Merge branch 'main' into RSDK-3634/data.proto

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "viam-sdk"
-version = "0.4.1"
+version = "0.4.2"
 description = "Viam Robotics Python SDK"
 authors = [ "Naveed <[email protected]>" ]
 license = "Apache-2.0"

src/viam/app/client.py

@@ -51,4 +51,4 @@ def close(self):
         LOGGER.debug("Closing gRPC channel to app")
         LOGGER.debug("Closing grpc-lib Channel instance")
         self._channel.close()
-        self._closed = True
+        self._closed = True

src/viam/components/base/base.py

@@ -66,9 +66,9 @@ async def spin(
 
         Args:
             angle (float): The angle (in degrees) to spin.
-                Negative implies backwards.
-            velocity (float): The angular velocity (in degrees per second).
-                to spin. Negative implies backwards.
+            velocity (float): The angular velocity (in degrees per second)
+                to spin.
+                Given a positive angle and a positive velocity, the base will turn to the left.
         """
         ...
 
@@ -91,7 +91,7 @@ async def set_power(
 
         Args:
             linear (Vector3): The linear component. Only the Y component is used
-                for wheeled base. Negative implies backwards.
+                for wheeled base. Positive implies forwards.
             angular (Vector3): The angular component. Only the Z component is used
                 for wheeled base. Positive turns left; negative turns right.
         """

src/viam/sessions_client.py

@@ -36,11 +36,6 @@ def loop_kwargs():
     return {}
 
 
-async def delay(coro, seconds):
-    await asyncio.sleep(seconds, **loop_kwargs())
-    await coro
-
-
 class SessionsClient:
     """
     A Session allows a client to express that it is actively connected and
@@ -116,10 +111,22 @@ async def metadata(self) -> _MetadataLike:
                 self._heartbeat_interval = response.heartbeat_window.ToTimedelta()
                 self._current_id = response.id
 
+        # tick once to ensure heartbeats are supported
         await self._heartbeat_tick()
 
+        if self._supported:
+            # We send heartbeats slightly faster than the interval window to
+            # ensure that we don't fall outside of it and expire the session.
+            wait = self._heartbeat_interval.total_seconds() / 5
+            asyncio.create_task(self._heartbeat_task(wait), name=f"{_TASK_PREFIX}-heartbeat")
+
         return self._metadata
 
+    async def _heartbeat_task(self, wait: float):
+        while self._supported:
+            await asyncio.sleep(wait)
+            await self._heartbeat_tick()
+
     async def _heartbeat_tick(self):
         if not self._supported:
             return
@@ -139,10 +146,6 @@ async def _heartbeat_tick(self):
             self.reset()
         else:
             LOGGER.debug("Sent heartbeat successfully")
-            # We send heartbeats slightly faster than the interval window to
-            # ensure that we don't fall outside of it and expire the session.
-            wait = self._heartbeat_interval.total_seconds() / 5
-            asyncio.create_task(delay(self._heartbeat_tick(), wait), name=f"{_TASK_PREFIX}-heartbeat")
 
     @property
     def _metadata(self) -> _MetadataLike: