Merge branch 'main' into rsdk-7747

viamrobotics · May 31, 2024 · 36e8a08 · 36e8a08
2 parents 7e7be08 + 40103a1
commit 36e8a08
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Showing 17 changed files with 338 additions and 330 deletions.
diff --git a/docs/examples/_server.py b/docs/examples/_server.py
@@ -10,7 +10,6 @@
 from viam.proto.app import (
     AddRoleRequest,
     AddRoleResponse,
-    AppServiceBase,
     ChangeRoleRequest,
     ChangeRoleResponse,
     CheckPermissionsRequest,
@@ -130,6 +129,7 @@
     ShareLocationResponse,
     TailRobotPartLogsRequest,
     TailRobotPartLogsResponse,
+    UnimplementedAppServiceBase,
     UnshareLocationRequest,
     UnshareLocationResponse,
     UpdateFragmentRequest,
@@ -337,7 +337,7 @@ async def StreamingDataCaptureUpload(
         pass
 
 
-class MockApp(AppServiceBase):
+class MockApp(UnimplementedAppServiceBase):
     def __init__(self):
         self.organization = Organization(id="id", name="name", public_namespace="public_namespace", default_region="default_region")
         self.locations = [Location()]

diff --git a/pyproject.toml b/pyproject.toml
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "viam-sdk"
-version = "0.21.0"
+version = "0.21.1"
 description = "Viam Robotics Python SDK"
 authors = [ "Naveed <[email protected]>" ]
 license = "Apache-2.0"

diff --git a/src/viam/components/camera/service.py b/src/viam/components/camera/service.py
@@ -88,6 +88,7 @@ async def GetProperties(self, stream: Stream[GetPropertiesRequest, GetProperties
             supports_pcd=properties.supports_pcd,
             intrinsic_parameters=properties.intrinsic_parameters,
             distortion_parameters=properties.distortion_parameters,
+            mime_types=properties.mime_types,
         )
         await stream.send_message(response)
 

diff --git a/src/viam/components/motor/service.py b/src/viam/components/motor/service.py
@@ -14,7 +14,6 @@
     IsMovingResponse,
     IsPoweredRequest,
     IsPoweredResponse,
-    MotorServiceBase,
     ResetZeroPositionRequest,
     ResetZeroPositionResponse,
     SetPowerRequest,
@@ -23,14 +22,15 @@
     SetRPMResponse,
     StopRequest,
     StopResponse,
+    UnimplementedMotorServiceBase,
 )
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
 from viam.utils import dict_to_struct, struct_to_dict
 
 from .motor import Motor
 
 
-class MotorRPCService(MotorServiceBase, ResourceRPCServiceBase[Motor]):
+class MotorRPCService(UnimplementedMotorServiceBase, ResourceRPCServiceBase[Motor]):
     """
     gRPC Service for a Motor
     """

diff --git a/src/viam/gen/app/v1/app_grpc.py b/src/viam/gen/app/v1/app_grpc.py
diff --git a/src/viam/gen/app/v1/robot_pb2.py b/src/viam/gen/app/v1/robot_pb2.py
diff --git a/src/viam/gen/app/v1/robot_pb2.pyi b/src/viam/gen/app/v1/robot_pb2.pyi
@@ -102,13 +102,13 @@ class RobotConfig(google.protobuf.message.Message):
     def overwrite_fragment_status(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___AppValidationStatus]:
         ...
 
-    def __init__(self, *, cloud: global___CloudConfig | None=..., remotes: collections.abc.Iterable[global___RemoteConfig] | None=..., components: collections.abc.Iterable[global___ComponentConfig] | None=..., processes: collections.abc.Iterable[global___ProcessConfig] | None=..., services: collections.abc.Iterable[global___ServiceConfig] | None=..., network: global___NetworkConfig | None=..., auth: global___AuthConfig | None=..., debug: builtins.bool | None=..., modules: collections.abc.Iterable[global___ModuleConfig] | None=..., disable_partial_start: builtins.bool | None=..., packages: collections.abc.Iterable[global___PackageConfig] | None=..., overwrite_fragment_status: collections.abc.Iterable[global___AppValidationStatus] | None=..., enable_web_profile: builtins.bool | None=...) -> None:
+    def __init__(self, *, cloud: global___CloudConfig | None=..., remotes: collections.abc.Iterable[global___RemoteConfig] | None=..., components: collections.abc.Iterable[global___ComponentConfig] | None=..., processes: collections.abc.Iterable[global___ProcessConfig] | None=..., services: collections.abc.Iterable[global___ServiceConfig] | None=..., network: global___NetworkConfig | None=..., auth: global___AuthConfig | None=..., debug: builtins.bool | None=..., modules: collections.abc.Iterable[global___ModuleConfig] | None=..., disable_partial_start: builtins.bool | None=..., packages: collections.abc.Iterable[global___PackageConfig] | None=..., overwrite_fragment_status: collections.abc.Iterable[global___AppValidationStatus] | None=..., enable_web_profile: builtins.bool=...) -> None:
         ...
 
