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Merged
merged 6 commits into from
Oct 1, 2024
Merged

RSDK-6169 - gRPC debugging client api #747

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340970e
working example
stuqdog Sep 25, 2024
b6d43a9
do it everywhere
stuqdog Sep 26, 2024
46fe76f
update type annotations for dict_to_struct
stuqdog Sep 26, 2024
55be528
lint, typecheck
stuqdog Sep 26, 2024
8c9be6d
fix get_geometries
stuqdog Sep 26, 2024
4211eca
add helper methods for users to add or remove metadata beyond dtname
stuqdog Sep 26, 2024
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57 changes: 27 additions & 30 deletions src/viam/components/arm/client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -39,12 +39,11 @@ async def get_end_position(
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
**__,
**kwargs,
) -> Pose:
if extra is None:
extra = {}
md = kwargs.get('metadata', self.Metadata()).proto
request = GetEndPositionRequest(name=self.name, extra=dict_to_struct(extra))
response: GetEndPositionResponse = await self.client.GetEndPosition(request, timeout=timeout)
response: GetEndPositionResponse = await self.client.GetEndPosition(request, timeout=timeout, metadata=md)
return response.pose

async def move_to_position(
Expand All @@ -53,24 +52,22 @@ async def move_to_position(
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
**__,
**kwargs,
):
if extra is None:
extra = {}
md = kwargs.get('metadata', self.Metadata()).proto
request = MoveToPositionRequest(name=self.name, to=pose, extra=dict_to_struct(extra))
await self.client.MoveToPosition(request, timeout=timeout)
await self.client.MoveToPosition(request, timeout=timeout, metadata=md)

async def get_joint_positions(
self,
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
**__,
**kwargs,
) -> JointPositions:
if extra is None:
extra = {}
md = kwargs.get('metadata', self.Metadata()).proto
request = GetJointPositionsRequest(name=self.name, extra=dict_to_struct(extra))
response: GetJointPositionsResponse = await self.client.GetJointPositions(request, timeout=timeout)
response: GetJointPositionsResponse = await self.client.GetJointPositions(request, timeout=timeout, metadata=md)
return response.positions

async def move_to_joint_positions(
Expand All @@ -79,49 +76,49 @@ async def move_to_joint_positions(
*,
extra: Optional[Dict[str, Any]] = None,
timeout: Optional[float] = None,
**__,
**kwargs,
):
if extra is None:
extra = {}
md = kwargs.get('metadata', self.Metadata()).proto
request = MoveToJointPositionsRequest(name=self.name, positions=positions, extra=dict_to_struct(extra))
await self.client.MoveToJointPositions(request, timeout=timeout)
await self.client.MoveToJointPositions(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) -> bool:
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 do_command(
self,
command: Mapping[str, Any],
*,
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_kinematics(
self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None
self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs
) -> Tuple[KinematicsFileFormat.ValueType, bytes]:
if extra is None:
extra = {}
md = kwargs.get('metadata', self.Metadata()).proto
request = GetKinematicsRequest(name=self.name, extra=dict_to_struct(extra))
response: GetKinematicsResponse = await self.client.GetKinematics(request, timeout=timeout)
response: GetKinematicsResponse = await self.client.GetKinematics(request, timeout=timeout, metadata=md)
return (response.format, response.kinematics_data)

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)
20 changes: 12 additions & 8 deletions src/viam/components/audio_input/client.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,9 +29,10 @@ def __init__(self, name: str, channel: Channel):
self.client = AudioInputServiceStub(channel)
super().__init__(name)

async def stream(self, *, timeout: Optional[float] = None, **__) -> Stream[Audio]:
async def stream(self, *, timeout: Optional[float] = None, **kwargs) -> Stream[Audio]:
async def read() -> AsyncIterator[Audio]:
async with self.client.Chunks.open(timeout=timeout) as chunks_stream:
md = kwargs.get('metadata', self.Metadata()).proto
async with self.client.Chunks.open(timeout=timeout, metadata=md) as chunks_stream:
await chunks_stream.send_message(
ChunksRequest(name=self.name, sample_format=SampleFormat.SAMPLE_FORMAT_FLOAT32_INTERLEAVED), end=True
)
Expand All @@ -52,15 +53,18 @@ async def read() -> AsyncIterator[Audio]:

return StreamWithIterator(read())

async def get_properties(self, *, timeout: Optional[float] = None, **__) -> AudioInput.Properties:
async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) -> AudioInput.Properties:
md = kwargs.get('metadata', self.Metadata()).proto
request = PropertiesRequest(name=self.name)
response: PropertiesResponse = await self.client.Properties(request, timeout=timeout)
response: PropertiesResponse = await self.client.Properties(request, timeout=timeout, metadata=md)
return AudioInput.Properties.from_proto(response)

async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **__) -> Mapping[str, ValueTypes]:
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)
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)
57 changes: 27 additions & 30 deletions src/viam/components/base/client.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,17 +38,16 @@ async def move_straight(
*,
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,
Expand All @@ -57,17 +56,16 @@ async def spin(
*,
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,
Expand All @@ -76,17 +74,16 @@ async def set_power(
*,
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,
Expand All @@ -95,46 +92,44 @@ async def set_velocity(
*,
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(
self,
*,
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,
Expand All @@ -146,11 +141,13 @@ async def do_command(
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)
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