Rsdk 1831 slam wrapper

examples/module/src/summation/api.py

@@ -13,7 +13,7 @@
 requests of the Summation service. It extends both from ``SummationServiceBase`` and ``RPCServiceBase``.
 The former is the gRPC service as defined by the proto, and the latter is the class that all gRPC services must inherit from.
 
-Finally, the ``SummationServiceClient`` is the gRPC client for a Summation service. It inherits from SummationService since it implements
+Finally, the ``SummationClient`` is the gRPC client for a Summation service. It inherits from SummationService since it implements
  all the same functions. The implementations are simply gRPC calls to some remote Summation service.
 
 To see how this custom modular service is registered, see the __init__.py file.

examples/server/v1/server.py

@@ -24,6 +24,7 @@
     ExampleServo,
     MovementSensor,
 )
+from .services import ExampleSLAM
 
 
 async def run(host: str, port: int, log_level: int):
@@ -69,8 +70,9 @@ async def run(host: str, port: int, log_level: int):
     my_pose_tracker = ExamplePoseTracker("pose_tracker0")
     my_sensor = ExampleSensor("sensor0")
     my_servo = ExampleServo("servo0")
+    my_slam = ExampleSLAM("slam0")
     server = Server(
-        components=[
+        resources=[
             my_arm,
             my_audio_input,
             my_base,
@@ -84,6 +86,7 @@ async def run(host: str, port: int, log_level: int):
             my_pose_tracker,
             my_sensor,
             my_servo,
+            my_slam,
         ]
     )
     await server.serve(host=host, port=port, log_level=log_level)

examples/server/v1/services.py

@@ -0,0 +1,20 @@
+from typing import List
+from viam.services.slam import Pose, SLAM
+from tests.mocks.services import MockSLAM
+
+
+class ExampleSLAM(SLAM):
+    def __init__(self, name: str):
+        self.position = MockSLAM.POSITION
+        self.internal_chunks = MockSLAM.INTERNAL_STATE_CHUNKS
+        self.point_cloud_chunks = MockSLAM.POINT_CLOUD_PCD_CHUNKS
+        super().__init__(name)
+
+    async def get_internal_state(self, **kwargs) -> List[bytes]:
+        return self.internal_chunks
+
+    async def get_point_cloud_map(self, **kwargs) -> List[bytes]:
+        return self.point_cloud_chunks
+
+    async def get_position(self, **kwargs) -> Pose:
+        return self.position

src/viam/components/arm/__init__.py

@@ -9,7 +9,7 @@
 
 from .arm import Arm
 from .client import ArmClient
-from .service import ArmService
+from .service import ArmRPCService
 
 __all__ = [
     "Arm",
@@ -19,11 +19,7 @@
 
 
 async def create_status(component: Arm) -> Status:
-    (
-        end_position,
-        joint_positions,
-        is_moving,
-    ) = await asyncio.gather(
+    (end_position, joint_positions, is_moving,) = await asyncio.gather(
         component.get_end_position(),
         component.get_joint_positions(),
         component.is_moving(),
@@ -36,4 +32,4 @@ async def create_status(component: Arm) -> Status:
     return Status(name=Arm.get_resource_name(component.name), status=message_to_struct(s))
 
 
-Registry.register_subtype(ResourceRegistration(Arm, ArmService, lambda name, channel: ArmClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Arm, ArmRPCService, lambda name, channel: ArmClient(name, channel), create_status))

src/viam/components/arm/service.py

@@ -23,7 +23,7 @@
 from .arm import Arm
 
 
-class ArmService(ArmServiceBase, ResourceRPCServiceBase[Arm]):
+class ArmRPCService(ArmServiceBase, ResourceRPCServiceBase[Arm]):
     """
     gRPC Service for an Arm
     """

src/viam/components/audio_input/__init__.py

@@ -2,7 +2,7 @@
 
 from .audio_input import AudioInput
 from .client import AudioInputClient
-from .service import AudioInputService
+from .service import AudioInputRPCService
 
 __all__ = [
     "AudioInput",
@@ -12,7 +12,7 @@
 Registry.register_subtype(
     ResourceRegistration(
         AudioInput,
-        AudioInputService,
+        AudioInputRPCService,
         lambda name, channel: AudioInputClient(name, channel),
     )
 )

src/viam/components/audio_input/service.py

@@ -23,7 +23,7 @@
 from .audio_input import AudioInput
 
 
-class AudioInputService(AudioInputServiceBase, ResourceRPCServiceBase[AudioInput]):
+class AudioInputRPCService(AudioInputServiceBase, ResourceRPCServiceBase[AudioInput]):
     """
     gRPC Service for a generic AudioInput
     """

src/viam/components/base/__init__.py

@@ -5,7 +5,7 @@
 
 from .base import Base
 from .client import BaseClient
-from .service import BaseService
+from .service import BaseRPCService
 
