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[RSDK-9633] delete discover components #860

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Merged
JohnN193 merged 2 commits into from
Mar 6, 2025
Merged

[RSDK-9633] delete discover components #860

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delete
JohnN193 Mar 5, 2025
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JohnN193 Mar 5, 2025
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8 changes: 0 additions & 8 deletions src/viam/proto/robot/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,10 +10,6 @@
CancelOperationRequest,
CancelOperationResponse,
ConfigStatus,
DiscoverComponentsRequest,
DiscoverComponentsResponse,
Discovery,
DiscoveryQuery,
FrameSystemConfig,
FrameSystemConfigRequest,
FrameSystemConfigResponse,
Expand Down Expand Up @@ -78,10 +74,6 @@
"CancelOperationRequest",
"CancelOperationResponse",
"ConfigStatus",
"DiscoverComponentsRequest",
"DiscoverComponentsResponse",
"Discovery",
"DiscoveryQuery",
"FrameSystemConfig",
"FrameSystemConfigRequest",
"FrameSystemConfigResponse",
Expand Down
52 changes: 0 additions & 52 deletions src/viam/robot/client.py
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Original file line number Diff line number Diff line change
@@ -1,6 +1,5 @@
import asyncio
import sys
import warnings
from dataclasses import dataclass
from datetime import datetime
from threading import RLock
Expand All @@ -18,10 +17,6 @@
from viam.proto.robot import (
BlockForOperationRequest,
CancelOperationRequest,
DiscoverComponentsRequest,
DiscoverComponentsResponse,
Discovery,
DiscoveryQuery,
FrameSystemConfig,
FrameSystemConfigRequest,
FrameSystemConfigResponse,
Expand Down Expand Up @@ -727,53 +722,6 @@ async def transform_pose(
async def transform_point_cloud(self):
raise NotImplementedError()

#######################
# COMPONENT DISCOVERY #
#######################

async def discover_components(
self,
queries: List[DiscoveryQuery],
) -> List[Discovery]:
"""
Deprecated: v0.38.0, use the Discovery Service APIs instead.
Get a list of discovered potential component configurations, for example listing different supported resolutions. Currently only works for some cameras.
Returns module names for modules.

::

from viam.proto.robot import DiscoveryQuery

# Define a new discovery query.
q = DiscoveryQuery(subtype="camera", model="webcam")

# Define a list of discovery queries.
qs = [q]

# Get component configurations with these queries.
component_configs = await machine.discover_components(qs)

Args:

queries (List[viam.proto.robot.DiscoveryQuery]): The list of component models to lookup potential configurations for.

Returns:
List[Discovery]: A list of discovered potential component configurations.

For more information, see `Machine Management API <https://docs.viam.com/appendix/apis/robot/>`_.
"""
request = DiscoverComponentsRequest(queries=queries)
response: DiscoverComponentsResponse = await self._client.DiscoverComponents(request)
warnings.warn(
"RobotClient.discover_components is deprecated. It will be removed on March 10 2025. Use the DiscoveryService APIs instead.",
DeprecationWarning,
stacklevel=2,
)
LOGGER.warning(
"RobotClient.discover_components is deprecated. It will be removed on March 10 2025. Use the DiscoveryService APIs instead."
)
return list(response.discovery)

#################
# MODULE MODELS #
#################
Expand Down
17 changes: 0 additions & 17 deletions tests/test_robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,6 @@
from unittest import mock

import pytest
from google.protobuf.struct_pb2 import Struct, Value
from grpclib.client import Channel
from grpclib.exceptions import GRPCError
from grpclib.server import Stream
Expand All @@ -21,8 +20,6 @@
BlockForOperationResponse,
CancelOperationRequest,
CancelOperationResponse,
Discovery,
DiscoveryQuery,
FrameSystemConfig,
FrameSystemConfigRequest,
FrameSystemConfigResponse,
Expand Down Expand Up @@ -83,20 +80,6 @@

TRANSFORM_RESPONSE = PoseInFrame(reference_frame="arm", pose=Pose(x=1, y=2, z=3, o_x=2, o_y=3, o_z=4, theta=20))

DISCOVERY_QUERY = DiscoveryQuery(subtype="camera", model="webcam")

DISCOVERY_RESPONSE = [
Discovery(
query=DISCOVERY_QUERY,
results=Struct(
fields={
"foo": Value(string_value="bar"),
"one": Value(number_value=1),
}
),
)
]

OPERATION_ID = "abc"

OPERATIONS_RESPONSE = [Operation(id=OPERATION_ID)]
Expand Down