Automated Protos Update

src/viam/components/camera/camera.py

@@ -63,7 +63,14 @@ async def get_image(
         ...
 
     @abc.abstractmethod
-    async def get_images(self, *, filter_source_names: Optional[List[str]] = None, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> Tuple[List[NamedImage], ResponseMetadata]:
+    async def get_images(
+        self,
+        *,
+        filter_source_names: Optional[List[str]] = None,
+        extra: Optional[Dict[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> Tuple[List[NamedImage], ResponseMetadata]:
         """Get simultaneous images from different imagers, along with associated metadata.
         This should not be used for getting a time series of images from the same imager.
 

src/viam/components/camera/service.py

@@ -3,6 +3,7 @@
 from google.api.httpbody_pb2 import HttpBody  # type: ignore
 from grpclib.server import Stream
 
+from viam.media.video import CameraMimeType
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.camera import (
     CameraServiceBase,
@@ -20,7 +21,6 @@
 )
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
 from viam.utils import dict_to_struct, struct_to_dict
-from viam.media.video import CameraMimeType
 
 from . import Camera
 

src/viam/gen/common/v1/common_pb2.pyi

@@ -233,6 +233,19 @@ class Mesh(google.protobuf.message.Message):
         ...
 global___Mesh = Mesh
 
+@typing.final
+class PointCloud(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    POINT_CLOUD_FIELD_NUMBER: builtins.int
+    point_cloud: builtins.bytes
+
+    def __init__(self, *, point_cloud: builtins.bytes=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['point_cloud', b'point_cloud']) -> None:
+        ...
+global___PointCloud = PointCloud
+
 @typing.final
 class Geometry(google.protobuf.message.Message):
     """Geometry contains the dimensions of a given geometry and the pose of its center. The geometry is one of either a sphere or a box."""
@@ -242,6 +255,7 @@ class Geometry(google.protobuf.message.Message):
     BOX_FIELD_NUMBER: builtins.int
     CAPSULE_FIELD_NUMBER: builtins.int
     MESH_FIELD_NUMBER: builtins.int
+    POINTCLOUD_FIELD_NUMBER: builtins.int
     LABEL_FIELD_NUMBER: builtins.int
     label: builtins.str
     'Label of the geometry. If none supplied, will be an empty string.'
@@ -266,16 +280,20 @@ class Geometry(google.protobuf.message.Message):
     def mesh(self) -> global___Mesh:
         ...
 
-    def __init__(self, *, center: global___Pose | None=..., sphere: global___Sphere | None=..., box: global___RectangularPrism | None=..., capsule: global___Capsule | None=..., mesh: global___Mesh | None=..., label: builtins.str=...) -> None:
+    @property
+    def pointcloud(self) -> global___PointCloud:
+        ...
+
+    def __init__(self, *, center: global___Pose | None=..., sphere: global___Sphere | None=..., box: global___RectangularPrism | None=..., capsule: global___Capsule | None=..., mesh: global___Mesh | None=..., pointcloud: global___PointCloud | None=..., label: builtins.str=...) -> None:
         ...
 
-    def HasField(self, field_name: typing.Literal['box', b'box', 'capsule', b'capsule', 'center', b'center', 'geometry_type', b'geometry_type', 'mesh', b'mesh', 'sphere', b'sphere']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['box', b'box', 'capsule', b'capsule', 'center', b'center', 'geometry_type', b'geometry_type', 'mesh', b'mesh', 'pointcloud', b'pointcloud', 'sphere', b'sphere']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing.Literal['box', b'box', 'capsule', b'capsule', 'center', b'center', 'geometry_type', b'geometry_type', 'label', b'label', 'mesh', b'mesh', 'sphere', b'sphere']) -> None:
+    def ClearField(self, field_name: typing.Literal['box', b'box', 'capsule', b'capsule', 'center', b'center', 'geometry_type', b'geometry_type', 'label', b'label', 'mesh', b'mesh', 'pointcloud', b'pointcloud', 'sphere', b'sphere']) -> None:
         ...
 
