RSDK-6885 - Add fields to GetPropertiesResponse (#559)

Author: kkufieta

src/viam/gen/service/slam/v1/slam_pb2.py

@@ -46,4 +46,4 @@
     _SENSORINFO._serialized_start = 991
     _SENSORINFO._serialized_end = 1077
     _SLAMSERVICE._serialized_start = 1329
-    _SLAMSERVICE._serialized_end = 2141
+    _SLAMSERVICE._serialized_end = 2141

src/viam/gen/service/slam/v1/slam_pb2.pyi

@@ -219,4 +219,4 @@ class SensorInfo(google.protobuf.message.Message):
 
     def ClearField(self, field_name: typing_extensions.Literal['name', b'name', 'type', b'type']) -> None:
         ...
-global___SensorInfo = SensorInfo
+global___SensorInfo = SensorInfo

src/viam/services/slam/__init__.py

@@ -1,5 +1,5 @@
 from viam.proto.common import Pose
-from viam.proto.service.slam import MappingMode
+from viam.proto.service.slam import MappingMode, SensorInfo
 from viam.resource.registry import Registry, ResourceRegistration
 
 from .client import SLAMClient
@@ -9,6 +9,7 @@
 __all__ = [
     "Pose",
     "MappingMode",
+    "SensorInfo",
     "SLAMClient",
     "SLAM",
 ]

src/viam/services/slam/client.py

@@ -1,4 +1,4 @@
-from typing import List, Mapping, Optional, Tuple
+from typing import List, Mapping, Optional
 
 from grpclib.client import Channel
 
@@ -11,13 +11,12 @@
     GetPositionRequest,
     GetPositionResponse,
     GetPropertiesRequest,
-    GetPropertiesResponse,
     SLAMServiceStub,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
 
-from . import MappingMode, Pose
+from . import Pose
 from .slam import SLAM
 
 
@@ -48,10 +47,9 @@ async def get_internal_state(self, *, timeout: Optional[float] = None) -> List[b
         response: List[GetInternalStateResponse] = await self.client.GetInternalState(request, timeout=timeout)
         return [r.internal_state_chunk for r in response]
 
-    async def get_properties(self, *, timeout: Optional[float] = None) -> Tuple[bool, MappingMode.ValueType]:
+    async def get_properties(self, *, timeout: Optional[float] = None) -> SLAM.Properties:
         request = GetPropertiesRequest(name=self.name)
-        response: GetPropertiesResponse = await self.client.GetProperties(request, timeout=timeout)
-        return (response.cloud_slam, response.mapping_mode)
+        return await self.client.GetProperties(request, timeout=timeout)
 
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **__) -> Mapping[str, ValueTypes]:
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))

src/viam/services/slam/service.py

@@ -62,9 +62,8 @@ async def GetProperties(self, stream: Stream[GetPropertiesRequest, GetProperties
         assert request is not None
         slam = self.get_resource(request.name)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        (cloud_slam, mapping_mode) = await slam.get_properties(timeout=timeout)
-        response = GetPropertiesResponse(cloud_slam=cloud_slam, mapping_mode=mapping_mode)
-        await stream.send_message(response)
+        properties = await slam.get_properties(timeout=timeout)
+        await stream.send_message(properties)
 
     async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -> None:
         request = await stream.recv_message()

src/viam/services/slam/slam.py

@@ -1,10 +1,17 @@
 import abc
-from typing import Final, List, Optional, Tuple
+import sys
+from typing import Final, List, Optional
 
+from viam.proto.service.slam import GetPropertiesResponse
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE, Subtype
 
 from ..service_base import ServiceBase
-from . import MappingMode, Pose
+from . import Pose
+
+if sys.version_info >= (3, 10):
+    from typing import TypeAlias
+else:
+    from typing_extensions import TypeAlias
 
 
 class SLAM(ServiceBase):
@@ -18,6 +25,8 @@ class SLAM(ServiceBase):
 
     SUBTYPE: Final = Subtype(RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE, "slam")  # pyright: ignore [reportIncompatibleVariableOverride]
 
+    Properties: "TypeAlias" = GetPropertiesResponse
+
     @abc.abstractmethod
     async def get_internal_state(self, *, timeout: Optional[float]) -> List[bytes]:
         """
@@ -71,7 +80,7 @@ async def get_position(self, *, timeout: Optional[float]) -> Pose:
         ...
 
     @abc.abstractmethod
-    async def get_properties(self, *, timeout: Optional[float]) -> Tuple[bool, MappingMode.ValueType]:
+    async def get_properties(self, *, timeout: Optional[float]) -> Properties:
         """
         Get information regarding the current SLAM session.
 