-    def HasField(self, field_name: typing.Literal['_auth', b'_auth', '_debug', b'_debug', '_disable_partial_start', b'_disable_partial_start', '_enable_web_profile', b'_enable_web_profile', '_network', b'_network', 'auth', b'auth', 'cloud', b'cloud', 'debug', b'debug', 'disable_partial_start', b'disable_partial_start', 'enable_web_profile', b'enable_web_profile', 'network', b'network']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['_auth', b'_auth', '_debug', b'_debug', '_disable_partial_start', b'_disable_partial_start', '_network', b'_network', 'auth', b'auth', 'cloud', b'cloud', 'debug', b'debug', 'disable_partial_start', b'disable_partial_start', 'network', b'network']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing.Literal['_auth', b'_auth', '_debug', b'_debug', '_disable_partial_start', b'_disable_partial_start', '_enable_web_profile', b'_enable_web_profile', '_network', b'_network', 'auth', b'auth', 'cloud', b'cloud', 'components', b'components', 'debug', b'debug', 'disable_partial_start', b'disable_partial_start', 'enable_web_profile', b'enable_web_profile', 'modules', b'modules', 'network', b'network', 'overwrite_fragment_status', b'overwrite_fragment_status', 'packages', b'packages', 'processes', b'processes', 'remotes', b'remotes', 'services', b'services']) -> None:
+    def ClearField(self, field_name: typing.Literal['_auth', b'_auth', '_debug', b'_debug', '_disable_partial_start', b'_disable_partial_start', '_network', b'_network', 'auth', b'auth', 'cloud', b'cloud', 'components', b'components', 'debug', b'debug', 'disable_partial_start', b'disable_partial_start', 'enable_web_profile', b'enable_web_profile', 'modules', b'modules', 'network', b'network', 'overwrite_fragment_status', b'overwrite_fragment_status', 'packages', b'packages', 'processes', b'processes', 'remotes', b'remotes', 'services', b'services']) -> None:
         ...
 
     @typing.overload
@@ -123,10 +123,6 @@ class RobotConfig(google.protobuf.message.Message):
     def WhichOneof(self, oneof_group: typing.Literal['_disable_partial_start', b'_disable_partial_start']) -> typing.Literal['disable_partial_start'] | None:
         ...
 
-    @typing.overload
-    def WhichOneof(self, oneof_group: typing.Literal['_enable_web_profile', b'_enable_web_profile']) -> typing.Literal['enable_web_profile'] | None:
-        ...
-
     @typing.overload
     def WhichOneof(self, oneof_group: typing.Literal['_network', b'_network']) -> typing.Literal['network'] | None:
         ...

diff --git a/src/viam/media/utils/pil.py → src/viam/media/utils/pil/__init__.py b/src/viam/media/utils/pil.py → src/viam/media/utils/pil/__init__.py
@@ -2,9 +2,8 @@
 
 from PIL import Image
 
-from viam.media.video import CameraMimeType, ViamImage
-
-from ..viam_rgba_plugin import RGBA_FORMAT_LABEL
+from ....media.video import CameraMimeType, ViamImage
+from .viam_rgba_plugin import RGBA_FORMAT_LABEL
 
 # Formats that are supported by PIL
 LIBRARY_SUPPORTED_FORMATS = ["JPEG", "PNG", RGBA_FORMAT_LABEL]

diff --git a/src/viam/media/viam_rgba_plugin.py → src/viam/media/utils/pil/viam_rgba_plugin.py b/src/viam/media/viam_rgba_plugin.py → src/viam/media/utils/pil/viam_rgba_plugin.py
@@ -4,16 +4,7 @@
 from PIL.ImageFile import ImageFile, PyDecoder, PyEncoder, _safe_read  # type: ignore -- (njooma) this exists, manually checked
 from PIL.ImageFile import _save as image_save  # type: ignore -- (njooma) this exists, manually checked
 
-# Viam uses a special header prepended to raw RGBA data. The header is composed of a
-# 4-byte magic number followed by a 4-byte line of the width as a uint32 number
-# and another for the height. Credit to Ben Zotto for inventing this formulation
-# https://bzotto.medium.com/introducing-the-rgba-bitmap-file-format-4a8a94329e2c
-
-RGBA_MAGIC_NUMBER = bytes("RGBA", "utf-8")
-
-RGBA_FORMAT_LABEL = "VIAM_RGBA"
-
-RGBA_HEADER_LENGTH = 12
+from ...viam_rgba import RGBA_FORMAT_LABEL, RGBA_HEADER_LENGTH, RGBA_MAGIC_NUMBER
 
 
 def _accept(prefix: str):

diff --git a/src/viam/media/viam_rgba.py b/src/viam/media/viam_rgba.py
@@ -0,0 +1,10 @@
+# Viam uses a special header prepended to raw RGBA data. The header is composed of a
+# 4-byte magic number followed by a 4-byte line of the width as a uint32 number
+# and another for the height. Credit to Ben Zotto for inventing this formulation
+# https://bzotto.medium.com/introducing-the-rgba-bitmap-file-format-4a8a94329e2c
+
+RGBA_MAGIC_NUMBER = bytes("RGBA", "utf-8")
+
+RGBA_FORMAT_LABEL = "VIAM_RGBA"
+
+RGBA_HEADER_LENGTH = 12
diff --git a/src/viam/media/video.py b/src/viam/media/video.py
@@ -7,10 +7,7 @@
 from viam.errors import NotSupportedError
 from viam.proto.component.camera import Format
 
-from .viam_rgba_plugin import RGBA_FORMAT_LABEL, RGBA_HEADER_LENGTH, RGBA_MAGIC_NUMBER
-
-# Formats that are supported by PIL
-LIBRARY_SUPPORTED_FORMATS = ["JPEG", "PNG", RGBA_FORMAT_LABEL]
+from .viam_rgba import RGBA_HEADER_LENGTH, RGBA_MAGIC_NUMBER
 
 
 class CameraMimeType(str, Enum):