Fix simple module, update readme (viamrobotics#480)

docs/examples/example.ipynb

@@ -288,7 +288,7 @@
     "    async def close(self):\n",
     "        # This is a completely optional function to include. This will be called when the resource is removed from the config or the module\n",
     "        # is shutting down.\n",
-    "        LOGGER.debug(f\"{self.name} is closed.\")\n",
+    "        LOGGER.info(f\"{self.name} is closed.\")\n",
     "\n",
     "# Anything below this line is optional and will be replaced later, but may come in handy for debugging and testing.\n",
     "# To use, call `python wifi_sensor_module.py` in the command line while in the `src` directory.\n",
@@ -371,7 +371,7 @@
     "    @classmethod\n",
     "    def validate_config(cls, config: ComponentConfig) -> Sequence[str]:\n",
     "        if \"multiplier\" in config.attributes.fields:\n",
-    "            if not isinstance(config.attributes.fields[\"multiplier\"], float):\n",
+    "            if not config.attributes.fields[\"multiplier\"].HasField(\"number_value\"):\n",
     "                raise Exception(\"Multiplier must be a float.\")\n",
     "            multiplier = config.attributes.fields[\"multiplier\"].number_value\n",
     "            if multiplier == 0:\n",

docs/examples/module_step2.py

@@ -32,7 +32,7 @@ async def get_readings(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -
     async def close(self):
         # This is a completely optional function to include. This will be called when the resource is removed from the config or the module
         # is shutting down.
-        LOGGER.debug(f"{self.name} is closed.")
+        LOGGER.info(f"{self.name} is closed.")
 
 
 async def main():

docs/examples/module_step2_optional.py

@@ -27,7 +27,7 @@ def new(cls, config: ComponentConfig, dependencies: Mapping[ResourceName, Resour
     @classmethod
     def validate_config(cls, config: ComponentConfig) -> Sequence[str]:
         if "multiplier" in config.attributes.fields:
-            if not isinstance(config.attributes.fields["multiplier"], float):
+            if not config.attributes.fields["multiplier"].HasField("number_value"):
                 raise Exception("Multiplier must be a float.")
             multiplier = config.attributes.fields["multiplier"].number_value
             if multiplier == 0:
@@ -54,7 +54,7 @@ def reconfigure(self, config: ComponentConfig, dependencies: Mapping[ResourceNam
     async def close(self):
         # This is a completely optional function to include. This will be called when the resource is removed from the config or the module
         # is shutting down.
-        LOGGER.debug(f"{self.name} is closed.")
+        LOGGER.info(f"{self.name} is closed.")
 
 
 async def main():

docs/examples/module_step3.py

@@ -33,7 +33,7 @@ async def get_readings(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -
     async def close(self):
         # This is a completely optional function to include. This will be called when the resource is removed from the config or the module
         # is shutting down.
-        LOGGER.debug(f"{self.name} is closed.")
+        LOGGER.info(f"{self.name} is closed.")
 
 
 async def main():

docs/examples/my_cool_arm.py

@@ -109,4 +109,4 @@ async def get_kinematics(self, extra: Optional[Dict[str, Any]] = None, **kwargs)
     async def close(self):
         # This is a completely optional function to include. This will be called when the resource is removed from the config or the module
         # is shutting down.
-        LOGGER.debug(f"{self.name} is closed.")
+        LOGGER.info(f"{self.name} is closed.")

examples/complex_module/src/arm/my_arm.py

@@ -112,7 +112,7 @@ async def get_kinematics(self, extra: Optional[Dict[str, Any]] = None, **kwargs)
     async def close(self):
         # This is a completely optional function to include. This will be called when the resource is removed from the config or the module
         # is shutting down.
-        LOGGER.debug(f"{self.name} is closed.")
+        LOGGER.info(f"{self.name} is closed.")
 
 
 Registry.register_resource_creator(Arm.SUBTYPE, MyArm.MODEL, ResourceCreatorRegistration(MyArm.new))

examples/complex_module/src/gizmo/my_gizmo.py

@@ -76,7 +76,7 @@ def reconfigure(self, config: ComponentConfig, dependencies: Mapping[ResourceNam
     async def close(self):
         # This is a completely optional function to include. This will be called when the resource is removed from the config or the module
         # is shutting down.
-        LOGGER.debug(f"{self.name} is closed.")
+        LOGGER.info(f"{self.name} is closed.")
 
 
 Registry.register_resource_creator(Gizmo.SUBTYPE, MyGizmo.MODEL, ResourceCreatorRegistration(MyGizmo.new, MyGizmo.validate_config))

examples/simple_module/README.md

@@ -38,7 +38,9 @@ An example configuration for a Sensor component could look like this:
       "name": "sensor1",
       "type": "sensor",
       "model": "viam:sensor:mysensor",
-      "attributes": {},
+      "attributes": {
+        "multiplier": 2,
+      },
       "depends_on": []
     }
   ],

examples/simple_module/client.py

@@ -22,6 +22,9 @@ async def main():
     reading = await sensor.get_readings()
     print(f"The reading is {reading}")
 
+    response = await sensor.do_command({"hello": "world"})
+    print(f"The response is {response}")
+
     await robot.close()
 
 

examples/simple_module/src/main.py

@@ -32,7 +32,7 @@ def new(cls, config: ComponentConfig, dependencies: Mapping[ResourceName, Resour
     @classmethod
     def validate_config(cls, config: ComponentConfig) -> Sequence[str]:
         if "multiplier" in config.attributes.fields:
-            if not isinstance(config.attributes.fields["multiplier"], float):
+            if not config.attributes.fields["multiplier"].HasField("number_value"):
                 raise Exception("Multiplier must be a float.")
             multiplier = config.attributes.fields["multiplier"].number_value
             if multiplier == 0:
@@ -43,6 +43,7 @@ async def get_readings(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -
         return {"signal": 1 * self.multiplier}
 
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
+        LOGGER.info(f"received {command=}.")
         return command
 
     def reconfigure(self, config: ComponentConfig, dependencies: Mapping[ResourceName, ResourceBase]):
@@ -55,7 +56,7 @@ def reconfigure(self, config: ComponentConfig, dependencies: Mapping[ResourceNam
     async def close(self):
         # This is a completely optional function to include. This will be called when the resource is removed from the config or the module
         # is shutting down.
-        LOGGER.debug(f"{self.name} is closed.")
+        LOGGER.info(f"{self.name} is closed.")
 
 
 async def main():