Fix simple module (#436)

docs/examples/example.ipynb

@@ -348,30 +348,41 @@
     "\n",
     "Custom validation can be done by specifiying a validate function. Validate functions can raise errors that will be returned to the parent through gRPC. Validate functions return a sequence of strings representing the implicit dependencies of the resource. If there are none, return an empty sequence `[]`.\n",
     "\n",
-    "For example, let's say `MySensor` had a `multiplier` argument that is used to multiply the returned readings in `get_readings()`. The validation function can check if a multiplier attribute was provided or default the multiplier to 1.\n",
+    "For example, let's say `MySensor` had a `multiplier` argument that is used to multiply the returned readings in `get_readings()`. The validation function can check if a multiplier attribute was provided and prevent erroneous resource start ups.\n",
+    "\n",
+    "Reconfiguration specifies what values can change based on a new configuration. To allow this, add a `reconfigure()` function to the `MySensor` class. A good pattern is to call `reconfigure()` within `new()`, since initialization and reconfiguration are usually very similar.\n",
     "\n",
     "```python\n",
     "# ADD `Sequence` FROM `typing`.\n",
     "from typing import Sequence\n",
     "\n",
     "class MySensor(Sensor):\n",
-    "    # ADD `multiplier` AS A CLASS VARIABLE.\n",
-    "    multiplier: float\n",
-    "\n",
     "    # ADD A VALIDATOR FUNCTION \n",
     "    @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",
     "                raise Exception(\"Multiplier must be a float.\")\n",
-    "            cls.multiplier = config.attributes.fields[\"multiplier\"].number_value\n",
-    "            if cls.multiplier == 0:\n",
+    "            multiplier = config.attributes.fields[\"multiplier\"].number_value\n",
+    "            if multiplier == 0:\n",
     "                raise Exception(\"Multiplier cannot be 0.\")\n",
-    "        else: \n",
-    "            cls.multiplier = 1.0\n",
     "        # RETURN AN EMPTY SEQUENCE\n",
     "        return []\n",
     "\n",
+    "    @classmethod\n",
+    "    def new(cls, config: ComponentConfig, dependencies: Mapping[ResourceName, ResourceBase]) -> Self:\n",
+    "        sensor = cls(config.name)\n",
+    "        # CALL RECONFIGURE TO INITIALIZE THE RESOURCE\n",
+    "        sensor.reconfigure(config, dependencies)        \n",
+    "        return sensor\n",
+    "\n",
+    "    def reconfigure(self, config: ComponentConfig, dependencies: Mapping[ResourceName, ResourceBase]):\n",
+    "        if \"multiplier\" in config.attributes.fields:\n",
+    "            multiplier = config.attributes.fields[\"multiplier\"].number_value\n",
+    "        else:\n",
+    "            multiplier = 1.0\n",
+    "        self.multiplier = multiplier\n",
+    "\n",
     "    async def get_readings(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> Mapping[str, Any]:\n",
     "        with open(\"/proc/net/wireless\") as wifi_stats:\n",
     "            content = wifi_stats.readlines()\n",
@@ -390,14 +401,6 @@
     "        async def main():\n",
     "            Registry.register_resource_creator(Sensor.SUBTYPE, MySensor.MODEL, ResourceCreatorRegistration(MySensor.new, MySensor.validate_config))\n",
     "```\n",
-    "\n",
-    "Reconfiguration specifies what values can change based on a new configuration. To allow this, add a `reconfigure()` function to the `MySensor` class.\n",
-    "\n",
-    "```python\n",
-    "        def reconfigure(self, config: ComponentConfig, dependencies: Mapping[ResourceName, ResourceBase]):\n",
-    "            self.multiplier = config.attributes.fields[\"multiplier\"].number_value\n",
-    "```\n",
-    "\n",
     "Click [here](https://github.com/viamrobotics/viam-python-sdk/blob/main/docs/examples/module_step2_optional.py) to see the new `wifi_sensor_module.py` with the optional validator and reconfiguration functions."
    ]
   },

docs/examples/module_step2.py

@@ -1,9 +1,9 @@
 # wifi-sensor/src/wifi_sensor_module.py
 import asyncio
-from typing import Any, ClassVar, Dict, List, Mapping, Optional
+from typing import Any, ClassVar, Dict, Mapping, Optional
 from typing_extensions import Self
 
-from viam.components.sensor import Geometry, Sensor
+from viam.components.sensor import Sensor
 from viam.proto.app.robot import ComponentConfig
 from viam.proto.common import ResourceName
 from viam.resource.base import ResourceBase
@@ -13,7 +13,7 @@
 
 class MySensor(Sensor):
     # Subclass the Viam Sensor component and implement the required functions
-    MODEL: ClassVar[Model] = Model(ModelFamily("acme", "wifi_sensor"), "linux")
+    MODEL: ClassVar[Model] = Model(ModelFamily("viam", "sensor"), "linux-wifi")
 
     @classmethod
     def new(cls, config: ComponentConfig, dependencies: Mapping[ResourceName, ResourceBase]) -> Self:
@@ -26,9 +26,6 @@ async def get_readings(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -
         wifi_signal = [x for x in content[2].split(" ") if x != ""]
         return {"link": wifi_signal[2], "level": wifi_signal[3], "noise": wifi_signal[4]}
 
-    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
-        raise NotImplementedError
-
 
 async def main():
     Registry.register_resource_creator(Sensor.SUBTYPE, MySensor.MODEL, ResourceCreatorRegistration(MySensor.new))

docs/examples/module_step2_optional.py

@@ -1,9 +1,9 @@
 # wifi-sensor/src/wifi_sensor_module.py
 import asyncio
-from typing import Any, ClassVar, Dict, List, Mapping, Optional, Sequence
+from typing import Any, ClassVar, Dict, Mapping, Optional, Sequence
 from typing_extensions import Self
 
-from viam.components.sensor import Geometry, Sensor
+from viam.components.sensor import Sensor
 from viam.proto.app.robot import ComponentConfig
 from viam.proto.common import ResourceName
 from viam.resource.base import ResourceBase
@@ -13,24 +13,22 @@
 
 class MySensor(Sensor):
     # Subclass the Viam Sensor component and implement the required functions
-    MODEL: ClassVar[Model] = Model(ModelFamily("acme", "wifi_sensor"), "linux")
-    multiplier: float
+    MODEL: ClassVar[Model] = Model(ModelFamily("viam", "sensor"), "linux-wifi")
 
     @classmethod
     def new(cls, config: ComponentConfig, dependencies: Mapping[ResourceName, ResourceBase]) -> Self:
         sensor = cls(config.name)
+        sensor.reconfigure(config, dependencies)
         return sensor
 
     @classmethod
     def validate_config(cls, config: ComponentConfig) -> Sequence[str]:
         if "multiplier" in config.attributes.fields:
             if not isinstance(config.attributes.fields["multiplier"], float):
                 raise Exception("Multiplier must be a float.")
-            cls.multiplier = config.attributes.fields["multiplier"].number_value
-            if cls.multiplier == 0:
+            multiplier = config.attributes.fields["multiplier"].number_value
+            if multiplier == 0:
                 raise Exception("Multiplier cannot be 0.")
-        else:
-            cls.multiplier = 1.0
         return []
 
     async def get_readings(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> Mapping[str, Any]:
@@ -43,11 +41,12 @@ async def get_readings(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -
             wifi_signal.append(int(result[i]) * self.multiplier)
         return {"link": wifi_signal[0], "level": wifi_signal[1], "noise": wifi_signal[2]}
 
-    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
-        raise NotImplementedError
-
     def reconfigure(self, config: ComponentConfig, dependencies: Mapping[ResourceName, ResourceBase]):
-        self.multiplier = config.attributes.fields["multiplier"].number_value
+        if "multiplier" in config.attributes.fields:
+            multiplier = config.attributes.fields["multiplier"].number_value
+        else:
+            multiplier = 1.0
+        self.multiplier = multiplier
 
 
 async def main():

docs/examples/module_step3.py

@@ -1,9 +1,9 @@
 # wifi-sensor/src/wifi_sensor_module.py
 import asyncio
-from typing import Any, ClassVar, Dict, List, Mapping, Optional
+from typing import Any, ClassVar, Dict, Mapping, Optional
 from typing_extensions import Self
 
-from viam.components.sensor import Geometry, Sensor
+from viam.components.sensor import Sensor
 from viam.module.module import Module
 from viam.proto.app.robot import ComponentConfig
 from viam.proto.common import ResourceName
@@ -14,7 +14,7 @@
 
 class MySensor(Sensor):
     # Subclass the Viam Sensor component and implement the required functions
-    MODEL: ClassVar[Model] = Model(ModelFamily("acme", "wifi_sensor"), "linux")
+    MODEL: ClassVar[Model] = Model(ModelFamily("viam", "sensor"), "linux-wifi")
 
     @classmethod
     def new(cls, config: ComponentConfig, dependencies: Mapping[ResourceName, ResourceBase]) -> Self:
@@ -27,9 +27,6 @@ async def get_readings(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -
         wifi_signal = [x for x in content[2].split(" ") if x != ""]
         return {"link": wifi_signal[2], "level": wifi_signal[3], "noise": wifi_signal[4]}
 
-    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
-        raise NotImplementedError
-
 
 async def main():
     """

examples/simple_module/src/main.py

@@ -16,26 +16,24 @@
 class MySensor(Sensor):
     # Subclass the Viam Sensor component and implement the required functions
     MODEL: ClassVar[Model] = Model(ModelFamily("viam", "sensor"), "mysensor")
-    multiplier: float
 
     def __init__(self, name: str):
         super().__init__(name)
 
     @classmethod
     def new(cls, config: ComponentConfig, dependencies: Mapping[ResourceName, ResourceBase]) -> Self:
         sensor = cls(config.name)
+        sensor.reconfigure(config, dependencies)
         return sensor
 
     @classmethod
     def validate_config(cls, config: ComponentConfig) -> Sequence[str]:
         if "multiplier" in config.attributes.fields:
             if not isinstance(config.attributes.fields["multiplier"], float):
                 raise Exception("Multiplier must be a float.")
-            cls.multiplier = config.attributes.fields["multiplier"].number_value
-            if cls.multiplier == 0:
+            multiplier = config.attributes.fields["multiplier"].number_value
+            if multiplier == 0:
                 raise Exception("Multiplier cannot be 0.")
-        else:
-            cls.multiplier = 1.0
         return []
 
     async def get_readings(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> Mapping[str, Any]:
@@ -45,7 +43,11 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
         return command
 
     def reconfigure(self, config: ComponentConfig, dependencies: Mapping[ResourceName, ResourceBase]):
-        self.multiplier = config.attributes.fields["multiplier"].number_value
+        if "multiplier" in config.attributes.fields:
+            multiplier = config.attributes.fields["multiplier"].number_value
+        else:
+            multiplier = 1.0
+        self.multiplier = multiplier
 
 
 async def main():