viam-sdk 0.45.2__py3-none-win_amd64.whl

viam/gen/stream/v1/stream_grpc.py

@@ -0,0 +1,59 @@
+import abc
+import typing
+import grpclib.const
+import grpclib.client
+import grpclib.exceptions
+if typing.TYPE_CHECKING:
+    import grpclib.server
+from ... import stream
+
+class StreamServiceBase(abc.ABC):
+
+    @abc.abstractmethod
+    async def ListStreams(self, stream: 'grpclib.server.Stream[stream.v1.stream_pb2.ListStreamsRequest, stream.v1.stream_pb2.ListStreamsResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    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/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):
+
+    async def ListStreams(self, stream: 'grpclib.server.Stream[stream.v1.stream_pb2.ListStreamsRequest, stream.v1.stream_pb2.ListStreamsResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    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)
+
+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

@@ -0,0 +1,39 @@
+"""Generated protocol buffer code."""
+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\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

@@ -0,0 +1,161 @@
+"""
+@generated by mypy-protobuf.  Do not edit manually!
+isort:skip_file
+"""
+import builtins
+import collections.abc
+import google.protobuf.descriptor
+import google.protobuf.internal.containers
+import google.protobuf.message
+import typing
+DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
+
+@typing.final
+class ListStreamsRequest(google.protobuf.message.Message):
+    """ListStreamsRequest requests all streams registered."""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    def __init__(self) -> None:
+        ...
+global___ListStreamsRequest = ListStreamsRequest
+
+@typing.final
+class ListStreamsResponse(google.protobuf.message.Message):
+    """A ListStreamsResponse details streams registered."""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAMES_FIELD_NUMBER: builtins.int
+
+    @property
+    def names(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.str]:
+        ...
+
+    def __init__(self, *, names: collections.abc.Iterable[builtins.str] | None=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['names', b'names']) -> None:
+        ...
+global___ListStreamsResponse = ListStreamsResponse
+
+@typing.final
+class AddStreamRequest(google.protobuf.message.Message):
+    """A AddStreamRequest requests the given stream be added to the connection."""
+    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___AddStreamRequest = AddStreamRequest
+
+@typing.final
+class AddStreamResponse(google.protobuf.message.Message):
+    """AddStreamResponse is returned after a successful AddStreamRequest."""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    def __init__(self) -> None:
+        ...
+global___AddStreamResponse = AddStreamResponse
+
+@typing.final
+class RemoveStreamRequest(google.protobuf.message.Message):
+    """A RemoveStreamRequest requests the given stream be removed from the connection."""
+    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___RemoveStreamRequest = RemoveStreamRequest
+
+@typing.final
+class RemoveStreamResponse(google.protobuf.message.Message):
+    """RemoveStreamResponse is returned after a successful RemoveStreamRequest."""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    def __init__(self) -> None:
+        ...
+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

@@ -0,0 +1,16 @@
+"""Generated protocol buffer code."""
+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')
+_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/gen/tagger/v1/tagger_pb2.pyi

@@ -0,0 +1,15 @@
+"""
+@generated by mypy-protobuf.  Do not edit manually!
+isort:skip_file
+"""
+import builtins
+import google.protobuf.descriptor
+import google.protobuf.descriptor_pb2
+import google.protobuf.internal.extension_dict
+DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
+TAGS_FIELD_NUMBER: builtins.int
+ONEOF_TAGS_FIELD_NUMBER: builtins.int
+tags: google.protobuf.internal.extension_dict._ExtensionFieldDescriptor[google.protobuf.descriptor_pb2.FieldOptions, builtins.str]
+'Multiple Tags can be spcified.'
+oneof_tags: google.protobuf.internal.extension_dict._ExtensionFieldDescriptor[google.protobuf.descriptor_pb2.OneofOptions, builtins.str]
+'Multiple Tags can be spcified.'

