Allow all resource types for dependencies, not just components

examples/module/src/gizmo/api.py

@@ -9,7 +9,7 @@
 as all component types must. It also defines its specific ``SUBTYPE``, which is used internally to keep track of supported types.
 
 The ``GizmoService`` implements the gRPC service for the Gizmo. This will allow other robots and clients to make requests of the Gizmo.
-It extends both from ``GizmoServiceBase`` and ``ResourceRPCServiceBase[Gizmo]``. The former is the gRPC service as defined by the proto,
+It extends both from ``GizmoServiceBase`` and ``ResourceRPCServiceBase``. The former is the gRPC service as defined by the proto,
 and the latter is the class that all gRPC services for components must inherit from.
 
 Finally, the ``GizmoClient`` is the gRPC client for a Gizmo. It inherits from Gizmo since it implements all the same functions. The
@@ -72,7 +72,7 @@ async def do_two(self, arg1: bool, **kwargs) -> str:
         ...
 
 
-class GizmoService(GizmoServiceBase, ResourceRPCServiceBase[Gizmo]):
+class GizmoService(GizmoServiceBase, ResourceRPCServiceBase):
     """Example gRPC service for the Gizmo component"""
 
     RESOURCE_TYPE = Gizmo

examples/module/src/summation/api.py

@@ -44,7 +44,7 @@ async def sum(self, nums: Sequence[float]) -> float:
         ...
 
 
-class SummationRPCService(SummationServiceBase, ResourceRPCServiceBase[SummationService]):
+class SummationRPCService(SummationServiceBase, ResourceRPCServiceBase):
     """Example gRPC service for the Summation service"""
 
     RESOURCE_TYPE = SummationService

src/viam/components/arm/service.py

@@ -22,7 +22,7 @@
 from .arm import Arm
 
 
-class ArmRPCService(ArmServiceBase, ResourceRPCServiceBase[Arm]):
+class ArmRPCService(ArmServiceBase, ResourceRPCServiceBase):
     """
     gRPC Service for an Arm
     """

src/viam/components/audio_input/service.py

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

src/viam/components/base/service.py

@@ -22,7 +22,7 @@
 from .base import Base
 
 
-class BaseRPCService(BaseServiceBase, ResourceRPCServiceBase[Base]):
+class BaseRPCService(BaseServiceBase, ResourceRPCServiceBase):
     """
     gRPC service for a robotic Base
     """

src/viam/components/board/service.py

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

src/viam/components/camera/service.py

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

src/viam/components/encoder/service.py

@@ -16,7 +16,7 @@
 from .encoder import Encoder
 
 
-class EncoderRPCService(EncoderServiceBase, ResourceRPCServiceBase[Encoder]):
+class EncoderRPCService(EncoderServiceBase, ResourceRPCServiceBase):
     """
     gRPC Service for an Encoder
     """

src/viam/components/gantry/service.py

@@ -20,7 +20,7 @@
 from .gantry import Gantry
 
 
-class GantryRPCService(GantryServiceBase, ResourceRPCServiceBase[Gantry]):
+class GantryRPCService(GantryServiceBase, ResourceRPCServiceBase):
     """
     gRPC Service for a Gantry
     """

src/viam/components/generic/service.py

@@ -10,7 +10,7 @@
 # from .generic import Generic
 
 
-class GenericRPCService(GenericServiceBase, ResourceRPCServiceBase[ComponentBase]):
+class GenericRPCService(GenericServiceBase, ResourceRPCServiceBase):
     """
     gRPC Service for a Generic component
     """

src/viam/components/gripper/service.py

@@ -18,7 +18,7 @@
 from .gripper import Gripper
 
 
-class GripperRPCService(GripperServiceBase, ResourceRPCServiceBase[Gripper]):
+class GripperRPCService(GripperServiceBase, ResourceRPCServiceBase):
     """
     gRPC Service for a Gripper
     """

src/viam/components/input/service.py

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

src/viam/components/motor/service.py

@@ -28,7 +28,7 @@
 from .motor import Motor
 
 
-class MotorRPCService(MotorServiceBase, ResourceRPCServiceBase[Motor]):
+class MotorRPCService(MotorServiceBase, ResourceRPCServiceBase):
     """
     gRPC Service for a Motor
     """

src/viam/components/movement_sensor/service.py

@@ -25,7 +25,7 @@
 from viam.utils import dict_to_struct, struct_to_dict
 
 
-class MovementSensorRPCService(MovementSensorServiceBase, ResourceRPCServiceBase[MovementSensor]):
+class MovementSensorRPCService(MovementSensorServiceBase, ResourceRPCServiceBase):
     """
     gRPC Service for a MovementSensor
     """

src/viam/components/pose_tracker/service.py

@@ -8,7 +8,7 @@
 from .pose_tracker import PoseTracker
 
 
-class PoseTrackerRPCService(PoseTrackerServiceBase, ResourceRPCServiceBase[PoseTracker]):
+class PoseTrackerRPCService(PoseTrackerServiceBase, ResourceRPCServiceBase):
     """
     gRPC service for a pose tracker
     """

src/viam/components/sensor/service.py

@@ -8,7 +8,7 @@
 from .sensor import Sensor
 
 
-class SensorRPCService(SensorServiceBase, ResourceRPCServiceBase[Sensor]):
+class SensorRPCService(SensorServiceBase, ResourceRPCServiceBase):
     """
     gRPC Service for a generic Sensor
     """

src/viam/components/servo/service.py

@@ -18,7 +18,7 @@
 from .servo import Servo
 
 
-class ServoRPCService(ServoServiceBase, ResourceRPCServiceBase[Servo]):
+class ServoRPCService(ServoServiceBase, ResourceRPCServiceBase):
     """
     gRPC Service for a Servo
     """

src/viam/module/module.py

@@ -7,7 +7,6 @@
 from typing_extensions import Self
 
 from viam import logging
-from viam.components.component_base import ComponentBase
 from viam.errors import ResourceNotFoundError, ValidationError
 from viam.proto.app.robot import ComponentConfig
 from viam.proto.module import (
@@ -24,7 +23,7 @@
 from viam.proto.robot import ResourceRPCSubtype
 from viam.resource.base import ResourceBase
 from viam.resource.registry import Registry
-from viam.resource.types import Model, ResourceName, Subtype, resource_name_from_string
+from viam.resource.types import RESOURCE_TYPE_COMPONENT, RESOURCE_TYPE_SERVICE, Model, ResourceName, Subtype, resource_name_from_string
 from viam.robot.client import RobotClient
 from viam.rpc.dial import DialOptions
 from viam.rpc.server import Server
@@ -83,18 +82,21 @@ async def _connect_to_parent(self):
                 ),
             )
 
-    async def _get_component(self, name: ResourceName) -> ComponentBase:
+    async def _get_resource(self, name: ResourceName) -> ResourceBase:
         await self._connect_to_parent()
         assert self.parent is not None
         await self.parent.refresh()
-        return self.parent.get_component(name)
-
-    async def _get_dependencies(self, dependencies: Sequence[str]) -> Mapping[ResourceName, ComponentBase]:
-        deps: Mapping[ResourceName, ComponentBase] = {}
+        if name.type == RESOURCE_TYPE_COMPONENT:
+            return self.parent.get_component(name)
+        elif name.type == RESOURCE_TYPE_SERVICE:
+            return self.parent.get_service(name)
+        raise ValueError("Dependency does not describe a component nor a service")
+
+    async def _get_dependencies(self, dependencies: Sequence[str]) -> Mapping[ResourceName, ResourceBase]:
+        deps: Mapping[ResourceName, ResourceBase] = {}
         for dep in dependencies:
             rn = resource_name_from_string(dep)
-            component = await self._get_component(rn)
-            deps[rn] = component
+            deps[rn] = await self._get_resource(rn)
         return deps
 
     async def start(self):

src/viam/resource/manager.py

@@ -28,29 +28,30 @@ def __init__(self, components: List[ResourceBase] = []) -> None:
         for component in components:
             self.register(component)
 
-    def register(self, component: ResourceBase):
+    def register(self, resource: ResourceBase):
         """
-        Register a new component with the registry.
-        Components may not have the same name.
-        If a component is remote and the short name is unique, save a short name version.
+        Register a new resource with the registry.
+        Resources may not have the same name.
+        If a resource is remote and the short name is unique, save a short name version.
 
         Raises:
-            DuplicateComponentError: Error if attempting to register component
-                                     with the name of an existing component
+            DuplicateResourceError: Error if attempting to register resource
+                                     with the name of an existing resource
+            ResourceNotFoundError: Raised if the subtype of the resource is not registered
 
         Args:
-            component (ResourceBase): The component to register
+            resource (ResourceBase): The resource to register
         """
-        Registry.lookup_subtype(component.SUBTYPE)  # confirm the subtype is registered in Registry
+        Registry.lookup_subtype(resource.SUBTYPE)  # confirm the subtype is registered in Registry
 
         _BaseClasses = (ResourceBase, ComponentBase, ServiceBase)
         rnames: Dict[ResourceName, ResourceBase] = {}
-        for subtype in component.__class__.mro():
+        for subtype in resource.__class__.mro():
             if subtype in _BaseClasses:
                 continue
             if hasattr(subtype, "get_resource_name"):
-                rn = subtype.get_resource_name(component.name)  # type: ignore
-                rnames[rn] = component
+                rn = subtype.get_resource_name(resource.name)  # type: ignore
+                rnames[rn] = resource
         for rn in rnames:
             if ":" in rn.name:
                 short_name = rn.name.split(":")[-1]
@@ -60,7 +61,7 @@ def register(self, component: ResourceBase):
                     self._short_to_long_name[short_name] = [rn]
 
         if rnames.keys() & self.resources.keys():
-            raise DuplicateResourceError(component.name)
+            raise DuplicateResourceError(resource.name)
 
         with self._lock:
             self.resources.update(rnames)

src/viam/resource/rpc_service_base.py

@@ -1,28 +1,30 @@
 import abc
-from typing import Generic, Type
+from typing import Type, TYPE_CHECKING
 
 from viam.components.component_base import ComponentBase
 from viam.errors import ResourceNotFoundError
-from viam.resource.manager import ResourceManager, ResourceType
 from viam.rpc.types import RPCServiceBase
 from viam.services.service_base import ServiceBase
 
 from .base import ResourceBase
 
+if TYPE_CHECKING:
+    from viam.resource.manager import ResourceManager
 
-class ResourceRPCServiceBase(abc.ABC, RPCServiceBase, Generic[ResourceType]):
+
+class ResourceRPCServiceBase(abc.ABC, RPCServiceBase):
     """
     Base RPC service for a resource.
     All resource RPC services must inherit from this class.
     """
 
     RESOURCE_TYPE = Type
-    manager: ResourceManager
+    manager: "ResourceManager"
 
-    def __init__(self, manager: ResourceManager):
+    def __init__(self, manager: "ResourceManager"):
         self.manager = manager
 
-    def get_resource(self, name: str) -> ResourceType:
+    def get_resource(self, name: str) -> RESOURCE_TYPE:
         """
         Return the resource with the given name if it exists in the registry.
         If the resource does not exist in the registry,

src/viam/robot/client.py

@@ -9,6 +9,8 @@
 import viam
 from viam import logging
 from viam.components.component_base import ComponentBase
+from viam.components.movement_sensor import MovementSensor
+from viam.components.sensor import Sensor
 from viam.errors import ResourceNotFoundError
 from viam.proto.common import PoseInFrame, ResourceName, Transform
 from viam.proto.robot import (
@@ -205,6 +207,10 @@ async def refresh(self):
                 if rname.subtype == "remote":
                     continue
 
+                # If the resource is a MovementSensor, DO NOT include Sensor as well (it will get added via MovementSensor)
+                if rname.subtype == Sensor.SUBTYPE.resource_subtype and MovementSensor.get_resource_name(rname.name) in resource_names:
+                    continue
+
                 self._create_or_reset_client(rname)
 
             for rname in self.resource_names:

src/viam/robot/service.py

@@ -43,6 +43,8 @@
 from viam.resource.registry import Registry
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
 from viam.utils import resource_names_for_resource, struct_to_dict
+from viam.components.sensor import Sensor
+from viam.components.movement_sensor import MovementSensor
 
 LOGGER = logging.getLogger(__name__)
 
@@ -51,22 +53,26 @@ class RobotService(RobotServiceBase, ResourceRPCServiceBase):
     def _generate_metadata(self) -> List[ResourceName]:
         md: Set[ResourceName] = set()
 
-        for component in self.manager.resources.values():
-            md.update(resource_names_for_resource(component))
+        for resource in self.manager.resources.values():
+            # If the resource is a MovementSensor, DO NOT include Sensor as well (it will get added via MovementSensor)
+            if resource.SUBTYPE == Sensor.SUBTYPE and MovementSensor.get_resource_name(resource.name) in self.manager.resources:
+                continue
+
+            md.update(resource_names_for_resource(resource))
 
         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 resource in self.manager.resources.values():
             for registration in Registry.REGISTERED_SUBTYPES().values():
-                if isinstance(component, registration.resource_type):
-                    if resource_names and component.get_resource_name(component.name) not in resource_names:
+                if isinstance(resource, registration.resource_type):
+                    if resource_names and resource.get_resource_name(resource.name) not in resource_names:
                         continue
                     try:
-                        status = await registration.create_status(component)
+                        status = await registration.create_status(resource)
                         if status.name not in seen_resource_names:
                             seen_resource_names.add(status.name)
                             statuses.append(status)

src/viam/services/mlmodel/service.py

@@ -7,7 +7,7 @@
 from .mlmodel import MLModel
 
 
-class MLModelRPCService(MLModelServiceBase, ResourceRPCServiceBase[MLModel]):
+class MLModelRPCService(MLModelServiceBase, ResourceRPCServiceBase):
     """
     gRPC service for a ML Model service
     """

src/viam/services/slam/service.py

@@ -16,7 +16,7 @@
 from .slam import SLAM
 
 
-class SLAMRPCService(SLAMServiceBase, ResourceRPCServiceBase[SLAM]):
+class SLAMRPCService(SLAMServiceBase, ResourceRPCServiceBase):
     """
     gRPC Service for a SLAM service
     """

src/viam/services/vision/service.py

@@ -24,7 +24,7 @@
 from .vision import Vision
 
 
-class VisionRPCService(VisionServiceBase, ResourceRPCServiceBase[Vision]):
+class VisionRPCService(VisionServiceBase, ResourceRPCServiceBase):
     """
     gRPC service for a Vision service
     """

tests/mocks/module/gizmo/api.py

@@ -51,7 +51,7 @@ async def do_two(self, arg1: bool, **kwargs) -> str:
         ...
 
 
-class GizmoService(GizmoServiceBase, ResourceRPCServiceBase[Gizmo]):
+class GizmoService(GizmoServiceBase, ResourceRPCServiceBase):
     """Example gRPC service for the Gizmo component"""
 
     RESOURCE_TYPE = Gizmo