Rsdk 2071 support modular validation and implicit dependencies

examples/module/README.md

@@ -13,7 +13,7 @@ The definition of the new resources are in the `src` directory. Within this dire
 
 The `proto` directory contains the `gizmo.proto` and `summation.proto` definitions of all the message types and calls that can be made to the Gizmo component and Summation service. It also has the compiled python output of the protobuf definition.
 
-The `gizmo` directory contains all the necessary definitions for creating a custom `Gizmo` component type. The `api.py` file defines what a `Gizmo` can do (mirroring the `proto` definition), implements the gRPC `GizmoService` for receiving calls, and the gRPC `GizmoClient` for making calls. See the [API docs](https://docs.viam.com/program/extend/modular-resources/#apis) for more info. The `my_gizmo.py` file in contains the unique implementation of a `Gizmo`. This is defined as a specific `Model`. See the [Model docs](https://docs.viam.com/program/extend/modular-resources/#models) for more info.
+The `gizmo` directory contains all the necessary definitions for creating a custom `Gizmo` component type. The `api.py` file defines what a `Gizmo` can do (mirroring the `proto` definition), implements the gRPC `GizmoService` for receiving calls, and the gRPC `GizmoClient` for making calls. See the [API docs](https://docs.viam.com/program/extend/modular-resources/#apis) for more info. The `my_gizmo.py` file in contains the unique implementation of a `Gizmo`. This is defined as a specific `Model`. See the [Model docs](https://docs.viam.com/program/extend/modular-resources/#models) for more info. This implementation uses the `validate_config` function to specify an implicit dependency on a `motor` by default and throw an error if there is an `invalid` attribute.
 
 Similarly, the `summation` directory contains the analogous definitions for the `Summation` service type. The files in this directory mirror the files in the `gizmo` directory.
 
@@ -38,7 +38,8 @@ An example configuration for a Gizmo component and a Summation service could loo
       "namespace": "acme",
       "model": "acme:demo:mygizmo",
       "attributes": {
-        "arg1": "arg1"
+        "arg1": "arg1",
+        "motor": "motor1"
       },
       "depends_on": []
     }

examples/module/src/gizmo/__init__.py

@@ -2,11 +2,12 @@
 This file registers the Gizmo subtype with the Viam Registry, as well as the specific MyGizmo model.
 """
 
-from viam.resource.registry import ResourceRegistration, Registry
+from viam.components.motor import *  # noqa: F403 Need to import motor so the component registers itself
+from viam.resource.registry import Registry, ResourceCreatorRegistration, ResourceRegistration
 
 from .api import Gizmo, GizmoClient, GizmoService
 from .my_gizmo import MyGizmo
 
 Registry.register_subtype(ResourceRegistration(Gizmo, GizmoService, lambda name, channel: GizmoClient(name, channel)))
 
-Registry.register_resource_creator(Gizmo.SUBTYPE, MyGizmo.MODEL, MyGizmo.new)
+Registry.register_resource_creator(Gizmo.SUBTYPE, MyGizmo.MODEL, ResourceCreatorRegistration(MyGizmo.new, MyGizmo.validate_config))

examples/module/src/gizmo/my_gizmo.py

@@ -28,6 +28,21 @@ def new(cls, config: ComponentConfig, dependencies: Mapping[ResourceName, Resour
         gizmo.my_arg = config.attributes.fields["arg1"].string_value
         return gizmo
 
+    @classmethod
+    def validate_config(cls, config: ComponentConfig) -> Sequence[str]:
+        # Custom validation can be done by specifiying a validate function like this one. Validate functions
+        # can raise errors that will be returned to the parent through gRPC. Validate functions can
+        # also return a sequence of strings representing the implicit dependencies of the resource.
+        if "invalid" in config.attributes.fields:
+            raise Exception(f"'invalid' attribute not allowed for model {cls.SUBTYPE}:{cls.MODEL}")
+        arg1 = config.attributes.fields["arg1"].string_value
+        if arg1 == "":
+            raise Exception("A arg1 attribute is required for Gizmo component.")
+        motor = [config.attributes.fields["motor"].string_value]
+        if motor == [""]:
+            raise Exception("A motor is required for Gizmo component.")
+        return motor
+
     async def do_one(self, arg1: str, **kwargs) -> bool:
         return arg1 == self.my_arg
 

examples/module/src/summation/__init__.py

@@ -2,11 +2,11 @@
 This file registers the Summation subtype with the Viam Registry, as well as the specific MySummation model.
 """
 
-from viam.resource.registry import Registry, ResourceRegistration
+from viam.resource.registry import Registry, ResourceCreatorRegistration, ResourceRegistration
 
 from .api import SummationClient, SummationRPCService, SummationService
 from .my_summation import MySummationService
 
 Registry.register_subtype(ResourceRegistration(SummationService, SummationRPCService, lambda name, channel: SummationClient(name, channel)))
 
-Registry.register_resource_creator(SummationService.SUBTYPE, MySummationService.MODEL, MySummationService.new)
+Registry.register_resource_creator(SummationService.SUBTYPE, MySummationService.MODEL, ResourceCreatorRegistration(MySummationService.new))

src/viam/errors.py

@@ -83,3 +83,13 @@ class NotSupportedError(ViamGRPCError):
     def __init__(self, message: str):
         self.message = message
         self.grpc_code = Status.UNIMPLEMENTED
+
+
+class ValidationError(ViamGRPCError):
+    """
+    Exception raised when there is an error during module validation
+    """
+
+    def __init__(self, message: str):
+        self.message = message
+        self.grpc_code = Status.INVALID_ARGUMENT

src/viam/module/module.py

@@ -6,7 +6,7 @@
 
 from viam import logging
 from viam.components.component_base import ComponentBase
-from viam.errors import ResourceNotFoundError
+from viam.errors import ResourceNotFoundError, ValidationError
 from viam.proto.app.robot import ComponentConfig
 from viam.proto.module import (
     AddResourceRequest,
@@ -16,6 +16,8 @@
     ReadyResponse,
     ReconfigureResourceRequest,
     RemoveResourceRequest,
+    ValidateConfigRequest,
+    ValidateConfigResponse,
 )
 from viam.proto.robot import ResourceRPCSubtype
 from viam.resource.base import ResourceBase
@@ -176,3 +178,14 @@ def add_model_from_registry(self, subtype: Subtype, model: Model):
             Registry.lookup_resource_creator(subtype, model)
         except ResourceNotFoundError:
             raise ValueError(f"Cannot add model because it has not been registered. Subtype: {subtype}. Model: {model}")
+
+    async def validate_config(self, request: ValidateConfigRequest) -> ValidateConfigResponse:
+        config: ComponentConfig = request.config
+        subtype = Subtype.from_string(config.api)
+        model = Model.from_string(config.model)
+        validator = Registry.lookup_validator(subtype, model)
+        try:
+            dependencies = validator(config)
+            return ValidateConfigResponse(dependencies=dependencies)
+        except Exception as e:
+            raise ValidationError(f"{type(Exception)}: {e}").grpc_error

src/viam/module/service.py

@@ -2,7 +2,6 @@
 
 from grpclib.server import Stream
 
-from viam.errors import MethodNotImplementedError
 from viam.proto.module import (
     AddResourceRequest,
     AddResourceResponse,
@@ -52,4 +51,8 @@ async def Ready(self, stream: Stream[ReadyRequest, ReadyResponse]) -> None:
         await stream.send_message(response)
 
     async def ValidateConfig(self, stream: Stream[ValidateConfigRequest, ValidateConfigResponse]) -> None:
-        raise MethodNotImplementedError("ValidateConfig").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        response = await self._module.validate_config(request)
+        if response is not None:
+            await stream.send_message(response)

src/viam/resource/registry.py

@@ -16,14 +16,14 @@
 from google.protobuf.struct_pb2 import Struct
 from grpclib.client import Channel
 
-from viam.errors import DuplicateResourceError, ResourceNotFoundError
+from viam.errors import DuplicateResourceError, ResourceNotFoundError, ValidationError
 from viam.proto.robot import Status
 
 from .base import ResourceBase
 
 if TYPE_CHECKING:
     from .rpc_service_base import ResourceRPCServiceBase
-    from .types import Model, ResourceCreator, Subtype
+    from .types import Model, ResourceCreator, Subtype, Validator
 
 Resource = TypeVar("Resource", bound=ResourceBase)
 
@@ -32,6 +32,25 @@ async def default_create_status(resource: ResourceBase) -> Status:
     return Status(name=resource.get_resource_name(resource.name), status=Struct())
 
