fix tests local api

Author: martha-johnston

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
+from viam.utils import dict_to_struct, struct_to_dict, sensor_readings_native_to_value
 
 
 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=readings)
+        response = GetReadingsResponse(readings=sensor_readings_native_to_value(readings))
         await stream.send_message(response)

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
+from viam.utils import dict_to_struct, struct_to_dict, sensor_readings_native_to_value
 
 
 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=readings)
+        response = GetReadingsResponse(readings=sensor_readings_native_to_value(readings))
         await stream.send_message(response)
 
     async def GetVoltage(self, stream: Stream[GetVoltageRequest, GetVoltageResponse]) -> None:

tests/mocks/components.py

@@ -988,6 +988,12 @@ async def get_power(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Op
         self.timeout = timeout
         return self.power
 
+    async def get_readings(
+            self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> Mapping[str, float]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.readings
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 

tests/test_movement_sensor.py

@@ -34,7 +34,7 @@
     MovementSensorServiceStub,
 )
 from viam.resource.manager import ResourceManager
-from viam.utils import dict_to_struct, struct_to_dict
+from viam.utils import dict_to_struct, struct_to_dict, primitive_to_value
 
 from . import loose_approx
 from .mocks.components import GEOMETRIES, MockMovementSensor
@@ -291,7 +291,7 @@ async def test_get_readings(self, movement_sensor: MockMovementSensor, service:
             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 response.readings == {key: primitive_to_value(value) for (key, value) in READINGS.items()}
             assert movement_sensor.extra == EXTRA_PARAMS
             assert movement_sensor.timeout == loose_approx(8.90)
 
@@ -402,7 +402,7 @@ async def test_get_readings(self, movement_sensor: MockMovementSensor, service:
             client = MovementSensorClient(movement_sensor.name, channel)
             assert movement_sensor.extra is None
             value = await client.get_readings(extra=EXTRA_PARAMS, timeout=2.34)
-            assert value == pytest.approx(READINGS)
+            assert value == {key: primitive_to_value(value) for (key, value) in READINGS.items()}
             assert movement_sensor.extra == EXTRA_PARAMS
             assert movement_sensor.timeout == loose_approx(2.34)
 

tests/test_power_sensor.py

@@ -15,7 +15,7 @@
 )
 
 from viam.resource.manager import ResourceManager
-from viam.utils import dict_to_struct, struct_to_dict
+from viam.utils import dict_to_struct, struct_to_dict, primitive_to_value
 
 from . import loose_approx
 from .mocks.components import MockPowerSensor
@@ -139,7 +139,7 @@ async def test_get_readings(self, power_sensor: MockPowerSensor, service: PowerS
             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 response.readings == {key: primitive_to_value(value) for (key, value) in READINGS.items()}
             assert power_sensor.extra == EXTRA_PARAMS
             assert power_sensor.timeout == loose_approx(8.90)
 
@@ -193,7 +193,7 @@ async def test_get_readings(self, power_sensor: MockPowerSensor, service: PowerS
             client = PowerSensorClient(power_sensor.name, channel)
             assert power_sensor.extra is None
             value = await client.get_readings(extra=EXTRA_PARAMS, timeout=2.34)
-            assert value == pytest.approx(READINGS)
+            assert value == {key: primitive_to_value(value) for (key, value) in READINGS.items()}
             assert power_sensor.extra == EXTRA_PARAMS
             assert power_sensor.timeout == loose_approx(2.34)
 

tests/test_robot.py

@@ -166,6 +166,7 @@ def service() -> RobotService:
                 compass_heading_supported=False,
             ),
             accuracy={"foo": 0.1, "bar": 2, "baz": 3.14},
+            readings={"a": 1, "b": 2, "c": 3}
         ),
         MockMLModel("mlmodel1"),
     ]