[RSDK-2227] Add BaseResource protocol and conformances (#234)

Author: njooma

examples/module/src/gizmo/__init__.py

@@ -2,11 +2,11 @@
 This file registers the Gizmo subtype with the Viam Registry, as well as the specific MyGizmo model.
 """
 
-from viam.resource.registry import ComponentRegistration, Registry
+from viam.resource.registry import ResourceRegistration, Registry
 
 from .api import Gizmo, GizmoClient, GizmoService
 from .my_gizmo import MyGizmo
 
-Registry.register_subtype(ComponentRegistration(Gizmo, GizmoService, lambda name, channel: GizmoClient(name, channel)))
+Registry.register_subtype(ResourceRegistration(Gizmo, GizmoService, lambda name, channel: GizmoClient(name, channel)))
 
 Registry.register_component_model(Gizmo.SUBTYPE, MyGizmo.MODEL, MyGizmo.new)

examples/server/v1/client.py

@@ -6,14 +6,14 @@
 from viam.components.base import Base, Vector3
 from viam.components.camera import Camera
 from viam.components.motor import Motor
+from viam.media.video import CameraMimeType
 from viam.robot.client import RobotClient
 from viam.rpc.dial import DialOptions
 
 
 async def client():
     opts = RobotClient.Options(dial_options=DialOptions(insecure=True))
     async with await RobotClient.at_address("localhost:9090", opts) as robot:
-
         print("\n#### RESOURCES ####")
         print(f"Resources: {robot.resource_names}")
 
@@ -33,7 +33,7 @@ async def client():
 
         print("\n#### CAMERA ####")
         camera = Camera.from_robot(robot, "camera0")
-        img = await camera.get_image()
+        img = await camera.get_image(mime_type=CameraMimeType.PNG)
         assert isinstance(img, Image)
         img.show()
         await asyncio.sleep(1)

src/viam/components/arm/__init__.py

@@ -1,7 +1,7 @@
 import asyncio
 from viam.proto.component.arm import Status as ArmStatus
 from viam.proto.robot import Status
-from viam.resource.registry import ComponentRegistration, Registry
+from viam.resource.registry import ResourceRegistration, Registry
 from viam.utils import message_to_struct
 
 from .arm import Arm, JointPositions, Pose, WorldState
@@ -34,4 +34,4 @@ async def create_status(component: Arm) -> Status:
     return Status(name=Arm.get_resource_name(component.name), status=message_to_struct(s))
 
 
-Registry.register_subtype(ComponentRegistration(Arm, ArmService, lambda name, channel: ArmClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Arm, ArmService, lambda name, channel: ArmClient(name, channel), create_status))

src/viam/components/audio_input/__init__.py

@@ -1,4 +1,4 @@
-from viam.resource.registry import ComponentRegistration, Registry
+from viam.resource.registry import ResourceRegistration, Registry
 
 from .audio_input import AudioInput
 from .client import AudioInputClient
@@ -10,7 +10,7 @@
 
 
 Registry.register_subtype(
-    ComponentRegistration(
+    ResourceRegistration(
         AudioInput,
         AudioInputService,
         lambda name, channel: AudioInputClient(name, channel),

src/viam/components/audio_input/audio_input.py

@@ -15,6 +15,13 @@
 
 
 class AudioInput(ComponentBase, MediaSource[Audio]):
+    """AudioInput represents a component that can capture audio.
+
+    This acts as an abstract base class for any drivers representing specific
+    audio input implementations. This cannot be used on its own. If the ``__init__()`` function is
+    overridden, it must call the ``super().__init__()`` function.
+    """
+
     SUBTYPE: Final = Subtype(RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "audio_input")
 
     @dataclass

src/viam/components/base/__init__.py

@@ -1,4 +1,4 @@
-from viam.resource.registry import ComponentRegistration, Registry
+from viam.resource.registry import ResourceRegistration, Registry
 from viam.proto.common import ActuatorStatus
 from viam.proto.robot import Status
 from viam.utils import message_to_struct
@@ -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(ComponentRegistration(Base, BaseService, lambda name, channel: BaseClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Base, BaseService, lambda name, channel: BaseClient(name, channel), create_status))

src/viam/components/board/__init__.py

@@ -1,5 +1,5 @@
 from viam.proto.robot import Status
-from viam.resource.registry import ComponentRegistration, Registry
+from viam.resource.registry import ResourceRegistration, Registry
 from viam.utils import message_to_struct
 
 from .board import Board
@@ -15,4 +15,4 @@ async def create_status(component: Board) -> Status:
     return Status(name=Board.get_resource_name(component.name), status=message_to_struct(await component.status()))
 
 
-Registry.register_subtype(ComponentRegistration(Board, BoardService, lambda name, channel: BoardClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Board, BoardService, lambda name, channel: BoardClient(name, channel), create_status))

src/viam/components/camera/__init__.py

@@ -1,4 +1,4 @@
-from viam.resource.registry import ComponentRegistration, Registry
+from viam.resource.registry import ResourceRegistration, Registry
 
 from .camera import Camera, DistortionParameters, IntrinsicParameters, RawImage
 from .client import CameraClient
@@ -12,7 +12,7 @@
 ]
 
 Registry.register_subtype(
-    ComponentRegistration(
+    ResourceRegistration(
         Camera,
         CameraService,
         lambda name, channel: CameraClient(name, channel),

src/viam/components/component_base.py

@@ -1,10 +1,21 @@
 import abc
-from typing import TYPE_CHECKING, Any, SupportsBytes, ClassVar, SupportsFloat, List, Mapping, Optional, cast, Union
+from typing import (
+    TYPE_CHECKING,
+    Any,
+    ClassVar,
+    List,
+    Mapping,
+    Optional,
+    SupportsBytes,
+    SupportsFloat,
+    Union,
+    cast,
+)
 
 from typing_extensions import Self
 
 from viam.operations import Operation
-from viam.proto.common import ResourceName
+from viam.resource.types import ResourceBase
 
 if TYPE_CHECKING:
     from viam.resource.types import Subtype
@@ -14,34 +25,17 @@
 ValueTypes = Union[bool, SupportsBytes, SupportsFloat, List, Mapping, str, None]
 
 
-class ComponentBase(abc.ABC):
+class ComponentBase(abc.ABC, ResourceBase):
     """
     Base component.
     All components must inherit from this class.
     """
 
     SUBTYPE: ClassVar["Subtype"]
 
-    name: str
-
     def __init__(self, name: str):
         self.name = name
 
-    @classmethod
-    def get_resource_name(cls, name: str) -> ResourceName:
-        """
-        Get the ResourceName for this component type with the given name
-
-        Args:
-            name (str): The name of the Component
-        """
-        return ResourceName(
-            namespace=cls.SUBTYPE.namespace,
-            type=cls.SUBTYPE.resource_type,
-            subtype=cls.SUBTYPE.resource_subtype,
-            name=name,
-        )
-
     @classmethod
     def from_robot(cls, robot: "RobotClient", name: str) -> Self:
         """Get the component named ``name`` from the provided robot.
@@ -72,15 +66,4 @@ def get_operation(self, kwargs: Mapping[str, Any]) -> Operation:
         return kwargs.get(Operation.ARG_NAME, Operation._noop())
 
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
-        """Send/Receive arbitrary commands
-
-        Args:
-            command (Mapping[str, ValueTypes]): The command to execute
-
-        Raises:
-            NotImplementedError: Raised if the component does not support arbitrary commands
-
-        Returns:
-            Mapping[str, ValueTypes]: Result of the executed command
-        """
         raise NotImplementedError()

src/viam/components/gantry/__init__.py

@@ -1,7 +1,7 @@
 import asyncio
 from viam.proto.component.gantry import Status as GantryStatus
 from viam.proto.robot import Status
-from viam.resource.registry import ComponentRegistration, Registry
+from viam.resource.registry import ResourceRegistration, Registry
 from viam.utils import message_to_struct
 
 from .client import GantryClient
@@ -19,4 +19,4 @@ async def create_status(component: Gantry) -> Status:
     return Status(name=Gantry.get_resource_name(component.name), status=message_to_struct(s))
 
 
-Registry.register_subtype(ComponentRegistration(Gantry, GantryService, lambda name, channel: GantryClient(name, channel), create_status))
+Registry.register_subtype(ResourceRegistration(Gantry, GantryService, lambda name, channel: GantryClient(name, channel), create_status))