RSDK-623: remove position_reporting from MotorStatus (#198)

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

Author: stevebriskin

docs/examples/my_cool_arm.py

@@ -76,3 +76,6 @@ async def move_to_joint_positions(self, positions: JointPositions, extra: Option
 
     async def stop(self, extra: Optional[Dict[str, Any]] = None, **kwargs):
         self.is_stopped = True
+
+    async def is_moving(self) -> bool:
+        return not self.is_stopped

pyproject.toml

@@ -11,7 +11,7 @@ packages = [
 include = ["LICENSE", "src/viam/rpc/libviam_rust_utils.*"]
 
   [tool.poetry.dependencies]
-  python = ">=3.8,<=3.11"
+  python = ">=3.8,<3.12"
   grpclib = "^0.4.3"
   googleapis-common-protos = "^1.57.0"
   typing-extensions = "^4.4.0"

src/viam/components/arm/arm.py

@@ -1,7 +1,6 @@
 import abc
 from typing import Any, Dict, Optional
 
-from viam.errors import NotSupportedError
 from viam.proto.common import Pose, WorldState
 from viam.proto.component.arm import JointPositions
 
@@ -101,11 +100,12 @@ async def stop(
         """
         ...
 
+    @abc.abstractmethod
     async def is_moving(self) -> bool:
         """
         Get if the arm is currently moving.
 
         Returns:
             bool: Whether the arm is moving.
         """
-        raise NotSupportedError(f"Arm named {self.name} does not support returning whether it is moving")
+        ...

src/viam/components/arm/client.py

@@ -1,6 +1,7 @@
 from typing import Any, Dict, Optional
 
 from grpclib.client import Channel
+
 from viam.components.generic.client import do_command
 from viam.proto.common import Pose, WorldState
 from viam.proto.component.arm import (
@@ -9,6 +10,8 @@
     GetEndPositionResponse,
     GetJointPositionsRequest,
     GetJointPositionsResponse,
+    IsMovingRequest,
+    IsMovingResponse,
     JointPositions,
     MoveToJointPositionsRequest,
     MoveToPositionRequest,
@@ -91,6 +94,13 @@ async def stop(
         request = StopRequest(name=self.name, extra=dict_to_struct(extra))
         await self.client.Stop(request, timeout=timeout)
 
+    async def is_moving(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> bool:
+        if extra is None:
+            extra = {}
+        request = IsMovingRequest(name=self.name)
+        response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout)
+        return response.is_moving
+
     async def do_command(
         self,
         command: Dict[str, Any],

src/viam/components/arm/service.py

@@ -14,6 +14,8 @@
     MoveToPositionResponse,
     StopRequest,
     StopResponse,
+    IsMovingRequest,
+    IsMovingResponse,
 )
 from viam.utils import struct_to_dict
 
@@ -93,3 +95,15 @@ async def Stop(self, stream: Stream[StopRequest, StopResponse]) -> None:
         await arm.stop(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = StopResponse()
         await stream.send_message(response)
+
+    async def IsMoving(self, stream: Stream[IsMovingRequest, IsMovingResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        try:
+            arm = self.get_component(name)
+        except ComponentNotFoundError as e:
+            raise e.grpc_error
+        is_moving = await arm.is_moving()
+        response = IsMovingResponse(is_moving=is_moving)
+        await stream.send_message(response)

src/viam/components/base/base.py

@@ -1,7 +1,6 @@
 import abc
 from typing import Any, Dict, Optional
 
-from viam.errors import NotSupportedError
 from viam.proto.common import Vector3
 
 from ..component_base import ComponentBase
@@ -121,11 +120,12 @@ async def stop(
         """
         ...
 
+    @abc.abstractmethod
     async def is_moving(self) -> bool:
         """
         Get if the base is currently moving.
 
         Returns:
             bool: Whether the base is moving.
         """
-        raise NotSupportedError(f"Base named {self.name} does not support returning whether it is moving")
+        ...

src/viam/components/base/client.py

@@ -1,10 +1,13 @@
 from typing import Any, Dict, Optional
 
 from grpclib.client import Channel
+
 from viam.components.generic.client import do_command
 from viam.proto.common import Vector3
 from viam.proto.component.base import (
     BaseServiceStub,
+    IsMovingRequest,
+    IsMovingResponse,
     MoveStraightRequest,
     SetPowerRequest,
     SetVelocityRequest,
@@ -104,6 +107,13 @@ async def stop(
         request = StopRequest(name=self.name, extra=dict_to_struct(extra))
         await self.client.Stop(request, timeout=timeout)
 
+    async def is_moving(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> bool:
+        if extra is None:
+            extra = {}
+        request = IsMovingRequest(name=self.name)
+        response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout)
+        return response.is_moving
+
     async def do_command(
         self,
         command: Dict[str, Any],

src/viam/components/base/service.py

@@ -13,6 +13,8 @@
     SpinResponse,
     StopRequest,
     StopResponse,
+    IsMovingRequest,
+    IsMovingResponse,
 )
 from viam.utils import struct_to_dict
 
@@ -105,3 +107,15 @@ async def Stop(self, stream: Stream[StopRequest, StopResponse]) -> None:
         await base.stop(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = StopResponse()
         await stream.send_message(response)
+
+    async def IsMoving(self, stream: Stream[IsMovingRequest, IsMovingResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        try:
+            base = self.get_component(name)
+        except ComponentNotFoundError as e:
+            raise e.grpc_error
+        is_moving = await base.is_moving()
+        response = IsMovingResponse(is_moving=is_moving)
+        await stream.send_message(response)

src/viam/components/gantry/client.py

@@ -10,6 +10,8 @@
     GetLengthsResponse,
     GetPositionRequest,
     GetPositionResponse,
+    IsMovingRequest,
+    IsMovingResponse,
     MoveToPositionRequest,
     StopRequest,
 )
@@ -61,5 +63,12 @@ async def stop(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optiona
         request = StopRequest(name=self.name, extra=dict_to_struct(extra))
         await self.client.Stop(request, timeout=timeout)
 
+    async def is_moving(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> bool:
+        if extra is None:
+            extra = {}
+        request = IsMovingRequest(name=self.name)
+        response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout)
+        return response.is_moving
+
     async def do_command(self, command: Dict[str, Any]) -> Dict[str, Any]:
         return await do_command(self.channel, self.name, command)

src/viam/components/gantry/gantry.py

@@ -1,7 +1,6 @@
 import abc
 from typing import Any, Dict, List, Optional
 
-from viam.errors import NotSupportedError
 from viam.proto.common import WorldState
 
 from ..component_base import ComponentBase
@@ -64,11 +63,12 @@ async def stop(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optiona
         """
         ...
 
+    @abc.abstractmethod
     async def is_moving(self) -> bool:
         """
         Get if the gantry is currently moving.
 
         Returns:
             bool: Whether the gantry is moving.
         """
-        raise NotSupportedError(f"Gantry named {self.name} does not support returning whether it is moving")
+        ...