AI update based on proto changes

src/viam/components/arm/service.py

@@ -109,7 +109,7 @@ async def GetKinematics(self, stream: Stream[GetKinematicsRequest, GetKinematics
         assert request is not None
         arm = self.get_resource(request.name)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        format, kinematics_data = await arm.get_kinematics(extra=struct_to_dict(request.extra), timeout=timeout)
+        format, kinematics_data = await arm.get_kinematics(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = GetKinematicsResponse(format=format, kinematics_data=kinematics_data)
         await stream.send_message(response)
 

src/viam/components/gantry/client.py

@@ -1,8 +1,15 @@
-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 +117,14 @@ 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 +155,33 @@ 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 information associated with the gantry.
+
+        ::
+
+            my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")
+
+            # Get the kinematics information associated with the gantry.
+            kinematics = await my_gantry.get_kinematics()
+
+            # Get the format of the kinematics file.
+            k_file = kinematics[0]
+
+            # Get the byte contents of the file.
+            k_bytes = kinematics[1]
+
+        Returns:
+            Tuple[KinematicsFileFormat.ValueType, bytes]: A tuple containing two values; the first [0] value represents the format of the
+            file, either in URDF format (``KinematicsFileFormat.KINEMATICS_FILE_FORMAT_URDF``) or
+            Viam's kinematic parameter format (spatial vector algebra) (``KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA``),
+            and the second [1] value represents the byte contents of the file.
+
+        For more information, see `Arm component <https://docs.viam.com/dev/reference/apis/components/arm/#getkinematics>`_.
+        """
+        ...

src/viam/components/gantry/service.py

@@ -1,8 +1,14 @@
 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,
     GetLengthsResponse,
     GetPositionRequest,
@@ -15,14 +21,15 @@
     MoveToPositionResponse,
     StopRequest,
     StopResponse,
+    UnimplementedGantryServiceBase,
 )
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
 from viam.utils import dict_to_struct, struct_to_dict
 
 from .gantry import Gantry
 
 
-class GantryRPCService(GantryServiceBase, ResourceRPCServiceBase[Gantry]):
+class GantryRPCService(UnimplementedGantryServiceBase, ResourceRPCServiceBase[Gantry]):
     """
     gRPC Service for a Gantry
     """
@@ -103,11 +110,20 @@ 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
+        gantry = self.get_resource(request.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
-        arm = self.get_resource(request.name)
+        gantry = self.get_resource(request.name)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        geometries = await arm.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        geometries = await gantry.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
         response = GetGeometriesResponse(geometries=geometries)
         await stream.send_message(response)

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 +2,14 @@
 
 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,
+)
 from viam.proto.component.gantry import (
     GantryServiceStub,
     GetLengthsRequest,
@@ -64,6 +71,11 @@ 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 +172,15 @@ 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)
@@ -234,6 +255,14 @@ 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)