[RSDK-1822] Subtypes and ResourceNames (#209)

Author: njooma

Makefile

@@ -15,7 +15,7 @@ format:
 
 _buf: clean
 	rm -rf src/viam/gen
-	buf generate buf.build/viamrobotics/api --path common,component,robot,service
+	buf generate buf.build/viamrobotics/api --path common,component,robot,service,module,app/v1,tagger
 	buf generate buf.build/viamrobotics/goutils
 	protol -e googl* --in-place -s _grpc.py -s _pb2.py -s _pb2.pyi -o src/viam/gen buf buf.build/viamrobotics/api
 	protol -e googl* --in-place -s _grpc.py -s _pb2.py -s _pb2.pyi -o src/viam/gen buf buf.build/viamrobotics/goutils

etc/generate_proto_import.py

@@ -59,7 +59,9 @@ def get_packages(root: str) -> Dict[str, List[str]]:
             rel_path = rel_path.replace(os.path.sep, ".")
             packages[rel_path] = list(set([".".join(f.split(".")[:-1]) for f in filenames if "__init__.py" not in f]))
             LOGGER.debug(f"Packages at path {rel_path}: {packages[rel_path]}")
-    return packages
+    common = packages["common"]
+    del packages["common"]
+    return {**{"common": common}, **packages}  # Always have the common package first
 
 
 def build_dirs(root: str, package: str, modules: List[str]):

examples/server/v1/components.py

@@ -30,7 +30,7 @@
 from viam.components.pose_tracker import PoseTracker
 from viam.components.sensor import Sensor
 from viam.components.servo import Servo
-from viam.errors import ComponentNotFoundError
+from viam.errors import ResourceNotFoundError
 from viam.media import MediaStreamWithIterator
 from viam.media.audio import Audio, AudioStream
 from viam.operations import run_with_operation
@@ -278,19 +278,19 @@ async def analog_reader_by_name(self, name: str) -> Board.AnalogReader:
         try:
             return self.analog_readers[name]
         except KeyError:
-            raise ComponentNotFoundError("Board.AnalogReader", name)
+            raise ResourceNotFoundError("Board.AnalogReader", name)
 
     async def digital_interrupt_by_name(self, name: str) -> Board.DigitalInterrupt:
         try:
             return self.digital_interrupts[name]
         except KeyError:
-            raise ComponentNotFoundError("Board.DigitalInterrupt", name)
+            raise ResourceNotFoundError("Board.DigitalInterrupt", name)
 
     async def gpio_pin_by_name(self, name: str) -> Board.GPIOPin:
         try:
             return self.gpios[name]
         except KeyError:
-            raise ComponentNotFoundError("Board.GPIOPin", name)
+            raise ResourceNotFoundError("Board.GPIOPin", name)
 
     async def analog_reader_names(self) -> List[str]:
         return [key for key in self.analog_readers.keys()]

src/viam/components/arm/__init__.py

@@ -1,7 +1,7 @@
 import asyncio
 from viam.proto.component.arm import Status as ArmStatus
 from viam.proto.robot import Status
-from viam.registry import ComponentRegistration, Registry
+from viam.resource.registry import ComponentRegistration, Registry
 from viam.utils import message_to_struct
 
 from .arm import Arm, JointPositions, Pose, WorldState
@@ -30,4 +30,4 @@ async def create_status(component: Arm) -> Status:
     return Status(name=Arm.get_resource_name(component.name), status=message_to_struct(s))
 
 
-Registry.register(ComponentRegistration(Arm, "arm", ArmService, lambda name, channel: ArmClient(name, channel), create_status))
+Registry.register(ComponentRegistration(Arm, ArmService, lambda name, channel: ArmClient(name, channel), create_status))

src/viam/components/arm/arm.py

@@ -1,8 +1,9 @@
 import abc
-from typing import Any, Dict, Optional
+from typing import Any, Dict, Final, Optional
 
 from viam.proto.common import Pose, WorldState
 from viam.proto.component.arm import JointPositions
+from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
 
@@ -16,6 +17,8 @@ class Arm(ComponentBase):
     overridden, it must call the ``super().__init__()`` function.
     """
 
+    SUBTYPE: Final = Subtype(RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "arm")
+
     @abc.abstractmethod
     async def get_end_position(
         self,

src/viam/components/arm/service.py

@@ -1,7 +1,7 @@
 from grpclib.server import Stream
 
 from viam.components.service_base import ComponentServiceBase
-from viam.errors import ComponentNotFoundError
+from viam.errors import ResourceNotFoundError
 from viam.proto.component.arm import (
     ArmServiceBase,
     GetEndPositionRequest,
@@ -35,7 +35,7 @@ async def GetEndPosition(self, stream: Stream[GetEndPositionRequest, GetEndPosit
         name = request.name
         try:
             arm = self.get_component(name)
-        except ComponentNotFoundError as e:
+        except ResourceNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
         position = await arm.get_end_position(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
@@ -48,7 +48,7 @@ async def MoveToPosition(self, stream: Stream[MoveToPositionRequest, MoveToPosit
         name = request.name
         try:
             arm = self.get_component(name)
-        except ComponentNotFoundError as e:
+        except ResourceNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
         await arm.move_to_position(
@@ -63,7 +63,7 @@ async def GetJointPositions(self, stream: Stream[GetJointPositionsRequest, GetJo
         name = request.name
         try:
             arm = self.get_component(name)
-        except ComponentNotFoundError as e:
+        except ResourceNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
         positions = await arm.get_joint_positions(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
@@ -76,7 +76,7 @@ async def MoveToJointPositions(self, stream: Stream[MoveToJointPositionsRequest,
         name = request.name
         try:
             arm = self.get_component(name)
-        except ComponentNotFoundError as e:
+        except ResourceNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
         await arm.move_to_joint_positions(request.positions, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
@@ -89,7 +89,7 @@ async def Stop(self, stream: Stream[StopRequest, StopResponse]) -> None:
         name = request.name
         try:
             arm = self.get_component(name)
-        except ComponentNotFoundError as e:
+        except ResourceNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
         await arm.stop(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
@@ -102,7 +102,7 @@ async def IsMoving(self, stream: Stream[IsMovingRequest, IsMovingResponse]) -> N
         name = request.name
         try:
             arm = self.get_component(name)
-        except ComponentNotFoundError as e:
+        except ResourceNotFoundError as e:
             raise e.grpc_error
         is_moving = await arm.is_moving()
         response = IsMovingResponse(is_moving=is_moving)

src/viam/components/audio_input/__init__.py

@@ -1,4 +1,4 @@
-from viam.registry import ComponentRegistration, Registry
+from viam.resource.registry import ComponentRegistration, Registry
 
 from .audio_input import AudioInput
 from .client import AudioInputClient
@@ -12,7 +12,6 @@
 Registry.register(
     ComponentRegistration(
         AudioInput,
-        "audio_input",
         AudioInputService,
         lambda name, channel: AudioInputClient(name, channel),
     )

src/viam/components/audio_input/audio_input.py

@@ -1,19 +1,23 @@
 import abc
 from dataclasses import dataclass
 from datetime import timedelta
-from typing import Optional
+from typing import Final, Optional
 
 from google.protobuf.duration_pb2 import Duration
 from typing_extensions import Self
 
 from viam.media import MediaSource
 from viam.media.audio import Audio, AudioStream
 from viam.proto.component.audioinput import PropertiesResponse
+from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
 
 
 class AudioInput(ComponentBase, MediaSource[Audio]):
+
+    SUBTYPE: Final = Subtype(RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "audio_input")
+
     @dataclass
     class Properties:
         channel_count: int

src/viam/components/audio_input/service.py

@@ -7,7 +7,7 @@
 from grpclib.server import Stream
 
 from viam.components.service_base import ComponentServiceBase
-from viam.errors import ComponentNotFoundError, NotSupportedError
+from viam.errors import ResourceNotFoundError, NotSupportedError
 from viam.gen.component.audioinput.v1.audioinput_pb2 import SampleFormat
 from viam.proto.component.audioinput import (
     AudioInputServiceBase,
@@ -33,7 +33,7 @@ async def Chunks(self, stream: Stream[ChunksRequest, ChunksResponse]) -> None:
         assert request is not None
         try:
             audio_input = self.get_component(request.name)
-        except ComponentNotFoundError as e:
+        except ResourceNotFoundError as e:
             raise e.grpc_error
 
         timeout = stream.deadline.time_remaining() if stream.deadline else None
@@ -50,7 +50,7 @@ async def Properties(self, stream: Stream[PropertiesRequest, PropertiesResponse]
         assert request is not None
         try:
             audio_input = self.get_component(request.name)
-        except ComponentNotFoundError as e:
+        except ResourceNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
         response = (await audio_input.get_properties(timeout=timeout, metadata=stream.metadata)).proto
@@ -70,7 +70,7 @@ async def Record(self, stream: Stream[RecordRequest, HttpBody]) -> None:
 
         try:
             audio_input = self.get_component(request.name)
-        except ComponentNotFoundError as e:
+        except ResourceNotFoundError as e:
             raise e.grpc_error
         audio_stream = await audio_input.stream()
         first_chunk = await audio_stream.__anext__()

src/viam/components/base/__init__.py

@@ -1,4 +1,4 @@
-from viam.registry import ComponentRegistration, Registry
+from viam.resource.registry import ComponentRegistration, Registry
 from viam.proto.common import ActuatorStatus
 from viam.proto.robot import Status
 from viam.utils import message_to_struct
@@ -15,4 +15,4 @@ async def create_status(component: Base) -> Status:
     return Status(name=Base.get_resource_name(component.name), status=message_to_struct(s))
 
 
-Registry.register(ComponentRegistration(Base, "base", BaseService, lambda name, channel: BaseClient(name, channel), create_status))
+Registry.register(ComponentRegistration(Base, BaseService, lambda name, channel: BaseClient(name, channel), create_status))