[RSDK 4604] Refine Examples & Refactor Code (#395)

Author: Bashar

docs/examples/example.ipynb

@@ -1041,12 +1041,12 @@
    "source": [
     "## Connect as a client to app\n",
     "\n",
-    "To connect to app as a client and make calls to the data API, you should instantiate an instance of a `ViamClient` and retrieve its `DataClient` member."
+    "To connect to app as a client and make calls to the data API, you should create an instance of a `ViamClient` and retrieve its `DataClient` member."
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": 1,
    "metadata": {
     "tags": []
    },
@@ -1075,7 +1075,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
+   "execution_count": 2,
    "metadata": {
     "tags": [
      "remove-input"
@@ -1113,7 +1113,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 9,
+   "execution_count": 3,
    "metadata": {
     "tags": [
      "hide-output"
@@ -1133,14 +1133,27 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 10,
+   "execution_count": 4,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "[{'IsPowered': False, 'PowerPct': 0.0, 'Position': 0.0}, {'IsPowered': False, 'PowerPct': 0.0, 'Position': 0.0}, {'IsPowered': False, 'PowerPct': 0.0, 'Position': 0.0}]\n"
+      "{'IsPowered': False, 'PowerPct': 0.0}\n",
+      "method_name: \"IsPowered\"\n",
+      "Time requested: 2022-01-01 01:01:01\n",
+      "Time received: 2022-12-31 23:59:59\n",
+      "\n",
+      "{'IsPowered': False, 'PowerPct': 0.0}\n",
+      "location_id: \"loc-id\"\n",
+      "Time requested: 2023-01-02 00:00:00\n",
+      "Time received: 2023-03-04 00:00:00\n",
+      "\n",
+      "{'Position': 0.0}\n",
+      "Time requested: 2023-05-06 00:00:00\n",
+      "Time received: 2023-07-08 00:00:00\n",
+      "\n"
      ]
     }
    ],
@@ -1155,7 +1168,8 @@
     ")\n",
     "\n",
     "data = await data_client.tabular_data_by_filter(filter=left_motor_filter)\n",
-    "print(data)"
+    "for tab in data:\n",
+    "    print(tab)"
    ]
   },
   {
@@ -1167,7 +1181,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 11,
+   "execution_count": 5,
    "metadata": {
     "tags": []
    },
@@ -1197,7 +1211,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 13,
+   "execution_count": 6,
    "metadata": {
     "tags": [
      "hide-output"
@@ -1217,7 +1231,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 14,
+   "execution_count": 7,
    "metadata": {},
    "outputs": [
     {
@@ -1254,7 +1268,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 15,
+   "execution_count": 8,
    "metadata": {
     "tags": []
    },
@@ -1274,12 +1288,12 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "Certain types returned by `AppClient` methods (namely, `RobotPart`, `LogEntry`, and `Fragment` objects) are wrapped in mirror classes that convert proto data into a friendlier, more readable format. Each of these mirrors still allows access to the intial proto type returned by the response as a property."
+    "Certain types returned by `AppClient` methods (namely, `RobotPart`, `LogEntry`, `Fragment`, and `RobotPartHistoryEntry` objects) are wrapped in mirror classes that convert proto data into a friendlier, more readable format. Each of these mirrors still allows access to the intial proto type returned by the response as a property."
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 16,
+   "execution_count": 9,
    "metadata": {},
    "outputs": [
     {
@@ -1340,7 +1354,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 17,
+   "execution_count": 10,
    "metadata": {
     "tags": []
    },

src/viam/app/data_client.py

@@ -470,28 +470,31 @@ async def tabular_data_capture_upload(
 
         Raises:
             GRPCError: If an invalid part ID is passed.
-            AssertionError: If a list of `Timestamp` objects is provided and its length does not match the length of the list of tabular
+            ValueError: If a list of `Timestamp` objects is provided and its length does not match the length of the list of tabular
                 data.
         """
-        sensor_contents = [SensorData()] * len(tabular_data)
+        sensor_contents = []
         if data_request_times:
-            assert len(data_request_times) == len(tabular_data)
+            if len(data_request_times) != len(tabular_data):
+                raise ValueError("data_request_times and tabular_data lengths must be equal.")
 
-        for i in range(len(tabular_data)):
+        for idx, tab in enumerate(tabular_data):
             s = Struct()
-            s.update(tabular_data[i])
-            sensor_contents[i] = SensorData(
-                metadata=(
-                    SensorMetadata(
-                        time_requested=datetime_to_timestamp(data_request_times[i][0]) if data_request_times[i][0] else None,
-                        time_received=datetime_to_timestamp(data_request_times[i][1]) if data_request_times[i][1] else None,
+            s.update(tab)
+            sensor_contents.append(
+                SensorData(
+                    metadata=(
+                        SensorMetadata(
+                            time_requested=datetime_to_timestamp(data_request_times[idx][0]) if data_request_times[idx][0] else None,
+                            time_received=datetime_to_timestamp(data_request_times[idx][1]) if data_request_times[idx][1] else None,
+                        )
+                        if data_request_times[idx]
+                        else None
                     )
-                    if data_request_times[i]
-                    else None
+                    if data_request_times
+                    else None,
+                    struct=s,
                 )
-                if data_request_times
-                else None,
-                struct=s,
             )
 
         metadata = UploadMetadata(
@@ -675,11 +678,11 @@ def create_filter(
             mime_type=mime_type,
             interval=(
                 CaptureInterval(
-                    start=datetime_to_timestamp(start_time) if start_time else None,
-                    end=datetime_to_timestamp(end_time) if end_time else None,
+                    start=datetime_to_timestamp(start_time),
+                    end=datetime_to_timestamp(end_time),
                 )
             )
-            if start_time and end_time
+            if start_time or end_time
             else None,
             tags_filter=TagsFilter(tags=tags),
             bbox_labels=bbox_labels,

src/viam/services/motion/__init__.py

@@ -1,4 +1,5 @@
 from viam.proto.service.motion import MotionConfiguration
+
 from .client import MotionClient
 
 __all__ = [

src/viam/utils.py

@@ -153,7 +153,9 @@ def struct_to_dict(struct: Struct) -> Dict[str, ValueTypes]:
     return {key: value_to_primitive(value) for (key, value) in struct.fields.items()}
 
 
-def datetime_to_timestamp(dt: datetime) -> Timestamp:
+def datetime_to_timestamp(dt: Optional[datetime]) -> Optional[Timestamp]:
+    if dt is None:
+        return None
     timestamp = Timestamp()
     timestamp.FromDatetime(dt)
     return timestamp