RSDK 850 specify docommand value types (#226)

Author: purplenicole730

src/viam/components/arm/client.py

@@ -1,4 +1,4 @@
-from typing import Any, Dict, Optional
+from typing import Any, Dict, Mapping, Optional
 
 from grpclib.client import Channel
 
@@ -16,7 +16,7 @@
     MoveToPositionRequest,
     StopRequest,
 )
-from viam.utils import dict_to_struct, struct_to_dict
+from viam.utils import dict_to_struct, struct_to_dict, ValueTypes
 
 from .arm import Arm
 
@@ -102,10 +102,10 @@ async def is_moving(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Op
 
     async def do_command(
         self,
-        command: Dict[str, Any],
+        command: Mapping[str, Any],
         *,
         timeout: Optional[float] = None,
-    ) -> Dict[str, Any]:
+    ) -> Mapping[str, ValueTypes]:
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)

src/viam/components/audio_input/client.py

@@ -1,4 +1,4 @@
-from typing import Any, AsyncIterator, Dict, Optional, Union
+from typing import AsyncIterator, Mapping, Optional, Union
 
 from grpclib.client import Channel
 
@@ -13,7 +13,7 @@
     PropertiesResponse,
     SampleFormat,
 )
-from viam.utils import dict_to_struct, struct_to_dict
+from viam.utils import dict_to_struct, struct_to_dict, ValueTypes
 
 from .audio_input import AudioInput
 
@@ -53,7 +53,7 @@ async def get_properties(self, *, timeout: Optional[float] = None) -> AudioInput
         response: PropertiesResponse = await self.client.Properties(request, timeout=timeout)
         return AudioInput.Properties.from_proto(response)
 
-    async def do_command(self, command: Dict[str, Any], *, timeout: Optional[float] = None) -> Dict[str, Any]:
+    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))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)

src/viam/components/base/client.py

@@ -1,4 +1,4 @@
-from typing import Any, Dict, Optional
+from typing import Any, Dict, Mapping, Optional
 
 from grpclib.client import Channel
 
@@ -13,7 +13,7 @@
     SpinRequest,
     StopRequest,
 )
-from viam.utils import dict_to_struct, struct_to_dict
+from viam.utils import dict_to_struct, struct_to_dict, ValueTypes
 
 from .base import Base
 
@@ -115,10 +115,10 @@ async def is_moving(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Op
 
     async def do_command(
         self,
-        command: Dict[str, Any],
+        command: Mapping[str, ValueTypes],
         *,
         timeout: Optional[float] = None,
-    ) -> Dict[str, Any]:
+    ) -> Mapping[str, ValueTypes]:
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)

src/viam/components/board/client.py

@@ -1,5 +1,5 @@
 from multiprocessing import Queue
-from typing import Any, Dict, List, Optional
+from typing import Any, Dict, Mapping, List, Optional
 
 from grpclib.client import Channel
 
@@ -22,7 +22,7 @@
     StatusRequest,
     StatusResponse,
 )
-from viam.utils import dict_to_struct, struct_to_dict
+from viam.utils import dict_to_struct, struct_to_dict, ValueTypes
 
 from .board import Board, PostProcessor
 
@@ -152,7 +152,7 @@ async def status(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optio
     async def model_attributes(self) -> Board.Attributes:
         return Board.Attributes(remote=True)
 
-    async def do_command(self, command: Dict[str, Any], *, timeout: Optional[float] = None) -> Dict[str, Any]:
+    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))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)

src/viam/components/camera/client.py

@@ -1,5 +1,5 @@
 from io import BytesIO
-from typing import Any, Dict, Optional, Tuple, Union
+from typing import Mapping, Optional, Tuple, Union
 
 from grpclib.client import Channel
 from PIL import Image
@@ -15,7 +15,7 @@
     GetPropertiesRequest,
     GetPropertiesResponse,
 )
-from viam.utils import dict_to_struct, struct_to_dict
+from viam.utils import dict_to_struct, struct_to_dict, ValueTypes
 
 from .camera import Camera
 
@@ -48,7 +48,7 @@ async def get_properties(self, *, timeout: Optional[float] = None) -> Camera.Pro
         response: GetPropertiesResponse = await self.client.GetProperties(GetPropertiesRequest(name=self.name), timeout=timeout)
         return Camera.Properties(response.supports_pcd, response.intrinsic_parameters, response.distortion_parameters)
 
-    async def do_command(self, command: Dict[str, Any], *, timeout: Optional[float] = None) -> Dict[str, Any]:
+    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))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)

src/viam/components/component_base.py

@@ -1,5 +1,5 @@
 import abc
-from typing import TYPE_CHECKING, Any, ClassVar, Dict, Mapping, Optional, cast
+from typing import TYPE_CHECKING, Any, SupportsBytes, ClassVar, SupportsFloat, List, Mapping, Optional, cast, Union
 
 from typing_extensions import Self
 
@@ -11,6 +11,9 @@
     from viam.robot.client import RobotClient
 
 
+ValueTypes = Union[bool, SupportsBytes, SupportsFloat, List, Mapping, str, None]
+
+
 class ComponentBase(abc.ABC):
     """
     Base component.
@@ -68,16 +71,16 @@ def get_operation(self, kwargs: Mapping[str, Any]) -> Operation:
         """
         return kwargs.get(Operation.ARG_NAME, Operation._noop())
 
