Fix get_geometries signature (#406)

docs/examples/my_cool_arm.py

@@ -97,7 +97,7 @@ async def stop(self, extra: Optional[Dict[str, Any]] = None, **kwargs):
     async def is_moving(self) -> bool:
         return not self.is_stopped
 
-    async def get_geometries(self) -> List[Geometry]:
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
         return self.geometries
 
     async def get_kinematics(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> Tuple[KinematicsFileFormat.ValueType, bytes]:

examples/complex_module/src/arm/my_arm.py

@@ -95,7 +95,7 @@ async def stop(self, extra: Optional[Dict[str, Any]] = None, **kwargs):
     async def is_moving(self) -> bool:
         return not self.is_stopped
 
-    async def get_geometries(self) -> List[Geometry]:
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
         return self.geometries
 
     async def get_kinematics(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> Tuple[KinematicsFileFormat.ValueType, bytes]:

src/viam/components/component_base.py

@@ -1,5 +1,5 @@
 import abc
-from typing import TYPE_CHECKING, ClassVar, List, Mapping, Optional, SupportsBytes, SupportsFloat, Union, cast
+from typing import TYPE_CHECKING, Any, ClassVar, Dict, List, Mapping, Optional, SupportsBytes, SupportsFloat, Union, cast
 
 from typing_extensions import Self
 
@@ -43,7 +43,7 @@ def from_robot(cls, robot: "RobotClient", name: str) -> Self:
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         raise NotImplementedError()
 
-    async def get_geometries(self) -> List[Geometry]:
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
         """
         Get all geometries associated with the Component, in their current configuration, in the frame of the Component.
 

src/viam/resource/types.py

@@ -1,12 +1,13 @@
 import re
 import sys
-from typing import TYPE_CHECKING, Callable, ClassVar, Mapping, Optional, Protocol, Sequence, runtime_checkable
+from typing import TYPE_CHECKING, Callable, ClassVar, Mapping, Protocol, Sequence, runtime_checkable
 
 if sys.version_info >= (3, 10):
     from typing import TypeAlias
 else:
     from typing_extensions import TypeAlias
 
+from grpclib.server import Stream
 from typing_extensions import Self
 
 from viam.proto.app.robot import ComponentConfig
@@ -204,5 +205,5 @@ def resource_name_from_string(string: str) -> ResourceName:
 class SupportsGetGeometries(Protocol):
     """The SupportsGetGeometries protocol defines the requirements for a resource to call get_geometries."""
 
-    async def GetGeometries(self, request: GetGeometriesRequest, timeout: Optional[float] = None) -> GetGeometriesResponse:
+    async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
         ...