Decrease minimum python version (#168)

Author: njooma

examples/server/v1/components.py

@@ -3,7 +3,12 @@
 import random
 import struct
 import sys
-from collections.abc import AsyncIterator
+
+if sys.version_info.minor >= 9:
+    from collections.abc import AsyncIterator
+else:
+    from typing import AsyncIterator
+
 from datetime import timedelta
 from multiprocessing import Lock, Queue
 from pathlib import Path

pyproject.toml

@@ -11,7 +11,7 @@ packages = [
 include = ["LICENSE", "src/viam/rpc/libviam_rust_utils.*"]
 
   [tool.poetry.dependencies]
-  python = ">=3.9,<3.11"
+  python = ">=3.8,<3.11"
   grpclib = "^0.4.2"
   googleapis-common-protos = "^1.56.3"
   typing-extensions = "^4.2.0"

src/viam/media/media.py

@@ -1,4 +1,10 @@
-from collections.abc import AsyncIterator
+import sys
+
+if sys.version_info.minor >= 9:
+    from collections.abc import AsyncIterator
+else:
+    from typing import AsyncIterator
+
 from typing import Protocol, TypeVar
 
 MediaType = TypeVar("MediaType", covariant=True)

src/viam/registry.py

@@ -97,7 +97,6 @@ def lookup(cls, component_name: str) -> ComponentRegistration:
             raise ComponentNotFoundError("component", component_name)
 
     @classmethod
-    @property
     def REGISTERED_COMPONENTS(cls) -> Mapping[str, ComponentRegistration]:
         """The dictionary of all registered components
         - Key: Name of the component type

src/viam/robot/service.py

@@ -51,7 +51,7 @@ async def _generate_status(self, resource_names: Iterable[ResourceName]) -> List
         statuses: List[Status] = []
 
         for component in self.manager.components.values():
-            for registration in Registry.REGISTERED_COMPONENTS.values():
+            for registration in Registry.REGISTERED_COMPONENTS().values():
                 if isinstance(component, registration.component_type):
                     if resource_names and component.get_resource_name(component.name) not in resource_names:
                         continue

src/viam/rpc/server.py

@@ -36,7 +36,7 @@ def __init__(self, components: List[ComponentBase]):
         services = [
             SignalingService(),
             RobotService(manager=self),
-            *[registration.rpc_service(manager=self) for registration in Registry.REGISTERED_COMPONENTS.values()],
+            *[registration.rpc_service(manager=self) for registration in Registry.REGISTERED_COMPONENTS().values()],
         ]
         services = ServerReflection.extend(services)
         self._server = GRPCServer(services)

src/viam/utils.py

@@ -79,7 +79,7 @@ def resource_names_for_component(component: ComponentBase) -> List[ResourceName]
     rns: List[ResourceName] = []
     for klass in component.__class__.mro():
         component_type = ""
-        for registration in Registry.REGISTERED_COMPONENTS.values():
+        for registration in Registry.REGISTERED_COMPONENTS().values():
             if klass is registration.component_type:
                 component_type = registration.name
 

tests/mocks/components.py

@@ -1,4 +1,10 @@
-from collections.abc import AsyncIterator
+import sys
+
+if sys.version_info.minor >= 9:
+    from collections.abc import AsyncIterator
+else:
+    from typing import AsyncIterator
+
 from dataclasses import dataclass
 from multiprocessing import Queue
 from secrets import choice

tests/test_registry.py

@@ -21,17 +21,17 @@ def __init__(self, name: str, channel: Channel):
 
 
 def test_components_register_themselves_correctly():
-    assert "arm" in Registry.REGISTERED_COMPONENTS
-    assert "base" in Registry.REGISTERED_COMPONENTS
-    assert "board" in Registry.REGISTERED_COMPONENTS
-    assert "camera" in Registry.REGISTERED_COMPONENTS
-    assert "gantry" in Registry.REGISTERED_COMPONENTS
-    assert "gripper" in Registry.REGISTERED_COMPONENTS
-    assert "motor" in Registry.REGISTERED_COMPONENTS
-    assert "movement_sensor" in Registry.REGISTERED_COMPONENTS
-    assert "pose_tracker" in Registry.REGISTERED_COMPONENTS
-    assert "sensor" in Registry.REGISTERED_COMPONENTS
-    assert "servo" in Registry.REGISTERED_COMPONENTS
+    assert "arm" in Registry.REGISTERED_COMPONENTS()
+    assert "base" in Registry.REGISTERED_COMPONENTS()
+    assert "board" in Registry.REGISTERED_COMPONENTS()
+    assert "camera" in Registry.REGISTERED_COMPONENTS()
+    assert "gantry" in Registry.REGISTERED_COMPONENTS()
+    assert "gripper" in Registry.REGISTERED_COMPONENTS()
+    assert "motor" in Registry.REGISTERED_COMPONENTS()
+    assert "movement_sensor" in Registry.REGISTERED_COMPONENTS()
+    assert "pose_tracker" in Registry.REGISTERED_COMPONENTS()
+    assert "sensor" in Registry.REGISTERED_COMPONENTS()
+    assert "servo" in Registry.REGISTERED_COMPONENTS()
 
 
 def test_lookup():
@@ -43,14 +43,14 @@ def test_lookup():
 
 
 def test_registration():
-    assert "fake_component" not in Registry.REGISTERED_COMPONENTS
+    assert "fake_component" not in Registry.REGISTERED_COMPONENTS()
 
     Registry.register(
         ComponentRegistration(
             FakeComponent, "fake_component", FakeComponentService, lambda name, channel: FakeComponentClient(name, channel)
         )
     )
-    assert "fake_component" in Registry.REGISTERED_COMPONENTS
+    assert "fake_component" in Registry.REGISTERED_COMPONENTS()
     component = Registry.lookup("fake_component")
     assert component is not None