Merge branch 'main' into rsdk-7307

Author: martha-johnston

.github/workflows/docs.yml

@@ -12,12 +12,14 @@ on:
 jobs:
   generate-docs:
     if: github.repository_owner == 'viamrobotics'
-    runs-on: [self-hosted, x64]
-    container:
-      image: ghcr.io/viamrobotics/canon:amd64
+    runs-on: ubuntu-latest
     steps:
-      - name: Checkout Push/Workflow Dispatch
-        uses: actions/checkout@v3
+      - uses: actions/checkout@v4
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
 
       - name: Install Poetry
         uses: snok/install-poetry@v1

.github/workflows/license_finder.yml

@@ -10,17 +10,13 @@ jobs:
   license_finder:
     if: github.repository_owner == 'viamrobotics'
     name: Audit 3rd-Party Licenses
-    runs-on: [x64, qemu-host]
+    runs-on: ubuntu-latest
     container:
       image: ghcr.io/viamrobotics/canon:amd64-cache
-      options: --platform linux/amd64
     timeout-minutes: 30
 
     steps:
-      - name: Check out code in rdk directory
-        uses: actions/checkout@v2
-        with:
-          fetch-depth: 2
+      - uses: actions/checkout@v4
 
       - name: Install Poetry
         uses: snok/install-poetry@v1

.github/workflows/publish.yml

@@ -7,9 +7,7 @@ on:
 jobs:
   publish:
     if: github.repository_owner == 'viamrobotics'
-    runs-on: [self-hosted, x64]
-    container:
-      image: ghcr.io/viamrobotics/canon:amd64
+    runs-on: ubuntu-latest
 
     steps:
       - name: Download Release

.github/workflows/release-candidate.yml

@@ -17,27 +17,18 @@ on:
 jobs:
   prepare:
     if: github.repository_owner == 'viamrobotics'
-    runs-on: [self-hosted, x64]
-    container:
-      image: ghcr.io/viamrobotics/canon:amd64
+    runs-on: ubuntu-latest
     outputs:
       rc_version: ${{ steps.bump_version.outputs.rc_version }}
       version: ${{ steps.bump_version.outputs.version }}
     steps:
-      - name: Output Event
-        run: echo "${{ toJSON(github.event) }}"
-
-      - name: Install GH CLI
-        run: |
-          type -p curl >/dev/null || (sudo apt update && sudo apt install curl -y)
-          curl -fsSL https://cli.github.com/packages/githubcli-archive-keyring.gpg | sudo dd of=/usr/share/keyrings/githubcli-archive-keyring.gpg \
-          && sudo chmod go+r /usr/share/keyrings/githubcli-archive-keyring.gpg \
-          && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/githubcli-archive-keyring.gpg] https://cli.github.com/packages stable main" | sudo tee /etc/apt/sources.list.d/github-cli.list > /dev/null \
-          && sudo apt update \
-          && sudo apt install gh -y
-
       - name: Checkout Code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
 
       - name: Install Poetry
         uses: snok/install-poetry@v1
@@ -97,9 +88,7 @@ jobs:
   build:
     needs: prepare
     if: github.repository_owner == 'viamrobotics'
-    runs-on: [self-hosted, x64]
-    container:
-      image: ghcr.io/viamrobotics/canon:amd64
+    runs-on: ubuntu-latest
     strategy:
       matrix:
         include:
@@ -126,10 +115,15 @@ jobs:
             whl: linux_armv7l
     steps:
       - name: Checkout Code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: rc-${{ needs.prepare.outputs.version }}
 
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
       - name: Install Poetry
         uses: snok/install-poetry@v1
 
@@ -158,9 +152,7 @@ jobs:
   release:
     needs: [prepare, build]
     if: github.repository_owner == 'viamrobotics'
-    runs-on: [self-hosted, x64]
-    container:
-      image: ghcr.io/viamrobotics/canon:amd64
+    runs-on: ubuntu-latest
 
     steps:
       - uses: actions/download-artifact@v3

.github/workflows/release.yml

@@ -92,7 +92,7 @@ jobs:
             whl: linux_armv7l
     steps:
       - name: Checkout Code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: rc-${{ needs.prepare.outputs.version }}
 

examples/server/v1/components.py

@@ -19,7 +19,7 @@
 from viam.components.arm import Arm
 from viam.components.audio_input import AudioInput
 from viam.components.base import Base
-from viam.components.board import Board
+from viam.components.board import Board, TickStream
 from viam.components.camera import Camera
 from viam.components.encoder import Encoder
 from viam.components.gantry import Gantry
@@ -31,7 +31,7 @@
 from viam.components.sensor import Sensor
 from viam.components.servo import Servo
 from viam.errors import ResourceNotFoundError
-from viam.media import MediaStreamWithIterator
+from viam.streams import StreamWithIterator
 from viam.media.audio import Audio, AudioStream
 from viam.media.video import NamedImage
 from viam.operations import run_with_operation
@@ -155,7 +155,7 @@ async def read() -> AsyncIterator[Audio]:
 
                 await asyncio.sleep(self.latency.total_seconds())
 
-        return MediaStreamWithIterator(read())
+        return StreamWithIterator(read())
 
     async def get_properties(self) -> AudioInput.Properties:
         return AudioInput.Properties(
@@ -314,6 +314,11 @@ async def set_power_mode(self, **kwargs):
     async def write_analog(self, pin: str, value: int, *, timeout: Optional[float] = None, **kwargs):
         raise NotImplementedError()
 
+    async def stream_ticks(
+        self, interrupts: List[Board.DigitalInterrupt], *, timeout: Optional[float] = None, **kwargs
+    ) -> TickStream:
+        raise NotImplementedError()
+
     async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
         return GEOMETRIES
 

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "viam-sdk"
-version = "0.17.0"
+version = "0.18.0"
 description = "Viam Robotics Python SDK"
 authors = [ "Naveed <naveed@viam.com>" ]
 license = "Apache-2.0"

src/viam/components/audio_input/audio_input.py

@@ -6,15 +6,15 @@
 from google.protobuf.duration_pb2 import Duration
 from typing_extensions import Self
 
-from viam.media import MediaSource
+from viam.streams import StreamSource
 from viam.media.audio import Audio, AudioStream
 from viam.proto.component.audioinput import PropertiesResponse
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
 
 
-class AudioInput(ComponentBase, MediaSource[Audio]):
+class AudioInput(ComponentBase, StreamSource[Audio]):
     """AudioInput represents a component that can capture audio.
 
     This acts as an abstract base class for any drivers representing specific
@@ -67,7 +67,7 @@ async def stream(self, *, timeout: Optional[float] = None, **kwargs) -> AudioStr
         """Stream audio samples from the audio input of the underlying robot
 
         Returns:
-            MediaStream[Audio]: The stream of audio chunks
+            Stream[Audio]: The stream of audio chunks
         """
         ...
 

src/viam/components/audio_input/client.py

@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.media import MediaStream, MediaStreamWithIterator
+from viam.streams import Stream, StreamWithIterator
 from viam.media.audio import Audio
 from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.audioinput import (
@@ -29,7 +29,7 @@ def __init__(self, name: str, channel: Channel):
         self.client = AudioInputServiceStub(channel)
         super().__init__(name)
 
-    async def stream(self, *, timeout: Optional[float] = None, **__) -> MediaStream[Audio]:
+    async def stream(self, *, timeout: Optional[float] = None, **__) -> Stream[Audio]:
         async def read() -> AsyncIterator[Audio]:
             async with self.client.Chunks.open(timeout=timeout) as chunks_stream:
                 await chunks_stream.send_message(
@@ -50,7 +50,7 @@ async def read() -> AsyncIterator[Audio]:
                     audio = Audio(info=info, chunk=response.chunk)
                     yield audio
 
-        return MediaStreamWithIterator(read())
+        return StreamWithIterator(read())
 
     async def get_properties(self, *, timeout: Optional[float] = None, **__) -> AudioInput.Properties:
         request = PropertiesRequest(name=self.name)

src/viam/components/board/__init__.py

@@ -5,12 +5,12 @@
 from viam.resource.registry import Registry, ResourceRegistration
 from viam.utils import message_to_struct
 
-from .board import Board
+from .board import Board, Tick, TickStream
 from .client import BoardClient
 from .service import BoardRPCService
 
 __all__ = [
-    "Board",
+    "Board"
 ]
 
 

src/viam/components/board/board.py

@@ -2,11 +2,15 @@
 from datetime import timedelta
 from typing import Any, Dict, Final, List, Optional
 
-from viam.proto.component.board import PowerMode
+from viam.proto.component.board import PowerMode, StreamTicksResponse
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
+from viam.streams import Stream
 
 from ..component_base import ComponentBase
 
+Tick = StreamTicksResponse
+TickStream = Stream[Tick]
+
 
 class Board(ComponentBase):
     """
@@ -372,3 +376,28 @@ async def write_analog(self, pin: str, value: int, *, timeout: Optional[float] =
             value (int): value to write.
         """
         ...
+
+    @abc.abstractmethod
+    async def stream_ticks(
+        self, interrupts: List[DigitalInterrupt], *, timeout: Optional[float] = None, **kwargs
+    ) -> TickStream:
+        """
+        Stream digital interrupt ticks.
+
+        ::
+
+
+            my_board = Board.from_robot(robot=robot, name="my_board")
+            di8 = await my_board.digital_interrupt_by_name(name="8"))
+            di11 = await my_board.digital_interrupt_by_name(name="11"))
+
+            Stream ticks from pins 8 and 11.
+            ticks = my_board.stream_ticks([di8, di11])
+
+        Args:
+            interrupts (List[DigitalInterrupt]) : list of digital interrupts to recieve ticks from.
+
+        Returns:
+            TickStream: stream of ticks.
+        """
+        ...

src/viam/components/board/client.py

@@ -2,8 +2,9 @@
 from typing import Any, Dict, List, Mapping, Optional
 
 from google.protobuf.duration_pb2 import Duration
-from grpclib.client import Channel
+from grpclib.client import Channel, Stream as ClientStream
 
+from viam.logging import getLogger
 from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.board import (
     BoardServiceStub,
@@ -22,12 +23,17 @@
     SetPowerModeRequest,
     SetPWMFrequencyRequest,
     SetPWMRequest,
+    StreamTicksRequest,
+    StreamTicksResponse,
     WriteAnalogRequest,
 )
+from viam.streams import StreamWithIterator
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Board
+from .board import Board, TickStream
+
+LOGGER = getLogger(__name__)
 
 
 class AnalogReaderClient(Board.AnalogReader):
@@ -224,3 +230,29 @@ async def write_analog(
             extra = {}
         request = WriteAnalogRequest(name=self.name, pin=pin, value=value, extra=dict_to_struct(extra))
         await self.client.WriteAnalog(request, timeout=timeout)
+
+    async def stream_ticks(
+        self,
+        interrupts: List[Board.DigitalInterrupt],
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        **__,
+    ) -> TickStream:
+        if extra is None:
+            extra = {}
+        names = []
+        for di in interrupts:
+            names.append(di.name)
+        request = StreamTicksRequest(name=self.name, pin_names=names, extra=dict_to_struct(extra))
+
+        async def read():
+            tick_stream: ClientStream[StreamTicksRequest, StreamTicksResponse]
+            async with self.client.StreamTicks.open() as tick_stream:
+                try:
+                    await tick_stream.send_message(request, end=True)
+                    async for tick in tick_stream:
+                        yield tick
+                except Exception as e:
+                    raise (e)
+
+        return StreamWithIterator(read())

src/viam/components/board/service.py

@@ -1,6 +1,8 @@
 from grpclib.server import Stream
+from h2.exceptions import StreamClosedError
 
-from viam.errors import MethodNotImplementedError, ResourceNotFoundError
+from viam.errors import ResourceNotFoundError
+from viam.logging import getLogger
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.board import (
     BoardServiceBase,
@@ -32,6 +34,8 @@
 
 from .board import Board
 
+LOGGER = getLogger(__name__)
+
 
 class BoardRPCService(BoardServiceBase, ResourceRPCServiceBase[Board]):
     """
@@ -196,4 +200,21 @@ async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometries
         await stream.send_message(response)
 
     async def StreamTicks(self, stream: Stream[StreamTicksRequest, StreamTicksResponse]) -> None:
-        raise MethodNotImplementedError("StreamTicks").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        board = self.get_resource(name)
+
+        dis = []
+        for name in request.pin_names:
+            dis.append(await board.digital_interrupt_by_name(name))
+
+        tick_stream = await board.stream_ticks(interrupts=dis, metadata=stream.metadata)
+        async for tick in tick_stream:
+            try:
+                await stream.send_message(tick)
+            except StreamClosedError:
+                return
+            except Exception as e:
+                LOGGER.error(e)
+                return