RSDK-7307: Update Status for Board in Python SDK

Makefile

@@ -30,6 +30,7 @@ _buf: clean
 
 buf:
 	poetry run $(MAKE) _buf
+	$(MAKE) better_imports
 
 _better_imports:
 	python3 -m etc.generate_proto_import -v

etc/generate_proto_import.py

@@ -10,7 +10,7 @@
 
 from google.protobuf.internal.enum_type_wrapper import EnumTypeWrapper
 
-from viam import logging
+import logging
 
 PACKAGE_PATH = Path(__file__).parent.parent
 
@@ -25,7 +25,7 @@
 
 
 LOGGER = logging.getLogger(__name__)
-logging.setLevel(logging.INFO)
+LOGGER.setLevel(logging.INFO)
 
 
 def clean():
@@ -51,7 +51,7 @@ def get_packages(root: str) -> Dict[str, List[str]]:
 
     packages: Dict[str, List[str]] = {}
 
-    for (dirpath, _, filenames) in os.walk(root):
+    for dirpath, _, filenames in os.walk(root):
         rel_path = Path(dirpath).relative_to(root).__str__()
         if "__" in rel_path:
             continue
@@ -140,18 +140,18 @@ def check_class(obj) -> bool:
             f.write("@generated by Viam.\n")
             f.write("Do not edit manually!\n")
             f.write("'''\n")
-            for (imp, cls) in classes.items():
+            for imp, cls in classes.items():
                 f.write(f'from {"."*(len(package.split("."))+IMPORT_LEVEL)}{PROTO_GEN_PACKAGE}.{package}.{imp} import (\n')
                 f.write("    %s\n" % (",\n    ".join(cls)))
                 f.write(")\n")
             f.write("\n__all__ = [\n")
-            for (imp, cls) in classes.items():
+            for imp, cls in classes.items():
                 f.write("    %s,\n" % (",\n    ".join([f"'{c}'" for c in cls])))
             f.write("]\n")
 
 
 def add_init_files(root: str):
-    for (dirpath, _, filenames) in os.walk(root):
+    for dirpath, _, filenames in os.walk(root):
         if "__init__.py" not in filenames:
             LOGGER.debug(f"Adding __init__.py at {dirpath}")
             path = Path(dirpath) / "__init__.py"
@@ -163,7 +163,7 @@ def run(add_inits: bool = True):
     LOGGER.info("Generating better proto imports")
     clean()
     packages = get_packages(GENERATED_PATH.__str__())
-    for (package, modules) in packages.items():
+    for package, modules in packages.items():
         build_dirs(NEW_IMPORT_PATH.__str__(), package, modules)
     if add_inits:
         add_init_files(NEW_IMPORT_PATH.__str__())
@@ -179,7 +179,7 @@ def run(add_inits: bool = True):
             if "q" in arg:
                 LOGGER.disabled = True
             if "v" in arg:
-                logging.setLevel(logging.DEBUG)
+                LOGGER.setLevel(logging.DEBUG)
             if "i" in arg:
                 add_inits = False
     except getopt.error:

examples/server/v1/components.py

@@ -36,10 +36,7 @@
 from viam.media.video import NamedImage
 from viam.operations import run_with_operation
 from viam.proto.common import (
-    AnalogStatus,
-    BoardStatus,
     Capsule,
-    DigitalInterruptStatus,
     Geometry,
     GeoPoint,
     KinematicsFileFormat,
@@ -311,21 +308,13 @@ async def analog_reader_names(self) -> List[str]:
     async def digital_interrupt_names(self) -> List[str]:
         return [key for key in self.digital_interrupts.keys()]
 
-    async def status(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> BoardStatus:
-        return BoardStatus(
-            analogs={name: AnalogStatus(value=await analog.read()) for (name, analog) in self.analog_readers.items()},
-            digital_interrupts={name: DigitalInterruptStatus(value=await di.value()) for (name, di) in self.digital_interrupts.items()},
-        )
-
     async def set_power_mode(self, **kwargs):
         raise NotImplementedError()
 
     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:
+    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]:

src/viam/__init__.py

@@ -2,7 +2,7 @@
 from importlib.metadata import PackageNotFoundError, version
 from uuid import uuid4
 
-from viam.proto.common import ResourceName as _ResourceName
+from viam.gen.common.v1.common_pb2 import ResourceName as _ResourceName
 
 from .logging import getLogger as _getLogger
 

src/viam/components/audio_input/audio_input.py

@@ -6,10 +6,10 @@
 from google.protobuf.duration_pb2 import Duration
 from typing_extensions import Self
 
-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 viam.streams import StreamSource
 
 from ..component_base import ComponentBase
 

src/viam/components/audio_input/client.py

@@ -2,7 +2,6 @@
 
 from grpclib.client import Channel
 
-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 (
@@ -14,6 +13,7 @@
     SampleFormat,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
+from viam.streams import Stream, StreamWithIterator
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
 from .audio_input import AudioInput

src/viam/components/board/__init__.py

@@ -1,3 +1,7 @@
+import asyncio
+
+from viam.proto.common import AnalogStatus, DigitalInterruptStatus
+from viam.proto.component.board import Status as BoardStatus
 from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
 from viam.utils import message_to_struct
@@ -6,13 +10,24 @@
 from .client import BoardClient
 from .service import BoardRPCService
 
-__all__ = [
-    "Board"
-]
+__all__ = ["Board"]
 
 
 async def create_status(component: Board) -> Status:
-    return Status(name=Board.get_resource_name(component.name), status=message_to_struct(await component.status()))
+    (analog_names, digital_interrupt_names) = await asyncio.gather(component.analog_reader_names(), component.digital_interrupt_names())
+    analogs, digital_interrupts = {}, {}
+    for x in analog_names:
+        analog = await component.analog_reader_by_name(x)
+        read = await analog.read()
+        analogs[x] = AnalogStatus(value=read)
+
+    for y in digital_interrupt_names:
+        digital_interrupt = await component.digital_interrupt_by_name(y)
+        val = await digital_interrupt.value()
+        digital_interrupts[y] = DigitalInterruptStatus(value=val)
+
+    s = BoardStatus(analogs=analogs, digital_interrupts=digital_interrupts)
+    return Status(name=Board.get_resource_name(component.name), status=message_to_struct(s))
 
 
 Registry.register_subtype(ResourceRegistration(Board, BoardRPCService, lambda name, channel: BoardClient(name, channel), create_status))

src/viam/components/board/board.py

@@ -2,7 +2,6 @@
 from datetime import timedelta
 from typing import Any, Dict, Final, List, Optional
 
-from viam.proto.common import BoardStatus
 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
@@ -341,23 +340,6 @@ async def digital_interrupt_names(self) -> List[str]:
         """
         ...
 
-    @abc.abstractmethod
-    async def status(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> BoardStatus:
-        """
-        Return the current status of the board.
-
-        ::
-
-            my_board = Board.from_robot(robot=robot, name="my_board")
-
-            # Get the current status of the board.
-            status = await my_board.status()
-
-        Returns:
-            viam.proto.common.BoardStatus: The status.
-        """
-        ...
-
     @abc.abstractmethod
     async def set_power_mode(
         self, mode: PowerMode.ValueType, duration: Optional[timedelta] = None, *, timeout: Optional[float] = None, **kwargs
@@ -396,9 +378,7 @@ async def write_analog(self, pin: str, value: int, *, timeout: Optional[float] =
         ...
 
     @abc.abstractmethod
-    async def stream_ticks(
-        self, interrupts: List[DigitalInterrupt], *, timeout: Optional[float] = None, **kwargs
-    ) -> TickStream:
+    async def stream_ticks(self, interrupts: List[DigitalInterrupt], *, timeout: Optional[float] = None, **kwargs) -> TickStream:
         """
         Stream digital interrupt ticks.
 

src/viam/components/board/client.py

@@ -2,10 +2,11 @@
 from typing import Any, Dict, List, Mapping, Optional
 
 from google.protobuf.duration_pb2 import Duration
-from grpclib.client import Channel, Stream as ClientStream
+from grpclib.client import Channel
+from grpclib.client import Stream as ClientStream
 
 from viam.logging import getLogger
-from viam.proto.common import BoardStatus, DoCommandRequest, DoCommandResponse, Geometry
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.board import (
     BoardServiceStub,
     GetDigitalInterruptValueRequest,
@@ -23,14 +24,12 @@
     SetPowerModeRequest,
     SetPWMFrequencyRequest,
     SetPWMRequest,
-    StatusRequest,
-    StatusResponse,
     StreamTicksRequest,
     StreamTicksResponse,
     WriteAnalogRequest,
 )
-from viam.streams import StreamWithIterator
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
+from viam.streams import StreamWithIterator
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
 from .board import Board, TickStream
@@ -165,49 +164,37 @@ class BoardClient(Board, ReconfigurableResourceRPCClientBase):
     gRPC client for the Board component.
     """
 
+    _analog_reader_names: List[str]
+    _digital_interrupt_names: List[str]
+
     def __init__(self, name: str, channel: Channel):
         self.channel = channel
         self.client = BoardServiceStub(channel)
-        self._analog_reader_names: Optional[List[str]] = None
-        self._digital_interrupt_names: Optional[List[str]] = None
+        self._analog_reader_names = []
+        self._digital_interrupt_names = []
         super().__init__(name)
 
     async def analog_reader_by_name(self, name: str) -> Board.AnalogReader:
+        self._analog_reader_names.append(name)
         return AnalogReaderClient(name, self)
 
     async def digital_interrupt_by_name(self, name: str) -> Board.DigitalInterrupt:
+        self._digital_interrupt_names.append(name)
         return DigitalInterruptClient(name, self)
 
     async def gpio_pin_by_name(self, name: str) -> Board.GPIOPin:
         return GPIOPinClient(name, self)
 
     async def analog_reader_names(self) -> List[str]:
         if self._analog_reader_names is None:
-            status = await self.status()
-            names = [name for name in status.analogs.keys()]
-            self._analog_reader_names = names
+            return []
         return self._analog_reader_names
 
     async def digital_interrupt_names(self) -> List[str]:
         if self._digital_interrupt_names is None:
-            status = await self.status()
-            names = [name for name in status.digital_interrupts.keys()]
-            self._digital_interrupt_names = names
+            return []
         return self._digital_interrupt_names
 
-    async def status(
-        self,
-        *,
-        extra: Optional[Dict[str, Any]] = None,
-        timeout: Optional[float] = None,
-        **__,
-    ) -> BoardStatus:
-        if extra is None:
-            extra = {}
-        request = StatusRequest(name=self.name, extra=dict_to_struct(extra))
-        response: StatusResponse = await self.client.Status(request, timeout=timeout)
-        return response.status
-
     async def do_command(
         self,
         command: Mapping[str, ValueTypes],

src/viam/components/board/service.py

@@ -24,8 +24,6 @@
     SetPWMFrequencyResponse,
     SetPWMRequest,
     SetPWMResponse,
-    StatusRequest,
-    StatusResponse,
     StreamTicksRequest,
     StreamTicksResponse,
     WriteAnalogRequest,
@@ -46,16 +44,6 @@ class BoardRPCService(BoardServiceBase, ResourceRPCServiceBase[Board]):
 
     RESOURCE_TYPE = Board
 
-    async def Status(self, stream: Stream[StatusRequest, StatusResponse]) -> None:
-        request = await stream.recv_message()
-        assert request is not None
-        name = request.name
-        board = self.get_resource(name)
-        timeout = stream.deadline.time_remaining() if stream.deadline else None
-        status = await board.status(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
-        response = StatusResponse(status=status)
-        await stream.send_message(response)
-
     async def SetGPIO(self, stream: Stream[SetGPIORequest, SetGPIOResponse]) -> None:
         request = await stream.recv_message()
         assert request is not None

src/viam/gen/app/mltraining/v1/ml_training_grpc.py

@@ -15,6 +15,10 @@ class MLTrainingServiceBase(abc.ABC):
     async def SubmitTrainingJob(self, stream: 'grpclib.server.Stream[app.mltraining.v1.ml_training_pb2.SubmitTrainingJobRequest, app.mltraining.v1.ml_training_pb2.SubmitTrainingJobResponse]') -> None:
         pass
 
+    @abc.abstractmethod
+    async def SubmitCustomTrainingJob(self, stream: 'grpclib.server.Stream[app.mltraining.v1.ml_training_pb2.SubmitCustomTrainingJobRequest, app.mltraining.v1.ml_training_pb2.SubmitCustomTrainingJobResponse]') -> None:
+        pass
+
     @abc.abstractmethod
     async def GetTrainingJob(self, stream: 'grpclib.server.Stream[app.mltraining.v1.ml_training_pb2.GetTrainingJobRequest, app.mltraining.v1.ml_training_pb2.GetTrainingJobResponse]') -> None:
         pass
@@ -32,12 +36,13 @@ async def DeleteCompletedTrainingJob(self, stream: 'grpclib.server.Stream[app.ml
         pass
 
     def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
-        return {'/viam.app.mltraining.v1.MLTrainingService/SubmitTrainingJob': grpclib.const.Handler(self.SubmitTrainingJob, grpclib.const.Cardinality.UNARY_UNARY, app.mltraining.v1.ml_training_pb2.SubmitTrainingJobRequest, app.mltraining.v1.ml_training_pb2.SubmitTrainingJobResponse), '/viam.app.mltraining.v1.MLTrainingService/GetTrainingJob': grpclib.const.Handler(self.GetTrainingJob, grpclib.const.Cardinality.UNARY_UNARY, app.mltraining.v1.ml_training_pb2.GetTrainingJobRequest, app.mltraining.v1.ml_training_pb2.GetTrainingJobResponse), '/viam.app.mltraining.v1.MLTrainingService/ListTrainingJobs': grpclib.const.Handler(self.ListTrainingJobs, grpclib.const.Cardinality.UNARY_UNARY, app.mltraining.v1.ml_training_pb2.ListTrainingJobsRequest, app.mltraining.v1.ml_training_pb2.ListTrainingJobsResponse), '/viam.app.mltraining.v1.MLTrainingService/CancelTrainingJob': grpclib.const.Handler(self.CancelTrainingJob, grpclib.const.Cardinality.UNARY_UNARY, app.mltraining.v1.ml_training_pb2.CancelTrainingJobRequest, app.mltraining.v1.ml_training_pb2.CancelTrainingJobResponse), '/viam.app.mltraining.v1.MLTrainingService/DeleteCompletedTrainingJob': grpclib.const.Handler(self.DeleteCompletedTrainingJob, grpclib.const.Cardinality.UNARY_UNARY, app.mltraining.v1.ml_training_pb2.DeleteCompletedTrainingJobRequest, app.mltraining.v1.ml_training_pb2.DeleteCompletedTrainingJobResponse)}
+        return {'/viam.app.mltraining.v1.MLTrainingService/SubmitTrainingJob': grpclib.const.Handler(self.SubmitTrainingJob, grpclib.const.Cardinality.UNARY_UNARY, app.mltraining.v1.ml_training_pb2.SubmitTrainingJobRequest, app.mltraining.v1.ml_training_pb2.SubmitTrainingJobResponse), '/viam.app.mltraining.v1.MLTrainingService/SubmitCustomTrainingJob': grpclib.const.Handler(self.SubmitCustomTrainingJob, grpclib.const.Cardinality.UNARY_UNARY, app.mltraining.v1.ml_training_pb2.SubmitCustomTrainingJobRequest, app.mltraining.v1.ml_training_pb2.SubmitCustomTrainingJobResponse), '/viam.app.mltraining.v1.MLTrainingService/GetTrainingJob': grpclib.const.Handler(self.GetTrainingJob, grpclib.const.Cardinality.UNARY_UNARY, app.mltraining.v1.ml_training_pb2.GetTrainingJobRequest, app.mltraining.v1.ml_training_pb2.GetTrainingJobResponse), '/viam.app.mltraining.v1.MLTrainingService/ListTrainingJobs': grpclib.const.Handler(self.ListTrainingJobs, grpclib.const.Cardinality.UNARY_UNARY, app.mltraining.v1.ml_training_pb2.ListTrainingJobsRequest, app.mltraining.v1.ml_training_pb2.ListTrainingJobsResponse), '/viam.app.mltraining.v1.MLTrainingService/CancelTrainingJob': grpclib.const.Handler(self.CancelTrainingJob, grpclib.const.Cardinality.UNARY_UNARY, app.mltraining.v1.ml_training_pb2.CancelTrainingJobRequest, app.mltraining.v1.ml_training_pb2.CancelTrainingJobResponse), '/viam.app.mltraining.v1.MLTrainingService/DeleteCompletedTrainingJob': grpclib.const.Handler(self.DeleteCompletedTrainingJob, grpclib.const.Cardinality.UNARY_UNARY, app.mltraining.v1.ml_training_pb2.DeleteCompletedTrainingJobRequest, app.mltraining.v1.ml_training_pb2.DeleteCompletedTrainingJobResponse)}
 
 class MLTrainingServiceStub:
 
     def __init__(self, channel: grpclib.client.Channel) -> None:
         self.SubmitTrainingJob = grpclib.client.UnaryUnaryMethod(channel, '/viam.app.mltraining.v1.MLTrainingService/SubmitTrainingJob', app.mltraining.v1.ml_training_pb2.SubmitTrainingJobRequest, app.mltraining.v1.ml_training_pb2.SubmitTrainingJobResponse)
+        self.SubmitCustomTrainingJob = grpclib.client.UnaryUnaryMethod(channel, '/viam.app.mltraining.v1.MLTrainingService/SubmitCustomTrainingJob', app.mltraining.v1.ml_training_pb2.SubmitCustomTrainingJobRequest, app.mltraining.v1.ml_training_pb2.SubmitCustomTrainingJobResponse)
         self.GetTrainingJob = grpclib.client.UnaryUnaryMethod(channel, '/viam.app.mltraining.v1.MLTrainingService/GetTrainingJob', app.mltraining.v1.ml_training_pb2.GetTrainingJobRequest, app.mltraining.v1.ml_training_pb2.GetTrainingJobResponse)
         self.ListTrainingJobs = grpclib.client.UnaryUnaryMethod(channel, '/viam.app.mltraining.v1.MLTrainingService/ListTrainingJobs', app.mltraining.v1.ml_training_pb2.ListTrainingJobsRequest, app.mltraining.v1.ml_training_pb2.ListTrainingJobsResponse)
         self.CancelTrainingJob = grpclib.client.UnaryUnaryMethod(channel, '/viam.app.mltraining.v1.MLTrainingService/CancelTrainingJob', app.mltraining.v1.ml_training_pb2.CancelTrainingJobRequest, app.mltraining.v1.ml_training_pb2.CancelTrainingJobResponse)