RSDK-4788: Add Readings to Python SDK

examples/server/v1/components.py

@@ -653,6 +653,7 @@ def __init__(
         accuracy: Mapping[str, float],
     ):
         super().__init__(name)
+        self.num_readings = random.randint(1, 10)
         self.coordinates = coordinates
         self.altitude = altitude
         self.lin_vel = lin_vel
@@ -663,6 +664,9 @@ def __init__(
         self.properties = properties
         self.accuracy = accuracy
 
+    async def get_readings(self, **kwargs) -> Mapping[str, Any]:
+        return {"abcdefghij"[idx]: random.random() for idx in range(self.num_readings)}
+
     async def get_position(self, **kwargs) -> Tuple[GeoPoint, float]:
         return (self.coordinates, self.altitude)
 

src/viam/components/movement_sensor/client.py

@@ -3,7 +3,7 @@
 from grpclib.client import Channel
 
 from viam.components.movement_sensor.movement_sensor import MovementSensor
-from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, GetReadingsRequest, GetReadingsResponse
 from viam.proto.component.movementsensor import (
     GetAccuracyRequest,
     GetAccuracyResponse,
@@ -96,7 +96,9 @@ async def get_accuracy(self, *, extra: Optional[Dict[str, Any]] = None, timeout:
     async def get_readings(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> Mapping[str, Any]:
         if extra is None:
             extra = {}
-        return await super().get_readings(extra=extra, timeout=timeout)
+        request = GetReadingsRequest(name=self.name, extra=dict_to_struct(extra))
+        response: GetReadingsResponse = await self.client.GetReadings(request, timeout=timeout)
+        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

@@ -1,20 +1,16 @@
 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.components.component_base import ComponentBase
 from viam.proto.component.movementsensor import GetPropertiesResponse
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
-from ..sensor import Sensor
 from . import GeoPoint, Orientation, Vector3
 
 
-class MovementSensor(Sensor):
+class MovementSensor(ComponentBase):
     """MovementSensor reports information about the robot's direction, position and speed.
 
     This acts as an abstract base class for any sensors that can provide data regarding the robot's direction, position, and speed.
@@ -137,48 +133,7 @@ async def get_readings(self, *, extra: Optional[Dict[str, Any]] = None, timeout:
         If a sensor is not configured to have a measurement or fails to read a piece of data, it will not appear in the readings dictionary.
 
         Returns:
-            Mapping[str, Any]: The readings for the MovementSensor:
-            {
-                position: GeoPoint,
-                altitude: float,
-                linear_velocity: Vector3,
-                angular_velocity: Vector3,
-                linear_acceleration: Vector3,
-                compass: float,
-                orientation: Orientation,
-            }
+            Mapping[str, Any]: The readings for the MovementSensor. Can be of any type.
+
         """
-        (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

@@ -1,7 +1,14 @@
 from grpclib.server import Stream
 
 from viam.components.movement_sensor.movement_sensor import MovementSensor
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
+from viam.proto.common import (
+    DoCommandRequest,
+    DoCommandResponse,
+    GetGeometriesRequest,
+    GetGeometriesResponse,
+    GetReadingsRequest,
+    GetReadingsResponse,
+)
 from viam.proto.component.movementsensor import (
     GetAccuracyRequest,
     GetAccuracyResponse,
@@ -22,7 +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, sensor_readings_native_to_value, struct_to_dict
 
 
 class MovementSensorRPCService(MovementSensorServiceBase, ResourceRPCServiceBase):
@@ -128,3 +135,13 @@ async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometries
         geometries = await sensor.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
         response = GetGeometriesResponse(geometries=geometries)
         await stream.send_message(response)
+
+    async def GetReadings(self, stream: Stream[GetReadingsRequest, GetReadingsResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        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))
+        await stream.send_message(response)

src/viam/components/power_sensor/client.py

@@ -3,7 +3,7 @@
 from grpclib.client import Channel
 
 from viam.components.power_sensor.power_sensor import PowerSensor
-from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, GetReadingsRequest, GetReadingsResponse
 from viam.proto.component.powersensor import (
     GetCurrentRequest,
     GetCurrentResponse,
@@ -49,7 +49,9 @@ async def get_power(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Op
     async def get_readings(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> Mapping[str, Any]:
         if extra is None:
             extra = {}
-        return await super().get_readings(extra=extra, timeout=timeout)
+        request = GetReadingsRequest(name=self.name, extra=dict_to_struct(extra))
+        response: GetReadingsResponse = await self.client.GetReadings(request, timeout=timeout)
+        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
 
 
@@ -57,35 +53,6 @@ async def get_readings(self, *, extra: Optional[Dict[str, Any]] = None, timeout:
                is_ac: bool
                power: float
             }
-        """
-        (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

@@ -1,7 +1,7 @@
 from grpclib.server import Stream
 
 from viam.components.power_sensor.power_sensor import PowerSensor
-from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, GetReadingsRequest, GetReadingsResponse
 from viam.proto.component.powersensor import (
     GetCurrentRequest,
     GetCurrentResponse,
@@ -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, sensor_readings_native_to_value, struct_to_dict
 
 
 class PowerSensorRPCService(PowerSensorServiceBase, ResourceRPCServiceBase):
@@ -22,6 +22,16 @@ class PowerSensorRPCService(PowerSensorServiceBase, ResourceRPCServiceBase):
 
     RESOURCE_TYPE = PowerSensor
 
+    async def GetReadings(self, stream: Stream[GetReadingsRequest, GetReadingsResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        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))
+        await stream.send_message(response)
+
     async def GetVoltage(self, stream: Stream[GetVoltageRequest, GetVoltageResponse]) -> None:
         request = await stream.recv_message()
         assert request is not None

src/viam/components/sensor/client.py

@@ -2,8 +2,8 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
-from viam.proto.component.sensor import GetReadingsRequest, GetReadingsResponse, SensorServiceStub
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, GetReadingsRequest, GetReadingsResponse
+from viam.proto.component.sensor import SensorServiceStub
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, sensor_readings_value_to_native, struct_to_dict
 

src/viam/components/sensor/service.py

@@ -1,7 +1,14 @@
 from grpclib.server import Stream
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
-from viam.proto.component.sensor import GetReadingsRequest, GetReadingsResponse, SensorServiceBase
+from viam.proto.common import (
+    DoCommandRequest,
+    DoCommandResponse,
+    GetGeometriesRequest,
+    GetGeometriesResponse,
+    GetReadingsRequest,
+    GetReadingsResponse,
+)
+from viam.proto.component.sensor import SensorServiceBase
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
 from viam.utils import dict_to_struct, sensor_readings_native_to_value, struct_to_dict