[RSDK-2485] Client Reconnect

.vscode/settings.json

@@ -27,4 +27,7 @@
         "tobytes",
         "viam"
     ],
+    "isort.args": [
+        "-l 140 --profile black"
+    ],
 }

Makefile

@@ -9,6 +9,7 @@ lint:
 
 _format:
 	black --exclude ".*/gen/.*" ./src
+	isort ./src
 
 format:
 	poetry run $(MAKE) _format

README.md

@@ -8,7 +8,7 @@
 ## (In)stability Notice
 
 > **Warning**
-> This is an beta release of the Viam Python SDK. Stability is not guaranteed. Breaking changes are likely to occur, and occur often.
+> This is a beta release of the Viam Python SDK. Stability is not guaranteed. Breaking changes are likely to occur, and occur often.
 
 ## Installation
 Currently, we have pre-built binaries for macOS (both Intel and Apple Silicon), along with Linux (x86, aarch64, armv6l) that you can install via pip

examples/module/README.md

@@ -42,6 +42,19 @@ An example configuration for a Gizmo component and a Summation service could loo
         "motor": "motor1"
       },
       "depends_on": []
+    },
+    {
+      "name": "motor1",
+      "type": "motor",
+      "model": "fake",
+      "attributes": {
+        "pins": {
+          "dir": "",
+          "pwm": ""
+        },
+        "board": ""
+      },
+      "depends_on": []
     }
   ],
   "services": [

pyproject.toml

@@ -34,6 +34,7 @@ nbmake = "1.3.0"
 types-pillow = "^9.4.0.17"
 mypy-protobuf = "^3.4.0"
 tox = "^4.4.6"
+isort = "^5.12.0"
 
 [tool.pytest.ini_options]
 addopts = "-ra"
@@ -51,6 +52,8 @@ line-length = 140
 
 [tool.isort]
 profile = "black"
+skip_glob = ["**/gen/**"]
+line_length = 140
 
 [build-system]
 requires = [ "poetry-core>=1.0.0" ]

src/viam/components/arm/__init__.py

@@ -1,7 +1,8 @@
 import asyncio
+
 from viam.proto.component.arm import Status as ArmStatus
 from viam.proto.robot import Status
-from viam.resource.registry import ResourceRegistration, Registry
+from viam.resource.registry import Registry, ResourceRegistration
 from viam.utils import message_to_struct
 
 from .arm import Arm, JointPositions, Pose

src/viam/components/arm/arm.py

@@ -45,13 +45,9 @@ async def move_to_position(
     ):
         """
         Move the end of the arm to the Pose specified in ``pose``.
-        When obstacles are specified in ``world_state``, the motion plan of the arm will avoid them.
 
         Args:
-
             pose (Pose): The destination Pose for the arm.
-
-            world_state (WorldState): The obstacles for the arm to avoid on its way to ``pose``.
         """
         ...
 
@@ -68,7 +64,6 @@ async def move_to_joint_positions(
         Move each joint on the arm to the corresponding angle specified in ``positions``.
 
         Args:
-
             positions (JointPositions): The destination ``JointPositions`` for the arm.
         """
         ...

src/viam/components/arm/client.py

@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import Pose, WorldState, DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Pose, WorldState
 from viam.proto.component.arm import (
     ArmServiceStub,
     GetEndPositionRequest,
@@ -16,12 +16,13 @@
     MoveToPositionRequest,
     StopRequest,
 )
-from viam.utils import dict_to_struct, struct_to_dict, ValueTypes
+from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
+from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
 
 from .arm import Arm
 
 
-class ArmClient(Arm):
+class ArmClient(Arm, ReconfigurableResourceRPCClientBase):
     """
     gRPC client for an Arm component.
 