 
+@dataclass
+class ResourceCreatorRegistration:
+    """An object representing a resource creator to be registered.
+
+    If creating a custom Resource creator, you should register the creator by creating a ``ResourceCreatorRegistration`` object and
+    registering it to the ``Registry``.
+    """
+
+    creator: "ResourceCreator"
+    """A function that can create a resource given a mapping of dependencies (``ResourceName`` to ``ResourceBase``
+    """
+
+    validator: "Validator" = lambda x: []
+    """A function that can validate a resource and return implicit dependencies.
+
+    If called without a validator function, default to a function returning an empty Sequence
+    """
+
+
 @dataclass
 class ResourceRegistration(Generic[Resource]):
     """An object representing a resource to be registered.
@@ -75,7 +94,7 @@ class Registry:
     """
 
     _SUBTYPES: ClassVar[Dict["Subtype", ResourceRegistration]] = {}
-    _RESOURCES: ClassVar[Dict[str, "ResourceCreator"]] = {}
+    _RESOURCES: ClassVar[Dict[str, ResourceCreatorRegistration]] = {}
     _lock: ClassVar[Lock] = Lock()
 
     @classmethod
@@ -87,30 +106,39 @@ def register_subtype(cls, registration: ResourceRegistration[Resource]):
 
         Raises:
             DuplicateResourceError: Raised if the Subtype to register is already in the registry
+            ValidationError: Raised if registration is missing any necessary parameters
         """
         with cls._lock:
             if registration.resource_type.SUBTYPE in cls._SUBTYPES:
                 raise DuplicateResourceError(str(registration.resource_type.SUBTYPE))
-            cls._SUBTYPES[registration.resource_type.SUBTYPE] = registration
+
+            if registration.resource_type and registration.rpc_service and registration.create_rpc_client:
+                cls._SUBTYPES[registration.resource_type.SUBTYPE] = registration
+            else:
+                raise ValidationError("Passed resource registration does not have correct parameters")
 
     @classmethod
-    def register_resource_creator(cls, subtype: "Subtype", model: "Model", creator: "ResourceCreator"):
-        """Register a specific ``Model`` for the specific resource ``Subtype`` with the Registry
+    def register_resource_creator(cls, subtype: "Subtype", model: "Model", registration: ResourceCreatorRegistration):
+        """Register a specific ``Model`` and validator function for the specific resource ``Subtype`` with the Registry
 
         Args:
             subtype (Subtype): The Subtype of the resource
             model (Model): The Model of the resource
-            creator (ResourceCreator): A function that can create a resource given a mapping of dependencies (``ResourceName`` to
-                                       ``ResourceBase``).
+            registration (ResourceCreatorRegistration): The registration functions of the model
 
         Raises:
             DuplicateResourceError: Raised if the Subtype and Model pairing is already registered
+            ValidationError: Raised if registration does not have creator
         """
         key = f"{subtype}/{model}"
         with cls._lock:
             if key in cls._RESOURCES:
                 raise DuplicateResourceError(key)
-            cls._RESOURCES[key] = creator
+
+            if registration.creator:
+                cls._RESOURCES[key] = registration
+            else:
+                raise ValidationError("A creator function was not provided")
 
     @classmethod
     def lookup_subtype(cls, subtype: "Subtype") -> ResourceRegistration:
@@ -147,10 +175,28 @@ def lookup_resource_creator(cls, subtype: "Subtype", model: "Model") -> "Resourc
         """
         with cls._lock:
             try:
-                return cls._RESOURCES[f"{subtype}/{model}"]
+                return cls._RESOURCES[f"{subtype}/{model}"].creator
             except KeyError:
                 raise ResourceNotFoundError(subtype.resource_type, subtype.resource_subtype)
 
+    @classmethod
+    def lookup_validator(cls, subtype: "Subtype", model: "Model") -> "Validator":
+        """Lookup and retrieve a registered validator function by its subtype and model. If there is none, return None
+
+        Args:
+            subtype (Subtype): The Subtype of the resource
+            model (Model): The Model of the resource
+
+        Returns:
+            Validator: The function to validate the resource
+        """
+        try:
+            return cls._RESOURCES[f"{subtype}/{model}"].validator
+        except AttributeError:
+            return lambda x: []
+        except KeyError:
+            raise ResourceNotFoundError(subtype.resource_type, subtype.resource_subtype)
+
     @classmethod
     def REGISTERED_SUBTYPES(cls) -> Mapping["Subtype", ResourceRegistration]:
         """The dictionary of all registered resources
@@ -164,13 +210,13 @@ def REGISTERED_SUBTYPES(cls) -> Mapping["Subtype", ResourceRegistration]:
             return cls._SUBTYPES.copy()
 