viam/logging.py

@@ -0,0 +1,216 @@
+import asyncio
+import logging
+import sys
+from copy import copy
+from datetime import datetime
+from logging import DEBUG, ERROR, FATAL, INFO, WARN, WARNING  # noqa: F401
+from threading import Lock, Thread
+from typing import TYPE_CHECKING, Dict, Iterable, List, Optional, Union
+
+from grpclib.exceptions import StreamTerminatedError
+
+import viam
+
+if TYPE_CHECKING:
+    from .robot.client import RobotClient
+
+
+LOG_LEVEL = INFO
+LOGGERS: Dict[str, logging.Logger] = {}
+_MODULE_PARENT: Optional["RobotClient"] = None
+
+
+class _SingletonEventLoopThread:
+    _instance = None
+    _lock = Lock()
+    _ready_event = asyncio.Event()
+    _loop: Union[asyncio.AbstractEventLoop, None]
+    _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 = None
+                    cls._instance._thread = Thread(target=cls._instance._run)
+                    cls._instance._thread.start()
+        return cls._instance
+
+    def _run(self):
+        self._loop = asyncio.new_event_loop()
+        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
+
+    async def wait_until_ready(self):
+        await 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)
+        self._logger.setLevel(self.level)
+        self._worker = _SingletonEventLoopThread()
+
+    def setLevel(self, level: Union[int, str]) -> None:
+        self._logger.setLevel(level)
+        return super().setLevel(level)
+
+    async def handle_task_result(self, task: asyncio.Task):
+        try:
+            _ = task.result()
+        except (asyncio.CancelledError, asyncio.InvalidStateError, StreamTerminatedError):
+            pass
+
+    def emit(self, record: logging.LogRecord):
+        assert isinstance(record, logging.LogRecord)
+        # 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:
+            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):
+        await 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 = {
+        "DEBUG": 37,  # white
+        "INFO": 36,  # cyan
+        "WARNING": 33,  # yellow
+        "ERROR": 31,  # red
+        "CRITICAL": 41,  # white on red bg
+    }
+
+    def __init__(self, pattern):
+        logging.Formatter.__init__(self, pattern)
+
+    def format(self, record):
+        colored_record = copy(record)
+        levelname = colored_record.levelname
+        seq = self.MAPPING.get(levelname, 37)  # default white
+        colored_levelname = f"\x1b[33;{seq}m{levelname}\x1b[0m"
+        colored_record.levelname = colored_levelname
+        return super().format(colored_record)
+
+
+def getLogger(name: str) -> logging.Logger:
+    logger = LOGGERS.get(name)
+    if logger:
+        return logger
+
+    logger = logging.getLogger(name)
+    logger.setLevel(LOG_LEVEL)
+
+    addHandlers(logger)
+
+    LOGGERS[name] = logger
+    return logger
+
+
+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")
+
+    handlers: List[logging.Handler] = []
+
+    std_handler = logging.StreamHandler(stream=sys.stdout)
+    std_handler.setFormatter(format)
+    # filter out logs at error level or above
+    std_handler.setLevel(LOG_LEVEL)
+    std_handler.addFilter(filter=lambda record: (record.levelno < ERROR))
+
+    err_handler = logging.StreamHandler(stream=sys.stderr)
+    err_handler.setFormatter(format)
+    # filter out logs below error level
+    err_handler.setLevel(max(ERROR, LOG_LEVEL))
+
+    if _MODULE_PARENT is not None and not use_default_handlers:
+        mod_handler = _ModuleHandler(_MODULE_PARENT)
+        mod_handler.setFormatter(format)
+        mod_handler.setLevel(LOG_LEVEL)
+        handlers = [mod_handler]
+    else:
+        handlers = [std_handler, err_handler]
+
+    for logger in loggers:
+        logger.handlers.clear()
+        if "viam.sessions_client" in LOGGERS and LOGGERS["viam.sessions_client"] == logger:
+            logger.addHandler(std_handler)
+            logger.addHandler(err_handler)
+        else:
+            for h in handlers:
+                logger.addHandler(h)
+
+
+def setParent(parent: "RobotClient"):
+    global _MODULE_PARENT
+    _MODULE_PARENT = parent
+    _addHandlers(LOGGERS.values())
+
+
+def setLevel(level: int):
+    global LOG_LEVEL
+    LOG_LEVEL = level
+    for logger in LOGGERS.values():
+        logger.setLevel(LOG_LEVEL)
+    _addHandlers(LOGGERS.values())
+
+
+def silence():
+    setLevel(FATAL + 1)
+
+
+def shutdown():
+    logging.shutdown()

viam/media/audio.py

@@ -0,0 +1,16 @@
+from dataclasses import dataclass
+
+from viam.proto.component.audioinput import AudioChunk, AudioChunkInfo
+from viam.streams import Stream, StreamReader
+
+
+@dataclass
+class Audio:
+    """A block of audio data containing information about the block and the audio data"""
+
+    info: AudioChunkInfo
+    chunk: AudioChunk
+
+
+AudioReader = StreamReader[Audio]
+AudioStream = Stream[Audio]

viam/media/utils/pil/__init__.py

@@ -0,0 +1,51 @@
+from io import BytesIO
+
+from PIL import Image
+
+from ....media.video import CameraMimeType, ViamImage
+from .viam_rgba_plugin import RGBA_FORMAT_LABEL
+
+# Formats that are supported by PIL
+LIBRARY_SUPPORTED_FORMATS = ["JPEG", "PNG", RGBA_FORMAT_LABEL]
+
+
+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://pillow.readthedocs.io/
+
+    Args:
+        image (ViamImage): The image to convert.
+
+    Returns:
+        Image.Image: The resulting PIL.Image
+    """
+    return Image.open(BytesIO(image.data), formats=LIBRARY_SUPPORTED_FORMATS)
+
+
+def pil_to_viam_image(image: Image.Image, mime_type: CameraMimeType) -> ViamImage:
+    """
+    Convert a PIL.Image to a ViamImage.
+
+    In order to use this function, Pillow must be installed.
+    https://pillow.readthedocs.io/
+
+    Args:
+        image (Image.Image): The image to convert.
+        mime_type (CameraMimeType): The mime type to convert the image to.
+
+    Returns:
+        ViamImage: The resulting ViamImage
+    """
+    if mime_type.name in LIBRARY_SUPPORTED_FORMATS:
+        buf = BytesIO()
+        if image.mode == "RGBA" and mime_type == CameraMimeType.JPEG:
+            image = image.convert("RGB")
+        image.save(buf, format=mime_type.name)
+        data = buf.getvalue()
+    else:
+        raise ValueError(f"Cannot encode image to {mime_type}")
+
+    return ViamImage(data, mime_type)

viam/media/utils/pil/viam_rgba_plugin.py

@@ -0,0 +1,73 @@
+from typing import ClassVar, Tuple
+
+from PIL import Image
+from PIL.ImageFile import ImageFile, PyDecoder, PyEncoder, _safe_read  # type: ignore -- (njooma) this exists, manually checked
+from PIL.ImageFile import _save as image_save  # type: ignore -- (njooma) this exists, manually checked
+
+from ...viam_rgba import RGBA_FORMAT_LABEL, RGBA_HEADER_LENGTH, RGBA_MAGIC_NUMBER
+
+
+def _accept(prefix: str):
+    return prefix[:4] == RGBA_MAGIC_NUMBER
+
+
+class RGBAEncoder(PyEncoder):
+    ENCODER_NAME = RGBA_FORMAT_LABEL
+
+    _pushes_fd = True
+
+    def encode(self, bufsize):  # pyright: ignore [reportIncompatibleMethodOverride]
+        data_arr = bytearray()
+        width, height = self.im.size
+        for y in range(height):
+            for x in range(width):
+                data_arr.extend(self.im.getpixel((x, y)))
+        data = bytes(data_arr)
+
+        return len(data), 0, data
+
+
+def _save_rgba(img, fp, filename):
+    width, height = img.size
+    fp.write(RGBA_MAGIC_NUMBER)
+    fp.write(width.to_bytes(4, byteorder="big"))
+    fp.write(height.to_bytes(4, byteorder="big"))
+
+    image_save(img, fp, [(RGBAEncoder.ENCODER_NAME, (0, 0, width, height), 0, ("RGBA", 0, 1))])
+
+
+class RGBAImage(ImageFile):
+    format: ClassVar[str] = RGBA_FORMAT_LABEL  # pyright: ignore [reportIncompatibleVariableOverride]
+    format_description = "Viam's Raw RGBA Format"
+
+    def _open(self):
+        header = self.fp.read(RGBA_HEADER_LENGTH)
+
+        width = int.from_bytes(header[4:8], "big")
+        height = int.from_bytes(header[8:12], "big")
+        self._size = width, height
+        if hasattr(self, "_mode"):
+            self._mode = "RGBA"
+        else:
+            self.mode = "RGBA"  # type: ignore -- (njooma) newer versions of PIL hide this behind _mode, which is why we check
+
+        # data descriptor
+        self.tile = [(RGBAEncoder.ENCODER_NAME, (0, 0, width, height), RGBA_HEADER_LENGTH, (self.mode, 0, 1))]
+
+
+class RGBADecoder(PyDecoder):
+    _pulls_fd = True
+
+    def decode(self, buffer) -> Tuple[int, int]:
+        width, height = self.im.size
+        self.set_as_raw(_safe_read(self.fd, width * height * 4))
+        return -1, 0
+
+
+# Register Viam's custom RGBA format so that it can be read using Image.open
+Image.register_open(RGBAImage.format, RGBAImage, _accept)
+Image.register_save(RGBAImage.format, _save_rgba)
+Image.register_mime(RGBAImage.format, "image/vnd.viam.rgba")
+Image.register_extension(RGBAImage.format, ".viam.rgba")
+Image.register_encoder(RGBAEncoder.ENCODER_NAME, RGBAEncoder)
+Image.register_decoder(RGBA_FORMAT_LABEL, RGBADecoder)

viam/media/viam_rgba.py

@@ -0,0 +1,10 @@
+# Viam uses a special header prepended to raw RGBA data. The header is composed of a
+# 4-byte magic number followed by a 4-byte line of the width as a uint32 number
+# and another for the height. Credit to Ben Zotto for inventing this formulation
+# https://bzotto.medium.com/introducing-the-rgba-bitmap-file-format-4a8a94329e2c
+
+RGBA_MAGIC_NUMBER = bytes("RGBA", "utf-8")
+
+RGBA_FORMAT_LABEL = "VIAM_RGBA"
+
+RGBA_HEADER_LENGTH = 12