Rsdk 2634 fix movement sensor property link (#263)

purplenicole730 · web-flow · commit fba3893893bf · 2023-04-25T17:46:29.000-04:00
diff --git a/examples/server/v1/components.py b/examples/server/v1/components.py
@@ -44,7 +44,6 @@
     Pose,
     PoseInFrame,
     Vector3,
-    WorldState,
 )
 from viam.proto.component.arm import JointPositions
 from viam.proto.component.audioinput import AudioChunk, AudioChunkInfo, SampleFormat
@@ -72,7 +71,6 @@ async def get_end_position(self, extra: Optional[Dict[str, Any]] = None, **kwarg
     async def move_to_position(
         self,
         pose: Pose,
-        world_state: Optional[WorldState] = None,
         extra: Optional[Dict[str, Any]] = None,
         **kwargs,
     ):
@@ -470,7 +468,6 @@ async def get_position(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -
     async def move_to_position(
         self,
         positions: List[float],
-        world_state: Optional[WorldState] = None,
         extra: Optional[Dict[str, Any]] = None,
         **kwargs,
     ):
diff --git a/examples/server/v1/server.py b/examples/server/v1/server.py
@@ -57,6 +57,7 @@ async def run(host: str, port: int, log_level: int):
         182,
         Orientation(o_x=1, o_y=2, o_z=3, theta=5),
         MovementSensor.Properties(
+            linear_acceleration_supported=False,
             linear_velocity_supported=False,
             angular_velocity_supported=True,
             orientation_supported=False,
diff --git a/src/viam/components/arm/__init__.py b/src/viam/components/arm/__init__.py
@@ -1,11 +1,12 @@
 import asyncio
 
-from viam.proto.component.arm import Status as ArmStatus
+from viam.proto.common import Pose
+from viam.proto.component.arm import Status as ArmStatus, JointPositions
 from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
 from viam.utils import message_to_struct
 
-from .arm import Arm, JointPositions, Pose
+from .arm import Arm
 from .client import ArmClient
 from .service import ArmService
 
@@ -17,11 +18,7 @@
 
 
 async def create_status(component: Arm) -> Status:
-    (
-        end_position,
-        joint_positions,
-        is_moving,
-    ) = await asyncio.gather(
+    (end_position, joint_positions, is_moving,) = await asyncio.gather(
         component.get_end_position(),
         component.get_joint_positions(),
         component.is_moving(),
diff --git a/src/viam/components/arm/arm.py b/src/viam/components/arm/arm.py
@@ -1,11 +1,10 @@
 import abc
 from typing import Any, Dict, Final, Optional
 
-from viam.proto.common import Pose
-from viam.proto.component.arm import JointPositions
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
+from . import Pose, JointPositions
 
 
 class Arm(ComponentBase):
@@ -30,7 +29,8 @@ async def get_end_position(
         """
         Get the current position of the end of the arm expressed as a Pose.
 
-        Returns: The location and orientation of the arm described as a Pose.
+        Returns:
+            Pose: The location and orientation of the arm described as a Pose.
         """
         ...
 
diff --git a/src/viam/components/arm/client.py b/src/viam/components/arm/client.py
@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse, Pose, WorldState
+from viam.proto.common import DoCommandRequest, DoCommandResponse
 from viam.proto.component.arm import (
     ArmServiceStub,
     GetEndPositionRequest,
@@ -19,7 +19,7 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
 
-from .arm import Arm
+from . import Arm, Pose
 
 
 class ArmClient(Arm, ReconfigurableResourceRPCClientBase):
@@ -49,7 +49,6 @@ async def get_end_position(
     async def move_to_position(
         self,
         pose: Pose,
-        world_state: Optional[WorldState] = None,
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
diff --git a/src/viam/components/base/__init__.py b/src/viam/components/base/__init__.py
@@ -1,9 +1,9 @@
-from viam.proto.common import ActuatorStatus
+from viam.proto.common import ActuatorStatus, Vector3
 from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
 from viam.utils import message_to_struct
 
-from .base import Base, Vector3
+from .base import Base
 from .client import BaseClient
 from .service import BaseService
 
diff --git a/src/viam/components/base/base.py b/src/viam/components/base/base.py
@@ -1,10 +1,10 @@
 import abc
 from typing import Any, Dict, Final, Optional
 
-from viam.proto.common import Vector3
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
+from . import Vector3
 
 
 class Base(ComponentBase):
diff --git a/src/viam/components/base/client.py b/src/viam/components/base/client.py
@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse, Vector3
+from viam.proto.common import DoCommandRequest, DoCommandResponse
 from viam.proto.component.base import (
     BaseServiceStub,
     IsMovingRequest,
@@ -16,7 +16,7 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
 
-from .base import Base
+from . import Base, Vector3
 
 
 class BaseClient(Base, ReconfigurableResourceRPCClientBase):
diff --git a/src/viam/components/board/board.py b/src/viam/components/board/board.py
@@ -238,7 +238,7 @@ async def status(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optio
         Return the current status of the board.
 
         Returns:
-            BoardStatus: the status.
+            viam.proto.common.BoardStatus: the status.
         """
         ...
 
diff --git a/src/viam/components/camera/__init__.py b/src/viam/components/camera/__init__.py
@@ -1,6 +1,8 @@
+from viam.media.video import RawImage
+from viam.proto.component.camera import DistortionParameters, IntrinsicParameters
 from viam.resource.registry import Registry, ResourceRegistration
 
-from .camera import Camera, DistortionParameters, IntrinsicParameters, RawImage
+from .camera import Camera
 from .client import CameraClient
 from .service import CameraService
 
diff --git a/src/viam/components/camera/camera.py b/src/viam/components/camera/camera.py
@@ -3,11 +3,10 @@
 
 from PIL.Image import Image
 
-from viam.media.video import RawImage
-from viam.proto.component.camera import DistortionParameters, IntrinsicParameters
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
+from . import DistortionParameters, IntrinsicParameters, RawImage
 
 
 class Camera(ComponentBase):
diff --git a/src/viam/components/camera/client.py b/src/viam/components/camera/client.py
@@ -4,7 +4,7 @@
 from grpclib.client import Channel
 from PIL import Image
 
-from viam.media.video import LIBRARY_SUPPORTED_FORMATS, CameraMimeType, RawImage
+from viam.media.video import LIBRARY_SUPPORTED_FORMATS, CameraMimeType
 from viam.proto.common import DoCommandRequest, DoCommandResponse
 from viam.proto.component.camera import (
     CameraServiceStub,
@@ -18,7 +18,7 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
 
-from .camera import Camera
+from . import Camera, RawImage
 
 
 class CameraClient(Camera, ReconfigurableResourceRPCClientBase):
diff --git a/src/viam/components/camera/service.py b/src/viam/components/camera/service.py
@@ -2,7 +2,7 @@
 from grpclib.server import Stream
 
 from viam.errors import ResourceNotFoundError
-from viam.media.video import CameraMimeType, RawImage
+from viam.media.video import CameraMimeType
 from viam.proto.common import DoCommandRequest, DoCommandResponse
 from viam.proto.component.camera import (
     CameraServiceBase,
@@ -17,7 +17,7 @@
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
 from viam.utils import dict_to_struct, struct_to_dict
 
-from .camera import Camera
+from . import Camera, RawImage
 
 
 class CameraService(CameraServiceBase, ResourceRPCServiceBase[Camera]):
diff --git a/src/viam/components/gantry/client.py b/src/viam/components/gantry/client.py
@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse, WorldState
+from viam.proto.common import DoCommandRequest, DoCommandResponse
 from viam.proto.component.gantry import (
     GantryServiceStub,
     GetLengthsRequest,
@@ -40,7 +40,6 @@ async def get_position(self, *, extra: Optional[Dict[str, Any]] = None, timeout:
     async def move_to_position(
         self,
         positions: List[float],
-        world_state: Optional[WorldState] = None,
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
diff --git a/src/viam/components/gantry/gantry.py b/src/viam/components/gantry/gantry.py
@@ -42,8 +42,6 @@ async def move_to_position(
         Args:
             positions (List[float]): List of positions for the axes to move to,
                 in millimeters.
-            world_state (Optional[WorldState]): Object describing
-                obstacles for the gantry to avoid on its way to ``positions``.
         """
         ...
 
diff --git a/src/viam/components/movement_sensor/__init__.py b/src/viam/components/movement_sensor/__init__.py
@@ -1,7 +1,8 @@
+from viam.proto.common import GeoPoint, Orientation, Vector3
 from viam.resource.registry import Registry, ResourceRegistration
 
 from .client import MovementSensorClient
-from .movement_sensor import GeoPoint, MovementSensor, Orientation, Vector3
+from .movement_sensor import MovementSensor
 from .service import MovementSensorService
 
 __all__ = [
diff --git a/src/viam/components/movement_sensor/client.py b/src/viam/components/movement_sensor/client.py
@@ -3,7 +3,7 @@
 from grpclib.client import Channel
 
 from viam.components.movement_sensor.movement_sensor import MovementSensor
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GeoPoint, Orientation, Vector3
+from viam.proto.common import DoCommandRequest, DoCommandResponse
 from viam.proto.component.movementsensor import (
     GetAccuracyRequest,
     GetAccuracyResponse,
@@ -26,6 +26,8 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
 
+from . import GeoPoint, Orientation, Vector3
+
 
 class MovementSensorClient(MovementSensor, ReconfigurableResourceRPCClientBase):
     """gRPC client for the MovementSensor component."""
@@ -82,7 +84,7 @@ async def get_properties(self, *, extra: Optional[Dict[str, Any]] = None, timeou
             extra = {}
         request = GetPropertiesRequest(name=self.name, extra=dict_to_struct(extra))
         response: GetPropertiesResponse = await self.client.GetProperties(request, timeout=timeout)
-        return response
+        return MovementSensor.Properties.from_proto(response)
 
     async def get_accuracy(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> Mapping[str, float]:
         if extra is None:
diff --git a/src/viam/components/movement_sensor/movement_sensor.py b/src/viam/components/movement_sensor/movement_sensor.py
@@ -1,15 +1,18 @@
 import abc
 import asyncio
+from dataclasses import dataclass
 from typing import Any, Dict, Final, List, Mapping, Optional, Tuple
+from typing_extensions import Self
 
 from grpclib import GRPCError
 
 from viam.errors import MethodNotImplementedError, NotSupportedError
-from viam.proto.common import GeoPoint, Orientation, Vector3
+
 from viam.proto.component.movementsensor import GetPropertiesResponse
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..sensor import Sensor
+from . import GeoPoint, Orientation, Vector3
 
 
 class MovementSensor(Sensor):
@@ -21,7 +24,36 @@ class MovementSensor(Sensor):
 
     SUBTYPE: Final = Subtype(RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "movement_sensor")
 
-    Properties = GetPropertiesResponse
+    @dataclass
+    class Properties:
+        linear_acceleration_supported: bool
+        angular_velocity_supported: bool
+        orientation_supported: bool
+        position_supported: bool
+        compass_heading_supported: bool
+        linear_velocity_supported: bool
+
+        @property
+        def proto(self) -> GetPropertiesResponse:
+            return GetPropertiesResponse(
+                linear_acceleration_supported=self.linear_velocity_supported,
+                angular_velocity_supported=self.angular_velocity_supported,
+                orientation_supported=self.orientation_supported,
+                position_supported=self.position_supported,
+                compass_heading_supported=self.compass_heading_supported,
+                linear_velocity_supported=self.linear_acceleration_supported,
+            )
+
+        @classmethod
+        def from_proto(cls, proto: GetPropertiesResponse) -> Self:
+            return cls(
+                linear_acceleration_supported=proto.linear_acceleration_supported,
+                angular_velocity_supported=proto.angular_velocity_supported,
+                orientation_supported=proto.orientation_supported,
+                position_supported=proto.position_supported,
+                compass_heading_supported=proto.compass_heading_supported,
+                linear_velocity_supported=proto.linear_acceleration_supported,
+            )
 
     @abc.abstractmethod
     async def get_position(
@@ -86,7 +118,7 @@ async def get_properties(self, *, extra: Optional[Dict[str, Any]] = None, timeou
         """Get the supported properties of this sensor
 
         Returns:
-            Properties: The properties
+            MovementSensor.Properties: The properties
         """
         ...
 
diff --git a/src/viam/components/movement_sensor/service.py b/src/viam/components/movement_sensor/service.py
@@ -121,7 +121,7 @@ async def GetProperties(self, stream: Stream[GetPropertiesRequest, GetProperties
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
         response = await sensor.get_properties(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
-        await stream.send_message(response)
+        await stream.send_message(response.proto)
 
     async def GetAccuracy(self, stream: Stream[GetAccuracyRequest, GetAccuracyResponse]) -> None:
         request = await stream.recv_message()
diff --git a/src/viam/resource/base.py b/src/viam/resource/base.py
@@ -81,6 +81,6 @@ def get_operation(self, kwargs: Mapping[str, Any]) -> Operation:
             kwargs (Mapping[str, Any]): The kwargs object containing the operation
 
         Returns:
-            Operation: The operation associated with this function
+            viam.operations.Operation: The operation associated with this function
         """
         return kwargs.get(Operation.ARG_NAME, Operation._noop())
diff --git a/src/viam/resource/manager.py b/src/viam/resource/manager.py
@@ -38,7 +38,7 @@ def register(self, component: ResourceBase):
                                      with the name of an existing component
 
         Args:
-            component (ComponentBase): The component to register
+            component (ResourceBase): The component to register
         """
         _BaseClasses = (ResourceBase, ComponentBase, ServiceBase)
         rnames: Dict[ResourceName, ResourceBase] = {}
@@ -69,7 +69,7 @@ def get_resource(self, of_type: Type[ResourceType], name: ResourceName) -> Resou
 
         Args:
             of_type (Type[ResourceType]): The type of the resource
-            name (str): The name of the resource
+            name (viam.proto.common.ResourceName): The name of the resource
 
         Raises:
             ResourceNotFoundError: Error if resource with the given type
@@ -91,7 +91,7 @@ def remove_resource(self, name: ResourceName):
         """Remove the resource with the specified ```ResourceName```.
 
         Args:
-            name (ResourceName): The ResourceName of the resource
+            name (viam.proto.common.ResourceName): The ResourceName of the resource
         """
         with self._lock:
             del self.resources[name]
diff --git a/src/viam/resource/types.py b/src/viam/resource/types.py
diff --git a/src/viam/robot/client.py b/src/viam/robot/client.py
diff --git a/src/viam/services/motion/client.py b/src/viam/services/motion/client.py
diff --git a/src/viam/services/sensors/client.py b/src/viam/services/sensors/client.py
diff --git a/src/viam/services/vision/client.py b/src/viam/services/vision/client.py
diff --git a/tests/mocks/components.py b/tests/mocks/components.py
diff --git a/tests/test_movement_sensor.py b/tests/test_movement_sensor.py