src/viam/components/audio_input/__init__.py

@@ -1,4 +1,4 @@
-from viam.resource.registry import ResourceRegistration, Registry
+from viam.resource.registry import Registry, ResourceRegistration
 
 from .audio_input import AudioInput
 from .client import AudioInputClient

src/viam/components/audio_input/client.py

@@ -13,12 +13,13 @@
     PropertiesResponse,
     SampleFormat,
 )
-from viam.utils import dict_to_struct, struct_to_dict, ValueTypes
+from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
+from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
 
 from .audio_input import AudioInput
 
 
-class AudioInputClient(AudioInput):
+class AudioInputClient(AudioInput, ReconfigurableResourceRPCClientBase):
     """
     gRPC client for the AudioInput component.
     """

src/viam/components/audio_input/service.py

@@ -7,7 +7,6 @@
 from grpclib.server import Stream
 
 from viam.errors import NotSupportedError, ResourceNotFoundError
-from viam.gen.component.audioinput.v1.audioinput_pb2 import SampleFormat
 from viam.proto.common import DoCommandRequest, DoCommandResponse
 from viam.proto.component.audioinput import (
     AudioInputServiceBase,
@@ -16,6 +15,7 @@
     PropertiesRequest,
     PropertiesResponse,
     RecordRequest,
+    SampleFormat,
 )
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
 from viam.utils import dict_to_struct, struct_to_dict

src/viam/components/base/__init__.py

@@ -1,6 +1,6 @@
-from viam.resource.registry import ResourceRegistration, Registry
 from viam.proto.common import ActuatorStatus
 from viam.proto.robot import Status
+from viam.resource.registry import Registry, ResourceRegistration
 from viam.utils import message_to_struct
 
 from .base import Base, Vector3

src/viam/components/base/client.py

@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import Vector3, DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Vector3
 from viam.proto.component.base import (
     BaseServiceStub,
     IsMovingRequest,
@@ -13,12 +13,13 @@
     SpinRequest,
     StopRequest,
 )
-from viam.utils import dict_to_struct, struct_to_dict, ValueTypes
+from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
+from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
 
 from .base import Base
 
 
-class BaseClient(Base):
+class BaseClient(Base, ReconfigurableResourceRPCClientBase):
     """
     gRPC client for the Base component.
     """

src/viam/components/board/__init__.py

@@ -1,5 +1,5 @@
 from viam.proto.robot import Status
-from viam.resource.registry import ResourceRegistration, Registry
+from viam.resource.registry import Registry, ResourceRegistration
 from viam.utils import message_to_struct
 
 from .board import Board

src/viam/components/board/board.py

@@ -253,7 +253,9 @@ async def model_attributes(self) -> Attributes:
         ...
 
     @abc.abstractmethod
-    async def set_power_mode(self, mode: PowerMode, duration: Optional[timedelta] = None, *, timeout: Optional[float] = None, **kwargs):
+    async def set_power_mode(
+        self, mode: PowerMode.ValueType, duration: Optional[timedelta] = None, *, timeout: Optional[float] = None, **kwargs
+    ):
         """
         Set the board to the indicated power mode.
 

src/viam/components/board/client.py

@@ -1,10 +1,9 @@
 from datetime import timedelta
 from multiprocessing import Queue
-from typing import Any, Dict, Mapping, List, Optional
-
-from grpclib.client import Channel
+from typing import Any, Dict, List, Mapping, Optional
 
 from google.protobuf.duration_pb2 import Duration
+from grpclib.client import Channel
 
 from viam.proto.common import BoardStatus, DoCommandRequest, DoCommandResponse
 from viam.proto.component.board import (
@@ -21,13 +20,14 @@
     ReadAnalogReaderRequest,
     ReadAnalogReaderResponse,
     SetGPIORequest,
+    SetPowerModeRequest,
     SetPWMFrequencyRequest,
     SetPWMRequest,
-    SetPowerModeRequest,
     StatusRequest,
     StatusResponse,
 )
-from viam.utils import dict_to_struct, struct_to_dict, ValueTypes
+from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
+from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
 
 from .board import Board, PostProcessor
 
@@ -112,7 +112,7 @@ async def set_pwm_frequency(self, frequency: int, *, extra: Optional[Dict[str, A
         await self.board.client.SetPWMFrequency(request, timeout=timeout)
 
 
-class BoardClient(Board):
+class BoardClient(Board, ReconfigurableResourceRPCClientBase):
     """
     gRPC client for the Board component.
     """
@@ -164,12 +164,13 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
 
     async def set_power_mode(
         self,
-        mode: PowerMode,
+        mode: PowerMode.ValueType,
         duration: Optional[timedelta] = None,
         *,
         timeout: Optional[float] = None,
     ):
-        if duration:
-            duration = [(d, d.FromTimedelta(duration)) for d in [Duration()]][0][0]
-        request = SetPowerModeRequest(name=self.name, power_mode=mode, duration=duration)
+        duration_pb: Optional[Duration] = None
+        if duration is not None:
+            duration_pb = [(d, d.FromTimedelta(duration)) for d in [Duration()]][0][0]
+        request = SetPowerModeRequest(name=self.name, power_mode=mode, duration=duration_pb)
         await self.client.SetPowerMode(request, timeout=timeout)

src/viam/components/board/service.py

@@ -172,7 +172,12 @@ async def SetPowerMode(self, stream: Stream[SetPowerModeRequest, SetPowerModeRes
         except ResourceNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        await board.set_power_mode(mode=request.power_mode, duration=request.duration, timeout=timeout, metadata=stream.metadata)
+        await board.set_power_mode(
+            mode=request.power_mode,
+            duration=request.duration.ToTimedelta(),
+            timeout=timeout,
+            metadata=stream.metadata,
+        )
         response = SetPowerModeResponse()
         await stream.send_message(response)
 

src/viam/components/camera/__init__.py

@@ -1,4 +1,4 @@
-from viam.resource.registry import ResourceRegistration, Registry
+from viam.resource.registry import Registry, ResourceRegistration
 
 from .camera import Camera, DistortionParameters, IntrinsicParameters, RawImage
 from .client import CameraClient

src/viam/components/camera/client.py

@@ -4,7 +4,7 @@
 from grpclib.client import Channel
 from PIL import Image
 
-from viam.media.video import CameraMimeType, RawImage, LIBRARY_SUPPORTED_FORMATS
+from viam.media.video import LIBRARY_SUPPORTED_FORMATS, CameraMimeType, RawImage
 from viam.proto.common import DoCommandRequest, DoCommandResponse
 from viam.proto.component.camera import (
     CameraServiceStub,
@@ -15,12 +15,13 @@
     GetPropertiesRequest,
     GetPropertiesResponse,
 )
-from viam.utils import dict_to_struct, struct_to_dict, ValueTypes
+from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
+from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
 
 from .camera import Camera
 
 
-class CameraClient(Camera):
+class CameraClient(Camera, ReconfigurableResourceRPCClientBase):
     """
     gRPC client for the Camera component
     """

src/viam/components/component_base.py

@@ -1,15 +1,5 @@
 import abc
-from typing import (
-    TYPE_CHECKING,
-    ClassVar,
-    List,
-    Mapping,
-    Optional,
-    SupportsBytes,
-    SupportsFloat,
-    Union,
-    cast,
-)
+from typing import TYPE_CHECKING, ClassVar, List, Mapping, Optional, SupportsBytes, SupportsFloat, Union, cast
 
 from typing_extensions import Self
 

src/viam/components/encoder/client.py

@@ -12,12 +12,13 @@
     PositionType,
     ResetPositionRequest,
 )
+from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
 
 from .encoder import Encoder
 
 
-class EncoderClient(Encoder):
+class EncoderClient(Encoder, ReconfigurableResourceRPCClientBase):
     """
     gRPC client for the Ecoder component.
     """

src/viam/components/gantry/__init__.py

@@ -1,7 +1,8 @@
 import asyncio
+
 from viam.proto.component.gantry import Status as GantryStatus
 from viam.proto.robot import Status
-from viam.resource.registry import ResourceRegistration, Registry
+from viam.resource.registry import Registry, ResourceRegistration
 from viam.utils import message_to_struct
 
 from .client import GantryClient

src/viam/components/gantry/client.py

@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import WorldState, DoCommandResponse, DoCommandRequest
+from viam.proto.common import DoCommandRequest, DoCommandResponse, WorldState
 from viam.proto.component.gantry import (
     GantryServiceStub,
     GetLengthsRequest,
@@ -14,12 +14,13 @@
     MoveToPositionRequest,
     StopRequest,
 )
-from viam.utils import dict_to_struct, struct_to_dict, ValueTypes
+from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
+from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
 
 from .gantry import Gantry
 
 
-class GantryClient(Gantry):
+class GantryClient(Gantry, ReconfigurableResourceRPCClientBase):
     """
     gRPC client for the Gantry component.
     """

src/viam/components/gantry/gantry.py

@@ -1,5 +1,5 @@
 import abc
-from typing import Any, Dict, List, Optional, Final
+from typing import Any, Dict, Final, List, Optional
 
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype