RSDK-6121: Implement getAccuracy (#515)

Author: susmitaSanyal

src/viam/components/movement_sensor/client.py

@@ -6,7 +6,6 @@
 from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, GetReadingsRequest, GetReadingsResponse
 from viam.proto.component.movementsensor import (
     GetAccuracyRequest,
-    GetAccuracyResponse,
     GetAngularVelocityRequest,
     GetAngularVelocityResponse,
     GetCompassHeadingRequest,
@@ -134,12 +133,11 @@ async def get_accuracy(
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
         **__,
-    ) -> Mapping[str, float]:
+    ) -> MovementSensor.Accuracy:
         if extra is None:
             extra = {}
         request = GetAccuracyRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetAccuracyResponse = await self.client.GetAccuracy(request, timeout=timeout)
-        return response.accuracy
+        return await self.client.GetAccuracy(request, timeout=timeout)
 
     async def get_readings(
         self,

src/viam/components/movement_sensor/movement_sensor.py

@@ -1,16 +1,22 @@
 import abc
 from dataclasses import dataclass
+import sys
 from typing import Any, Dict, Final, Mapping, Optional, Tuple
 
 from typing_extensions import Self
 
 from viam.components.component_base import ComponentBase
-from viam.proto.component.movementsensor import GetPropertiesResponse
+from viam.proto.component.movementsensor import GetPropertiesResponse, GetAccuracyResponse
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 from viam.utils import SensorReading
 
 from . import GeoPoint, Orientation, Vector3
 
+if sys.version_info >= (3, 10):
+    from typing import TypeAlias
+else:
+    from typing_extensions import TypeAlias
+
 
 class MovementSensor(ComponentBase):
     """MovementSensor reports information about the robot's direction, position and speed.
@@ -23,6 +29,8 @@ class MovementSensor(ComponentBase):
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "movement_sensor"
     )
 
+    Accuracy: "TypeAlias" = GetAccuracyResponse
+
     @dataclass
     class Properties:
         linear_acceleration_supported: bool
@@ -124,11 +132,11 @@ async def get_properties(self, *, extra: Optional[Dict[str, Any]] = None, timeou
     @abc.abstractmethod
     async def get_accuracy(
         self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs
-    ) -> Mapping[str, float]:
+    ) -> Accuracy:
         """Get the accuracy of the various sensors
 
         Returns:
-            Dict[str, float]: The accuracy
+            MovementSensor.Accuracy: The accuracies of the movement sensor
         """
         ...
 

src/viam/components/movement_sensor/service.py

@@ -115,8 +115,7 @@ async def GetAccuracy(self, stream: Stream[GetAccuracyRequest, GetAccuracyRespon
         sensor = self.get_resource(name)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
         accuracy = await sensor.get_accuracy(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
-        response = GetAccuracyResponse(accuracy=accuracy)
-        await stream.send_message(response)
+        await stream.send_message(accuracy)
 
     async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -> None:
         request = await stream.recv_message()

tests/mocks/components.py

@@ -810,7 +810,7 @@ def __init__(
         heading: float,
         orientation: Orientation,
         properties: MovementSensor.Properties,
-        accuracy: Mapping[str, float],
+        accuracy: MovementSensor.Accuracy,
         readings: Mapping[str, float],
     ):
         super().__init__(name)
@@ -871,7 +871,7 @@ async def get_properties(
 
     async def get_accuracy(
         self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs
-    ) -> Mapping[str, float]:
+    ) -> MovementSensor.Accuracy:
         self.extra = extra
         self.timeout = timeout
         return self.accuracy

tests/test_movement_sensor.py

@@ -54,7 +54,13 @@
     position_supported=True,
     compass_heading_supported=False,
 )
-ACCURACY = {"foo": 0.1, "bar": 2, "baz": 3.14}
+ACCURACY = MovementSensor.Accuracy(
+    accuracy={"foo": 0.1, "bar": 2, "baz": 3.14},
+    position_hdop=0.0,
+    position_vdop=0.0,
+    position_nmea_gga_fix=0,
+    compass_degrees_error=0.0,
+)
 EXTRA_PARAMS = {"foo": "bar", "baz": [1, 2, 3]}
 READINGS = {"a": 1, "b": 2, "c": 3}
 
@@ -143,7 +149,11 @@ async def test_get_properties(self, movement_sensor: MockMovementSensor):
     async def test_get_accuracy(self, movement_sensor: MockMovementSensor):
         assert movement_sensor.extra is None
         value = await movement_sensor.get_accuracy(extra=EXTRA_PARAMS)
-        assert value == ACCURACY
+        assert value.accuracy == pytest.approx(ACCURACY.accuracy)
+        assert value.position_hdop == pytest.approx(ACCURACY.position_hdop)
+        assert value.position_vdop == pytest.approx(ACCURACY.position_vdop)
+        assert value.position_nmea_gga_fix == pytest.approx(ACCURACY.position_nmea_gga_fix)
+        assert value.compass_degrees_error == pytest.approx(ACCURACY.compass_degrees_error)
         assert movement_sensor.extra == EXTRA_PARAMS
 
     @pytest.mark.asyncio
@@ -280,8 +290,11 @@ async def test_get_accuracy(self, movement_sensor: MockMovementSensor, service:
             request = GetAccuracyRequest(name=movement_sensor.name, extra=dict_to_struct(EXTRA_PARAMS))
             assert movement_sensor.extra is None
             response: GetAccuracyResponse = await client.GetAccuracy(request, timeout=7.89)
-            assert response.accuracy == pytest.approx(ACCURACY)
-            assert movement_sensor.extra == EXTRA_PARAMS
+            assert response.accuracy == pytest.approx(ACCURACY.accuracy)
+            assert response.position_hdop == pytest.approx(ACCURACY.position_hdop)
+            assert response.position_vdop == pytest.approx(ACCURACY.position_vdop)
+            assert response.position_nmea_gga_fix == pytest.approx(ACCURACY.position_nmea_gga_fix)
+            assert response.compass_degrees_error == pytest.approx(ACCURACY.compass_degrees_error)
             assert movement_sensor.timeout == loose_approx(7.89)
 
     @pytest.mark.asyncio
@@ -392,8 +405,11 @@ async def test_get_accuracy(self, movement_sensor: MockMovementSensor, service:
             client = MovementSensorClient(movement_sensor.name, channel)
             assert movement_sensor.extra is None
             value = await client.get_accuracy(extra=EXTRA_PARAMS, timeout=7.89)
-            assert value == pytest.approx(ACCURACY)
-            assert movement_sensor.extra == EXTRA_PARAMS
+            assert value.accuracy == pytest.approx(ACCURACY.accuracy)
+            assert value.position_hdop == pytest.approx(ACCURACY.position_hdop)
+            assert value.position_vdop == pytest.approx(ACCURACY.position_vdop)
+            assert value.position_nmea_gga_fix == pytest.approx(ACCURACY.position_nmea_gga_fix)
+            assert value.compass_degrees_error == pytest.approx(ACCURACY.compass_degrees_error)
             assert movement_sensor.timeout == loose_approx(7.89)
 
     @pytest.mark.asyncio