@@ -83,7 +92,6 @@ async def get_properties(self, *, timeout: Optional[float]) -> Tuple[bool, Mappi
             slam_properties = await slam_svc.get_properties()
 
         Returns:
-            Tuple[bool, MappingMode.ValueType]: A tuple of a boolean value representing if the SLAM session is being run in
-            the cloud and the mapping mode of said session
+            Properties: The properties of SLAM
         """
         ...

tests/mocks/services.py

@@ -1,4 +1,4 @@
-from typing import Any, Dict, List, Mapping, Optional, Sequence, Tuple, Union
+from typing import Any, Dict, List, Mapping, Optional, Sequence, Union
 
 import numpy as np
 from grpclib.server import Stream
@@ -306,7 +306,7 @@
     Readings,
     SensorsServiceBase,
 )
-from viam.proto.service.slam import MappingMode
+from viam.proto.service.slam import MappingMode, SensorInfo, SensorType
 from viam.proto.service.vision import Classification, Detection
 from viam.services.generic import Generic as GenericService
 from viam.services.mlmodel import File, LabelType, Metadata, MLModel, TensorInfo
@@ -603,10 +603,21 @@ class MockSLAM(SLAM):
     POSITION = Pose(x=1, y=2, z=3, o_x=2, o_y=3, o_z=4, theta=20)
     CLOUD_SLAM = False
     MAPPING_MODE = MappingMode.MAPPING_MODE_UNSPECIFIED
+    INTERNAL_STATE_FILE_TYPE = ".pbstream"
+    SENSOR_INFO = [
+        SensorInfo(name="my-camera", type=SensorType.SENSOR_TYPE_CAMERA),
+        SensorInfo(name="my-movement-sensor", type=SensorType.SENSOR_TYPE_MOVEMENT_SENSOR),
+    ]
 
     def __init__(self, name: str):
         self.name = name
         self.timeout: Optional[float] = None
+        self.properties = SLAM.Properties(
+                cloud_slam=self.CLOUD_SLAM,
+                mapping_mode=self.MAPPING_MODE,
+                internal_state_file_type=self.INTERNAL_STATE_FILE_TYPE,
+                sensor_info=self.SENSOR_INFO
+            )
         super().__init__(name)
 
     async def get_internal_state(self, *, timeout: Optional[float] = None) -> List[bytes]:
@@ -621,9 +632,9 @@ async def get_position(self, *, timeout: Optional[float] = None) -> Pose:
         self.timeout = timeout
         return self.POSITION
 
-    async def get_properties(self, *, timeout: Optional[float] = None) -> Tuple[bool, MappingMode.ValueType]:
+    async def get_properties(self, *, timeout: Optional[float] = None) -> SLAM.Properties:
         self.timeout = timeout
-        return (self.CLOUD_SLAM, self.MAPPING_MODE)
+        return self.properties
 
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}

tests/test_slam.py

@@ -49,9 +49,11 @@ async def test_do(self):
 
     @pytest.mark.asyncio
     async def test_get_properties(self):
-        (cloud_slam, mapping_mode) = await self.slam.get_properties()
-        assert cloud_slam == MockSLAM.CLOUD_SLAM
-        assert mapping_mode == MockSLAM.MAPPING_MODE
+        properties = await self.slam.get_properties()
+        assert properties.cloud_slam == MockSLAM.CLOUD_SLAM
+        assert properties.mapping_mode == MockSLAM.MAPPING_MODE
+        assert properties.internal_state_file_type == MockSLAM.INTERNAL_STATE_FILE_TYPE
+        assert properties.sensor_info == MockSLAM.SENSOR_INFO
 
 
 class TestService:
@@ -96,6 +98,8 @@ async def test_get_properties(self):
             response: GetPropertiesResponse = await client.GetProperties(request)
             assert response.cloud_slam == MockSLAM.CLOUD_SLAM
             assert response.mapping_mode == MockSLAM.MAPPING_MODE
+            assert response.internal_state_file_type == MockSLAM.INTERNAL_STATE_FILE_TYPE
+            assert response.sensor_info == MockSLAM.SENSOR_INFO
 
     @pytest.mark.asyncio
     async def test_do(self):
@@ -145,9 +149,11 @@ async def test_get_position(self):
     async def test_get_properties(self):
         async with ChannelFor([self.service]) as channel:
             client = SLAMClient(self.name, channel)
-            (cloud_slam, mapping_mode) = await client.get_properties()
-            assert cloud_slam == MockSLAM.CLOUD_SLAM
-            assert mapping_mode == MockSLAM.MAPPING_MODE
+            properties = await client.get_properties()
+            assert properties.cloud_slam == MockSLAM.CLOUD_SLAM
+            assert properties.mapping_mode == MockSLAM.MAPPING_MODE
+            assert properties.internal_state_file_type == MockSLAM.INTERNAL_STATE_FILE_TYPE
+            assert properties.sensor_info == MockSLAM.SENSOR_INFO
 
     @pytest.mark.asyncio
     async def test_do(self):