     @classmethod
-    def REGISTERED_RESOURCE_CREATORS(cls) -> Mapping[str, "ResourceCreator"]:
+    def REGISTERED_RESOURCE_CREATORS(cls) -> Mapping[str, "ResourceCreatorRegistration"]:
         """The dictionary of all registered resources
         - Key: subtype/model
-        - Value: The ResourceCreator for the resource
+        - Value: The ResourceCreatorRegistration for the resource
 
         Returns:
-            Mapping[str, ResourceCreator]: All registered resources
+            Mapping[str, ResourceCreatorRegistration]: All registered resources
         """
         with cls._lock:
             return cls._RESOURCES.copy()

src/viam/resource/types.py

@@ -1,6 +1,6 @@
 import re
 import sys
-from typing import TYPE_CHECKING, Callable, ClassVar, Mapping
+from typing import TYPE_CHECKING, Callable, ClassVar, Mapping, Sequence
 
 if sys.version_info >= (3, 10):
     from typing import TypeAlias
@@ -197,3 +197,4 @@ def resource_name_from_string(string: str) -> ResourceName:
 
 
 ResourceCreator: TypeAlias = Callable[[ComponentConfig, Mapping[ResourceName, "ResourceBase"]], "ResourceBase"]
+Validator: TypeAlias = Callable[[ComponentConfig], Sequence[str]]

tests/mocks/module/gizmo/__init__.py

@@ -1,8 +1,9 @@
-from viam.resource.registry import Registry, ResourceRegistration
+from viam.components.motor import *  # noqa: F403 Need to import motor so the component registers itself
+from viam.resource.registry import Registry, ResourceRegistration, ResourceCreatorRegistration
 
 from .api import Gizmo, GizmoClient, GizmoService
 from .my_gizmo import MyGizmo
 
 Registry.register_subtype(ResourceRegistration(Gizmo, GizmoService, lambda name, channel: GizmoClient(name, channel)))
 
-Registry.register_resource_creator(Gizmo.SUBTYPE, MyGizmo.MODEL, MyGizmo.new)
+Registry.register_resource_creator(Gizmo.SUBTYPE, MyGizmo.MODEL, ResourceCreatorRegistration(MyGizmo.new, MyGizmo.validate_config))

tests/mocks/module/gizmo/my_gizmo.py

@@ -1,4 +1,4 @@
-from typing import ClassVar, Mapping, Sequence
+from typing import ClassVar, List, Mapping, Sequence
 
 from typing_extensions import Self
 
@@ -22,6 +22,18 @@ def new(cls, config: ComponentConfig, dependencies: Mapping[ResourceName, Resour
         gizmo.my_arg = config.attributes.fields["arg1"].string_value
         return gizmo
 
+    @classmethod
+    def validate_config(cls, config: ComponentConfig) -> List[str]:
+        if "invalid" in config.attributes.fields:
+            raise Exception(f"'invalid' attribute not allowed for model {cls.SUBTYPE}:{cls.MODEL}")
+        arg1 = config.attributes.fields["arg1"].string_value
+        if arg1 == "":
+            raise Exception("A arg1 attribute is required for Gizmo component.")
+        motor = [config.attributes.fields["motor"].string_value]
+        if motor == [""]:
+            raise Exception("A motor is required for Gizmo component.")
+        return motor
+
     async def do_one(self, arg1: str, **kwargs) -> bool:
         return arg1 == self.my_arg
 

tests/mocks/module/summation/__init__.py

@@ -1,8 +1,8 @@
-from viam.resource.registry import Registry, ResourceRegistration
+from viam.resource.registry import Registry, ResourceCreatorRegistration, ResourceRegistration
 
 from .api import SummationClient, SummationRPCService, SummationService
 from .my_summation import MySummationService
 
 Registry.register_subtype(ResourceRegistration(SummationService, SummationRPCService, lambda name, channel: SummationClient(name, channel)))
 
-Registry.register_resource_creator(SummationService.SUBTYPE, MySummationService.MODEL, MySummationService.new)
+Registry.register_resource_creator(SummationService.SUBTYPE, MySummationService.MODEL, ResourceCreatorRegistration(MySummationService.new))