RSDK-4578: Python SDK Base Properties

examples/server/v1/components.py

@@ -184,7 +184,7 @@ def __init__(self, name: str):
         self.angular_pwr = Vector3(x=0, y=0, z=0)
         self.linear_vel = Vector3(x=0, y=0, z=0)
         self.angular_vel = Vector3(x=0, y=0, z=0)
-        self.props = Base.Properties(1.0, 1.0)
+        self.props = Base.Properties(1.0, 1.0, 1.0)
         super().__init__(name)
 
     async def move_straight(self, distance: int, velocity: float, extra: Optional[Dict[str, Any]] = None, **kwargs):

src/viam/components/base/base.py

@@ -23,6 +23,7 @@ class Base(ComponentBase):
     class Properties:
         width_meters: float
         turning_radius_meters: float
+        wheel_circumference_meters: float
 
     @abc.abstractmethod
     async def move_straight(

src/viam/components/base/client.py

@@ -119,7 +119,11 @@ async def get_properties(self, *, extra: Optional[Dict[str, Any]] = None, timeou
             extra = {}
         request = GetPropertiesRequest(name=self.name, extra=dict_to_struct(extra))
         response: GetPropertiesResponse = await self.client.GetProperties(request, timeout=timeout)
-        return Base.Properties(width_meters=response.width_meters, turning_radius_meters=response.turning_radius_meters)
+        return Base.Properties(
+            width_meters=response.width_meters,
+            turning_radius_meters=response.turning_radius_meters,
+            wheel_circumference_meters=response.wheel_circumference_meters,
+        )
 
     async def do_command(
         self,

src/viam/components/base/service.py

@@ -112,7 +112,11 @@ async def GetProperties(self, stream: Stream[GetPropertiesRequest, GetProperties
         base = self.get_resource(name)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
         properties = await base.get_properties(timeout=timeout, metadata=stream.metadata)
-        response = GetPropertiesResponse(width_meters=properties.width_meters, turning_radius_meters=properties.turning_radius_meters)
+        response = GetPropertiesResponse(
+            width_meters=properties.width_meters,
+            turning_radius_meters=properties.turning_radius_meters,
+            wheel_circumference_meters=properties.wheel_circumference_meters,
+        )
         await stream.send_message(response)
 
     async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -> None:

tests/mocks/components.py

@@ -176,7 +176,7 @@ def __init__(self, name: str):
         self.geometries = GEOMETRIES
         self.extra: Optional[Dict[str, Any]] = None
         self.timeout: Optional[float] = None
-        self.props = Base.Properties(1.0, 1.0)
+        self.props = Base.Properties(1.0, 2.0, 3.0)
         super().__init__(name)
 
     async def move_straight(

tests/test_base.py

@@ -107,6 +107,13 @@ async def test_is_moving(self, base: MockBase):
         assert base.stopped is True
         assert not await base.is_moving()
 
+    @pytest.mark.asyncio
+    async def test_get_properties(self, base: MockBase):
+        properties = await base.get_properties()
+        assert properties.width_meters == 1.0
+        assert properties.turning_radius_meters == 2.0
+        assert properties.wheel_circumference_meters == 3.0
+
     @pytest.mark.asyncio
     async def test_do(self, base: MockBase):
         command = {"command": "args"}