 __all__ = ["Base", "Vector3"]
 
@@ -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_subtype(ResourceRegistration(Base, BaseService, lambda name, channel: BaseClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Base, BaseRPCService, lambda name, channel: BaseClient(name, channel), create_status))

src/viam/components/base/service.py

@@ -23,7 +23,7 @@
 from .base import Base
 
 
-class BaseService(BaseServiceBase, ResourceRPCServiceBase[Base]):
+class BaseRPCService(BaseServiceBase, ResourceRPCServiceBase[Base]):
     """
     gRPC service for a robotic Base
     """

src/viam/components/board/__init__.py

@@ -4,7 +4,7 @@
 
 from .board import Board
 from .client import BoardClient
-from .service import BoardService
+from .service import BoardRPCService
 
 __all__ = [
     "Board",
@@ -15,4 +15,4 @@ async def create_status(component: Board) -> Status:
     return Status(name=Board.get_resource_name(component.name), status=message_to_struct(await component.status()))
 
 
-Registry.register_subtype(ResourceRegistration(Board, BoardService, lambda name, channel: BoardClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Board, BoardRPCService, lambda name, channel: BoardClient(name, channel), create_status))

src/viam/components/board/service.py

@@ -31,7 +31,7 @@
 from .board import Board
 
 
-class BoardService(BoardServiceBase, ResourceRPCServiceBase[Board]):
+class BoardRPCService(BoardServiceBase, ResourceRPCServiceBase[Board]):
     """
     gRPC Service for a Board
     """

src/viam/components/camera/__init__.py

@@ -4,7 +4,7 @@
 
 from .camera import Camera
 from .client import CameraClient
-from .service import CameraService
+from .service import CameraRPCService
 
 __all__ = [
     "Camera",
@@ -16,7 +16,7 @@
 Registry.register_subtype(
     ResourceRegistration(
         Camera,
-        CameraService,
+        CameraRPCService,
         lambda name, channel: CameraClient(name, channel),
     )
 )

src/viam/components/camera/service.py

@@ -20,7 +20,7 @@
 from . import Camera, RawImage
 
 
-class CameraService(CameraServiceBase, ResourceRPCServiceBase[Camera]):
+class CameraRPCService(CameraServiceBase, ResourceRPCServiceBase[Camera]):
     """
     gRPC Service for a generic Camera
     """

src/viam/components/encoder/__init__.py

@@ -2,7 +2,7 @@
 
 from .client import EncoderClient
 from .encoder import Encoder
-from .service import EncoderService
+from .service import EncoderRPCService
 
 __all__ = [
     "Encoder",
@@ -12,7 +12,7 @@
 Registry.register_subtype(
     ResourceRegistration(
         Encoder,
-        EncoderService,
+        EncoderRPCService,
         lambda name, channel: EncoderClient(name, channel),
     )
 )

src/viam/components/encoder/service.py

@@ -17,7 +17,7 @@
 from .encoder import Encoder
 
 
-class EncoderService(EncoderServiceBase, ResourceRPCServiceBase[Encoder]):
+class EncoderRPCService(EncoderServiceBase, ResourceRPCServiceBase[Encoder]):
     """
     gRPC Service for an Encoder
     """

src/viam/components/gantry/__init__.py

@@ -7,7 +7,7 @@
 
 from .client import GantryClient
 from .gantry import Gantry
-from .service import GantryService
+from .service import GantryRPCService
 
 __all__ = [
     "Gantry",
@@ -20,4 +20,4 @@ async def create_status(component: Gantry) -> Status:
     return Status(name=Gantry.get_resource_name(component.name), status=message_to_struct(s))
 
 
-Registry.register_subtype(ResourceRegistration(Gantry, GantryService, lambda name, channel: GantryClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Gantry, GantryRPCService, lambda name, channel: GantryClient(name, channel), create_status))

src/viam/components/gantry/service.py

@@ -21,7 +21,7 @@
 from .gantry import Gantry
 
 
-class GantryService(GantryServiceBase, ResourceRPCServiceBase[Gantry]):
+class GantryRPCService(GantryServiceBase, ResourceRPCServiceBase[Gantry]):
     """
     gRPC Service for a Gantry
     """

src/viam/components/generic/__init__.py

@@ -3,7 +3,7 @@
 
 from .client import GenericClient
 from .generic import Generic
-from .service import GenericService
+from .service import GenericRPCService
 
 __all__ = [
     "Generic",
@@ -12,7 +12,7 @@
 Registry.register_subtype(
     ResourceRegistration(
         Generic,
-        GenericService,
+        GenericRPCService,
         lambda name, channel: GenericClient(name, channel),
     )
 )

src/viam/components/generic/service.py

@@ -11,7 +11,7 @@
 # from .generic import Generic
 
 
-class GenericService(GenericServiceBase, ResourceRPCServiceBase[ComponentBase]):
+class GenericRPCService(GenericServiceBase, ResourceRPCServiceBase[ComponentBase]):
     """
     gRPC Service for a Generic component
     """

src/viam/components/gripper/__init__.py

@@ -6,7 +6,7 @@
 
 from .client import GripperClient
 from .gripper import Gripper
-from .service import GripperService
+from .service import GripperRPCService
 
