Fix clients

njooma · njooma · commit 376b7e9c9cea · 2023-08-23T17:17:50.000-04:00
diff --git a/src/viam/components/arm/client.py b/src/viam/components/arm/client.py
@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetKinematicsRequest, GetKinematicsResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, GetKinematicsRequest, GetKinematicsResponse
 from viam.proto.component.arm import (
     ArmServiceStub,
     GetEndPositionRequest,
@@ -19,7 +19,7 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Arm, Geometry, KinematicsFileFormat, Pose
+from . import Arm, KinematicsFileFormat, Pose
 
 
 class ArmClient(Arm, ReconfigurableResourceRPCClientBase):
diff --git a/src/viam/components/audio_input/client.py b/src/viam/components/audio_input/client.py
@@ -4,7 +4,7 @@
 
 from viam.media import MediaStream, MediaStreamWithIterator
 from viam.media.audio import Audio
-from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.audioinput import (
     AudioInputServiceStub,
     ChunksRequest,
@@ -16,7 +16,7 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from .audio_input import AudioInput, Geometry
+from .audio_input import AudioInput
 
 
 class AudioInputClient(AudioInput, ReconfigurableResourceRPCClientBase):
diff --git a/src/viam/components/base/client.py b/src/viam/components/base/client.py
@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.base import (
     BaseServiceStub,
     GetPropertiesRequest,
@@ -18,7 +18,7 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Base, Geometry, Vector3
+from . import Base, Vector3
 
 
 class BaseClient(Base, ReconfigurableResourceRPCClientBase):
diff --git a/src/viam/components/board/client.py b/src/viam/components/board/client.py
@@ -5,7 +5,7 @@
 from google.protobuf.duration_pb2 import Duration
 from grpclib.client import Channel
 
-from viam.proto.common import BoardStatus, DoCommandRequest, DoCommandResponse
+from viam.proto.common import BoardStatus, DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.board import (
     BoardServiceStub,
     GetDigitalInterruptValueRequest,
@@ -29,7 +29,7 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Board, Geometry
+from . import Board
 from .board import PostProcessor
 
 
diff --git a/src/viam/components/camera/client.py b/src/viam/components/camera/client.py
@@ -5,7 +5,7 @@
 from PIL import Image
 
 from viam.media.video import LIBRARY_SUPPORTED_FORMATS, CameraMimeType, NamedImage
-from viam.proto.common import DoCommandRequest, DoCommandResponse, ResponseMetadata
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, ResponseMetadata
 from viam.proto.component.camera import (
     CameraServiceStub,
     GetImageRequest,
@@ -20,7 +20,7 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Camera, Geometry, RawImage
+from . import Camera, RawImage
 
 
 def get_image_from_response(data: bytes, response_mime_type: str, request_mime_type: Optional[str] = None) -> Union[Image.Image, RawImage]:
diff --git a/src/viam/components/encoder/client.py b/src/viam/components/encoder/client.py
@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.encoder import (
     EncoderServiceStub,
     GetPositionRequest,
@@ -15,7 +15,6 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Geometry
 from .encoder import Encoder
 
 
diff --git a/src/viam/components/gantry/client.py b/src/viam/components/gantry/client.py
@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.gantry import (
     GantryServiceStub,
     GetLengthsRequest,
@@ -19,7 +19,6 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Geometry
 from .gantry import Gantry
 
 
diff --git a/src/viam/components/generic/client.py b/src/viam/components/generic/client.py
@@ -3,12 +3,11 @@
 from grpclib import GRPCError, Status
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.generic import GenericServiceStub
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Geometry
 from .generic import Generic
 
 
diff --git a/src/viam/components/gripper/client.py b/src/viam/components/gripper/client.py
@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.gripper import (
     GrabRequest,
     GrabResponse,
@@ -15,7 +15,6 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Geometry
 from .gripper import Gripper
 
 
diff --git a/src/viam/components/input/client.py b/src/viam/components/input/client.py
@@ -10,7 +10,7 @@
 import viam
 from viam.errors import NotSupportedError
 from viam.logging import getLogger
-from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.inputcontroller import (
     GetControlsRequest,
     GetControlsResponse,
@@ -24,7 +24,6 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Geometry
 from .input import Control, ControlFunction, Controller, Event, EventType
 
