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feat(components): add switch implementation (#862)
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‎examples/apis.json

+4
Original file line numberDiff line numberDiff line change
@@ -29,6 +29,10 @@
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"func": "get_position",
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"packagePath": "viam.components"
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},
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"switch": {
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"func": "get_position",
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"packagePath": "viam.components"
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},
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"arm": {
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"func": "get_end_position",
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"packagePath": "viam.components"

‎src/viam/components/switch/__init__.py

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@@ -0,0 +1,14 @@
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import viam.gen.component.switch.v1.switch_pb2
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from viam.resource.registry import Registry, ResourceRegistration
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from .client import SwitchClient
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from .service import SwitchRPCService
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from .switch import Switch
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__all__ = ["Switch"]
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Registry.register_api(
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ResourceRegistration(
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Switch, SwitchRPCService, lambda name, channel: SwitchClient(name, channel)
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)
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)

‎src/viam/components/switch/client.py

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@@ -0,0 +1,83 @@
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from typing import Any, Mapping, Optional
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from grpclib.client import Channel
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5+
from viam.proto.common import (
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DoCommandRequest,
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DoCommandResponse,
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)
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from viam.proto.component.switch import SwitchServiceStub
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from viam.gen.component.switch.v1.switch_pb2 import (
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GetPositionRequest,
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GetPositionResponse,
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SetPositionRequest,
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GetNumberOfPositionsRequest,
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GetNumberOfPositionsResponse,
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)
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from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
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from viam.utils import (
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ValueTypes,
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dict_to_struct,
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struct_to_dict,
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)
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from .switch import Switch
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class SwitchClient(Switch, ReconfigurableResourceRPCClientBase):
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"""
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gRPC client for Switch component
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"""
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def __init__(self, name: str, channel: Channel):
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self.channel = channel
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self.client = SwitchServiceStub(channel)
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super().__init__(name)
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async def get_position(
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self,
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*,
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extra: Optional[Mapping[str, Any]] = None,
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timeout: Optional[float] = None,
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**kwargs,
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) -> int:
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md = kwargs.get("metadata", self.Metadata()).proto
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request = GetPositionRequest(name=self.name, extra=dict_to_struct(extra))
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response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout, metadata=md)
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return response.position
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async def set_position(
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self,
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position: int,
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*,
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extra: Optional[Mapping[str, Any]] = None,
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timeout: Optional[float] = None,
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**kwargs,
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) -> None:
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md = kwargs.get("metadata", self.Metadata()).proto
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request = SetPositionRequest(name=self.name, position=position, extra=dict_to_struct(extra))
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await self.client.SetPosition(request, timeout=timeout, metadata=md)
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async def get_number_of_positions(
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self,
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*,
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extra: Optional[Mapping[str, Any]] = None,
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timeout: Optional[float] = None,
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**kwargs,
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) -> int:
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md = kwargs.get("metadata", self.Metadata()).proto
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request = GetNumberOfPositionsRequest(name=self.name, extra=dict_to_struct(extra))
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response: GetNumberOfPositionsResponse = await self.client.GetNumberOfPositions(request, timeout=timeout, metadata=md)
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return response.number_of_positions
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async def do_command(
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self,
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command: Mapping[str, ValueTypes],
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*,
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timeout: Optional[float] = None,
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**kwargs,
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) -> Mapping[str, ValueTypes]:
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md = kwargs.get("metadata", self.Metadata()).proto
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request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
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response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout, metadata=md)
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return struct_to_dict(response.result)

‎src/viam/components/switch/service.py

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@@ -0,0 +1,72 @@
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from grpclib.server import Stream
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3+
from viam.proto.common import (
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DoCommandRequest,
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DoCommandResponse,
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)
7+
from viam.gen.component.switch.v1.switch_pb2 import (
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GetPositionRequest,
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GetPositionResponse,
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SetPositionRequest,
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SetPositionResponse,
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GetNumberOfPositionsRequest,
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GetNumberOfPositionsResponse,
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)
15+
from viam.proto.component.switch import SwitchServiceBase
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from viam.resource.rpc_service_base import ResourceRPCServiceBase
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from viam.utils import dict_to_struct, struct_to_dict
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19+
from .switch import Switch
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class SwitchRPCService(SwitchServiceBase, ResourceRPCServiceBase[Switch]):
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"""
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gRPC Service for a generic Switch
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"""
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RESOURCE_TYPE = Switch
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async def GetPosition(self, stream: Stream[GetPositionRequest, GetPositionResponse]) -> None:
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request = await stream.recv_message()
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assert request is not None
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name = request.name
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switch = self.get_resource(name)
34+
timeout = stream.deadline.time_remaining() if stream.deadline else None
35+
position = await switch.get_position(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
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response = GetPositionResponse(position=position)
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await stream.send_message(response)
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async def SetPosition(self, stream: Stream[SetPositionRequest, SetPositionResponse]) -> None:
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request = await stream.recv_message()
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assert request is not None
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name = request.name
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switch = self.get_resource(name)
44+
timeout = stream.deadline.time_remaining() if stream.deadline else None
45+
await switch.set_position(position=request.position, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
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await stream.send_message(SetPositionResponse())
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async def GetNumberOfPositions(self, stream: Stream[GetNumberOfPositionsRequest, GetNumberOfPositionsResponse]) -> None:
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request = await stream.recv_message()
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assert request is not None
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name = request.name
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switch = self.get_resource(name)
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timeout = stream.deadline.time_remaining() if stream.deadline else None
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number_of_positions = await switch.get_number_of_positions(
55+
extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata
56+
)
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response = GetNumberOfPositionsResponse(number_of_positions=number_of_positions)
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await stream.send_message(response)
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async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -> None:
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request = await stream.recv_message()
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assert request is not None
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name = request.name
64+
switch = self.get_resource(name)
65+
timeout = stream.deadline.time_remaining() if stream.deadline else None
66+
result = await switch.do_command(
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command=struct_to_dict(request.command),
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timeout=timeout,
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metadata=stream.metadata,
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)
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response = DoCommandResponse(result=dict_to_struct(result))
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await stream.send_message(response)

‎src/viam/components/switch/switch.py

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@@ -0,0 +1,95 @@
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import abc
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from typing import Any, Final, Mapping, Optional
3+
4+
from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT
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from viam.components.component_base import ComponentBase
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7+
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class Switch(ComponentBase):
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"""
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Switch represents a device with two or more finite states (or positions) than can be set and retrieved.
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This acts as an abstract base class for any drivers representing specific
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switch implementations. This cannot be used on its own. If the ``__init__()`` function is
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overridden, it must call the ``super().__init__()`` function.
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::
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18+
from viam.components.switch import Switch
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For more information, see `Switch component <https://docs.viam.com/dev/reference/apis/components/switch/>`_.
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"""
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API: Final = API( # pyright: ignore [reportIncompatibleVariableOverride]
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RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "switch"
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)
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@abc.abstractmethod
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async def get_position(self, *, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> int:
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"""
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Get the current position of the switch
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::
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my_switch = Switch.from_robot(robot=machine, name="my_switch")
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# Update the switch from its current position to the desired position of 1.
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await my_switch.set_position(1)
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# Get the current set position of the switch.
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pos1 = await my_switch.get_position()
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# Update the switch from its current position to the desired position.
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await my_switch.set_position(0)
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# Get the current set position of the switch.
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pos2 = await my_switch.get_position()
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Returns:
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int: The current position of the switch within the range of available positions.
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For more information, see `Switch component <https://docs.viam.com/dev/reference/apis/components/Switch/#getposition>`_.
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"""
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...
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@abc.abstractmethod
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async def set_position(
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self, position: int, *, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None, **kwargs
58+
) -> None:
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"""
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Sets the current position of the switch.
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::
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my_switch = Switch.from_robot(robot=machine, name="my_switch")
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# Update the switch from its current position to the desired position of 1.
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await my_switch.set_position(1)
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# Update the switch from its current position to the desired position of 0.
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await my_switch.set_position(0)
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Args:
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position (int): The position of the switch within the range of available positions.
74+
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For more information, see `Switch component <https://docs.viam.com/dev/reference/apis/components/switch/#setposition>`_.
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"""
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...
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@abc.abstractmethod
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async def get_number_of_positions(self, *, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> int:
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"""
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Get the number of available positions on the switch.
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::
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my_switch = Switch.from_robot(robot=machine, name="my_switch")
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print(await my_switch.get_number_of_positions())
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Returns:
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int: The number of available positions.
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For more information, see `Switch component <https://docs.viam.com/dev/reference/apis/components/switch/#getnumberofpositions>`_.
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"""
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...

‎tests/mocks/components.py

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@@ -28,6 +28,7 @@
2828
from viam.components.power_sensor import PowerSensor
2929
from viam.components.sensor import Sensor
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from viam.components.servo import Servo
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from viam.components.switch import Switch
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from viam.errors import ResourceNotFoundError
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from viam.media.audio import Audio, AudioStream
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from viam.media.video import CameraMimeType, NamedImage, ViamImage
@@ -1013,3 +1014,32 @@ async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeou
10131014

10141015
async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
10151016
return {"command": command}
1017+
1018+
1019+
class MockSwitch(Switch):
1020+
def __init__(self, name: str, number_of_positions: int = 3, position: int = 0):
1021+
self.number_of_positions = number_of_positions
1022+
self.position = position
1023+
self.timeout: Optional[float] = None
1024+
self.extra: Optional[Mapping[str, Any]] = None
1025+
super().__init__(name)
1026+
1027+
async def get_position(self, *, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> int:
1028+
self.extra = extra
1029+
self.timeout = timeout
1030+
return self.position
1031+
1032+
async def get_number_of_positions(self, *, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> int:
1033+
self.extra = extra
1034+
self.timeout = timeout
1035+
return self.number_of_positions
1036+
1037+
async def set_position(
1038+
self, position: int, *, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None, **kwargs
1039+
) -> None:
1040+
self.extra = extra
1041+
self.timeout = timeout
1042+
self.position = position
1043+
1044+
async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
1045+
return {"command": command}

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