import io
import sys
from inspect import iscoroutinefunction
from threading import Lock
from typing import List, Mapping, Optional, Sequence, Tuple
from grpclib.utils import _service_name
from typing_extensions import Self
from viam import logging
from viam.errors import ResourceNotFoundError, ValidationError
from viam.proto.app.robot import ComponentConfig
from viam.proto.module import (
AddResourceRequest,
HandlerDefinition,
HandlerMap,
ReadyRequest,
ReadyResponse,
ReconfigureResourceRequest,
RemoveResourceRequest,
ValidateConfigRequest,
ValidateConfigResponse,
)
from viam.proto.robot import ResourceRPCSubtype
from viam.resource.base import ResourceBase
from viam.resource.registry import Registry
from viam.resource.types import RESOURCE_TYPE_COMPONENT, RESOURCE_TYPE_SERVICE, Model, ResourceName, Subtype, resource_name_from_string
from viam.robot.client import RobotClient
from viam.rpc.dial import DialOptions
from viam.rpc.server import Server
from .service import ModuleRPCService
from .types import Reconfigurable, Stoppable
LOGGER = logging.getLogger(__name__)
[docs]class Module:
_address: str
_parent_address: Optional[str] = None
_ready: bool
_log_level: int
_lock: Lock
parent: Optional[RobotClient] = None
server: Server
[docs] @classmethod
def from_args(cls) -> Self:
"""Create a new Module with the args provided in the command line. The first argument after the command must be
the socket path. If the second argument after the command is "--log-level=debug", the Module's logger will be
DEBUG level. Otherwise, it will be INFO level. See LogLevel documentation in the RDK for more information on how
to start modules with a "log-level" commandline argument.
Raises:
Exception: If there is no socket path provided in the command line argument
Returns:
Module: a new Module instance
"""
args = sys.argv
if len(args) < 2:
raise Exception("Need socket path as command line argument")
address = args[1]
log_level = logging.DEBUG if (len(args) == 3 and "=debug" in args[2].lower()) else logging.INFO
return cls(address, log_level=log_level)
def __init__(self, address: str, *, log_level: int = logging.INFO) -> None:
# When a module is launched by viam-server, its stdout is not connected to a tty. In
# response, python disables line buffering, which prevents `print` statements from being
# immediately flushed to viam-server. This behavior can be confusing, interfere with
# debugging, and is non-standard when compared to other languages. Here, stdout and stderr
# are reconfigured to immediately flush.
if isinstance(sys.stdout, io.TextIOWrapper):
sys.stdout.reconfigure(line_buffering=True)
if isinstance(sys.stderr, io.TextIOWrapper):
sys.stderr.reconfigure(line_buffering=True)
self._address = address
self.server = Server(resources=[], module_service=ModuleRPCService(self))
self._log_level = log_level
self._ready = True
self._lock = Lock()
async def _connect_to_parent(self):
if self.parent is None:
if self._parent_address is None:
raise ValueError("Parent address not found")
self.parent = await RobotClient.at_address(
self._parent_address,
RobotClient.Options(
dial_options=DialOptions(disable_webrtc=True, insecure=True),
log_level=self._log_level,
),
)
LOGGER.debug("Starting module logging")
logging.setParent(self.parent)
async def _get_resource(self, name: ResourceName) -> ResourceBase:
await self._connect_to_parent()
assert self.parent is not None
await self.parent.refresh()
if name.type == RESOURCE_TYPE_COMPONENT:
return self.parent.get_component(name)
elif name.type == RESOURCE_TYPE_SERVICE:
return self.parent.get_service(name)
raise ValueError("Dependency does not describe a component nor a service")
async def _get_dependencies(self, dependencies: Sequence[str]) -> Mapping[ResourceName, ResourceBase]:
deps: Mapping[ResourceName, ResourceBase] = {}
for dep in dependencies:
rn = resource_name_from_string(dep)
deps[rn] = await self._get_resource(rn)
return deps
[docs] async def start(self):
"""Start the module service and gRPC server"""
try:
await self.server.serve(log_level=self._log_level, path=self._address)
finally:
await self.stop()
[docs] async def stop(self):
"""Stop the module service and gRPC server"""
LOGGER.debug("Shutting down module")
try:
if self.parent is not None:
await self.parent.close()
except Exception as e:
LOGGER.error("Encountered error while shutting down module", exc_info=e)
[docs] def set_ready(self, ready: bool):
"""Set the module's ready state. The module automatically sets to READY on load. Setting to False can be useful
in instances where the module is not instantly ready (e.g. waiting on hardware)
Args:
ready (bool): Whether the module is ready
"""
with self._lock:
self._ready = ready
[docs] async def add_resource(self, request: AddResourceRequest):
dependencies = await self._get_dependencies(request.dependencies)
config: ComponentConfig = request.config
subtype = Subtype.from_string(config.api)
model = Model.from_string(config.model, ignore_errors=True)
creator = Registry.lookup_resource_creator(subtype, model)
resource = creator(config, dependencies)
self.server.register(resource)
[docs] async def remove_resource(self, request: RemoveResourceRequest):
rn = resource_name_from_string(request.name)
resource = self.server.get_resource(ResourceBase, rn)
if isinstance(resource, Stoppable):
if iscoroutinefunction(resource.stop):
await resource.stop()
else:
resource.stop()
await self.server.remove_resource(rn)
[docs] async def ready(self, request: ReadyRequest) -> ReadyResponse:
self._parent_address = request.parent_address
await self._connect_to_parent()
svcname_to_models: Mapping[Tuple[str, Subtype], List[Model]] = {}
for subtype_model_str in Registry.REGISTERED_RESOURCE_CREATORS().keys():
subtype_str, model_str = subtype_model_str.split("/")
subtype = Subtype.from_string(subtype_str)
model = Model.from_string(model_str)
registration = Registry.lookup_subtype(subtype)
service = registration.rpc_service(self.server)
service_name = _service_name(service)
models = svcname_to_models.get((service_name, subtype), [])
models.append(model)
svcname_to_models[(service_name, subtype)] = models
handlers: List[HandlerDefinition] = []
for key, value in svcname_to_models.items():
svc_name, subtype = key
rpc_subtype = ResourceRPCSubtype(
subtype=ResourceName(
namespace=subtype.namespace,
type=subtype.resource_type,
subtype=subtype.resource_subtype,
name="",
),
proto_service=svc_name,
)
handler_def = HandlerDefinition(subtype=rpc_subtype, models=[str(model) for model in value])
handlers.append(handler_def)
return ReadyResponse(ready=self._ready, handlermap=HandlerMap(handlers=handlers))
[docs] def add_model_from_registry(self, subtype: Subtype, model: Model):
"""Add a pre-registered model to this Module"""
# All we need to do is double check that the model has already been registered
try:
Registry.lookup_resource_creator(subtype, model)
except ResourceNotFoundError:
raise ValueError(f"Cannot add model because it has not been registered. Subtype: {subtype}. Model: {model}")
[docs] async def validate_config(self, request: ValidateConfigRequest) -> ValidateConfigResponse:
config: ComponentConfig = request.config
subtype = Subtype.from_string(config.api)
model = Model.from_string(config.model)
validator = Registry.lookup_validator(subtype, model)
try:
dependencies = validator(config)
return ValidateConfigResponse(dependencies=dependencies)
except Exception as e:
raise ValidationError(f"{type(Exception)}: {e}").grpc_error