 LOGGER = getLogger(__name__)
diff --git a/src/viam/components/motor/client.py b/src/viam/components/motor/client.py
@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.motor import (
     GetPositionRequest,
     GetPositionResponse,
@@ -22,7 +22,6 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Geometry
 from .motor import Motor
 
 
diff --git a/src/viam/components/movement_sensor/client.py b/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
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.movementsensor import (
     GetAccuracyRequest,
     GetAccuracyResponse,
@@ -26,7 +26,7 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Geometry, GeoPoint, Orientation, Vector3
+from . import GeoPoint, Orientation, Vector3
 
 
 class MovementSensorClient(MovementSensor, ReconfigurableResourceRPCClientBase):
diff --git a/src/viam/components/pose_tracker/client.py b/src/viam/components/pose_tracker/client.py
@@ -2,12 +2,11 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse, PoseInFrame
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, PoseInFrame
 from viam.proto.component.posetracker import GetPosesRequest, GetPosesResponse, PoseTrackerServiceStub
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Geometry
 from .pose_tracker import PoseTracker
 
 
diff --git a/src/viam/components/power_sensor/client.py b/src/viam/components/power_sensor/client.py
@@ -1,9 +1,9 @@
-from typing import Any, Dict, Mapping, Optional, Tuple
+from typing import Any, Dict, List, Mapping, Optional, Tuple
 
 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, Geometry
 from viam.proto.component.powersensor import (
     GetCurrentRequest,
     GetCurrentResponse,
@@ -14,7 +14,7 @@
     PowerSensorServiceStub,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
+from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
 
 class PowerSensorClient(PowerSensor, ReconfigurableResourceRPCClientBase):
@@ -55,3 +55,6 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        return await get_geometries(self.client, self.name, extra, timeout)
diff --git a/src/viam/components/sensor/__init__.py b/src/viam/components/sensor/__init__.py
@@ -1,4 +1,3 @@
-from viam.proto.common import Geometry
 from viam.resource.registry import Registry, ResourceRegistration
 
 from .client import SensorClient
@@ -7,7 +6,6 @@
 
 __all__ = [
     "Sensor",
-    "Geometry",
 ]
 
 Registry.register_subtype(
diff --git a/src/viam/components/sensor/client.py b/src/viam/components/sensor/client.py
@@ -2,12 +2,11 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.sensor import GetReadingsRequest, GetReadingsResponse, 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
 
-from . import Geometry
 from .sensor import Sensor
 
 
diff --git a/src/viam/components/servo/client.py b/src/viam/components/servo/client.py
@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.servo import (
     GetPositionRequest,
     GetPositionResponse,
@@ -15,7 +15,6 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Geometry
 from .servo import Servo
 
 
diff --git a/tests/test_robot.py b/tests/test_robot.py
@@ -8,12 +8,12 @@
 from grpclib.server import Stream
 from grpclib.testing import ChannelFor
 
-from viam.components.arm import Arm, Geometry, KinematicsFileFormat
+from viam.components.arm import Arm, KinematicsFileFormat
 from viam.components.arm.client import ArmClient
 from viam.components.motor import Motor
 from viam.components.movement_sensor import MovementSensor
 from viam.errors import ResourceNotFoundError
-from viam.proto.common import GeoPoint, Orientation, Pose, PoseInFrame, ResourceName, Transform, Vector3
+from viam.proto.common import GeoPoint, Orientation, Pose, PoseInFrame, ResourceName, Transform, Vector3, Geometry
 from viam.proto.component.arm import JointPositions
 from viam.proto.component.arm import Status as ArmStatus
 from viam.proto.component.motor import Status as MotorStatus
