RSDK-594 Pass metadata into all service methods (#200)

Author: maximpertsov

src/viam/components/audio_input/service.py

@@ -37,7 +37,7 @@ async def Chunks(self, stream: Stream[ChunksRequest, ChunksResponse]) -> None:
             raise e.grpc_error
 
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        audio_stream = await audio_input.stream(timeout=timeout)
+        audio_stream = await audio_input.stream(timeout=timeout, metadata=stream.metadata)
         first_chunk = await audio_stream.__anext__()
         await stream.send_message(ChunksResponse(info=first_chunk.info))
         await stream.send_message(ChunksResponse(chunk=first_chunk.chunk))
@@ -53,7 +53,7 @@ async def Properties(self, stream: Stream[PropertiesRequest, PropertiesResponse]
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        response = (await audio_input.get_properties(timeout=timeout)).proto
+        response = (await audio_input.get_properties(timeout=timeout, metadata=stream.metadata)).proto
         await stream.send_message(response)
 
     async def Record(self, stream: Stream[RecordRequest, HttpBody]) -> None:

src/viam/components/base/service.py

@@ -40,6 +40,7 @@ async def MoveStraight(self, stream: Stream[MoveStraightRequest, MoveStraightRes
             velocity=request.mm_per_sec,
             extra=struct_to_dict(request.extra),
             timeout=timeout,
+            metadata=stream.metadata,
         )
         response = MoveStraightResponse()
         await stream.send_message(response)
@@ -53,7 +54,13 @@ async def Spin(self, stream: Stream[SpinRequest, SpinResponse]) -> None:
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        await base.spin(angle=request.angle_deg, velocity=request.degs_per_sec, extra=struct_to_dict(request.extra), timeout=timeout)
+        await base.spin(
+            angle=request.angle_deg,
+            velocity=request.degs_per_sec,
+            extra=struct_to_dict(request.extra),
+            timeout=timeout,
+            metadata=stream.metadata,
+        )
         response = SpinResponse()
         await stream.send_message(response)
 
@@ -66,7 +73,9 @@ async def SetPower(self, stream: Stream[SetPowerRequest, SetPowerResponse]) -> N
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        await base.set_power(request.linear, request.angular, extra=struct_to_dict(request.extra), timeout=timeout)
+        await base.set_power(
+            request.linear, request.angular, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata
+        )
         response = SetPowerResponse()
         await stream.send_message(response)
 
@@ -79,7 +88,9 @@ async def SetVelocity(self, stream: Stream[SetVelocityRequest, SetVelocityRespon
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        await base.set_velocity(request.linear, request.angular, extra=struct_to_dict(request.extra), timeout=timeout)
+        await base.set_velocity(
+            request.linear, request.angular, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata
+        )
         await stream.send_message(SetVelocityResponse())
 
     async def Stop(self, stream: Stream[StopRequest, StopResponse]) -> None:
@@ -91,6 +102,6 @@ async def Stop(self, stream: Stream[StopRequest, StopResponse]) -> None:
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        await base.stop(extra=struct_to_dict(request.extra), timeout=timeout)
+        await base.stop(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = StopResponse()
         await stream.send_message(response)

src/viam/components/board/service.py

@@ -43,7 +43,7 @@ async def Status(self, stream: Stream[StatusRequest, StatusResponse]) -> None:
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        status = await board.status(extra=struct_to_dict(request.extra), timeout=timeout)
+        status = await board.status(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = StatusResponse(status=status)
         await stream.send_message(response)
 
@@ -57,7 +57,7 @@ async def SetGPIO(self, stream: Stream[SetGPIORequest, SetGPIOResponse]) -> None
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        await pin.set(request.high, extra=struct_to_dict(request.extra), timeout=timeout)
+        await pin.set(request.high, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = SetGPIOResponse()
         await stream.send_message(response)
 
@@ -71,7 +71,7 @@ async def GetGPIO(self, stream: Stream[GetGPIORequest, GetGPIOResponse]) -> None
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        high = await pin.get(extra=struct_to_dict(request.extra), timeout=timeout)
+        high = await pin.get(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = GetGPIOResponse(high=high)
         await stream.send_message(response)
 
