Add motion service (#676)

docs/conf.py

@@ -7,7 +7,7 @@
 # -- Project information -----------------------------------------------------
 
 project = "Viam Python SDK"
-copyright = "2022-2023, Viam Inc"
+copyright = "2022-2024, Viam Inc"
 author = "Viam Inc"
 
 # -- General configuration ---------------------------------------------------

pyproject.toml

@@ -15,7 +15,7 @@ include = ["LICENSE", "src/viam/rpc/libviam_rust_utils.*"]
   grpclib = ">=0.4.7,<1"
   googleapis-common-protos = ">=1.60.0,<2"
   typing-extensions = ">=4.8.0,<5"
-  protobuf = ">=4.24.3,<5"
+  protobuf = ">=4.24.3"
   numpy = { version = ">=1.21,<2", optional = true }
 
   [tool.poetry.group.dev.dependencies]
@@ -48,6 +48,7 @@ include = ["LICENSE", "src/viam/rpc/libviam_rust_utils.*"]
   ]
   Pillow = ">=9.1.0,<11"
   pyright = "^1.1.339"
+  pytest-mock = "^3.14.0"
 
   [tool.poetry.extras]
   mlmodel = ["numpy"]

src/viam/components/arm/arm.py

@@ -47,7 +47,7 @@ async def get_end_position(
             pos = await my_arm.get_end_position()
 
         Returns:
-            Pose: A representation of the arm’s current position as a 6 DOF (six degrees of freedom) pose.
+            Pose: A representation of the arm's current position as a 6 DOF (six degrees of freedom) pose.
             The ``Pose`` is composed of values for location and orientation with respect to the origin.
             Location is expressed as distance, which is represented by x, y, and z coordinate values.
             Orientation is expressed as an orientation vector, which is represented by o_x, o_y, o_z, and theta values.

src/viam/components/audio_input/service.py

@@ -2,7 +2,7 @@
 from datetime import timedelta
 from io import BytesIO
 
-from google.api.httpbody_pb2 import HttpBody
+from google.api.httpbody_pb2 import HttpBody  # type: ignore
 from grpclib import GRPCError, Status
 from grpclib.server import Stream
 

src/viam/components/camera/service.py

@@ -1,6 +1,6 @@
 # TODO: Update type checking based with RSDK-4089
 # pyright: reportGeneralTypeIssues=false
-from google.api.httpbody_pb2 import HttpBody
+from google.api.httpbody_pb2 import HttpBody  # type: ignore
 from grpclib.server import Stream
 
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse

src/viam/gen/app/data/v1/data_pb2.pyi

@@ -642,9 +642,12 @@ global___BinaryMetadata = BinaryMetadata
 
 @typing.final
 class DeleteTabularDataRequest(google.protobuf.message.Message):
-    """DeleteTabularDataRequest deletes the data from the organization that is older than `delete_older_than_days`.
-    For example if `delete_older_than_days` is 10, this deletes any data that was captured up to 10 days ago.
-    If it is 0, all existing data is deleted.
+    """DeleteTabularDataRequest deletes the data from the organization that is older than `delete_older_than_days`
+    in UTC time. For example, if delete_older_than_days=1 and the request is made at 1AM EST on March 11
+    (March 11 5AM UTC), this deletes all data captured through March 10 11:59:59PM UTC.
+    If the request is at 10PM EST on March 11 (March 12 2AM UTC), this deletes all data captured
+    through March 11 11:59:59PM UTC.
+    If delete_older_than_days is 0, all existing data is deleted.
     """
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     ORGANIZATION_ID_FIELD_NUMBER: builtins.int

src/viam/gen/app/v1/app_pb2.pyi

@@ -1714,6 +1714,37 @@ class Fragment(google.protobuf.message.Message):
         ...
 global___Fragment = Fragment
 