-    def WhichOneof(self, oneof_group: typing.Literal['geometry_type', b'geometry_type']) -> typing.Literal['sphere', 'box', 'capsule', 'mesh'] | None:
+    def WhichOneof(self, oneof_group: typing.Literal['geometry_type', b'geometry_type']) -> typing.Literal['sphere', 'box', 'capsule', 'mesh', 'pointcloud'] | None:
         ...
 global___Geometry = Geometry
 
@@ -376,8 +394,12 @@ class Transform(google.protobuf.message.Message):
     REFERENCE_FRAME_FIELD_NUMBER: builtins.int
     POSE_IN_OBSERVER_FRAME_FIELD_NUMBER: builtins.int
     PHYSICAL_OBJECT_FIELD_NUMBER: builtins.int
+    UUID_FIELD_NUMBER: builtins.int
+    METADATA_FIELD_NUMBER: builtins.int
     reference_frame: builtins.str
     'the name of a given reference frame'
+    uuid: builtins.bytes
+    'The UUID of the transform'
 
     @property
     def pose_in_observer_frame(self) -> global___PoseInFrame:
@@ -387,15 +409,24 @@ class Transform(google.protobuf.message.Message):
     def physical_object(self) -> global___Geometry:
         ...
 
-    def __init__(self, *, reference_frame: builtins.str=..., pose_in_observer_frame: global___PoseInFrame | None=..., physical_object: global___Geometry | None=...) -> None:
+    @property
+    def metadata(self) -> google.protobuf.struct_pb2.Struct:
+        """Can hold information like color, opacity, points colors, collision_allowed, etc..."""
+
+    def __init__(self, *, reference_frame: builtins.str=..., pose_in_observer_frame: global___PoseInFrame | None=..., physical_object: global___Geometry | None=..., uuid: builtins.bytes=..., metadata: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['_metadata', b'_metadata', '_physical_object', b'_physical_object', 'metadata', b'metadata', 'physical_object', b'physical_object', 'pose_in_observer_frame', b'pose_in_observer_frame']) -> builtins.bool:
         ...
 
-    def HasField(self, field_name: typing.Literal['_physical_object', b'_physical_object', 'physical_object', b'physical_object', 'pose_in_observer_frame', b'pose_in_observer_frame']) -> builtins.bool:
+    def ClearField(self, field_name: typing.Literal['_metadata', b'_metadata', '_physical_object', b'_physical_object', 'metadata', b'metadata', 'physical_object', b'physical_object', 'pose_in_observer_frame', b'pose_in_observer_frame', 'reference_frame', b'reference_frame', 'uuid', b'uuid']) -> None:
         ...
 
-    def ClearField(self, field_name: typing.Literal['_physical_object', b'_physical_object', 'physical_object', b'physical_object', 'pose_in_observer_frame', b'pose_in_observer_frame', 'reference_frame', b'reference_frame']) -> None:
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_metadata', b'_metadata']) -> typing.Literal['metadata'] | None:
         ...
 
+    @typing.overload
     def WhichOneof(self, oneof_group: typing.Literal['_physical_object', b'_physical_object']) -> typing.Literal['physical_object'] | None:
         ...
 global___Transform = Transform

src/viam/gen/service/worldstatestore/v1/world_state_store_grpc.py

@@ -0,0 +1,55 @@
+import abc
+import typing
+import grpclib.const
+import grpclib.client
+import grpclib.exceptions
+if typing.TYPE_CHECKING:
+    import grpclib.server
+from .... import common
+import google.api.annotations_pb2
+import google.protobuf.field_mask_pb2
+import google.protobuf.struct_pb2
+from .... import service
+
+class WorldStateStoreServiceBase(abc.ABC):
+
+    @abc.abstractmethod
+    async def ListUUIDs(self, stream: 'grpclib.server.Stream[service.worldstatestore.v1.world_state_store_pb2.ListUUIDsRequest, service.worldstatestore.v1.world_state_store_pb2.ListUUIDsResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def GetTransform(self, stream: 'grpclib.server.Stream[service.worldstatestore.v1.world_state_store_pb2.GetTransformRequest, service.worldstatestore.v1.world_state_store_pb2.GetTransformResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def StreamTransformChanges(self, stream: 'grpclib.server.Stream[service.worldstatestore.v1.world_state_store_pb2.StreamTransformChangesRequest, service.worldstatestore.v1.world_state_store_pb2.StreamTransformChangesResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def DoCommand(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]') -> None:
+        pass
+
+    def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
+        return {'/viam.service.worldstatestore.v1.WorldStateStoreService/ListUUIDs': grpclib.const.Handler(self.ListUUIDs, grpclib.const.Cardinality.UNARY_UNARY, service.worldstatestore.v1.world_state_store_pb2.ListUUIDsRequest, service.worldstatestore.v1.world_state_store_pb2.ListUUIDsResponse), '/viam.service.worldstatestore.v1.WorldStateStoreService/GetTransform': grpclib.const.Handler(self.GetTransform, grpclib.const.Cardinality.UNARY_UNARY, service.worldstatestore.v1.world_state_store_pb2.GetTransformRequest, service.worldstatestore.v1.world_state_store_pb2.GetTransformResponse), '/viam.service.worldstatestore.v1.WorldStateStoreService/StreamTransformChanges': grpclib.const.Handler(self.StreamTransformChanges, grpclib.const.Cardinality.UNARY_STREAM, service.worldstatestore.v1.world_state_store_pb2.StreamTransformChangesRequest, service.worldstatestore.v1.world_state_store_pb2.StreamTransformChangesResponse), '/viam.service.worldstatestore.v1.WorldStateStoreService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)}
+
+class UnimplementedWorldStateStoreServiceBase(WorldStateStoreServiceBase):
+
+    async def ListUUIDs(self, stream: 'grpclib.server.Stream[service.worldstatestore.v1.world_state_store_pb2.ListUUIDsRequest, service.worldstatestore.v1.world_state_store_pb2.ListUUIDsResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def GetTransform(self, stream: 'grpclib.server.Stream[service.worldstatestore.v1.world_state_store_pb2.GetTransformRequest, service.worldstatestore.v1.world_state_store_pb2.GetTransformResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def StreamTransformChanges(self, stream: 'grpclib.server.Stream[service.worldstatestore.v1.world_state_store_pb2.StreamTransformChangesRequest, service.worldstatestore.v1.world_state_store_pb2.StreamTransformChangesResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def DoCommand(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+class WorldStateStoreServiceStub:
+
+    def __init__(self, channel: grpclib.client.Channel) -> None:
+        self.ListUUIDs = grpclib.client.UnaryUnaryMethod(channel, '/viam.service.worldstatestore.v1.WorldStateStoreService/ListUUIDs', service.worldstatestore.v1.world_state_store_pb2.ListUUIDsRequest, service.worldstatestore.v1.world_state_store_pb2.ListUUIDsResponse)
+        self.GetTransform = grpclib.client.UnaryUnaryMethod(channel, '/viam.service.worldstatestore.v1.WorldStateStoreService/GetTransform', service.worldstatestore.v1.world_state_store_pb2.GetTransformRequest, service.worldstatestore.v1.world_state_store_pb2.GetTransformResponse)
+        self.StreamTransformChanges = grpclib.client.UnaryStreamMethod(channel, '/viam.service.worldstatestore.v1.WorldStateStoreService/StreamTransformChanges', service.worldstatestore.v1.world_state_store_pb2.StreamTransformChangesRequest, service.worldstatestore.v1.world_state_store_pb2.StreamTransformChangesResponse)
+        self.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.service.worldstatestore.v1.WorldStateStoreService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)

