RSDK-7747: Add SetRPM to python SDK

examples/server/v1/components.py

@@ -592,6 +592,12 @@ async def go_to(self, rpm: float, position_revolutions: float, extra: Optional[D
             self.position += rps
         self.powered = False
 
+    async def set_rpm(self, rpm: float, extra: Optional[Dict[str, Any]] = None, **kwargs):
+        if self.task:
+            self.task.cancel()
+        self.powered = True
+        self.task = asyncio.create_task(self.run_continuously(rpm))
+
     async def reset_zero_position(self, offset: float, extra: Optional[Dict[str, Any]] = None, **kwargs):
         if (self.position > 0 and offset > 0) or (self.position < 0 and offset < 0):
             self.position = offset

src/viam/components/motor/client.py

@@ -17,6 +17,7 @@
     MotorServiceStub,
     ResetZeroPositionRequest,
     SetPowerRequest,
+    SetRPMRequest,
     StopRequest,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
@@ -76,6 +77,19 @@ async def go_to(
         request = GoToRequest(name=self.name, rpm=rpm, position_revolutions=position_revolutions, extra=dict_to_struct(extra))
         await self.client.GoTo(request, timeout=timeout)
 
+    async def set_rpm(
+        self,
+        rpm: float,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **__,
+    ):
+        if extra is None:
+            extra = {}
+        request = SetRPMRequest(name=self.name, rpm=rpm, extra=dict_to_struct(extra))
+        await self.client.SetRPM(request, timeout=timeout)
+
     async def reset_zero_position(
         self,
         offset: float,

src/viam/components/motor/motor.py

@@ -112,6 +112,31 @@ async def go_to(
         """
         ...
 
+    @abc.abstractmethod
+    async def set_rpm(
+        self,
+        rpm: float,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ):
+        """
+        Spin the motor indefinitely at the specified speed, in revolutions per minute.
+        Positive ``rpm`` will result in forward movement and negative ``rpm`` will result in backwards movement
+
+        ::
+
+            my_motor = Motor.from_robot(robot=robot, name="my_motor")
+
+            # Spin the motor at 75 RPM.
+            await my_motor.set_rpm(rpm=75)
+
+        Args:
+            rpm (float): Speed at which the motor should rotate.
+        """
+        ...
+
     @abc.abstractmethod
     async def reset_zero_position(
         self,

src/viam/components/motor/service.py

@@ -18,6 +18,8 @@
     ResetZeroPositionResponse,
     SetPowerRequest,
     SetPowerResponse,
+    SetRPMRequest,
+    SetRPMResponse,
     StopRequest,
     StopResponse,
     UnimplementedMotorServiceBase,
@@ -64,6 +66,15 @@ async def GoTo(self, stream: Stream[GoToRequest, GoToResponse]) -> None:
         )
         await stream.send_message(GoToResponse())
 
+    async def SetRPM(self, stream: Stream[SetRPMRequest, SetRPMResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        motor = self.get_resource(name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        await motor.set_rpm(request.rpm, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
+        await stream.send_message(SetRPMResponse())
+
     async def ResetZeroPosition(self, stream: Stream[ResetZeroPositionRequest, ResetZeroPositionResponse]) -> None:
         request = await stream.recv_message()
         assert request is not None

tests/mocks/components.py

@@ -702,6 +702,18 @@ async def go_to(
         self.extra = extra
         self.timeout = timeout
 
+    async def set_rpm(
+        self,
+        rpm: float,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ):
+        self.powered = True
+        self.extra = extra
+        self.timeout = timeout
+
     async def reset_zero_position(
         self,
         offset: float,

tests/test_motor.py

@@ -19,6 +19,7 @@
     MotorServiceStub,
     ResetZeroPositionRequest,
     SetPowerRequest,
+    SetRPMRequest,
     StopRequest,
 )
 from viam.resource.manager import ResourceManager
@@ -83,6 +84,17 @@ async def test_go_to(self, motor: MockMotor):
         await motor.go_to(-10, 50)
         assert await motor.get_position() == 50
 
+    @pytest.mark.asyncio
+    async def test_set_rpm(self, motor: MockMotor):
+        await motor.set_rpm(30, timeout=4.56)
+        assert motor.timeout == loose_approx(4.56)
+        moving = await motor.is_moving()
+        assert moving is True
+
+        await motor.set_rpm(-30)
+        moving = await motor.is_moving()
+        assert moving is True
+
     @pytest.mark.asyncio
     async def test_reset_zero(self, motor: MockMotor):
         await motor.reset_zero_position(20, timeout=5.67)
@@ -205,6 +217,22 @@ async def test_go_to(self, motor: MockMotor, service: MotorRPCService):
             await client.GoTo(request)
             assert motor.position == 50
 
+    @pytest.mark.asyncio
+    async def test_set_rpm(self, motor: MockMotor, service: MotorRPCService):
+        async with ChannelFor([service]) as channel:
+            client = MotorServiceStub(channel)
+
+            request = SetRPMRequest(name=motor.name, rpm=30)
+            await client.SetRPM(request, timeout=4.56)
+            moving = await motor.is_moving()
+            assert moving is True
+            assert motor.timeout == loose_approx(4.56)
+
+            request = SetRPMRequest(name=motor.name, rpm=-10)
+            await client.SetRPM(request)
+            moving = await motor.is_moving()
+            assert moving is True
+
     @pytest.mark.asyncio
     async def test_reset_zero(self, motor: MockMotor, service: MotorRPCService):
         async with ChannelFor([service]) as channel:
@@ -340,6 +368,20 @@ async def test_go_to(self, motor: MockMotor, service: MotorRPCService):
             await client.go_to(-10, 50)
             assert motor.position == 50
 
+    @pytest.mark.asyncio
+    async def test_set_rpm(self, motor: MockMotor, service: MotorRPCService):
+        async with ChannelFor([service]) as channel:
+            client = MotorClient(motor.name, channel)
+
+            await client.set_rpm(30, timeout=4.56)
+            moving = await motor.is_moving()
+            assert motor.timeout == loose_approx(4.56)
+            assert moving is True
+
+            await client.set_rpm(-10)
+            moving = await motor.is_moving()
+            assert moving is True
+
     @pytest.mark.asyncio
     async def test_reset_zero(self, motor: MockMotor, service: MotorRPCService):
         async with ChannelFor([service]) as channel: