommandRequest,
+    DoCommandResponse,
+    GetGeometriesRequest,
+    GetGeometriesResponse,
+    GetPropertiesRequest,
+    GetPropertiesResponse,
+)
+from viam.proto.component.audioout import (
+    AudioOutServiceBase,
+    PlayRequest,
+    PlayResponse,
+)
+from viam.resource.rpc_service_base import ResourceRPCServiceBase
+from viam.utils import dict_to_struct, struct_to_dict
+
+from .audio_out import AudioOut
+
+
+class AudioOutRPCService(AudioOutServiceBase, ResourceRPCServiceBase[AudioOut]):
+    """gRPC service for AudioOut component."""
+
+    RESOURCE_TYPE = AudioOut
+
+    async def Play(self, stream: Stream[PlayRequest, PlayResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        audio_out = self.get_resource(name)
+        # Check if audio_info was provided in the request
+        audio_info = request.audio_info if request.HasField("audio_info") else None
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        await audio_out.play(request.audio_data, audio_info, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
+        await stream.send_message(PlayResponse())
+
+    async def GetProperties(self, stream: Stream[GetPropertiesRequest, GetPropertiesResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        audio_out = self.get_resource(name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        properties = await audio_out.get_properties(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
+        await stream.send_message(properties)
+
+    async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        audio_out = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        result = await audio_out.do_command(command=struct_to_dict(request.command), timeout=timeout, metadata=stream.metadata)
+        response = DoCommandResponse(result=dict_to_struct(result))
+        await stream.send_message(response)
+
+    async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        audio_out = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await audio_out.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)

viam/components/base/__init__.py

@@ -1,7 +1,5 @@
-from viam.proto.common import ActuatorStatus, Vector3
-from viam.proto.robot import Status
+from viam.proto.common import Vector3
 from viam.resource.registry import Registry, ResourceRegistration
-from viam.utils import message_to_struct
 
 from .base import Base
 from .client import BaseClient
@@ -12,10 +10,4 @@ __all__ = [
     "Vector3",
 ]
 
-
-async def create_status(component: Base) -> Status:
-    s = ActuatorStatus(is_moving=await component.is_moving())
-    return Status(name=Base.get_resource_name(component.name), status=message_to_struct(s))
-
-
-Registry.register_subtype(ResourceRegistration(Base, BaseRPCService, lambda name, channel: BaseClient(name, channel), create_status))
+Registry.register_api(ResourceRegistration(Base, BaseRPCService, lambda name, channel: BaseClient(name, channel)))

viam/components/base/base.py

@@ -2,7 +2,7 @@ import abc
 from dataclasses import dataclass
 from typing import Any, Dict, Final, 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
 from . import Vector3
@@ -20,10 +20,10 @@ class Base(ComponentBase):
 
         from viam.components.base import Base
 
-    For more information, see `Base component <https://docs.viam.com/components/base/>`_.
+    For more information, see `Base component <https://docs.viam.com/dev/reference/apis/components/base/>`_.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "base"
     )
 
@@ -51,7 +51,7 @@ class Base(ComponentBase):
 
         ::
 
-            my_base = Base.from_robot(robot=robot, name="my_base")
+            my_base = Base.from_robot(robot=machine, name="my_base")
 
             # Move the base 40 mm at a velocity of 90 mm/s, forward.
             await my_base.move_straight(distance=40, velocity=90)
@@ -65,7 +65,7 @@ class Base(ComponentBase):
             velocity (float): The velocity (in millimeters per second) to move.
                 Negative implies backwards.
 
-        For more information, see `Base component <https://docs.viam.com/components/base/>`_.
+        For more information, see `Base component <https://docs.viam.com/dev/reference/apis/components/base/#movestraight>`_.
         """
         ...
 
@@ -87,7 +87,7 @@ class Base(ComponentBase):
 
         ::
 
-            my_base = Base.from_robot(robot=robot, name="my_base")
+            my_base = Base.from_robot(robot=machine, name="my_base")
 
             # Spin the base 10 degrees at an angular velocity of 15 deg/sec.
             await my_base.spin(angle=10, velocity=15)
@@ -98,7 +98,7 @@ class Base(ComponentBase):
                 to spin.
                 Given a positive angle and a positive velocity, the base will turn to the left.
 
-        For more information, see `Base component <https://docs.viam.com/components/base/>`_.
+        For more information, see `Base component <https://docs.viam.com/dev/reference/apis/components/base/#spin>`_.
         """
         ...
 
@@ -113,20 +113,20 @@ class Base(ComponentBase):
         **kwargs,
     ):
         """Set the linear and angular velocity of the Base
-        When ``linear`` is 0, the the base will spin.
-        When ``angular`` is 0, the the base will move in a straight line.
+        When ``linear`` is 0, the base will spin.
+        When ``angular`` is 0, the base will move in a straight line.
         When both ``linear`` and ``angular`` are 0, the base will stop.
         When ``linear`` and ``angular`` are both nonzero, the base will move in an arc,
         with a tighter radius if angular power is greater than linear power.
 
         ::
 
-            my_base = Base.from_robot(robot=robot, name="my_base")
+            my_base = Base.from_robot(robot=machine, name="my_base")
 
             # Make your wheeled base move forward. Set linear power to 75%.
             print("move forward")
             await my_base.set_power(
-                linear=Vector3(x=0, y=-.75, z=0),
+                linear=Vector3(x=0, y=.75, z=0),
                 angular=Vector3(x=0, y=0, z=0))
 
             # Make your wheeled base move backward. Set linear power to -100%.
@@ -153,7 +153,7 @@ class Base(ComponentBase):
             angular (Vector3): The angular component. Only the Z component is used
                 for wheeled base. Positive turns left; negative turns right.
 
-        For more information, see `Base component <https://docs.viam.com/components/base/>`_.
+        For more information, see `Base component <https://docs.viam.com/dev/reference/apis/components/base/#setpower>`_.
         """
         ...
 
@@ -172,7 +172,7 @@ class Base(ComponentBase):
 
         ::
 
-            my_base = Base.from_robot(robot=robot, name="my_base")
+            my_base = Base.from_robot(robot=machine, name="my_base")
 
             # Set the linear velocity to 50 mm/sec and the angular velocity to
             # 15 degree/sec.
@@ -183,7 +183,7 @@ class Base(ComponentBase):
             linear (Vector3): Velocity in mm/sec
             angular (Vector3): Velocity in deg/sec
 
-        For more information, see `Base component <https://docs.viam.com/components/base/>`_.
+        For more information, see `Base component <https://docs.viam.com/dev/reference/apis/components/base/#setvelocity>`_.
         """
 
     @abc.abstractmethod
@@ -199,7 +199,7 @@ class Base(ComponentBase):
 
         ::
 
-            my_base = Base.from_robot(robot=robot, name="my_base")
+            my_base = Base.from_robot(robot=machine, name="my_base")
 
             # Move the base forward 10 mm at a velocity of 50 mm/s.
             await my_base.move_straight(distance=10, velocity=50)
@@ -207,7 +207,7 @@ class Base(ComponentBase):
             # Stop the base.
             await my_base.stop()
 
-        For more information, see `Base component <https://docs.viam.com/components/base/>`_.
+        For more information, see `Base component <https://docs.viam.com/dev/reference/apis/components/base/#stop>`_.
         """
         ...
 
@@ -218,7 +218,7 @@ class Base(ComponentBase):
 
         ::
 
-            my_base = Base.from_robot(robot=robot, name="my_base")
+            my_base = Base.from_robot(robot=machine, name="my_base")
 
             # Check whether the base is currently moving.
             moving = await my_base.is_moving()
@@ -227,7 +227,7 @@ class Base(ComponentBase):
         Returns:
             bool: Whether the base is moving.
 
-        For more information, see `Base component <https://docs.viam.com/components/base/>`_.
+        For more information, see `Base component <https://docs.viam.com/dev/reference/apis/components/base/#ismoving>`_.
         """
         ...
 
@@ -238,7 +238,7 @@ class Base(ComponentBase):
 
         ::
 
-            my_base = Base.from_robot(robot=robot, name="my_base")
+            my_base = Base.from_robot(robot=machine, name="my_base")
 
             # Get the width and turning radius of the base
             properties = await my_base.get_properties()
@@ -255,6 +255,6 @@ class Base(ComponentBase):
         Returns:
             Properties: The properties of the base
 
-        For more information, see `Base component <https://docs.viam.com/components/base/>`_.
+        For more information, see `Base component <https://docs.viam.com/dev/reference/apis/components/base/#getproperties>`_.
         """
         ...

viam/components/base/client.py

@@ -38,17 +38,16 @@ class BaseClient(Base, 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 = MoveStraightRequest(
             name=self.name,
             distance_mm=distance,
             mm_per_sec=velocity,
             extra=dict_to_struct(extra),
         )
-        await self.client.MoveStraight(request, timeout=timeout)
+        await self.client.MoveStraight(request, timeout=timeout, metadata=md)
 
     async def spin(
         self,
@@ -57,17 +56,16 @@ class BaseClient(Base, 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 = SpinRequest(
             name=self.name,
             angle_deg=angle,
             degs_per_sec=velocity,
             extra=dict_to_struct(extra),
         )
-        await self.client.Spin(request, timeout=timeout)
+        await self.client.Spin(request, timeout=timeout, metadata=md)
 
     async def set_power(
         self,
@@ -76,17 +74,16 @@ class BaseClient(Base, 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 = SetPowerRequest(
             name=self.name,
             linear=linear,
             angular=angular,
             extra=dict_to_struct(extra),
         )
-        await self.client.SetPower(request, timeout=timeout)
+        await self.client.SetPower(request, timeout=timeout, metadata=md)
 
     async def set_velocity(
         self,
@@ -95,33 +92,32 @@ class BaseClient(Base, 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 = SetVelocityRequest(name=self.name, linear=linear, angular=angular, extra=dict_to_struct(extra))
-        await self.client.SetVelocity(request, timeout=timeout)
+        await self.client.SetVelocity(request, timeout=timeout, metadata=md)
 
     async def stop(
         self,
         *,
         extra: Optional[Dict[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,
-        **__,
+        **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 get_properties(
@@ -129,12 +125,11 @@ class BaseClient(Base, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Base.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 Base.Properties(
             width_meters=response.width_meters,
             turning_radius_meters=response.turning_radius_meters,
@@ -146,11 +141,13 @@ class BaseClient(Base, 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/board/__init__.py

@@ -1,32 +1,9 @@
-import asyncio
-
-from viam.proto.component.board import Status as BoardStatus
-from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
-from viam.utils import message_to_struct
 
 from .board import Board, Tick, TickStream
 from .client import BoardClient
 from .service import BoardRPCService
 
-__all__ = ["Board"]
-
-
-async def create_status(component: Board) -> Status:
-    (analog_names, digital_interrupt_names) = await asyncio.gather(component.analog_names(), component.digital_interrupt_names())
-    analogs, digital_interrupts = {}, {}
-    for x in analog_names:
-        analog = await component.analog_by_name(x)
-        read = await analog.read()
-        analogs[x] = read.value
-
-    for y in digital_interrupt_names:
-        digital_interrupt = await component.digital_interrupt_by_name(y)
-        val = await digital_interrupt.value()
-        digital_interrupts[y] = val
-
-    s = BoardStatus(analogs=analogs, digital_interrupts=digital_interrupts)
-    return Status(name=Board.get_resource_name(component.name), status=message_to_struct(s))
-
+__all__ = ["Board", "Tick", "TickStream"]
 
-Registry.register_subtype(ResourceRegistration(Board, BoardRPCService, lambda name, channel: BoardClient(name, channel), create_status))
+Registry.register_api(ResourceRegistration(Board, BoardRPCService, lambda name, channel: BoardClient(name, channel)))