-    async def do_command(self, command: Dict[str, Any], *, timeout: Optional[float] = None, **kwargs) -> Dict[str, Any]:
+    async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         """Send/Receive arbitrary commands
 
         Args:
-            command (Dict[str, Any]): The command to execute
+            command (Mapping[str, ValueTypes]): The command to execute
 
         Raises:
             NotImplementedError: Raised if the component does not support arbitrary commands
 
         Returns:
-            Dict[str, Any]: Result of the executed command
+            Mapping[str, ValueTypes]: Result of the executed command
         """
         raise NotImplementedError()

src/viam/components/gantry/client.py

@@ -1,4 +1,4 @@
-from typing import Any, Dict, List, Optional
+from typing import Any, Dict, List, Mapping, Optional
 
 from grpclib.client import Channel
 
@@ -14,7 +14,7 @@
     MoveToPositionRequest,
     StopRequest,
 )
-from viam.utils import dict_to_struct, struct_to_dict
+from viam.utils import dict_to_struct, struct_to_dict, ValueTypes
 
 from .gantry import Gantry
 
@@ -69,7 +69,7 @@ async def is_moving(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Op
         response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout)
         return response.is_moving
 
-    async def do_command(self, command: Dict[str, Any], *, timeout: Optional[float] = None) -> Dict[str, Any]:
+    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))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)

src/viam/components/generic/client.py

@@ -1,8 +1,8 @@
-from typing import Any, Dict, Optional
+from typing import Any, Mapping, Optional
 from grpclib import GRPCError, Status
 from grpclib.client import Channel
 from viam.proto.component.generic import GenericServiceStub, DoCommandRequest, DoCommandResponse
-from viam.utils import dict_to_struct, struct_to_dict
+from viam.utils import dict_to_struct, struct_to_dict, ValueTypes
 
 from .generic import Generic
 
@@ -16,7 +16,7 @@ def __init__(self, name: str, channel: Channel):
         self.client = GenericServiceStub(channel)
         super().__init__(name)
 
-    async def do_command(self, command: Dict[str, Any], *, timeout: Optional[float] = None) -> Dict[str, Any]:
+    async def do_command(self, command: Mapping[str, Any], *, timeout: Optional[float] = None) -> Mapping[str, Any]:
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         try:
             response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
@@ -28,7 +28,9 @@ async def do_command(self, command: Dict[str, Any], *, timeout: Optional[float]
         return struct_to_dict(response.result)
 
 
-async def do_command(channel: Channel, name: str, command: Dict[str, Any], *, timeout: Optional[float] = None) -> Dict[str, Any]:
+async def do_command(
+    channel: Channel, name: str, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None
+) -> Mapping[str, ValueTypes]:
     """Convenience method to allow component clients to execute ``do_command`` functions
 
     Args:

src/viam/components/gripper/client.py

@@ -1,4 +1,4 @@
-from typing import Any, Dict, Optional
+from typing import Any, Dict, Mapping, Optional
 
 from grpclib.client import Channel
 
@@ -12,7 +12,7 @@
     OpenRequest,
     StopRequest,
 )
-from viam.utils import dict_to_struct, struct_to_dict
+from viam.utils import dict_to_struct, struct_to_dict, ValueTypes
 
 from .gripper import Gripper
 
@@ -53,7 +53,7 @@ async def is_moving(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Op
         response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout)
         return response.is_moving
 
-    async def do_command(self, command: Dict[str, Any], *, timeout: Optional[float] = None) -> Dict[str, Any]:
+    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))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)

src/viam/components/input/client.py

@@ -1,7 +1,7 @@
 import asyncio
 from threading import Lock
 from time import time
-from typing import Any, Dict, List, Optional
+from typing import Any, Dict, Mapping, List, Optional
 from grpclib import GRPCError, Status
 from google.protobuf.struct_pb2 import Struct
 
@@ -20,7 +20,7 @@
     StreamEventsResponse,
     TriggerEventRequest,
 )
-from viam.utils import dict_to_struct, struct_to_dict
+from viam.utils import dict_to_struct, struct_to_dict, ValueTypes
 
 from .input import Control, ControlFunction, Controller, Event, EventType
 
@@ -147,7 +147,7 @@ def _execute_callback(self, event: Event):
         if all_callback is not None:
             all_callback(event)
 
-    async def do_command(self, command: Dict[str, Any], *, timeout: Optional[float] = None) -> Dict[str, Any]:
+    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))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)