lint, typecheck

viamrobotics · Sep 26, 2024 · 55be528 · 55be528
1 parent 46fe76f
commit 55be528
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Showing 9 changed files with 33 additions and 25 deletions.
diff --git a/src/viam/components/board/client.py b/src/viam/components/board/client.py
@@ -27,7 +27,7 @@
     StreamTicksResponse,
     WriteAnalogRequest,
 )
-from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
+from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase, ResourceRPCClientBase
 from viam.streams import StreamWithIterator
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
@@ -48,7 +48,7 @@ async def read(
         timeout: Optional[float] = None,
         **kwargs,
     ) -> Board.Analog.Value:
-        md = kwargs.get('metadata', self.Metadata()).proto
+        md = kwargs.get('metadata', ResourceRPCClientBase.Metadata()).proto
         request = ReadAnalogReaderRequest(board_name=self.board.name, analog_reader_name=self.name, extra=dict_to_struct(extra))
         return await self.board.client.ReadAnalogReader(request, timeout=timeout, metadata=md)
 
@@ -60,7 +60,7 @@ async def write(
         timeout: Optional[float] = None,
         **kwargs,
     ):
-        md = kwargs.get('metadata', self.Metadata()).proto
+        md = kwargs.get('metadata', ResourceRPCClientBase.Metadata()).proto
         request = WriteAnalogRequest(name=self.board.name, pin=self.name, value=value, extra=dict_to_struct(extra))
         await self.board.client.WriteAnalog(request, timeout=timeout, metadata=md)
 
@@ -77,7 +77,7 @@ async def value(
         timeout: Optional[float] = None,
         **kwargs,
     ) -> int:
-        md = kwargs.get('metadata', self.Metadata()).proto
+        md = kwargs.get('metadata', ResourceRPCClientBase.Metadata()).proto
         request = GetDigitalInterruptValueRequest(board_name=self.board.name, digital_interrupt_name=self.name, extra=dict_to_struct(extra))
         response: GetDigitalInterruptValueResponse = await self.board.client.GetDigitalInterruptValue(request, timeout=timeout, metadata=md)
         return response.value
@@ -95,7 +95,7 @@ async def get(
         timeout: Optional[float] = None,
         **kwargs,
     ) -> bool:
-        md = kwargs.get('metadata', self.Metadata()).proto
+        md = kwargs.get('metadata', ResourceRPCClientBase.Metadata()).proto
         request = GetGPIORequest(name=self.board.name, pin=self.name, extra=dict_to_struct(extra))
         response: GetGPIOResponse = await self.board.client.GetGPIO(request, timeout=timeout, metadata=md)
         return response.high
@@ -108,7 +108,7 @@ async def set(
         timeout: Optional[float] = None,
         **kwargs,
     ):
-        md = kwargs.get('metadata', self.Metadata()).proto
+        md = kwargs.get('metadata', ResourceRPCClientBase.Metadata()).proto
         request = SetGPIORequest(name=self.board.name, pin=self.name, high=high, extra=dict_to_struct(extra))
         await self.board.client.SetGPIO(request, timeout=timeout, metadata=md)
 
@@ -119,7 +119,7 @@ async def get_pwm(
         timeout: Optional[float] = None,
         **kwargs,
     ) -> float:
-        md = kwargs.get('metadata', self.Metadata()).proto
+        md = kwargs.get('metadata', ResourceRPCClientBase.Metadata()).proto
         request = PWMRequest(name=self.board.name, pin=self.name, extra=dict_to_struct(extra))
         response: PWMResponse = await self.board.client.PWM(request, timeout=timeout, metadata=md)
         return response.duty_cycle_pct
@@ -132,7 +132,7 @@ async def set_pwm(
         timeout: Optional[float] = None,
         **kwargs,
     ):
-        md = kwargs.get('metadata', self.Metadata()).proto
+        md = kwargs.get('metadata', ResourceRPCClientBase.Metadata()).proto
         request = SetPWMRequest(name=self.board.name, pin=self.name, duty_cycle_pct=duty_cycle, extra=dict_to_struct(extra))
         await self.board.client.SetPWM(request, timeout=timeout, metadata=md)
 
@@ -143,7 +143,7 @@ async def get_pwm_frequency(
         timeout: Optional[float] = None,
         **kwargs,
     ) -> int:
-        md = kwargs.get('metadata', self.Metadata()).proto
+        md = kwargs.get('metadata', ResourceRPCClientBase.Metadata()).proto
         request = PWMFrequencyRequest(name=self.board.name, pin=self.name, extra=dict_to_struct(extra))
         response: PWMFrequencyResponse = await self.board.client.PWMFrequency(request, timeout=timeout, metadata=md)
         return response.frequency_hz
@@ -156,7 +156,7 @@ async def set_pwm_frequency(
         timeout: Optional[float] = None,
         **kwargs,
     ):
-        md = kwargs.get('metadata', self.Metadata()).proto
+        md = kwargs.get('metadata', ResourceRPCClientBase.Metadata()).proto
         request = SetPWMFrequencyRequest(name=self.board.name, pin=self.name, frequency_hz=frequency, extra=dict_to_struct(extra))
         await self.board.client.SetPWMFrequency(request, timeout=timeout, metadata=md)
 
@@ -226,7 +226,7 @@ async def set_power_mode(
 
     async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
         md = kwargs.get('metadata', self.Metadata())
-        return await get_geometries(self.client, self.name, extra, timeout)
+        return await get_geometries(self.client, self.name, extra, timeout, md)
 
     async def write_analog(
         self,
@@ -248,17 +248,17 @@ async def stream_ticks(
         extra: Optional[Dict[str, Any]] = None,
         **kwargs,
     ) -> TickStream:
-        md = kwargs.get('metadata', self.Metadata()).proto
         names = []
         for di in interrupts:
             names.append(di.name)
         request = StreamTicksRequest(name=self.name, pin_names=names, extra=dict_to_struct(extra))
 
         async def read():
+            md = kwargs.get('metadata', self.Metadata()).proto
             tick_stream: ClientStream[StreamTicksRequest, StreamTicksResponse]
-            async with self.client.StreamTicks.open() as tick_stream:
+            async with self.client.StreamTicks.open(metadata=md) as tick_stream:
                 try:
-                    await tick_stream.send_message(request, end=True, metadata=md)
+                    await tick_stream.send_message(request, end=True)
                     async for tick in tick_stream:
                         yield tick
                 except Exception as e:

diff --git a/src/viam/components/input/client.py b/src/viam/components/input/client.py
@@ -133,7 +133,7 @@ async def _stream_events(self, metadata: ResourceRPCClientBase.Metadata):
             return
 
         md = metadata.proto
-        request = StreamEventsRequest(controller=self.name, events=[], extra=self._callback_extra, metadata=md)
+        request = StreamEventsRequest(controller=self.name, events=[], extra=self._callback_extra)
         with self._lock:
             for control, callbacks in self.callbacks.items():
                 event = StreamEventsRequest.Events(
@@ -144,7 +144,7 @@ async def _stream_events(self, metadata: ResourceRPCClientBase.Metadata):
                 request.events.append(event)
 
         try:
-            async with self.client.StreamEvents.open() as stream:
+            async with self.client.StreamEvents.open(metadata=md) as stream:
                 await stream.send_message(request, end=True)
                 self._send_connection_status(True)
                 reply: StreamEventsResponse
@@ -191,4 +191,4 @@ async def do_command(
 
     async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
         md = kwargs.get('metadata', self.Metadata())
-        return await get_geometries(self.client, self.name, extra, timeout)
+        return await get_geometries(self.client, self.name, extra, timeout, md)
diff --git a/src/viam/components/pose_tracker/client.py b/src/viam/components/pose_tracker/client.py
@@ -47,4 +47,4 @@ async def do_command(
 
     async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
         md = kwargs.get('metadata', self.Metadata())
-        return await get_geometries(self.client, self.name, extra, timeout)
+        return await get_geometries(self.client, self.name, extra, timeout, md)
diff --git a/src/viam/components/sensor/client.py b/src/viam/components/sensor/client.py
@@ -46,4 +46,4 @@ async def do_command(
 
     async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
         md = kwargs.get('metadata', self.Metadata())
-        return await get_geometries(self.client, self.name, extra, timeout)
+        return await get_geometries(self.client, self.name, extra, timeout, md)
diff --git a/src/viam/components/servo/client.py b/src/viam/components/servo/client.py
@@ -83,4 +83,4 @@ async def do_command(
 
     async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
         md = kwargs.get('metadata', self.Metadata())
-        return await get_geometries(self.client, self.name, extra, timeout)
+        return await get_geometries(self.client, self.name, extra, timeout, md)
diff --git a/src/viam/resource/rpc_client_base.py b/src/viam/resource/rpc_client_base.py
@@ -1,4 +1,4 @@
-from typing import Any, Mapping, Optional, Protocol, runtime_checkable
+from typing import Any, Dict, Protocol, runtime_checkable
 from string import ascii_lowercase
 from random import choice
 
@@ -15,7 +15,7 @@ class ResourceRPCClientBase(Protocol):
     """
 
     class Metadata:
-        metadata: Mapping[str, str] = {}
+        metadata: Dict[str, str] = {}
 
         def enable_debug_logging(self, key: str = ''):
             """Enables server-side debug logging for resource methods.
@@ -39,6 +39,7 @@ def proto(self):
     channel: Channel
     client: Any
 
+
 class ReconfigurableResourceRPCClientBase(ResourceRPCClientBase):
     """A base RPC client that can reset its channel.
 

diff --git a/src/viam/resource/types.py b/src/viam/resource/types.py
@@ -210,5 +210,5 @@ 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, request: GetGeometriesRequest, *, timeout: Optional[float] = None, **kwargs) -> GetGeometriesResponse:
         ...
diff --git a/src/viam/services/sensors/client.py b/src/viam/services/sensors/client.py
@@ -22,7 +22,13 @@ def __init__(self, name: str, channel: Channel):
         super().__init__(name, channel)
         self.client = SensorsServiceStub(channel)
 
-    async def get_sensors(self, *, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[ResourceName]:
+    async def get_sensors(
+        self,
+        *,
+        extra: Optional[Mapping[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> List[ResourceName]:
         """Get the ``ResourceName`` of all the ``Sensor`` resources connected to this Robot
 
         Returns:

diff --git a/src/viam/services/vision/client.py b/src/viam/services/vision/client.py
@@ -129,7 +129,8 @@ async def get_classifications_from_camera(
     ) -> List[Classification]:
         md = kwargs.get('metadata', self.Metadata()).proto
         request = GetClassificationsFromCameraRequest(name=self.name, camera_name=camera_name, n=count, extra=dict_to_struct(extra))
-        response: GetClassificationsFromCameraResponse = await self.client.GetClassificationsFromCamera(request, timeout=timeout, metadata=md)
+        response: GetClassificationsFromCameraResponse = await self.client.GetClassificationsFromCamera(
+                request, timeout=timeout, metadata=md)
         return list(response.classifications)
 
     async def get_classifications(