fix movement and power

Author: martha-johnston

src/viam/components/movement_sensor/client.py

@@ -24,7 +24,7 @@
     MovementSensorServiceStub,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict, sensor_readings_value_to_native
+from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
 from . import GeoPoint, Orientation, Vector3
 
@@ -98,7 +98,7 @@ async def get_readings(self, *, extra: Optional[Dict[str, Any]] = None, timeout:
             extra = {}
         request = GetReadingsRequest(name=self.name, extra=dict_to_struct(extra))
         response: GetReadingsResponse = await self.client.GetReadings(request, timeout=timeout)
-        return sensor_readings_value_to_native(response.readings)
+        return response.readings
 
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None) -> Mapping[str, ValueTypes]:
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))

src/viam/components/movement_sensor/movement_sensor.py

@@ -1,12 +1,9 @@
 import abc
-import asyncio
 from dataclasses import dataclass
-from typing import Any, Dict, Final, List, Mapping, Optional, Tuple
+from typing import Any, Dict, Final, Mapping, Optional, Tuple
 
-from grpclib import GRPCError
 from typing_extensions import Self
 
-from viam.errors import MethodNotImplementedError, NotSupportedError
 from viam.proto.component.movementsensor import GetPropertiesResponse
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
@@ -149,37 +146,4 @@ async def get_readings(self, *, extra: Optional[Dict[str, Any]] = None, timeout:
             }
 
         """
-        (pos, lv, av, la, comp, orient) = await asyncio.gather(
-            self.get_position(extra=extra, timeout=timeout),
-            self.get_linear_velocity(extra=extra, timeout=timeout),
-            self.get_angular_velocity(extra=extra, timeout=timeout),
-            self.get_linear_acceleration(extra=extra, timeout=timeout),
-            self.get_compass_heading(extra=extra, timeout=timeout),
-            self.get_orientation(extra=extra, timeout=timeout),
-            return_exceptions=True,
-        )
-
-        readings = {}
-
-        # Add returned value to the readings dictionary if value is of expected type; omit if unimplemented.
-        def add_reading(name: str, reading, returntype: List) -> None:
-            possible_error_types = (NotImplementedError, MethodNotImplementedError, NotSupportedError)
-            if type(reading) in returntype:
-                if name == "position":
-                    readings["position"] = reading[0]
-                    readings["altitude"] = reading[1]
-                else:
-                    readings[name] = reading
-                return
-            elif isinstance(reading, possible_error_types) or (isinstance(reading, GRPCError) and "Unimplemented" in str(reading.message)):
-                return
-            raise reading
-
-        add_reading("position", pos, [tuple])
-        add_reading("linear_velocity", lv, [Vector3])
-        add_reading("angular_velocity", av, [Vector3])
-        add_reading("linear_acceleration", la, [Vector3])
-        add_reading("compass", comp, [float, int])
-        add_reading("orientation", orient, [Orientation])
-
-        return readings
+        ...

src/viam/components/movement_sensor/service.py

@@ -29,7 +29,7 @@
     MovementSensorServiceBase,
 )
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
-from viam.utils import dict_to_struct, struct_to_dict, sensor_readings_native_to_value
+from viam.utils import dict_to_struct, struct_to_dict
 
 
 class MovementSensorRPCService(MovementSensorServiceBase, ResourceRPCServiceBase):
@@ -143,5 +143,5 @@ async def GetReadings(self, stream: Stream[GetReadingsRequest, GetReadingsRespon
         sensor = self.get_resource(name)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
         readings = await sensor.get_readings(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
-        response = GetReadingsResponse(readings=sensor_readings_native_to_value(readings))
+        response = GetReadingsResponse(readings=readings)
         await stream.send_message(response)

src/viam/components/power_sensor/client.py

@@ -14,7 +14,7 @@
     PowerSensorServiceStub,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, struct_to_dict, sensor_readings_value_to_native
+from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
 
 
 class PowerSensorClient(PowerSensor, ReconfigurableResourceRPCClientBase):
@@ -51,7 +51,7 @@ async def get_readings(self, *, extra: Optional[Dict[str, Any]] = None, timeout:
             extra = {}
         request = GetReadingsRequest(name=self.name, extra=dict_to_struct(extra))
         response: GetReadingsResponse = await self.client.GetReadings(request, timeout=timeout)
-        return sensor_readings_value_to_native(response.readings)
+        return response.readings
 
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None) -> Mapping[str, ValueTypes]:
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))

src/viam/components/power_sensor/power_sensor.py

@@ -1,11 +1,7 @@
 import abc
-import asyncio
-from typing import Any, Dict, Final, List, Mapping, Optional, Tuple
-
-from grpclib import GRPCError
+from typing import Any, Dict, Final, Mapping, Optional, Tuple
 
 from viam.components.component_base import ComponentBase
-from viam.errors import MethodNotImplementedError, NotSupportedError
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 
@@ -59,34 +55,4 @@ async def get_readings(self, *, extra: Optional[Dict[str, Any]] = None, timeout:
             }
 
         """
-        (vol, cur, pow) = await asyncio.gather(
-            self.get_voltage(extra=extra, timeout=timeout),
-            self.get_current(extra=extra, timeout=timeout),
-            self.get_power(extra=extra, timeout=timeout),
-            return_exceptions=True,
-        )
-
-        readings = {}
-
-        # Add returned value to the readings dictionary if value is of expected type; omit if unimplemented.
-        def add_reading(name: str, reading, returntype: List) -> None:
-            possible_error_types = (NotImplementedError, MethodNotImplementedError, NotSupportedError)
-            if type(reading) in returntype:
-                if name == "voltage":
-                    readings["voltage"] = reading[0]
-                    readings["is_ac"] = reading[1]
-                elif name == "current":
-                    readings["current"] = reading[0]
-                    readings["is_ac"] = reading[1]
-                else:
-                    readings[name] = reading
-                return
-            elif isinstance(reading, possible_error_types) or (isinstance(reading, GRPCError) and "Unimplemented" in str(reading.message)):
-                return
-            raise reading
-
-        add_reading("voltage", vol, [tuple])
-        add_reading("current", cur, [tuple])
-        add_reading("power", pow, [float])
-
-        return readings
+        ...

src/viam/components/power_sensor/service.py

@@ -12,7 +12,7 @@
     PowerSensorServiceBase,
 )
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
-from viam.utils import dict_to_struct, struct_to_dict, sensor_readings_native_to_value
+from viam.utils import dict_to_struct, struct_to_dict
 
 
 class PowerSensorRPCService(PowerSensorServiceBase, ResourceRPCServiceBase):
@@ -29,7 +29,7 @@ async def GetReadings(self, stream: Stream[GetReadingsRequest, GetReadingsRespon
         sensor = self.get_resource(name)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
         readings = await sensor.get_readings(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
-        response = GetReadingsResponse(readings=sensor_readings_native_to_value(readings))
+        response = GetReadingsResponse(readings=readings)
         await stream.send_message(response)
 
     async def GetVoltage(self, stream: Stream[GetVoltageRequest, GetVoltageResponse]) -> None:

tests/mocks/components.py

@@ -962,12 +962,13 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
 
 
 class MockPowerSensor(PowerSensor):
-    def __init__(self, name: str, voltage: float, current: float, is_ac: bool, power: float):
+    def __init__(self, name: str, voltage: float, current: float, is_ac: bool, power: float, readings: Mapping[str, float]):
         super().__init__(name)
         self.voltage = voltage
         self.current = current
         self.is_ac = is_ac
         self.power = power
+        self.readings = readings
         self.geometries = GEOMETRIES
         self.extra: Optional[Dict[str, Any]] = None
         self.timeout: Optional[float] = None

tests/test_movement_sensor.py

@@ -1,7 +1,4 @@
-from typing import Any, Dict, Optional
-
 import pytest
-from grpclib import GRPCError, Status
 from grpclib.testing import ChannelFor
 
 from viam.components.generic.service import GenericRPCService
@@ -37,7 +34,7 @@
     MovementSensorServiceStub,
 )
 from viam.resource.manager import ResourceManager
-from viam.utils import dict_to_struct, struct_to_dict, primitive_to_value
+from viam.utils import dict_to_struct, struct_to_dict
 
 from . import loose_approx
 from .mocks.components import GEOMETRIES, MockMovementSensor
@@ -152,38 +149,9 @@ async def test_get_accuracy(self, movement_sensor: MockMovementSensor):
     @pytest.mark.asyncio
     async def test_get_readings(self, movement_sensor: MockMovementSensor):
         assert movement_sensor.extra is None
-        readings = await movement_sensor.get_readings(extra=EXTRA_PARAMS, timeout=1.23)
+        readings = await movement_sensor.get_readings(extra=EXTRA_PARAMS)
         assert readings == READINGS
         assert movement_sensor.extra == EXTRA_PARAMS
-        assert movement_sensor.timeout == loose_approx(1.23)
-
-        # A mock method to replace some get functions just for testing that should result in omitted entries in the dictionary
-        async def get_reading(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> Vector3:
-            raise GRPCError(Status(2), "Unimplemented")
-
-        async def get_compass_heading(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> float:
-            raise GRPCError(Status(2), "Unimplemented")
-
-        movement_sensor.get_linear_velocity = get_reading
-        movement_sensor.get_linear_acceleration = get_reading
-        movement_sensor.get_angular_velocity = get_reading
-        movement_sensor.get_compass_heading = get_compass_heading
-
-        value = await movement_sensor.get_readings(extra=EXTRA_PARAMS)
-        assert value == {
-            "position": COORDINATE,
-            "altitude": ALTITUDE,
-            "orientation": ORIENTATION,
-        }
-
-        # A mock method to replace some get functions just for testing that should result in a raised error
-        async def get_orientation(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> Orientation:
-            raise GRPCError(Status(2), "not implemented")
-
-        movement_sensor.get_orientation = get_orientation
-
-        with pytest.raises(GRPCError):
-            await movement_sensor.get_readings(extra=EXTRA_PARAMS)
 
     @pytest.mark.asyncio
     async def test_timeout(self, movement_sensor: MockMovementSensor):
@@ -316,6 +284,17 @@ async def test_get_accuracy(self, movement_sensor: MockMovementSensor, service:
             assert movement_sensor.extra == EXTRA_PARAMS
             assert movement_sensor.timeout == loose_approx(7.89)
 
+    @pytest.mark.asyncio
+    async def test_get_readings(self, movement_sensor: MockMovementSensor, service: MovementSensorRPCService):
+        async with ChannelFor([service]) as channel:
+            client = MovementSensorServiceStub(channel)
+            request = GetReadingsRequest(name=movement_sensor.name, extra=dict_to_struct(EXTRA_PARAMS))
+            assert movement_sensor.extra is None
+            response: GetReadingsResponse = await client.GetReadings(request, timeout=8.90)
+            assert response.readings == pytest.approx(READINGS)
+            assert movement_sensor.extra == EXTRA_PARAMS
+            assert movement_sensor.timeout == loose_approx(8.90)
+
     @pytest.mark.asyncio
     async def test_do(self, movement_sensor: MockMovementSensor, service: MovementSensorRPCService):
         async with ChannelFor([service]) as channel:
@@ -420,11 +399,10 @@ async def test_get_accuracy(self, movement_sensor: MockMovementSensor, service:
     @pytest.mark.asyncio
     async def test_get_readings(self, movement_sensor: MockMovementSensor, service: MovementSensorRPCService):
         async with ChannelFor([service]) as channel:
-            client = MovementSensorServiceStub(channel)
-            request = GetReadingsRequest(name=movement_sensor.name, extra=dict_to_struct(EXTRA_PARAMS))
+            client = MovementSensorClient(movement_sensor.name, channel)
             assert movement_sensor.extra is None
-            result: GetReadingsResponse = await client.GetReadings(request, timeout=2.34)
-            assert result.readings == {key: primitive_to_value(value) for (key, value) in READINGS.items()}
+            value = await client.get_readings(extra=EXTRA_PARAMS, timeout=2.34)
+            assert value == pytest.approx(READINGS)
             assert movement_sensor.extra == EXTRA_PARAMS
             assert movement_sensor.timeout == loose_approx(2.34)
 

tests/test_power_sensor.py

@@ -1,7 +1,4 @@
-from typing import Any, Dict, Optional
-
 import pytest
-from grpclib import GRPCError, Status
 from grpclib.testing import ChannelFor
 
 from viam.components.generic.service import GenericRPCService
@@ -18,7 +15,7 @@
 )
 
 from viam.resource.manager import ResourceManager
-from viam.utils import dict_to_struct, struct_to_dict, primitive_to_value
+from viam.utils import dict_to_struct, struct_to_dict
 
 from . import loose_approx
 from .mocks.components import MockPowerSensor
@@ -33,7 +30,7 @@
 
 @pytest.fixture(scope="function")
 def power_sensor() -> PowerSensor:
-    return MockPowerSensor("power_sensor", VOLTS, AMPERES, IS_AC, WATTS)
+    return MockPowerSensor("power_sensor", VOLTS, AMPERES, IS_AC, WATTS, READINGS)
 
 
 @pytest.fixture(scope="function")
@@ -73,18 +70,9 @@ async def test_get_power(self, power_sensor: MockPowerSensor):
     async def test_get_readings(self, power_sensor: MockPowerSensor):
         assert power_sensor.extra is None
         value = await power_sensor.get_readings(extra=EXTRA_PARAMS)
-        assert value == {"voltage": VOLTS, "current": AMPERES, "is_ac": IS_AC, "power": WATTS, "readings": READINGS}
+        assert value == READINGS
         assert power_sensor.extra == EXTRA_PARAMS
 
-        # A mock method to replace some get functions just for testing that should result in omitted entries in the dictionary
-        async def get_reading(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> float:
-            raise GRPCError(Status(2), "Unimplemented")
-
-        power_sensor.get_power = get_reading
-
-        value = await power_sensor.get_readings(extra=EXTRA_PARAMS)
-        assert value == {"voltage": VOLTS, "current": AMPERES, "is_ac": IS_AC}
-
     @pytest.mark.asyncio
     async def test_timeout(self, power_sensor: MockPowerSensor):
         assert power_sensor.timeout is None
@@ -144,6 +132,17 @@ async def test_get_power(self, power_sensor: MockPowerSensor, service: PowerSens
             assert power_sensor.extra == EXTRA_PARAMS
             assert power_sensor.timeout == loose_approx(1.23)
 
+    @pytest.mark.asyncio
+    async def test_get_readings(self, power_sensor: MockPowerSensor, service: PowerSensorRPCService):
+        async with ChannelFor([service]) as channel:
+            client = PowerSensorServiceStub(channel)
+            request = GetReadingsRequest(name=power_sensor.name, extra=dict_to_struct(EXTRA_PARAMS))
+            assert power_sensor.extra is None
+            response: GetReadingsResponse = await client.GetReadings(request, timeout=8.90)
+            assert response.readings == pytest.approx(READINGS)
+            assert power_sensor.extra == EXTRA_PARAMS
+            assert power_sensor.timeout == loose_approx(8.90)
+
     @pytest.mark.asyncio
     async def test_do(self, power_sensor: MockPowerSensor, service: PowerSensorRPCService):
         async with ChannelFor([service]) as channel:
@@ -191,11 +190,10 @@ async def test_get_power(self, power_sensor: MockPowerSensor, service: PowerSens
     @pytest.mark.asyncio
     async def test_get_readings(self, power_sensor: MockPowerSensor, service: PowerSensorRPCService):
         async with ChannelFor([service]) as channel:
-            client = PowerSensorServiceStub(channel)
-            request = GetReadingsRequest(name=power_sensor.name, extra=dict_to_struct(EXTRA_PARAMS))
+            client = PowerSensorClient(power_sensor.name, channel)
             assert power_sensor.extra is None
-            result: GetReadingsResponse = await client.GetReadings(request, timeout=2.34)
-            assert result.readings == {key: primitive_to_value(value) for (key, value) in READINGS.items()}
+            value = await client.get_readings(extra=EXTRA_PARAMS, timeout=2.34)
+            assert value == pytest.approx(READINGS)
             assert power_sensor.extra == EXTRA_PARAMS
             assert power_sensor.timeout == loose_approx(2.34)