 __all__ = [
     "Gripper",
@@ -18,4 +18,6 @@ async def create_status(component: Gripper) -> Status:
     return Status(name=Gripper.get_resource_name(component.name), status=message_to_struct(s))
 
 
-Registry.register_subtype(ResourceRegistration(Gripper, GripperService, lambda name, channel: GripperClient(name, channel), create_status))
+Registry.register_subtype(
+    ResourceRegistration(Gripper, GripperRPCService, lambda name, channel: GripperClient(name, channel), create_status)
+)

src/viam/components/gripper/service.py

@@ -19,7 +19,7 @@
 from .gripper import Gripper
 
 
-class GripperService(GripperServiceBase, ResourceRPCServiceBase[Gripper]):
+class GripperRPCService(GripperServiceBase, ResourceRPCServiceBase[Gripper]):
     """
     gRPC Service for a Gripper
     """

src/viam/components/input/__init__.py

@@ -5,7 +5,7 @@
 
 from .client import ControllerClient
 from .input import Control, ControlFunction, Controller, Event, EventType
-from .service import InputControllerService
+from .service import InputControllerRPCService
 
 __all__ = [
     "Controller",
@@ -24,5 +24,5 @@ async def create_status(component: Controller) -> Status:
 
 
 Registry.register_subtype(
-    ResourceRegistration(Controller, InputControllerService, lambda name, channel: ControllerClient(name, channel), create_status)
+    ResourceRegistration(Controller, InputControllerRPCService, lambda name, channel: ControllerClient(name, channel), create_status)
 )

src/viam/components/input/service.py

@@ -27,7 +27,7 @@
 LOGGER = viam.logging.getLogger(__name__)
 
 
-class InputControllerService(InputControllerServiceBase, ResourceRPCServiceBase[Controller]):
+class InputControllerRPCService(InputControllerServiceBase, ResourceRPCServiceBase[Controller]):
     """
     gRPC Service for an input controller
     """

src/viam/components/motor/__init__.py

@@ -7,7 +7,7 @@
 
 from .client import MotorClient
 from .motor import Motor
-from .service import MotorService
+from .service import MotorRPCService
 
 __all__ = [
     "Motor",
@@ -28,4 +28,4 @@ async def create_status(component: Motor) -> Status:
     return Status(name=Motor.get_resource_name(component.name), status=message_to_struct(s))
 
 
-Registry.register_subtype(ResourceRegistration(Motor, MotorService, lambda name, channel: MotorClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Motor, MotorRPCService, lambda name, channel: MotorClient(name, channel), create_status))

src/viam/components/motor/service.py

@@ -29,7 +29,7 @@
 from .motor import Motor
 
 
-class MotorService(MotorServiceBase, ResourceRPCServiceBase[Motor]):
+class MotorRPCService(MotorServiceBase, ResourceRPCServiceBase[Motor]):
     """
     gRPC Service for a Motor
     """

src/viam/components/movement_sensor/__init__.py

@@ -3,7 +3,7 @@
 
 from .client import MovementSensorClient
 from .movement_sensor import MovementSensor
-from .service import MovementSensorService
+from .service import MovementSensorRPCService
 
 __all__ = [
     "MovementSensor",
@@ -15,7 +15,7 @@
 Registry.register_subtype(
     ResourceRegistration(
         MovementSensor,
-        MovementSensorService,
+        MovementSensorRPCService,
         lambda name, channel: MovementSensorClient(name, channel),
     )
 )

src/viam/components/movement_sensor/service.py

@@ -26,7 +26,7 @@
 from viam.utils import dict_to_struct, struct_to_dict
 
 
-class MovementSensorService(MovementSensorServiceBase, ResourceRPCServiceBase[MovementSensor]):
+class MovementSensorRPCService(MovementSensorServiceBase, ResourceRPCServiceBase[MovementSensor]):
     """
     gRPC Service for a MovementSensor
     """

src/viam/components/pose_tracker/__init__.py

@@ -2,7 +2,7 @@
 
 from .client import PoseTrackerClient
 from .pose_tracker import PoseTracker
-from .service import PoseTrackerService
+from .service import PoseTrackerRPCService
 
 __all__ = [
     "PoseTracker",
@@ -11,7 +11,7 @@
 Registry.register_subtype(
     ResourceRegistration(
         PoseTracker,
-        PoseTrackerService,
+        PoseTrackerRPCService,
         lambda name, channel: PoseTrackerClient(name, channel),
     )
 )