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[RSDK-9631] Add deprecation warnings to DiscoverComponents #818

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merged 2 commits into from
Jan 16, 2025
Merged

[RSDK-9631] Add deprecation warnings to DiscoverComponents #818

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53b6f1f
add deprecation docstrings and warnings
randhid Jan 16, 2025
c9e9792
fix typos
randhid Jan 16, 2025
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8 changes: 4 additions & 4 deletions src/viam/proto/robot/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,8 @@
CancelOperationRequest,
CancelOperationResponse,
ConfigStatus,
DiscoverComponentsRequest,
DiscoverComponentsResponse,
DiscoverComponentsRequest, # deprecated, remove on march 10th
DiscoverComponentsResponse, # deprecated, remove on march 10th
Discovery,
DiscoveryQuery,
FrameSystemConfig,
Expand Down Expand Up @@ -73,8 +73,8 @@
"CancelOperationRequest",
"CancelOperationResponse",
"ConfigStatus",
"DiscoverComponentsRequest",
"DiscoverComponentsResponse",
"DiscoverComponentsRequest", # deprecated, remove on march 10th
"DiscoverComponentsResponse", # deprecated, remove on march 10th
"Discovery",
"DiscoveryQuery",
"FrameSystemConfig",
Expand Down
7 changes: 7 additions & 0 deletions src/viam/robot/client.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
import asyncio
import sys
import warnings
from dataclasses import dataclass
from datetime import datetime
from threading import RLock
Expand Down Expand Up @@ -732,6 +733,7 @@ async def discover_components(
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.

Expand Down Expand Up @@ -759,6 +761,11 @@ async def discover_components(
"""
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)

############
Expand Down
5 changes: 0 additions & 5 deletions tests/mocks/robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,6 @@
BlockForOperationResponse,
CancelOperationRequest,
CancelOperationResponse,
DiscoverComponentsRequest,
DiscoverComponentsResponse,
FrameSystemConfigRequest,
FrameSystemConfigResponse,
GetCloudMetadataRequest,
Expand Down Expand Up @@ -100,9 +98,6 @@ async def FrameSystemConfig(self, stream: Stream[FrameSystemConfigRequest, Frame
async def TransformPose(self, stream: Stream[TransformPoseRequest, TransformPoseResponse]) -> None:
raise MethodNotImplementedError("TransformPose").grpc_error

async def DiscoverComponents(self, stream: Stream[DiscoverComponentsRequest, DiscoverComponentsResponse]) -> None:
raise MethodNotImplementedError("DiscoverComponents").grpc_error

async def StopAll(self, stream: Stream[StopAllRequest, StopAllResponse]) -> None:
raise MethodNotImplementedError("StopAll").grpc_error

Expand Down
16 changes: 0 additions & 16 deletions tests/test_robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,6 @@
BlockForOperationResponse,
CancelOperationRequest,
CancelOperationResponse,
DiscoverComponentsRequest,
DiscoverComponentsResponse,
Discovery,
DiscoveryQuery,
FrameSystemConfig,
Expand Down Expand Up @@ -168,12 +166,6 @@ async def TransformPose(stream: Stream[TransformPoseRequest, TransformPoseRespon
response = TransformPoseResponse(pose=TRANSFORM_RESPONSE)
await stream.send_message(response)

async def DiscoverComponents(stream: Stream[DiscoverComponentsRequest, DiscoverComponentsResponse]) -> None:
request = await stream.recv_message()
assert request is not None
response = DiscoverComponentsResponse(discovery=DISCOVERY_RESPONSE)
await stream.send_message(response)

async def GetOperations(stream: Stream[GetOperationsRequest, GetOperationsResponse]) -> None:
request = await stream.recv_message()
assert request is not None
Expand Down Expand Up @@ -205,7 +197,6 @@ async def Shutdown(stream: Stream[ShutdownRequest, ShutdownResponse]) -> None:
service = RobotService(manager)
service.FrameSystemConfig = Config
service.TransformPose = TransformPose
service.DiscoverComponents = DiscoverComponents
service.GetOperations = GetOperations
service.GetCloudMetadata = GetCloudMetadata
service.Shutdown = Shutdown
Expand Down Expand Up @@ -374,13 +365,6 @@ async def test_transform_pose(self, service: RobotService):
assert pose == TRANSFORM_RESPONSE
await client.close()

async def test_discover_components(self, service: RobotService):
async with ChannelFor([service]) as channel:
client = await RobotClient.with_channel(channel, RobotClient.Options())
discoveries = await client.discover_components([DISCOVERY_QUERY])
assert discoveries == DISCOVERY_RESPONSE
await client.close()

async def test_get_cloud_metadata(self, service: RobotService):
async with ChannelFor([service]) as channel:
client = await RobotClient.with_channel(channel, RobotClient.Options())
Expand Down
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