RSDK-9465, RSDK-9366 - Remove robot status and sensors service (#796)

Author: cheukt

src/viam/components/arm/__init__.py

@@ -1,11 +1,6 @@
-import asyncio
-
 from viam.proto.common import KinematicsFileFormat, Pose
 from viam.proto.component.arm import JointPositions
-from viam.proto.component.arm import Status as ArmStatus
-from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
-from viam.utils import message_to_struct
 
 from .arm import Arm
 from .client import ArmClient
@@ -18,23 +13,4 @@
     "Pose",
 ]
 
-
-async def create_status(component: Arm) -> Status:
-    (
-        end_position,
-        joint_positions,
-        is_moving,
-    ) = await asyncio.gather(
-        component.get_end_position(),
-        component.get_joint_positions(),
-        component.is_moving(),
-    )
-    s = ArmStatus(
-        end_position=end_position,
-        joint_positions=joint_positions,
-        is_moving=is_moving,
-    )
-    return Status(name=Arm.get_resource_name(component.name), status=message_to_struct(s))
-
-
-Registry.register_subtype(ResourceRegistration(Arm, ArmRPCService, lambda name, channel: ArmClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Arm, ArmRPCService, lambda name, channel: ArmClient(name, channel)))

src/viam/components/base/__init__.py

@@ -1,7 +1,5 @@
-from viam.proto.common import ActuatorStatus, Vector3
-from viam.proto.robot import Status
+from viam.proto.common import Vector3
 from viam.resource.registry import Registry, ResourceRegistration
-from viam.utils import message_to_struct
 
 from .base import Base
 from .client import BaseClient
@@ -12,10 +10,4 @@
     "Vector3",
 ]
 
-
-async def create_status(component: Base) -> Status:
-    s = ActuatorStatus(is_moving=await component.is_moving())
-    return Status(name=Base.get_resource_name(component.name), status=message_to_struct(s))
-
-
-Registry.register_subtype(ResourceRegistration(Base, BaseRPCService, lambda name, channel: BaseClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Base, BaseRPCService, lambda name, channel: BaseClient(name, channel)))

src/viam/components/board/__init__.py

@@ -1,32 +1,9 @@
-import asyncio
-
-from viam.proto.component.board import Status as BoardStatus
-from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
-from viam.utils import message_to_struct
 
 from .board import Board, Tick, TickStream
 from .client import BoardClient
 from .service import BoardRPCService
 
 __all__ = ["Board", "Tick", "TickStream"]
 
-
-async def create_status(component: Board) -> Status:
-    (analog_names, digital_interrupt_names) = await asyncio.gather(component.analog_names(), component.digital_interrupt_names())
-    analogs, digital_interrupts = {}, {}
-    for x in analog_names:
-        analog = await component.analog_by_name(x)
-        read = await analog.read()
-        analogs[x] = read.value
-
-    for y in digital_interrupt_names:
-        digital_interrupt = await component.digital_interrupt_by_name(y)
-        val = await digital_interrupt.value()
-        digital_interrupts[y] = val
-
-    s = BoardStatus(analogs=analogs, digital_interrupts=digital_interrupts)
-    return Status(name=Board.get_resource_name(component.name), status=message_to_struct(s))
-
-
-Registry.register_subtype(ResourceRegistration(Board, BoardRPCService, lambda name, channel: BoardClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Board, BoardRPCService, lambda name, channel: BoardClient(name, channel)))

src/viam/components/gantry/__init__.py

@@ -1,9 +1,4 @@
-import asyncio
-
-from viam.proto.component.gantry import Status as GantryStatus
-from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
-from viam.utils import message_to_struct
 
 from .client import GantryClient
 from .gantry import Gantry
@@ -13,11 +8,4 @@
     "Gantry",
 ]
 
-
-async def create_status(component: Gantry) -> Status:
-    (positions_mm, lengths_mm, is_moving) = await asyncio.gather(component.get_position(), component.get_lengths(), component.is_moving())
-    s = GantryStatus(positions_mm=positions_mm, lengths_mm=lengths_mm, is_moving=is_moving)
-    return Status(name=Gantry.get_resource_name(component.name), status=message_to_struct(s))
-
-
-Registry.register_subtype(ResourceRegistration(Gantry, GantryRPCService, lambda name, channel: GantryClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Gantry, GantryRPCService, lambda name, channel: GantryClient(name, channel)))

src/viam/components/gripper/__init__.py

@@ -1,7 +1,4 @@
-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 .client import GripperClient
 from .gripper import Gripper
@@ -11,12 +8,6 @@
     "Gripper",
 ]
 
-
-async def create_status(component: Gripper) -> Status:
-    s = ActuatorStatus(is_moving=await component.is_moving())
-    return Status(name=Gripper.get_resource_name(component.name), status=message_to_struct(s))
-
-
 Registry.register_subtype(
-    ResourceRegistration(Gripper, GripperRPCService, lambda name, channel: GripperClient(name, channel), create_status)
+    ResourceRegistration(Gripper, GripperRPCService, lambda name, channel: GripperClient(name, channel))
 )

src/viam/components/input/__init__.py

@@ -1,7 +1,4 @@
-from viam.proto.component.inputcontroller import Status as InputStatus
-from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
-from viam.utils import message_to_struct
 
 from .client import ControllerClient
 from .input import Control, ControlFunction, Controller, Event, EventType
@@ -15,14 +12,6 @@
     "EventType",
 ]
 
-
-async def create_status(component: Controller) -> Status:
-    return Status(
-        name=Controller.get_resource_name(component.name),
-        status=message_to_struct(InputStatus(events=[event.proto for event in (await component.get_events()).values()])),
-    )
-
-
 Registry.register_subtype(
-    ResourceRegistration(Controller, InputControllerRPCService, lambda name, channel: ControllerClient(name, channel), create_status)
+    ResourceRegistration(Controller, InputControllerRPCService, lambda name, channel: ControllerClient(name, channel))
 )

src/viam/components/motor/__init__.py

@@ -1,9 +1,4 @@
-import asyncio
-
-from viam.proto.component.motor import Status as MotorStatus
-from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
-from viam.utils import message_to_struct
 
 from .client import MotorClient
 from .motor import Motor
@@ -13,19 +8,4 @@
     "Motor",
 ]
 
-
-async def create_status(component: Motor) -> Status:
-    ((is_powered, _), position, is_moving) = await asyncio.gather(
-        component.is_powered(),
-        component.get_position(),
-        component.is_moving(),
-    )
-    s = MotorStatus(
-        is_powered=is_powered,
-        position=position,
-        is_moving=is_moving,
-    )
-    return Status(name=Motor.get_resource_name(component.name), status=message_to_struct(s))
-
-
-Registry.register_subtype(ResourceRegistration(Motor, MotorRPCService, lambda name, channel: MotorClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Motor, MotorRPCService, lambda name, channel: MotorClient(name, channel)))

src/viam/components/servo/__init__.py

@@ -1,9 +1,4 @@
-import asyncio
-
-from viam.proto.component.servo import Status as ServoStatus
-from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
-from viam.utils import message_to_struct
 
 from .client import ServoClient
 from .service import ServoRPCService
@@ -13,11 +8,4 @@
     "Servo",
 ]
 
-
-async def create_status(component: Servo) -> Status:
-    (position_deg, is_moving) = await asyncio.gather(component.get_position(), component.is_moving())
-    s = ServoStatus(position_deg=position_deg, is_moving=is_moving)
-    return Status(name=Servo.get_resource_name(component.name), status=message_to_struct(s))
-
-
-Registry.register_subtype(ResourceRegistration(Servo, ServoRPCService, lambda name, channel: ServoClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Servo, ServoRPCService, lambda name, channel: ServoClient(name, channel)))

src/viam/resource/registry.py

@@ -1,12 +1,10 @@
 from dataclasses import dataclass
 from threading import Lock
-from typing import TYPE_CHECKING, Any, Callable, ClassVar, Coroutine, Dict, Generic, Mapping, Type, TypeVar
+from typing import TYPE_CHECKING, Callable, ClassVar, Dict, Generic, Mapping, Type, TypeVar
 
-from google.protobuf.struct_pb2 import Struct
 from grpclib.client import Channel
 
 from viam.errors import DuplicateResourceError, ResourceNotFoundError, ValidationError
-from viam.proto.robot import Status
 
 from .base import ResourceBase
 
@@ -16,11 +14,6 @@
 
 Resource = TypeVar("Resource", bound=ResourceBase)
 
-
-async def default_create_status(resource: ResourceBase) -> Status:
-    return Status(name=resource.get_resource_name(resource.name), status=Struct())
-
-
 @dataclass
 class ResourceCreatorRegistration:
     """An object representing a resource creator to be registered.
@@ -63,12 +56,6 @@ class ResourceRegistration(Generic[Resource]):
     """A function that will create the RPC client for this resource
     """
 
-    create_status: Callable[[Resource], Coroutine[Any, Any, Status]] = default_create_status
-    """A function to create a Status object for this resource.
-
-    If the resource does not provide a custom status type, the default implementation can be used.
-    """
-
 
 class Registry:
     """The global registry of robotic parts.

src/viam/robot/client.py

@@ -29,8 +29,6 @@
     GetMachineStatusResponse,
     GetOperationsRequest,
     GetOperationsResponse,
-    GetStatusRequest,
-    GetStatusResponse,
     GetVersionRequest,
     GetVersionResponse,
     LogRequest,
@@ -44,7 +42,6 @@
     TransformPoseRequest,
     TransformPoseResponse,
 )
-from viam.proto.robot import Status as PBStatus
 from viam.resource.base import ResourceBase
 from viam.resource.manager import ResourceManager
 from viam.resource.registry import Registry
@@ -601,34 +598,6 @@ async def __aenter__(self):
     async def __aexit__(self, exc_type, exc_value, traceback):
         await self.close()
 
-    ##########
-    # STATUS #
-    ##########
-    async def get_status(self, components: Optional[List[ResourceName]] = None) -> List[PBStatus]:
-        """
-        Get the status of the machine's components. You can optionally
-        provide a list of ``ResourceName`` for which you want statuses.
-
-        ::
-
-            # Get the status of the resources on the machine.
-            statuses = await machine.get_status()
-            resource_statuses = machine_status.resources
-
-        Args:
-            components (Optional[List[viam.proto.common.ResourceName]]): Optional list of
-                ``ResourceName`` for components you want statuses.
-
-        Returns:
-            List[viam.proto.robot.Status]: A list of statuses for each requested resource.
-
-        For more information, see `Machine Management API <https://docs.viam.com/appendix/apis/robot/>`_.
-        """
-        names = components if components is not None else []
-        request = GetStatusRequest(resource_names=names)
-        response: GetStatusResponse = await self._client.GetStatus(request)
-        return list(response.status)
-
     ##############
     # OPERATIONS #
     ##############