RSDK-3292 - fix example python movement sensors

src/viam/robot/service.py

@@ -1,5 +1,5 @@
 import asyncio
-from typing import Any, Dict, Iterable, List
+from typing import Any, Dict, Iterable, List, Set
 
 from grpclib.server import Stream
 
@@ -49,15 +49,16 @@
 
 class RobotService(RobotServiceBase, ResourceRPCServiceBase):
     def _generate_metadata(self) -> List[ResourceName]:
-        md: List[ResourceName] = []
+        md: Set[ResourceName] = set()
 
         for component in self.manager.resources.values():
-            md.extend(resource_names_for_resource(component))
+            md.update(resource_names_for_resource(component))
 
-        return md
+        return list(md)
 
     async def _generate_status(self, resource_names: Iterable[ResourceName]) -> List[Status]:
         statuses: List[Status] = []
+        seen_resource_names: Set[ResourceName] = set()
 
         for component in self.manager.resources.values():
             for registration in Registry.REGISTERED_SUBTYPES().values():
@@ -66,7 +67,9 @@ async def _generate_status(self, resource_names: Iterable[ResourceName]) -> List
                         continue
                     try:
                         status = await registration.create_status(component)
-                        statuses.append(status)
+                        if status.name not in seen_resource_names:
+                            seen_resource_names.add(status.name)
+                            statuses.append(status)
                     except ViamGRPCError as e:
                         raise e.grpc_error
 

tests/test_robot.py

@@ -9,11 +9,12 @@
 from grpclib.testing import ChannelFor
 
 from viam.components.arm import Arm
+from viam.components.movement_sensor import MovementSensor
 from viam.components.arm.client import ArmClient
 from viam.components.motor import Motor
 from viam.resource.manager import ResourceManager
 from viam.errors import ResourceNotFoundError
-from viam.proto.common import Pose, PoseInFrame, ResourceName, Transform
+from viam.proto.common import Pose, PoseInFrame, ResourceName, Transform, GeoPoint, Vector3, Orientation
 from viam.proto.component.arm import JointPositions
 from viam.proto.component.arm import Status as ArmStatus
 from viam.proto.component.motor import Status as MotorStatus
@@ -50,12 +51,14 @@
 from viam.services.motion.client import MotionClient
 from viam.utils import dict_to_struct, message_to_struct, struct_to_message
 
-from .mocks.components import MockArm, MockCamera, MockMotor, MockSensor
+from .mocks.components import MockArm, MockCamera, MockMotor, MockMovementSensor, MockSensor
 
 RESOURCE_NAMES = [
     ResourceName(namespace="rdk", type="component", subtype="arm", name="arm1"),
     ResourceName(namespace="rdk", type="component", subtype="camera", name="camera1"),
     ResourceName(namespace="rdk", type="component", subtype="motor", name="motor1"),
+    ResourceName(namespace="rdk", type="component", subtype="movement_sensor", name="movement_sensor1"),
+    ResourceName(namespace="rdk", type="component", subtype="sensor", name="movement_sensor1"),
 ]
 
 ARM_STATUS = ArmStatus(
@@ -85,6 +88,10 @@
         name=ResourceName(namespace="rdk", type="component", subtype="motor", name="motor1"),
         status=message_to_struct(MotorStatus(is_powered=False, position=0, is_moving=False)),
     ),
+    Status(
+        name=ResourceName(namespace="rdk", type="component", subtype="movement_sensor", name="movement_sensor1"),
+        status=Struct(),
+    ),
 ]
 
 CONFIG_RESPONSE = [
@@ -129,6 +136,24 @@ def service() -> RobotService:
         MockArm(name="arm1"),
         MockCamera(name="camera1"),
         MockMotor(name="motor1"),
+        MockMovementSensor(
+            name="movement_sensor1",
+            coordinates=GeoPoint(latitude=40.664679865782624, longitude=-73.97668056188789),
+            altitude=15,
+            lin_vel=Vector3(x=1, y=2, z=3),
+            ang_vel=Vector3(x=1, y=2, z=3),
+            lin_acc=Vector3(x=1, y=2, z=3),
+            heading=182,
+            orientation=Orientation(o_x=1, o_y=2, o_z=3, theta=5),
+            properties=MovementSensor.Properties(
+                linear_acceleration_supported=False,
+                linear_velocity_supported=False,
+                angular_velocity_supported=True,
+                orientation_supported=False,
+                position_supported=True,
+                compass_heading_supported=False),
+            accuracy={"foo": 0.1, "bar": 2, "baz": 3.14}
+        ),
     ]
 
     async def Config(stream: Stream[FrameSystemConfigRequest, FrameSystemConfigResponse]) -> None:
@@ -171,7 +196,8 @@ async def test_resource_names(self, service: RobotService):
         async with ChannelFor([service]) as channel:
             client = RobotServiceStub(channel)
             response: ResourceNamesResponse = await client.ResourceNames(ResourceNamesRequest())
-            assert list(response.resources) == RESOURCE_NAMES
+            assert len(response.resources) == len(RESOURCE_NAMES)
+            assert set(response.resources) == set(RESOURCE_NAMES)
 
     @pytest.mark.asyncio
     async def test_get_status(self, service: RobotService):
@@ -248,11 +274,12 @@ class TestRobotClient:
     async def test_refresh(self, service: RobotService):
         async with ChannelFor([service]) as channel:
             client = await RobotClient.with_channel(channel, RobotClient.Options())
-            assert client._resource_names == RESOURCE_NAMES
+            assert len(client._resource_names) == len(RESOURCE_NAMES)
+            assert set(client._resource_names) == set(RESOURCE_NAMES)
 
             service.manager.register(MockSensor("sensor1"))
             await client.refresh()
-            assert client._resource_names == RESOURCE_NAMES + [MockSensor.get_resource_name("sensor1")]
+            assert set(client._resource_names) == set(RESOURCE_NAMES + [MockSensor.get_resource_name("sensor1")])
             await client.close()
 
     @pytest.mark.asyncio
@@ -282,11 +309,12 @@ async def test_close(self, service: RobotService):
     async def test_resource_names(self, service: RobotService):
         async with ChannelFor([service]) as channel:
             client = await RobotClient.with_channel(channel, RobotClient.Options())
-            assert client.resource_names == RESOURCE_NAMES
+            assert len(client._resource_names) == len(RESOURCE_NAMES)
+            assert set(client._resource_names) == set(RESOURCE_NAMES)
 
             service.manager.register(MockSensor("sensor1"))
             await client.refresh()
-            assert client._resource_names == RESOURCE_NAMES + [MockSensor.get_resource_name("sensor1")]
+            assert set(client._resource_names) == set(RESOURCE_NAMES + [MockSensor.get_resource_name("sensor1")])
             await client.close()
 
     @pytest.mark.asyncio