+@typing.final
+class FragmentHistoryEntry(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    FRAGMENT_FIELD_NUMBER: builtins.int
+    EDITED_ON_FIELD_NUMBER: builtins.int
+    OLD_FIELD_NUMBER: builtins.int
+    EDITED_BY_FIELD_NUMBER: builtins.int
+    fragment: builtins.str
+
+    @property
+    def edited_on(self) -> google.protobuf.timestamp_pb2.Timestamp:
+        ...
+
+    @property
+    def old(self) -> global___Fragment:
+        ...
+
+    @property
+    def edited_by(self) -> global___AuthenticatorInfo:
+        ...
+
+    def __init__(self, *, fragment: builtins.str=..., edited_on: google.protobuf.timestamp_pb2.Timestamp | None=..., old: global___Fragment | None=..., edited_by: global___AuthenticatorInfo | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['edited_by', b'edited_by', 'edited_on', b'edited_on', 'old', b'old']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['edited_by', b'edited_by', 'edited_on', b'edited_on', 'fragment', b'fragment', 'old', b'old']) -> None:
+        ...
+global___FragmentHistoryEntry = FragmentHistoryEntry
+
 @typing.final
 class ListFragmentsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -1899,6 +1930,52 @@ class DeleteFragmentResponse(google.protobuf.message.Message):
         ...
 global___DeleteFragmentResponse = DeleteFragmentResponse
 
+@typing.final
+class GetFragmentHistoryRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    ID_FIELD_NUMBER: builtins.int
+    PAGE_TOKEN_FIELD_NUMBER: builtins.int
+    PAGE_LIMIT_FIELD_NUMBER: builtins.int
+    id: builtins.str
+    page_token: builtins.str
+    page_limit: builtins.int
+
+    def __init__(self, *, id: builtins.str=..., page_token: builtins.str | None=..., page_limit: builtins.int | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['_page_limit', b'_page_limit', '_page_token', b'_page_token', 'page_limit', b'page_limit', 'page_token', b'page_token']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['_page_limit', b'_page_limit', '_page_token', b'_page_token', 'id', b'id', 'page_limit', b'page_limit', 'page_token', b'page_token']) -> None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_page_limit', b'_page_limit']) -> typing.Literal['page_limit'] | None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_page_token', b'_page_token']) -> typing.Literal['page_token'] | None:
+        ...
+global___GetFragmentHistoryRequest = GetFragmentHistoryRequest
+
+@typing.final
+class GetFragmentHistoryResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    HISTORY_FIELD_NUMBER: builtins.int
+    NEXT_PAGE_TOKEN_FIELD_NUMBER: builtins.int
+    next_page_token: builtins.str
+
+    @property
+    def history(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___FragmentHistoryEntry]:
+        ...
+
+    def __init__(self, *, history: collections.abc.Iterable[global___FragmentHistoryEntry] | None=..., next_page_token: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['history', b'history', 'next_page_token', b'next_page_token']) -> None:
+        ...
+global___GetFragmentHistoryResponse = GetFragmentHistoryResponse
+
 @typing.final
 class ListRobotsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor

src/viam/gen/app/v1/robot_pb2.pyi

@@ -56,6 +56,7 @@ class RobotConfig(google.protobuf.message.Message):
     PACKAGES_FIELD_NUMBER: builtins.int
     OVERWRITE_FRAGMENT_STATUS_FIELD_NUMBER: builtins.int
     ENABLE_WEB_PROFILE_FIELD_NUMBER: builtins.int
+    LOG_FIELD_NUMBER: builtins.int
     debug: builtins.bool
     'Turns on debug mode for robot, adding an echo server and more logging and tracing. Only works after restart'
     disable_partial_start: builtins.bool
@@ -102,13 +103,17 @@ class RobotConfig(google.protobuf.message.Message):
     def overwrite_fragment_status(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___AppValidationStatus]:
         ...
 
-    def __init__(self, *, cloud: global___CloudConfig | None=..., remotes: collections.abc.Iterable[global___RemoteConfig] | None=..., components: collections.abc.Iterable[global___ComponentConfig] | None=..., processes: collections.abc.Iterable[global___ProcessConfig] | None=..., services: collections.abc.Iterable[global___ServiceConfig] | None=..., network: global___NetworkConfig | None=..., auth: global___AuthConfig | None=..., debug: builtins.bool | None=..., modules: collections.abc.Iterable[global___ModuleConfig] | None=..., disable_partial_start: builtins.bool | None=..., packages: collections.abc.Iterable[global___PackageConfig] | None=..., overwrite_fragment_status: collections.abc.Iterable[global___AppValidationStatus] | None=..., enable_web_profile: builtins.bool=...) -> None:
+    @property
+    def log(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___LogPatternConfig]:
+        ...
+
+    def __init__(self, *, cloud: global___CloudConfig | None=..., remotes: collections.abc.Iterable[global___RemoteConfig] | None=..., components: collections.abc.Iterable[global___ComponentConfig] | None=..., processes: collections.abc.Iterable[global___ProcessConfig] | None=..., services: collections.abc.Iterable[global___ServiceConfig] | None=..., network: global___NetworkConfig | None=..., auth: global___AuthConfig | None=..., debug: builtins.bool | None=..., modules: collections.abc.Iterable[global___ModuleConfig] | None=..., disable_partial_start: builtins.bool | None=..., packages: collections.abc.Iterable[global___PackageConfig] | None=..., overwrite_fragment_status: collections.abc.Iterable[global___AppValidationStatus] | None=..., enable_web_profile: builtins.bool=..., log: collections.abc.Iterable[global___LogPatternConfig] | None=...) -> None:
         ...
 
     def HasField(self, field_name: typing.Literal['_auth', b'_auth', '_debug', b'_debug', '_disable_partial_start', b'_disable_partial_start', '_network', b'_network', 'auth', b'auth', 'cloud', b'cloud', 'debug', b'debug', 'disable_partial_start', b'disable_partial_start', 'network', b'network']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing.Literal['_auth', b'_auth', '_debug', b'_debug', '_disable_partial_start', b'_disable_partial_start', '_network', b'_network', 'auth', b'auth', 'cloud', b'cloud', 'components', b'components', 'debug', b'debug', 'disable_partial_start', b'disable_partial_start', 'enable_web_profile', b'enable_web_profile', 'modules', b'modules', 'network', b'network', 'overwrite_fragment_status', b'overwrite_fragment_status', 'packages', b'packages', 'processes', b'processes', 'remotes', b'remotes', 'services', b'services']) -> None:
+    def ClearField(self, field_name: typing.Literal['_auth', b'_auth', '_debug', b'_debug', '_disable_partial_start', b'_disable_partial_start', '_network', b'_network', 'auth', b'auth', 'cloud', b'cloud', 'components', b'components', 'debug', b'debug', 'disable_partial_start', b'disable_partial_start', 'enable_web_profile', b'enable_web_profile', 'log', b'log', 'modules', b'modules', 'network', b'network', 'overwrite_fragment_status', b'overwrite_fragment_status', 'packages', b'packages', 'processes', b'processes', 'remotes', b'remotes', 'services', b'services']) -> None:
         ...
 
     @typing.overload
@@ -128,6 +133,24 @@ class RobotConfig(google.protobuf.message.Message):
         ...
 global___RobotConfig = RobotConfig
 
+@typing.final
+class LogPatternConfig(google.protobuf.message.Message):
+    """LogPatternConfig allows you to specify a 2-tuple consisting
+    of a logger name and its corresponding log level.
+    """
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    PATTERN_FIELD_NUMBER: builtins.int
+    LEVEL_FIELD_NUMBER: builtins.int
+    pattern: builtins.str
+    level: builtins.str
+
+    def __init__(self, *, pattern: builtins.str=..., level: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['level', b'level', 'pattern', b'pattern']) -> None:
+        ...
+global___LogPatternConfig = LogPatternConfig
+
 @typing.final
 class LocationSecret(google.protobuf.message.Message):
     """Valid location secret that can be used for authentication to the robot."""