src/viam/gen/service/worldstatestore/v1/world_state_store_pb2.py

@@ -0,0 +1,39 @@
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 2, '', 'service/worldstatestore/v1/world_state_store.proto')
+_sym_db = _symbol_database.Default()
+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 field_mask_pb2 as google_dot_protobuf_dot_field__mask__pb2
+from google.protobuf import struct_pb2 as google_dot_protobuf_dot_struct__pb2
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n2service/worldstatestore/v1/world_state_store.proto\x12\x1fviam.service.worldstatestore.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a google/protobuf/field_mask.proto\x1a\x1cgoogle/protobuf/struct.proto"U\n\x10ListUUIDsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra")\n\x11ListUUIDsResponse\x12\x14\n\x05uuids\x18\x01 \x03(\x0cR\x05uuids"l\n\x13GetTransformRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12\x12\n\x04uuid\x18\x02 \x01(\x0cR\x04uuid\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"O\n\x14GetTransformResponse\x127\n\ttransform\x18\x02 \x01(\x0b2\x19.viam.common.v1.TransformR\ttransform"b\n\x1dStreamTransformChangesRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\xf3\x01\n\x1eStreamTransformChangesResponse\x12U\n\x0bchange_type\x18\x01 \x01(\x0e24.viam.service.worldstatestore.v1.TransformChangeTypeR\nchangeType\x127\n\ttransform\x18\x02 \x01(\x0b2\x19.viam.common.v1.TransformR\ttransform\x12A\n\x0eupdated_fields\x18\x03 \x01(\x0b2\x1a.google.protobuf.FieldMaskR\rupdatedFields*\xa3\x01\n\x13TransformChangeType\x12%\n!TRANSFORM_CHANGE_TYPE_UNSPECIFIED\x10\x00\x12\x1f\n\x1bTRANSFORM_CHANGE_TYPE_ADDED\x10\x01\x12!\n\x1dTRANSFORM_CHANGE_TYPE_REMOVED\x10\x02\x12!\n\x1dTRANSFORM_CHANGE_TYPE_UPDATED\x10\x032\x8c\x05\n\x16WorldStateStoreService\x12t\n\tListUUIDs\x121.viam.service.worldstatestore.v1.ListUUIDsRequest\x1a2.viam.service.worldstatestore.v1.ListUUIDsResponse"\x00\x12}\n\x0cGetTransform\x124.viam.service.worldstatestore.v1.GetTransformRequest\x1a5.viam.service.worldstatestore.v1.GetTransformResponse"\x00\x12\xe9\x01\n\x16StreamTransformChanges\x12>.viam.service.worldstatestore.v1.StreamTransformChangesRequest\x1a?.viam.service.worldstatestore.v1.StreamTransformChangesResponse"L\x82\xd3\xe4\x93\x02F\x12D/viam/api/v1/service/worldstatestore/{name}/stream_transform_changes0\x01\x12\x90\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse">\x82\xd3\xe4\x93\x028"6/viam/api/v1/service/worldstatestore/{name}/do_commandBQ\n#com.viam.service.worldstatestore.v1Z*go.viam.com/api/service/worldstatestore/v1b\x06proto3')
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'service.worldstatestore.v1.world_state_store_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+    _globals['DESCRIPTOR']._loaded_options = None
+    _globals['DESCRIPTOR']._serialized_options = b'\n#com.viam.service.worldstatestore.v1Z*go.viam.com/api/service/worldstatestore/v1'
+    _globals['_WORLDSTATESTORESERVICE'].methods_by_name['StreamTransformChanges']._loaded_options = None
+    _globals['_WORLDSTATESTORESERVICE'].methods_by_name['StreamTransformChanges']._serialized_options = b'\x82\xd3\xe4\x93\x02F\x12D/viam/api/v1/service/worldstatestore/{name}/stream_transform_changes'
+    _globals['_WORLDSTATESTORESERVICE'].methods_by_name['DoCommand']._loaded_options = None
+    _globals['_WORLDSTATESTORESERVICE'].methods_by_name['DoCommand']._serialized_options = b'\x82\xd3\xe4\x93\x028"6/viam/api/v1/service/worldstatestore/{name}/do_command'
+    _globals['_TRANSFORMCHANGETYPE']._serialized_start = 873
+    _globals['_TRANSFORMCHANGETYPE']._serialized_end = 1036
+    _globals['_LISTUUIDSREQUEST']._serialized_start = 205
+    _globals['_LISTUUIDSREQUEST']._serialized_end = 290
+    _globals['_LISTUUIDSRESPONSE']._serialized_start = 292
+    _globals['_LISTUUIDSRESPONSE']._serialized_end = 333
+    _globals['_GETTRANSFORMREQUEST']._serialized_start = 335
+    _globals['_GETTRANSFORMREQUEST']._serialized_end = 443
+    _globals['_GETTRANSFORMRESPONSE']._serialized_start = 445
+    _globals['_GETTRANSFORMRESPONSE']._serialized_end = 524
+    _globals['_STREAMTRANSFORMCHANGESREQUEST']._serialized_start = 526
+    _globals['_STREAMTRANSFORMCHANGESREQUEST']._serialized_end = 624
+    _globals['_STREAMTRANSFORMCHANGESRESPONSE']._serialized_start = 627
+    _globals['_STREAMTRANSFORMCHANGESRESPONSE']._serialized_end = 870
+    _globals['_WORLDSTATESTORESERVICE']._serialized_start = 1039
+    _globals['_WORLDSTATESTORESERVICE']._serialized_end = 1691