[WORKFLOW] AI update based on proto changes from commit fe78ead

Author: viambot

src/viam/components/gantry/client.py

@@ -1,8 +1,8 @@
-from typing import Any, Dict, List, Mapping, Optional
+from typing import Any, Dict, List, Mapping, Optional, Tuple
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, GetKinematicsRequest, GetKinematicsResponse, KinematicsFileFormat
 from viam.proto.component.gantry import (
     GantryServiceStub,
     GetLengthsRequest,
@@ -110,6 +110,18 @@ async def do_command(
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout, metadata=md)
         return struct_to_dict(response.result)
 
+    async def get_kinematics(
+        self,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> Tuple[KinematicsFileFormat.ValueType, bytes]:
+        md = kwargs.get("metadata", self.Metadata()).proto
+        request = GetKinematicsRequest(name=self.name, extra=dict_to_struct(extra))
+        response: GetKinematicsResponse = await self.client.GetKinematics(request, timeout=timeout, metadata=md)
+        return response.format, response.kinematics_data
+
     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, md)

src/viam/components/gantry/gantry.py

@@ -1,6 +1,7 @@
 import abc
-from typing import Any, Dict, Final, List, Optional
+from typing import Any, Dict, Final, List, Optional, Tuple
 
+from viam.components.arm import KinematicsFileFormat
 from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT
 
 from ..component_base import ComponentBase
@@ -154,3 +155,43 @@ async def is_moving(self) -> bool:
         For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/#ismoving>`_.
         """
         ...
+
+    @abc.abstractmethod
+    async def get_kinematics(
+        self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs
+    ) -> Tuple[KinematicsFileFormat.ValueType, bytes]:
+        """
+        Get the kinematics of the gantry.
+
+        ::
+
+            my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")
+
+            # Get the kinematics of the gantry.
+            format, data = await my_gantry.get_kinematics()
+
+        Returns:
+            Tuple[KinematicsFileFormat.ValueType, bytes]: The kinematics file format and the data.
+
+        For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/#getkinematics>`_.
+        """
+        ...
+
+    @abc.abstractmethod
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
+        """
+        Get geometries of the gantry.
+
+        ::
+
+            my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")
+
+            # Get the geometries of the gantry.
+            geometries = await my_gantry.get_geometries()
+
+        Returns:
+            List[Geometry]: A list of geometries of the gantry.
+
+        For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/#getgeometries>`_.
+        """
+        ...

src/viam/components/gantry/service.py

@@ -1,6 +1,6 @@
 from grpclib.server import Stream
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse, GetKinematicsRequest, GetKinematicsResponse
 from viam.proto.component.gantry import (
     GantryServiceBase,
     GetLengthsRequest,
@@ -103,6 +103,16 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
         response = DoCommandResponse(result=dict_to_struct(result))
         await stream.send_message(response)
 
+    async def GetKinematics(self, stream: Stream[GetKinematicsRequest, GetKinematicsResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        gantry = self.get_resource(name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        format, data = await gantry.get_kinematics(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
+        response = GetKinematicsResponse(format=format, kinematics_data=data)
+        await stream.send_message(response)
+
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
         request = await stream.recv_message()
         assert request is not None

tests/mocks/components.py

@@ -556,6 +556,7 @@ def __init__(self, name: str, position: List[float], lengths: List[float]):
         self.position = position
         self.lengths = lengths
         self.is_stopped = True
+        self.kinematics = (KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA, b"\x00\x01\x02")
         self.extra = None
         self.homed = True
         self.speeds = Optional[List[float]]
@@ -602,6 +603,13 @@ async def stop(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optiona
     async def is_moving(self) -> bool:
         return not self.is_stopped
 
+    async def get_kinematics(
+        self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs
+    ) -> Tuple[KinematicsFileFormat.ValueType, bytes]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.kinematics
+
     async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
         self.extra = extra
         self.timeout = timeout

tests/test_gantry.py

@@ -2,7 +2,7 @@
 
 from viam.components.gantry import GantryClient
 from viam.components.gantry.service import GantryRPCService
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse, GetKinematicsRequest, GetKinematicsResponse, KinematicsFileFormat
 from viam.proto.component.gantry import (
     GantryServiceStub,
     GetLengthsRequest,
@@ -64,6 +64,11 @@ async def test_extra(self):
         await self.gantry.move_to_position([1, 2, 3], [4, 5, 6], extra=extra)
         assert self.gantry.extra == extra
 
+    async def test_get_kinematics(self):
+        format, data = await self.gantry.get_kinematics()
+        assert format == self.gantry.kinematics[0]
+        assert data == self.gantry.kinematics[1]
+
     async def test_timeout(self):
         assert self.gantry.timeout is None
 
@@ -160,6 +165,15 @@ async def test_do(self):
             result = struct_to_dict(response.result)
             assert result == {"command": command}
 
+    async def test_get_kinematics(self):
+        async with ChannelFor([self.service]) as channel:
+            client = GantryServiceStub(channel)
+            request = GetKinematicsRequest(name=self.gantry.name)
+            response: GetKinematicsResponse = await client.GetKinematics(request, timeout=1.1)
+            assert response.format == self.gantry.kinematics[0]
+            assert response.kinematics_data == self.gantry.kinematics[1]
+            assert self.gantry.timeout == loose_approx(1.1)
+
     async def test_get_geometries(self):
         async with ChannelFor([self.service]) as channel:
             client = GantryServiceStub(channel)
@@ -234,8 +248,16 @@ async def test_extra(self):
             await client.move_to_position([1, 2, 3], [4, 5, 6], extra=extra)
             assert self.gantry.extra == extra
 
+    async def test_get_kinematics(self):
+        async with ChannelFor([self.service]) as channel:
+            client = GantryClient(self.gantry.name, channel)
+            format, data = await client.get_kinematics(timeout=1.1)
+            assert format == self.gantry.kinematics[0]
+            assert data == self.gantry.kinematics[1]
+            assert self.gantry.timeout == loose_approx(1.1)
+
     async def test_get_geometries(self):
         async with ChannelFor([self.service]) as channel:
             client = GantryClient(self.gantry.name, channel)
             geometries = await client.get_geometries()
-            assert geometries == GEOMETRIES
+            assert geometries == GEOMETRIES