@@ -85,7 +85,7 @@ async def PWM(self, stream: Stream[PWMRequest, PWMResponse]) -> None:
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        pwm = await pin.get_pwm(extra=struct_to_dict(request.extra), timeout=timeout)
+        pwm = await pin.get_pwm(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = PWMResponse(duty_cycle_pct=pwm)
         await stream.send_message(response)
 
@@ -99,7 +99,7 @@ async def SetPWM(self, stream: Stream[SetPWMRequest, SetPWMResponse]) -> None:
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        await pin.set_pwm(request.duty_cycle_pct, extra=struct_to_dict(request.extra), timeout=timeout)
+        await pin.set_pwm(request.duty_cycle_pct, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = SetPWMResponse()
         await stream.send_message(response)
 
@@ -113,7 +113,7 @@ async def PWMFrequency(self, stream: Stream[PWMFrequencyRequest, PWMFrequencyRes
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        frequency = await pin.get_pwm_frequency(extra=struct_to_dict(request.extra), timeout=timeout)
+        frequency = await pin.get_pwm_frequency(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = PWMFrequencyResponse(frequency_hz=frequency)
         await stream.send_message(response)
 
@@ -127,7 +127,7 @@ async def SetPWMFrequency(self, stream: Stream[SetPWMFrequencyRequest, SetPWMFre
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        await pin.set_pwm_frequency(request.frequency_hz, extra=struct_to_dict(request.extra), timeout=timeout)
+        await pin.set_pwm_frequency(request.frequency_hz, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = SetPWMFrequencyResponse()
         await stream.send_message(response)
 
@@ -141,7 +141,7 @@ async def ReadAnalogReader(self, stream: Stream[ReadAnalogReaderRequest, ReadAna
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        value = await analog_reader.read(extra=struct_to_dict(request.extra), timeout=timeout)
+        value = await analog_reader.read(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = ReadAnalogReaderResponse(value=value)
         await stream.send_message(response)
 
@@ -155,6 +155,6 @@ async def GetDigitalInterruptValue(self, stream: Stream[GetDigitalInterruptValue
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        value = await interrupt.value(extra=struct_to_dict(request.extra), timeout=timeout)
+        value = await interrupt.value(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = GetDigitalInterruptValueResponse(value=value)
         await stream.send_message(response)

src/viam/components/camera/service.py

@@ -35,7 +35,7 @@ async def GetImage(self, stream: Stream[GetImageRequest, GetImageResponse]) -> N
             raise e.grpc_error
 
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        image = await camera.get_image(request.mime_type, timeout=timeout)
+        image = await camera.get_image(request.mime_type, timeout=timeout, metadata=stream.metadata)
         try:
             mimetype, is_lazy = CameraMimeType.from_lazy(request.mime_type)
             if CameraMimeType.is_supported(mimetype):
@@ -62,7 +62,7 @@ async def RenderFrame(self, stream: Stream[RenderFrameRequest, HttpBody]) -> Non
         except ValueError:
             mimetype = CameraMimeType.JPEG
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        image = await camera.get_image(mimetype, timeout=timeout)
+        image = await camera.get_image(mimetype, timeout=timeout, metadata=stream.metadata)
         try:
             img = mimetype.encode_image(image)
         finally:
@@ -79,7 +79,7 @@ async def GetPointCloud(self, stream: Stream[GetPointCloudRequest, GetPointCloud
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        pc, mimetype = await camera.get_point_cloud(timeout=timeout)
+        pc, mimetype = await camera.get_point_cloud(timeout=timeout, metadata=stream.metadata)
         response = GetPointCloudResponse(mime_type=mimetype, point_cloud=pc)
         await stream.send_message(response)
 
@@ -92,7 +92,7 @@ async def GetProperties(self, stream: Stream[GetPropertiesRequest, GetProperties
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        properties = await camera.get_properties(timeout=timeout)
+        properties = await camera.get_properties(timeout=timeout, metadata=stream.metadata)
         response = GetPropertiesResponse(
             supports_pcd=properties.supports_pcd,
             intrinsic_parameters=properties.intrinsic_parameters,

src/viam/components/gantry/service.py

@@ -34,7 +34,7 @@ async def GetPosition(self, stream: Stream[GetPositionRequest, GetPositionRespon
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        position = await gantry.get_position(extra=struct_to_dict(request.extra), timeout=timeout)
+        position = await gantry.get_position(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = GetPositionResponse(positions_mm=position)
         await stream.send_message(response)
 
@@ -47,7 +47,9 @@ async def MoveToPosition(self, stream: Stream[MoveToPositionRequest, MoveToPosit
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        await gantry.move_to_position(list(request.positions_mm), request.world_state, extra=struct_to_dict(request.extra), timeout=timeout)
+        await gantry.move_to_position(
+            list(request.positions_mm), request.world_state, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata
+        )
         response = MoveToPositionResponse()
         await stream.send_message(response)
 
@@ -60,7 +62,7 @@ async def GetLengths(self, stream: Stream[GetLengthsRequest, GetLengthsResponse]
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        lengths = await gantry.get_lengths(extra=struct_to_dict(request.extra), timeout=timeout)
+        lengths = await gantry.get_lengths(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = GetLengthsResponse(lengths_mm=lengths)
         await stream.send_message(response)
 
@@ -73,6 +75,6 @@ async def Stop(self, stream: Stream[StopRequest, StopResponse]) -> None:
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        await gantry.stop(extra=struct_to_dict(request.extra), timeout=timeout)
+        await gantry.stop(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = StopResponse()
         await stream.send_message(response)

src/viam/components/generic/service.py

@@ -31,7 +31,7 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
             raise e.grpc_error
         try:
             timeout = stream.deadline.time_remaining() if stream.deadline else None
-            result = await component.do_command(struct_to_dict(request.command), timeout=timeout)
+            result = await component.do_command(struct_to_dict(request.command), timeout=timeout, metadata=stream.metadata)
         except NotImplementedError:
             raise GRPCError(Status.UNIMPLEMENTED, f"``DO`` command is unimplemented for component named: {name}")
         response = DoCommandResponse(result=dict_to_struct(result))

src/viam/components/gripper/service.py

@@ -32,7 +32,7 @@ async def Open(self, stream: Stream[OpenRequest, OpenResponse]) -> None:
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        await gripper.open(extra=struct_to_dict(request.extra), timeout=timeout)
+        await gripper.open(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = OpenResponse()
         await stream.send_message(response)
 
@@ -45,7 +45,7 @@ async def Grab(self, stream: Stream[GrabRequest, GrabResponse]) -> None:
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        grabbed = await gripper.grab(extra=struct_to_dict(request.extra), timeout=timeout)
+        grabbed = await gripper.grab(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = GrabResponse(success=grabbed)
         await stream.send_message(response)
 
@@ -57,5 +57,5 @@ async def Stop(self, stream: Stream[StopRequest, StopResponse]) -> None:
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        await gripper.stop(extra=struct_to_dict(request.extra), timeout=timeout)
+        await gripper.stop(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         await stream.send_message(StopResponse())

src/viam/components/input/service.py

@@ -42,7 +42,7 @@ async def GetControls(self, stream: Stream[GetControlsRequest, GetControlsRespon
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        controls = await controller.get_controls(extra=struct_to_dict(request.extra), timeout=timeout)
+        controls = await controller.get_controls(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = GetControlsResponse(controls=[c.value for c in controls])
         await stream.send_message(response)
 
@@ -55,7 +55,7 @@ async def GetEvents(self, stream: Stream[GetEventsRequest, GetEventsResponse]) -
         except ComponentNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        events = await controller.get_events(extra=struct_to_dict(request.extra), timeout=timeout)
+        events = await controller.get_events(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         pb_events = [e.proto for e in events.values()]
         response = GetEventsResponse(events=pb_events)
         await stream.send_message(response)
@@ -157,7 +157,7 @@ async def TriggerEvent(self, stream: Stream[TriggerEventRequest, TriggerEventRes
             controller = self.get_component(name)
             pb_event = request.event
             event = Event.from_proto(pb_event)
-            await controller.trigger_event(event, extra=struct_to_dict(request.extra), timeout=timeout)
+            await controller.trigger_event(event, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         except ComponentNotFoundError as e:
             raise e.grpc_error
         except NotSupportedError as e: