Rsdk 1831 slam wrapper (#272)

Author: purplenicole730

docs/examples/example.ipynb

@@ -13,7 +13,7 @@
 requests of the Summation service. It extends both from ``SummationServiceBase`` and ``RPCServiceBase``.
 The former is the gRPC service as defined by the proto, and the latter is the class that all gRPC services must inherit from.
 
-Finally, the ``SummationServiceClient`` is the gRPC client for a Summation service. It inherits from SummationService since it implements
+Finally, the ``SummationClient`` is the gRPC client for a Summation service. It inherits from SummationService since it implements
  all the same functions. The implementations are simply gRPC calls to some remote Summation service.
 
 To see how this custom modular service is registered, see the __init__.py file.

examples/module/src/summation/api.py

@@ -24,6 +24,7 @@
     ExampleServo,
     MovementSensor,
 )
+from .services import ExampleSLAM
 
 
 async def run(host: str, port: int, log_level: int):
@@ -69,8 +70,9 @@ async def run(host: str, port: int, log_level: int):
     my_pose_tracker = ExamplePoseTracker("pose_tracker0")
     my_sensor = ExampleSensor("sensor0")
     my_servo = ExampleServo("servo0")
+    my_slam = ExampleSLAM("slam0")
     server = Server(
-        components=[
+        resources=[
             my_arm,
             my_audio_input,
             my_base,
@@ -84,6 +86,7 @@ async def run(host: str, port: int, log_level: int):
             my_pose_tracker,
             my_sensor,
             my_servo,
+            my_slam,
         ]
     )
     await server.serve(host=host, port=port, log_level=log_level)

examples/server/v1/server.py

@@ -0,0 +1,20 @@
+from typing import List
+from viam.services.slam import Pose, SLAM
+from tests.mocks.services import MockSLAM
+
+
+class ExampleSLAM(SLAM):
+    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
+        super().__init__(name)
+
+    async def get_internal_state(self, **kwargs) -> List[bytes]:
+        return self.internal_chunks
+
+    async def get_point_cloud_map(self, **kwargs) -> List[bytes]:
+        return self.point_cloud_chunks
+
+    async def get_position(self, **kwargs) -> Pose:
+        return self.position

examples/server/v1/services.py

@@ -9,7 +9,7 @@
 
 from .arm import Arm
 from .client import ArmClient
-from .service import ArmService
+from .service import ArmRPCService
 
 __all__ = [
     "Arm",
@@ -19,11 +19,7 @@
 
 
 async def create_status(component: Arm) -> Status:
-    (
-        end_position,
-        joint_positions,
-        is_moving,
-    ) = await asyncio.gather(
+    (end_position, joint_positions, is_moving,) = await asyncio.gather(
         component.get_end_position(),
         component.get_joint_positions(),
         component.is_moving(),
@@ -36,4 +32,4 @@ async def create_status(component: Arm) -> Status:
     return Status(name=Arm.get_resource_name(component.name), status=message_to_struct(s))
 
 
-Registry.register_subtype(ResourceRegistration(Arm, ArmService, lambda name, channel: ArmClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Arm, ArmRPCService, lambda name, channel: ArmClient(name, channel), create_status))

src/viam/components/arm/__init__.py

@@ -23,7 +23,7 @@
 from .arm import Arm
 
 
-class ArmService(ArmServiceBase, ResourceRPCServiceBase[Arm]):
+class ArmRPCService(ArmServiceBase, ResourceRPCServiceBase[Arm]):
     """
     gRPC Service for an Arm
     """

src/viam/components/arm/service.py

@@ -2,7 +2,7 @@
 
 from .audio_input import AudioInput
 from .client import AudioInputClient
-from .service import AudioInputService
+from .service import AudioInputRPCService
 
 __all__ = [
     "AudioInput",
@@ -12,7 +12,7 @@
 Registry.register_subtype(
     ResourceRegistration(
         AudioInput,
-        AudioInputService,
+        AudioInputRPCService,
         lambda name, channel: AudioInputClient(name, channel),
     )
 )

src/viam/components/audio_input/__init__.py

@@ -23,7 +23,7 @@
 from .audio_input import AudioInput
 
 
-class AudioInputService(AudioInputServiceBase, ResourceRPCServiceBase[AudioInput]):
+class AudioInputRPCService(AudioInputServiceBase, ResourceRPCServiceBase[AudioInput]):
     """
     gRPC Service for a generic AudioInput
     """

src/viam/components/audio_input/service.py

@@ -5,7 +5,7 @@
 
 from .base import Base
 from .client import BaseClient
-from .service import BaseService
+from .service import BaseRPCService
 
 __all__ = ["Base", "Vector3"]
 
@@ -15,4 +15,4 @@ async def create_status(component: Base) -> Status:
     return Status(name=Base.get_resource_name(component.name), status=message_to_struct(s))
 
 
-Registry.register_subtype(ResourceRegistration(Base, BaseService, lambda name, channel: BaseClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Base, BaseRPCService, lambda name, channel: BaseClient(name, channel), create_status))

src/viam/components/base/__init__.py

@@ -23,7 +23,7 @@
 from .base import Base
 
 
-class BaseService(BaseServiceBase, ResourceRPCServiceBase[Base]):
+class BaseRPCService(BaseServiceBase, ResourceRPCServiceBase[Base]):
     """
     gRPC service for a robotic Base
     """