[RSDK-5810] remove impossible-to-implement functions from digital interrupts

examples/server/v1/components.py

@@ -10,7 +10,7 @@
     from typing import AsyncIterator
 
 from datetime import timedelta
-from multiprocessing import Lock, Queue
+from multiprocessing import Lock
 from pathlib import Path
 from typing import Any, Dict, List, Mapping, Optional, Tuple
 
@@ -20,7 +20,6 @@
 from viam.components.audio_input import AudioInput
 from viam.components.base import Base
 from viam.components.board import Board
-from viam.components.board.board import PostProcessor
 from viam.components.camera import Camera
 from viam.components.encoder import Encoder
 from viam.components.gantry import Gantry
@@ -241,27 +240,12 @@ async def read(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> int:
 
 class ExampleDigitalInterrupt(Board.DigitalInterrupt):
     def __init__(self, name: str):
-        self.high = False
-        self.last_tick = 0
         self.num_ticks = 0
-        self.callbacks: List[Queue] = []
-        self.post_processors: List[PostProcessor] = []
         super().__init__(name)
 
     async def value(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> int:
         return self.num_ticks
 
-    async def tick(self, high: bool, nanos: int):
-        self.high = high
-        self.last_tick = nanos
-        self.num_ticks += 1
-
-    async def add_callback(self, queue: Queue):
-        self.callbacks.append(queue)
-
-    async def add_post_processor(self, processor: PostProcessor):
-        self.post_processors.append(processor)
-
 
 class ExampleGPIOPin(Board.GPIOPin):
     def __init__(self, name: str):

src/viam/components/board/board.py

@@ -1,16 +1,13 @@
 import abc
 from datetime import timedelta
-from multiprocessing import Queue
-from typing import Any, Callable, Dict, Final, List, Optional
+from typing import Any, Dict, Final, List, Optional
 
 from viam.proto.common import BoardStatus
 from viam.proto.component.board import PowerMode
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
 
-PostProcessor = Callable[[int], int]
-
 
 class Board(ComponentBase):
     """
@@ -57,41 +54,6 @@ async def value(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Option
             """
             ...
 
-        @abc.abstractmethod
-        async def tick(self, high: bool, nanos: int):
-            """
-            This method is to be called either manually if the interrupt
-            is a proxy to some real hardware interrupt or for tests.
-
-            Args:
-                high (bool): If the signal of the interrupt is high.
-                nanos (int): Nanoseconds from an arbitrary point in time,
-                    but always increasing and always needs to be accurate.
-                    Using ``time.time_ns()`` would be acceptable.
-            """
-            ...
-
-        @abc.abstractmethod
-        async def add_callback(self, queue: Queue):
-            """
-            Add a callback to be sent the low/high value on ``tick()``.
-
-            Args:
-                queue (Queue): The receiving queue.
-            """
-            ...
-
-        @abc.abstractmethod
-        async def add_post_processor(self, processor: PostProcessor):
-            """
-            Add a post processor that should be used to modify what
-            is returned by ``self.value()``
-
-            Args:
-                processor (PostProcessor): The post processor to add.
-            """
-            ...
-
     class GPIOPin(ComponentBase):
         """
         Abstract representation of an individual GPIO pin on a board

src/viam/components/board/client.py

@@ -1,5 +1,4 @@
 from datetime import timedelta
-from multiprocessing import Queue
 from typing import Any, Dict, List, Mapping, Optional
 
 from google.protobuf.duration_pb2 import Duration
@@ -31,7 +30,6 @@
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
 from . import Board
-from .board import PostProcessor
 
 
 class AnalogReaderClient(Board.AnalogReader):
@@ -59,15 +57,6 @@ async def value(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Option
         response: GetDigitalInterruptValueResponse = await self.board.client.GetDigitalInterruptValue(request, timeout=timeout)
         return response.value
 
-    async def tick(self, high: bool, nanos: int):
-        raise NotImplementedError()
-
-    async def add_callback(self, queue: Queue):
-        raise NotImplementedError()
-
-    async def add_post_processor(self, processor: PostProcessor):
-        raise NotImplementedError()
-
 
 class GPIOPinClient(Board.GPIOPin):
     def __init__(self, name: str, board: "BoardClient"):

tests/mocks/components.py

@@ -7,7 +7,6 @@
 
 from dataclasses import dataclass
 from datetime import datetime, timedelta
-from multiprocessing import Queue
 from secrets import choice
 from typing import Any, Dict, List, Mapping, Optional, Tuple, Union
 
@@ -18,7 +17,6 @@
 from viam.components.audio_input import AudioInput
 from viam.components.base import Base
 from viam.components.board import Board
-from viam.components.board.board import PostProcessor
 from viam.components.camera import Camera, DistortionParameters, IntrinsicParameters
 from viam.components.encoder import Encoder
 from viam.components.gantry import Gantry
@@ -262,27 +260,16 @@ def __init__(self, name: str):
         self.high = False
         self.last_tick = 0
         self.num_ticks = 0
-        self.callbacks: List[Queue] = []
-        self.post_processors: List[PostProcessor] = []
-        self.timeout: Optional[float] = None
         super().__init__(name)
 
     async def value(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> int:
-        self.extra = extra
-        self.timeout = timeout
         return self.num_ticks
 
-    async def tick(self, high: bool, nanos: int):
+    async def tick(self, high: bool, nanos: int):  # Call this to get the mock interrupt to change
         self.high = high
         self.last_tick = nanos
         self.num_ticks += 1
 
-    async def add_callback(self, queue: Queue):
-        self.callbacks.append(queue)
-
-    async def add_post_processor(self, processor: PostProcessor):
-        self.post_processors.append(processor)
-
 
 class MockGPIOPin(Board.GPIOPin):
     def __init__(self, name: str):

tests/test_board.py

@@ -175,21 +175,18 @@ async def test_get_digital_interrupt_value(self, board: MockBoard, service: Boar
         async with ChannelFor([service]) as channel:
             client = BoardServiceStub(channel)
 
+            request = GetDigitalInterruptValueRequest(
+                board_name=board.name, digital_interrupt_name="dne"
+            )
             with pytest.raises(GRPCError, match=r".*Status.NOT_FOUND.*"):
-                request = GetDigitalInterruptValueRequest(board_name=board.name, digital_interrupt_name="dne")
                 await client.GetDigitalInterruptValue(request)
 
-            extra = {"foo": "bar", "baz": [1, 2, 3]}
             request = GetDigitalInterruptValueRequest(
-                board_name=board.name, digital_interrupt_name="interrupt1", extra=dict_to_struct(extra)
+                board_name=board.name, digital_interrupt_name="interrupt1"
             )
-            response: GetDigitalInterruptValueResponse = await client.GetDigitalInterruptValue(request, timeout=18.2)
+            response: GetDigitalInterruptValueResponse = await client.GetDigitalInterruptValue(request)
             assert response.value == 0
 
-            interrupt = cast(MockDigitalInterrupt, board.digital_interrupts["interrupt1"])
-            assert interrupt.extra == extra
-            assert interrupt.timeout == loose_approx(18.2)
-
     @pytest.mark.asyncio
     async def test_set_gpio(self, board: MockBoard, service: BoardRPCService):
         async with ChannelFor([service]) as channel: