RSDK-6034 Add GetProperties to SLAM and Nav (#510)

Co-authored-by: Naveed Jooma <[email protected]>

Author: jeremyrhyde

docs/examples/_server.py

@@ -69,6 +69,8 @@
     GetOrganizationResponse,
     GetOrganizationsWithAccessToLocationRequest,
     GetOrganizationsWithAccessToLocationResponse,
+    GetRegistryItemRequest,
+    GetRegistryItemResponse,
     GetRobotAPIKeysRequest,
     GetRobotAPIKeysResponse,
     GetRobotPartHistoryRequest,
@@ -591,6 +593,9 @@ async def UpdateRegistryItem(self, stream: Stream[UpdateRegistryItemRequest, Upd
     async def DeleteRegistryItem(self, stream: Stream[DeleteRegistryItemRequest, DeleteRegistryItemResponse]) -> None:
         raise NotImplementedError()
 
+    async def GetRegistryItem(self, stream: Stream[GetRegistryItemRequest, GetRegistryItemResponse]) -> None:
+        raise NotImplementedError()
+
 
 async def main(*, host: str = "127.0.0.1", port: int = 9092) -> None:
     server = Server([MockData(), MockDataSync(), MockApp()])

examples/server/v1/services.py

@@ -1,8 +1,8 @@
 from datetime import datetime
 from numpy.typing import NDArray
-from typing import Dict, List, Optional
+from typing import Dict, List, Optional, Tuple
 from tests.mocks.services import MockMLModel, MockSLAM
-from viam.services.slam import Pose, SLAM
+from viam.services.slam import Pose, MappingMode, SLAM
 from viam.services.mlmodel import Metadata, MLModel
 
 
@@ -25,6 +25,8 @@ def __init__(self, name: str):
         self.position = MockSLAM.POSITION
         self.internal_chunks = MockSLAM.INTERNAL_STATE_CHUNKS
         self.point_cloud_chunks = MockSLAM.POINT_CLOUD_PCD_CHUNKS
+        self.cloud_slam = MockSLAM.CLOUD_SLAM
+        self.mapping_mode = MockSLAM.MAPPING_MODE
         self.time = MockSLAM.LAST_UPDATE
         super().__init__(name)
 
@@ -39,3 +41,6 @@ async def get_position(self, **kwargs) -> Pose:
 
     async def get_latest_map_info(self, **kwargs) -> datetime:
         return self.time
+
+    async def get_properties(self, **kwargs) -> Tuple[bool, MappingMode.ValueType]:
+        return (self.cloud_slam, self.mapping_mode)

src/viam/gen/app/v1/app_grpc.py

@@ -2380,6 +2380,38 @@ class RegistryItem(google.protobuf.message.Message):
         ...
 global___RegistryItem = RegistryItem
 
+@typing_extensions.final
+class GetRegistryItemRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    ITEM_ID_FIELD_NUMBER: builtins.int
+    item_id: builtins.str
+
+    def __init__(self, *, item_id: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing_extensions.Literal['item_id', b'item_id']) -> None:
+        ...
+global___GetRegistryItemRequest = GetRegistryItemRequest
+
+@typing_extensions.final
+class GetRegistryItemResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    ITEM_FIELD_NUMBER: builtins.int
+
+    @property
+    def item(self) -> global___RegistryItem:
+        ...
+
+    def __init__(self, *, item: global___RegistryItem | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing_extensions.Literal['item', b'item']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing_extensions.Literal['item', b'item']) -> None:
+        ...
+global___GetRegistryItemResponse = GetRegistryItemResponse
+
 @typing_extensions.final
 class CreateRegistryItemRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor

src/viam/gen/app/v1/app_pb2.py

@@ -7,7 +7,7 @@
 from ....common.v1 import common_pb2 as common_dot_v1_dot_common__pb2
 from google.api import annotations_pb2 as google_dot_api_dot_annotations__pb2
 from google.protobuf import struct_pb2 as google_dot_protobuf_dot_struct__pb2
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n0component/movementsensor/v1/movementsensor.proto\x12 viam.component.movementsensor.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"]\n\x18GetLinearVelocityRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"]\n\x19GetLinearVelocityResponse\x12@\n\x0flinear_velocity\x18\x01 \x01(\x0b2\x17.viam.common.v1.Vector3R\x0elinearVelocity"^\n\x19GetAngularVelocityRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"`\n\x1aGetAngularVelocityResponse\x12B\n\x10angular_velocity\x18\x01 \x01(\x0b2\x17.viam.common.v1.Vector3R\x0fangularVelocity"]\n\x18GetCompassHeadingRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"1\n\x19GetCompassHeadingResponse\x12\x14\n\x05value\x18\x01 \x01(\x01R\x05value"Z\n\x15GetOrientationRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"W\n\x16GetOrientationResponse\x12=\n\x0borientation\x18\x01 \x01(\x0b2\x1b.viam.common.v1.OrientationR\x0borientation"W\n\x12GetPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"n\n\x13GetPositionResponse\x128\n\ncoordinate\x18\x01 \x01(\x0b2\x18.viam.common.v1.GeoPointR\ncoordinate\x12\x1d\n\naltitude_m\x18\x02 \x01(\x02R\taltitudeM"Y\n\x14GetPropertiesRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\xf5\x02\n\x15GetPropertiesResponse\x12:\n\x19linear_velocity_supported\x18\x01 \x01(\x08R\x17linearVelocitySupported\x12<\n\x1aangular_velocity_supported\x18\x02 \x01(\x08R\x18angularVelocitySupported\x123\n\x15orientation_supported\x18\x03 \x01(\x08R\x14orientationSupported\x12-\n\x12position_supported\x18\x04 \x01(\x08R\x11positionSupported\x12:\n\x19compass_heading_supported\x18\x05 \x01(\x08R\x17compassHeadingSupported\x12B\n\x1dlinear_acceleration_supported\x18\x06 \x01(\x08R\x1blinearAccelerationSupported"W\n\x12GetAccuracyRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\xb3\x01\n\x13GetAccuracyResponse\x12_\n\x08accuracy\x18\x01 \x03(\x0b2C.viam.component.movementsensor.v1.GetAccuracyResponse.AccuracyEntryR\x08accuracy\x1a;\n\rAccuracyEntry\x12\x10\n\x03key\x18\x01 \x01(\tR\x03key\x12\x14\n\x05value\x18\x02 \x01(\x02R\x05value:\x028\x01"a\n\x1cGetLinearAccelerationRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"i\n\x1dGetLinearAccelerationResponse\x12H\n\x13linear_acceleration\x18\x01 \x01(\x0b2\x17.viam.common.v1.Vector3R\x12linearAcceleration2\xcf\x10\n\x15MovementSensorService\x12\xd2\x01\n\x11GetLinearVelocity\x12:.viam.component.movementsensor.v1.GetLinearVelocityRequest\x1a;.viam.component.movementsensor.v1.GetLinearVelocityResponse"D\x82\xd3\xe4\x93\x02>\x12</viam/api/v1/component/movementsensor/{name}/linear_velocity\x12\xd6\x01\n\x12GetAngularVelocity\x12;.viam.component.movementsensor.v1.GetAngularVelocityRequest\x1a<.viam.component.movementsensor.v1.GetAngularVelocityResponse"E\x82\xd3\xe4\x93\x02?\x12=/viam/api/v1/component/movementsensor/{name}/angular_velocity\x12\xd2\x01\n\x11GetCompassHeading\x12:.viam.component.movementsensor.v1.GetCompassHeadingRequest\x1a;.viam.component.movementsensor.v1.GetCompassHeadingResponse"D\x82\xd3\xe4\x93\x02>\x12</viam/api/v1/component/movementsensor/{name}/compass_heading\x12\xc5\x01\n\x0eGetOrientation\x127.viam.component.movementsensor.v1.GetOrientationRequest\x1a8.viam.component.movementsensor.v1.GetOrientationResponse"@\x82\xd3\xe4\x93\x02:\x128/viam/api/v1/component/movementsensor/{name}/orientation\x12\xb9\x01\n\x0bGetPosition\x124.viam.component.movementsensor.v1.GetPositionRequest\x1a5.viam.component.movementsensor.v1.GetPositionResponse"=\x82\xd3\xe4\x93\x027\x125/viam/api/v1/component/movementsensor/{name}/position\x12\xc1\x01\n\rGetProperties\x126.viam.component.movementsensor.v1.GetPropertiesRequest\x1a7.viam.component.movementsensor.v1.GetPropertiesResponse"?\x82\xd3\xe4\x93\x029\x127/viam/api/v1/component/movementsensor/{name}/properties\x12\xb9\x01\n\x0bGetAccuracy\x124.viam.component.movementsensor.v1.GetAccuracyRequest\x1a5.viam.component.movementsensor.v1.GetAccuracyResponse"=\x82\xd3\xe4\x93\x027\x125/viam/api/v1/component/movementsensor/{name}/accuracy\x12\xe2\x01\n\x15GetLinearAcceleration\x12>.viam.component.movementsensor.v1.GetLinearAccelerationRequest\x1a?.viam.component.movementsensor.v1.GetLinearAccelerationResponse"H\x82\xd3\xe4\x93\x02B\x12@/viam/api/v1/component/movementsensor/{name}/linear_acceleration\x12\x91\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"?\x82\xd3\xe4\x93\x029"7/viam/api/v1/component/movementsensor/{name}/do_command\x12\x9d\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"?\x82\xd3\xe4\x93\x029\x127/viam/api/v1/component/movementsensor/{name}/geometries\x12\x95\x01\n\x0bGetReadings\x12".viam.common.v1.GetReadingsRequest\x1a#.viam.common.v1.GetReadingsResponse"=\x82\xd3\xe4\x93\x027\x125/viam/api/v1/component/movementsensor/{name}/readingsBS\n$com.viam.component.movementsensor.v1Z+go.viam.com/api/component/movementsensor/v1b\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n0component/movementsensor/v1/movementsensor.proto\x12 viam.component.movementsensor.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"]\n\x18GetLinearVelocityRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"]\n\x19GetLinearVelocityResponse\x12@\n\x0flinear_velocity\x18\x01 \x01(\x0b2\x17.viam.common.v1.Vector3R\x0elinearVelocity"^\n\x19GetAngularVelocityRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"`\n\x1aGetAngularVelocityResponse\x12B\n\x10angular_velocity\x18\x01 \x01(\x0b2\x17.viam.common.v1.Vector3R\x0fangularVelocity"]\n\x18GetCompassHeadingRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"1\n\x19GetCompassHeadingResponse\x12\x14\n\x05value\x18\x01 \x01(\x01R\x05value"Z\n\x15GetOrientationRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"W\n\x16GetOrientationResponse\x12=\n\x0borientation\x18\x01 \x01(\x0b2\x1b.viam.common.v1.OrientationR\x0borientation"W\n\x12GetPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"n\n\x13GetPositionResponse\x128\n\ncoordinate\x18\x01 \x01(\x0b2\x18.viam.common.v1.GeoPointR\ncoordinate\x12\x1d\n\naltitude_m\x18\x02 \x01(\x02R\taltitudeM"Y\n\x14GetPropertiesRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\xf5\x02\n\x15GetPropertiesResponse\x12:\n\x19linear_velocity_supported\x18\x01 \x01(\x08R\x17linearVelocitySupported\x12<\n\x1aangular_velocity_supported\x18\x02 \x01(\x08R\x18angularVelocitySupported\x123\n\x15orientation_supported\x18\x03 \x01(\x08R\x14orientationSupported\x12-\n\x12position_supported\x18\x04 \x01(\x08R\x11positionSupported\x12:\n\x19compass_heading_supported\x18\x05 \x01(\x08R\x17compassHeadingSupported\x12B\n\x1dlinear_acceleration_supported\x18\x06 \x01(\x08R\x1blinearAccelerationSupported"W\n\x12GetAccuracyRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\xfe\x03\n\x13GetAccuracyResponse\x12_\n\x08accuracy\x18\x01 \x03(\x0b2C.viam.component.movementsensor.v1.GetAccuracyResponse.AccuracyEntryR\x08accuracy\x12(\n\rposition_hdop\x18\x02 \x01(\x02H\x00R\x0cpositionHdop\x88\x01\x01\x12(\n\rposition_vdop\x18\x03 \x01(\x02H\x01R\x0cpositionVdop\x88\x01\x01\x12d\n\x15position_nmea_gga_fix\x18\x04 \x01(\x0e2,.viam.component.movementsensor.v1.NmeaGGAFixH\x02R\x12positionNmeaGgaFix\x88\x01\x01\x127\n\x15compass_degrees_error\x18\x05 \x01(\x02H\x03R\x13compassDegreesError\x88\x01\x01\x1a;\n\rAccuracyEntry\x12\x10\n\x03key\x18\x01 \x01(\tR\x03key\x12\x14\n\x05value\x18\x02 \x01(\x02R\x05value:\x028\x01B\x10\n\x0e_position_hdopB\x10\n\x0e_position_vdopB\x18\n\x16_position_nmea_gga_fixB\x18\n\x16_compass_degrees_error"a\n\x1cGetLinearAccelerationRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"i\n\x1dGetLinearAccelerationResponse\x12H\n\x13linear_acceleration\x18\x01 \x01(\x0b2\x17.viam.common.v1.Vector3R\x12linearAcceleration*\x85\x02\n\nNmeaGGAFix\x12$\n NMEA_GGA_FIX_INVALID_UNSPECIFIED\x10\x00\x12\x15\n\x11NMEA_GGA_FIX_GNSS\x10\x01\x12\x15\n\x11NMEA_GGA_FIX_DGPS\x10\x02\x12\x14\n\x10NMEA_GGA_FIX_PPS\x10\x03\x12\x1a\n\x16NMEA_GGA_FIX_RTK_FIXED\x10\x04\x12\x1a\n\x16NMEA_GGA_FIX_RTK_FLOAT\x10\x05\x12\x1f\n\x1bNMEA_GGA_FIX_DEAD_RECKONING\x10\x06\x12\x17\n\x13NMEA_GGA_FIX_MANUAL\x10\x07\x12\x1b\n\x17NMEA_GGA_FIX_SIMULATION\x10\x082\xcf\x10\n\x15MovementSensorService\x12\xd2\x01\n\x11GetLinearVelocity\x12:.viam.component.movementsensor.v1.GetLinearVelocityRequest\x1a;.viam.component.movementsensor.v1.GetLinearVelocityResponse"D\x82\xd3\xe4\x93\x02>\x12</viam/api/v1/component/movementsensor/{name}/linear_velocity\x12\xd6\x01\n\x12GetAngularVelocity\x12;.viam.component.movementsensor.v1.GetAngularVelocityRequest\x1a<.viam.component.movementsensor.v1.GetAngularVelocityResponse"E\x82\xd3\xe4\x93\x02?\x12=/viam/api/v1/component/movementsensor/{name}/angular_velocity\x12\xd2\x01\n\x11GetCompassHeading\x12:.viam.component.movementsensor.v1.GetCompassHeadingRequest\x1a;.viam.component.movementsensor.v1.GetCompassHeadingResponse"D\x82\xd3\xe4\x93\x02>\x12</viam/api/v1/component/movementsensor/{name}/compass_heading\x12\xc5\x01\n\x0eGetOrientation\x127.viam.component.movementsensor.v1.GetOrientationRequest\x1a8.viam.component.movementsensor.v1.GetOrientationResponse"@\x82\xd3\xe4\x93\x02:\x128/viam/api/v1/component/movementsensor/{name}/orientation\x12\xb9\x01\n\x0bGetPosition\x124.viam.component.movementsensor.v1.GetPositionRequest\x1a5.viam.component.movementsensor.v1.GetPositionResponse"=\x82\xd3\xe4\x93\x027\x125/viam/api/v1/component/movementsensor/{name}/position\x12\xc1\x01\n\rGetProperties\x126.viam.component.movementsensor.v1.GetPropertiesRequest\x1a7.viam.component.movementsensor.v1.GetPropertiesResponse"?\x82\xd3\xe4\x93\x029\x127/viam/api/v1/component/movementsensor/{name}/properties\x12\xb9\x01\n\x0bGetAccuracy\x124.viam.component.movementsensor.v1.GetAccuracyRequest\x1a5.viam.component.movementsensor.v1.GetAccuracyResponse"=\x82\xd3\xe4\x93\x027\x125/viam/api/v1/component/movementsensor/{name}/accuracy\x12\xe2\x01\n\x15GetLinearAcceleration\x12>.viam.component.movementsensor.v1.GetLinearAccelerationRequest\x1a?.viam.component.movementsensor.v1.GetLinearAccelerationResponse"H\x82\xd3\xe4\x93\x02B\x12@/viam/api/v1/component/movementsensor/{name}/linear_acceleration\x12\x91\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"?\x82\xd3\xe4\x93\x029"7/viam/api/v1/component/movementsensor/{name}/do_command\x12\x9d\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"?\x82\xd3\xe4\x93\x029\x127/viam/api/v1/component/movementsensor/{name}/geometries\x12\x95\x01\n\x0bGetReadings\x12".viam.common.v1.GetReadingsRequest\x1a#.viam.common.v1.GetReadingsResponse"=\x82\xd3\xe4\x93\x027\x125/viam/api/v1/component/movementsensor/{name}/readingsBS\n$com.viam.component.movementsensor.v1Z+go.viam.com/api/component/movementsensor/v1b\x06proto3')
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.movementsensor.v1.movementsensor_pb2', globals())
 if _descriptor._USE_C_DESCRIPTORS == False:
@@ -37,6 +37,8 @@
     _MOVEMENTSENSORSERVICE.methods_by_name['GetGeometries']._serialized_options = b'\x82\xd3\xe4\x93\x029\x127/viam/api/v1/component/movementsensor/{name}/geometries'
     _MOVEMENTSENSORSERVICE.methods_by_name['GetReadings']._options = None
     _MOVEMENTSENSORSERVICE.methods_by_name['GetReadings']._serialized_options = b'\x82\xd3\xe4\x93\x027\x125/viam/api/v1/component/movementsensor/{name}/readings'
+    _NMEAGGAFIX._serialized_start = 2358
+    _NMEAGGAFIX._serialized_end = 2619
     _GETLINEARVELOCITYREQUEST._serialized_start = 170
     _GETLINEARVELOCITYREQUEST._serialized_end = 263
     _GETLINEARVELOCITYRESPONSE._serialized_start = 265
@@ -64,12 +66,12 @@
     _GETACCURACYREQUEST._serialized_start = 1549
     _GETACCURACYREQUEST._serialized_end = 1636
     _GETACCURACYRESPONSE._serialized_start = 1639
-    _GETACCURACYRESPONSE._serialized_end = 1818
-    _GETACCURACYRESPONSE_ACCURACYENTRY._serialized_start = 1759
-    _GETACCURACYRESPONSE_ACCURACYENTRY._serialized_end = 1818
-    _GETLINEARACCELERATIONREQUEST._serialized_start = 1820
-    _GETLINEARACCELERATIONREQUEST._serialized_end = 1917
-    _GETLINEARACCELERATIONRESPONSE._serialized_start = 1919
-    _GETLINEARACCELERATIONRESPONSE._serialized_end = 2024
-    _MOVEMENTSENSORSERVICE._serialized_start = 2027
-    _MOVEMENTSENSORSERVICE._serialized_end = 4154
+    _GETACCURACYRESPONSE._serialized_end = 2149
+    _GETACCURACYRESPONSE_ACCURACYENTRY._serialized_start = 2002
+    _GETACCURACYRESPONSE_ACCURACYENTRY._serialized_end = 2061
+    _GETLINEARACCELERATIONREQUEST._serialized_start = 2151
+    _GETLINEARACCELERATIONREQUEST._serialized_end = 2248
+    _GETLINEARACCELERATIONRESPONSE._serialized_start = 2250
+    _GETLINEARACCELERATIONRESPONSE._serialized_end = 2355
+    _MOVEMENTSENSORSERVICE._serialized_start = 2622
+    _MOVEMENTSENSORSERVICE._serialized_end = 4749