RSDK-2812 - Use API over Subtype (#2265)

README.md

@@ -36,7 +36,7 @@ Example with a dummy configuration: `go run web/cmd/server/main.go -config etc/c
 ### Examples
 * [SimpleServer](https://pkg.go.dev/go.viam.com/rdk/examples/simpleserver) - example for creating a simple custom server.
 * [MySensor](https://pkg.go.dev/go.viam.com/rdk/examples/mysensor) - example for creating a custom sensor.
-* [MyComponent](https://pkg.go.dev/go.viam.com/rdk/examples/mycomponent) - example for creating a custom resource subtype.
+* [MyComponent](https://pkg.go.dev/go.viam.com/rdk/examples/mycomponent) - example for creating a custom resource API.
 
 ### SDKs
 

cli/client.go

@@ -694,7 +694,7 @@ func (c *AppClient) StartRobotPartShell(
 	// Returns the first shell service found in the robot resources
 	var found *resource.Name
 	for _, name := range robotClient.ResourceNames() {
-		if name.Subtype == shell.Subtype {
+		if name.API == shell.API {
 			nameCopy := name
 			found = &nameCopy
 			break

components/arm/arm.go

@@ -20,7 +20,7 @@ import (
 )
 
 func init() {
-	resource.RegisterSubtype(Subtype, resource.SubtypeRegistration[Arm]{
+	resource.RegisterAPI(API, resource.APIRegistration[Arm]{
 		Status:                      resource.StatusFunc(CreateStatus),
 		RPCServiceServerConstructor: NewRPCServiceServer,
 		RPCServiceHandler:           pb.RegisterArmServiceHandlerFromEndpoint,
@@ -29,19 +29,17 @@ func init() {
 	})
 
 	data.RegisterCollector(data.MethodMetadata{
-		Subtype:    Subtype,
+		API:        API,
 		MethodName: endPosition.String(),
 	}, newEndPositionCollector)
 	data.RegisterCollector(data.MethodMetadata{
-		Subtype:    Subtype,
+		API:        API,
 		MethodName: jointPositions.String(),
 	}, newJointPositionsCollector)
 }
 
-// SubtypeName is a constant that identifies the component resource subtype string "arm".
-const (
-	SubtypeName = resource.SubtypeName("arm")
-)
+// SubtypeName is a constant that identifies the component resource API string "arm".
+const SubtypeName = "arm"
 
 // MTPoob is a string that all MoveToPosition errors should contain if the method is called
 // and there are joints which are out of bounds.
@@ -54,16 +52,12 @@ var (
 	}
 )
 
-// Subtype is a constant that identifies the component resource subtype.
-var Subtype = resource.NewSubtype(
-	resource.ResourceNamespaceRDK,
-	resource.ResourceTypeComponent,
-	SubtypeName,
-)
+// API is a variable that identifies the component resource API.
+var API = resource.APINamespaceRDK.WithComponentType(SubtypeName)
 
 // Named is a helper for getting the named Arm's typed resource name.
 func Named(name string) resource.Name {
-	return resource.NameFromSubtype(Subtype, name)
+	return resource.NewName(API, name)
 }
 
 // An Arm represents a physical robotic arm that exists in three-dimensional space.
@@ -104,7 +98,7 @@ func FromRobot(r robot.Robot, name string) (Arm, error) {
 
 // NamesFromRobot is a helper for getting all arm names from the given Robot.
 func NamesFromRobot(r robot.Robot) []string {
-	return robot.NamesBySubtype(r, Subtype)
+	return robot.NamesByAPI(r, API)
 }
 
 // CreateStatus creates a status from the arm.

components/arm/arm_test.go

@@ -82,7 +82,7 @@ func TestCreateStatus(t *testing.T) {
 		return true, nil
 	}
 	injectArm.ModelFrameFunc = func() referenceframe.Model {
-		model, _ := ur.Model("ur5e")
+		model, _ := ur.MakeModelFrame("ur5e")
 		return model
 	}
 
@@ -95,10 +95,10 @@ func TestCreateStatus(t *testing.T) {
 		pose2 := spatialmath.NewPoseFromProtobuf(status.EndPosition)
 		test.That(t, spatialmath.PoseAlmostEqualEps(pose1, pose2, 0.01), test.ShouldBeTrue)
 
-		resourceSubtype, ok, err := resource.LookupSubtypeRegistration[arm.Arm](arm.Subtype)
+		resourceAPI, ok, err := resource.LookupAPIRegistration[arm.Arm](arm.API)
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, ok, test.ShouldBeTrue)
-		status2, err := resourceSubtype.Status(context.Background(), injectArm)
+		status2, err := resourceAPI.Status(context.Background(), injectArm)
 		test.That(t, err, test.ShouldBeNil)
 
 		statusMap, err := protoutils.InterfaceToMap(status2)
@@ -158,8 +158,8 @@ func TestCreateStatus(t *testing.T) {
 func TestOOBArm(t *testing.T) {
 	logger := golog.NewTestLogger(t)
 	cfg := resource.Config{
-		Name:  arm.Subtype.String(),
-		Model: resource.NewDefaultModel("ur5e"),
+		Name:  arm.API.String(),
+		Model: resource.DefaultModelFamily.WithModel("ur5e"),
 		ConvertedAttributes: &fake.Config{
 			ArmModel: "ur5e",
 		},
@@ -258,8 +258,8 @@ func TestXArm6Locations(t *testing.T) {
 	// check the exact values/locations of arm geometries at a couple different poses
 	logger := golog.NewTestLogger(t)
 	cfg := resource.Config{
-		Name:  arm.Subtype.String(),
-		Model: resource.NewDefaultModel("fake"),
+		Name:  arm.API.String(),
+		Model: resource.DefaultModelFamily.WithModel("fake"),
 		ConvertedAttributes: &fake.Config{
 			ArmModel: "xArm6",
 		},
@@ -381,8 +381,8 @@ func TestUR5ELocations(t *testing.T) {
 	// check the exact values/locations of arm geometries at a couple different poses
 	logger := golog.NewTestLogger(t)
 	cfg := resource.Config{
-		Name:  arm.Subtype.String(),
-		Model: resource.NewDefaultModel("fake"),
+		Name:  arm.API.String(),
+		Model: resource.DefaultModelFamily.WithModel("fake"),
 		ConvertedAttributes: &fake.Config{
 			ArmModel: "ur5e",
 		},

components/arm/client.go

@@ -31,18 +31,24 @@ type client struct {
 }
 
 // NewClientFromConn constructs a new Client from connection passed in.
-func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name resource.Name, logger golog.Logger) (Arm, error) {
+func NewClientFromConn(
+	ctx context.Context,
+	conn rpc.ClientConn,
+	remoteName string,
+	name resource.Name,
+	logger golog.Logger,
+) (Arm, error) {
 	pbClient := pb.NewArmServiceClient(conn)
 	// TODO(DATA-853): requires that this support models being changed on the fly, not just at creation
 	// TODO(RSDK-882): will update this so that this is not necessary
 	r := robotpb.NewRobotServiceClient(conn)
-	model, modelErr := getModel(ctx, r, name.ShortNameForClient())
+	model, modelErr := getModel(ctx, r, name.ShortName())
 	if modelErr != nil {
 		logger.Errorw("error getting model for arm; will not allow certain methods")
 	}
 	c := &client{
-		Named:  name.AsNamed(),
-		name:   name.ShortNameForClient(),
+		Named:  name.PrependRemote(remoteName).AsNamed(),
+		name:   name.ShortName(),
 		client: pbClient,
 		logger: logger,
 	}

components/arm/client_test.go

@@ -85,17 +85,17 @@ func TestClient(t *testing.T) {
 		return nil
 	}
 
-	armSvc, err := resource.NewSubtypeCollection(
-		arm.Subtype, map[resource.Name]arm.Arm{
+	armSvc, err := resource.NewAPIResourceCollection(
+		arm.API, map[resource.Name]arm.Arm{
 			arm.Named(testArmName):  injectArm,
 			arm.Named(testArmName2): injectArm2,
 		})
 	test.That(t, err, test.ShouldBeNil)
-	resourceSubtype, ok, err := resource.LookupSubtypeRegistration[arm.Arm](arm.Subtype)
+	resourceAPI, ok, err := resource.LookupAPIRegistration[arm.Arm](arm.API)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, ok, test.ShouldBeTrue)
 
-	test.That(t, resourceSubtype.RegisterRPCService(context.Background(), rpcServer, armSvc), test.ShouldBeNil)
+	test.That(t, resourceAPI.RegisterRPCService(context.Background(), rpcServer, armSvc), test.ShouldBeNil)
 
 	injectRobot := &inject.Robot{}
 	injectRobot.FrameSystemConfigFunc = func(
@@ -128,7 +128,7 @@ func TestClient(t *testing.T) {
 	t.Run("arm client 1", func(t *testing.T) {
 		conn, err := viamgrpc.Dial(context.Background(), listener1.Addr().String(), logger)
 		test.That(t, err, test.ShouldBeNil)
-		arm1Client, err := arm.NewClientFromConn(context.Background(), conn, arm.Named(testArmName), logger)
+		arm1Client, err := arm.NewClientFromConn(context.Background(), conn, "", arm.Named(testArmName), logger)
 		test.That(t, err, test.ShouldBeNil)
 
 		// DoCommand
@@ -170,7 +170,7 @@ func TestClient(t *testing.T) {
 	t.Run("arm client 2", func(t *testing.T) {
 		conn, err := viamgrpc.Dial(context.Background(), listener1.Addr().String(), logger)
 		test.That(t, err, test.ShouldBeNil)
-		client2, err := resourceSubtype.RPCClient(context.Background(), conn, arm.Named(testArmName2), logger)
+		client2, err := resourceAPI.RPCClient(context.Background(), conn, "", arm.Named(testArmName2), logger)
 		test.That(t, err, test.ShouldBeNil)
 
 		pos, err := client2.EndPosition(context.Background(), nil)

components/arm/collectors.go

@@ -60,7 +60,7 @@ func newJointPositionsCollector(resource interface{}, params data.CollectorParam
 func assertArm(resource interface{}) (Arm, error) {
 	arm, ok := resource.(Arm)
 	if !ok {
-		return nil, data.InvalidInterfaceErr(SubtypeName)
+		return nil, data.InvalidInterfaceErr(API)
 	}
 	return arm, nil
 }

components/arm/eva/eva.go

@@ -30,8 +30,8 @@ import (
 	"go.viam.com/rdk/spatialmath"
 )
 
-// ModelName is the name of the eva model of an arm component.
-var ModelName = resource.NewDefaultModel("eva")
+// Model is the name of the eva model of an arm component.
+var Model = resource.DefaultModelFamily.WithModel("eva")
 
 // Config is used for converting config attributes.
 type Config struct {
@@ -44,7 +44,7 @@ type Config struct {
 var evamodeljson []byte
 
 func init() {
-	resource.RegisterComponent(arm.Subtype, ModelName, resource.Registration[arm.Arm, *Config]{
+	resource.RegisterComponent(arm.API, Model, resource.Registration[arm.Arm, *Config]{
 		Constructor: func(ctx context.Context, _ resource.Dependencies, conf resource.Config, logger golog.Logger) (arm.Arm, error) {
 			return NewEva(ctx, conf, logger)
 		},
@@ -96,7 +96,7 @@ type eva struct {
 
 // NewEva TODO.
 func NewEva(ctx context.Context, conf resource.Config, logger golog.Logger) (arm.Arm, error) {
-	model, err := Model(conf.Name)
+	model, err := MakeModelFrame(conf.Name)
 	if err != nil {
 		return nil, err
 	}
@@ -398,7 +398,7 @@ func (e *eva) Close(ctx context.Context) error {
 	return e.stop(ctx)
 }
 
-// Model returns the kinematics model of the eva arm, also has all Frame information.
-func Model(name string) (referenceframe.Model, error) {
+// MakeModelFrame returns the kinematics model of the eva arm, also has all Frame information.
+func MakeModelFrame(name string) (referenceframe.Model, error) {
 	return referenceframe.UnmarshalModelJSON(evamodeljson, name)
 }

components/arm/fake/fake.go

@@ -23,8 +23,8 @@ import (
 // errAttrCfgPopulation is the returned error if the Config's fields are fully populated.
 var errAttrCfgPopulation = errors.New("can only populate either ArmModel or ModelPath - not both")
 
-// ModelName is the string used to refer to the fake arm model.
-var ModelName = resource.NewDefaultModel("fake")
+// Model is the name used to refer to the fake arm model.
+var Model = resource.DefaultModelFamily.WithModel("fake")
 
 // Config is used for converting config attributes.
 type Config struct {
@@ -33,15 +33,15 @@ type Config struct {
 }
 
 func modelFromName(model, name string) (referenceframe.Model, error) {
-	switch resource.ModelName(model) {
+	switch model {
 	case xarm.ModelName6DOF, xarm.ModelName7DOF, xarm.ModelNameLite:
-		return xarm.Model(name, model)
-	case ur.ModelName.Name:
-		return ur.Model(name)
-	case yahboom.ModelName.Name:
-		return yahboom.Model(name)
-	case eva.ModelName.Name:
-		return eva.Model(name)
+		return xarm.MakeModelFrame(name, model)
+	case ur.Model.Name:
+		return ur.MakeModelFrame(name)
+	case yahboom.Model.Name:
+		return yahboom.MakeModelFrame(name)
+	case eva.Model.Name:
+		return eva.MakeModelFrame(name)
 	default:
 		return nil, errors.Errorf("fake arm cannot be created, unsupported arm-model: %s", model)
 	}
@@ -62,7 +62,7 @@ func (conf *Config) Validate(path string) ([]string, error) {
 }
 
 func init() {
-	resource.RegisterComponent(arm.Subtype, ModelName, resource.Registration[arm.Arm, *Config]{
+	resource.RegisterComponent(arm.API, Model, resource.Registration[arm.Arm, *Config]{
 		Constructor: NewArm,
 	})
 }

components/arm/server.go

@@ -13,20 +13,20 @@ import (
 	"go.viam.com/rdk/spatialmath"
 )
 
-// subtypeServer implements the ArmService from arm.proto.
-type subtypeServer struct {
+// serviceServer implements the ArmService from arm.proto.
+type serviceServer struct {
 	pb.UnimplementedArmServiceServer
-	coll resource.SubtypeCollection[Arm]
+	coll resource.APIResourceCollection[Arm]
 }
 
 // NewRPCServiceServer constructs an arm gRPC service server.
 // It is intentionally untyped to prevent use outside of tests.
-func NewRPCServiceServer(coll resource.SubtypeCollection[Arm]) interface{} {
-	return &subtypeServer{coll: coll}
+func NewRPCServiceServer(coll resource.APIResourceCollection[Arm]) interface{} {
+	return &serviceServer{coll: coll}
 }
 
 // GetEndPosition returns the position of the arm specified.
-func (s *subtypeServer) GetEndPosition(
+func (s *serviceServer) GetEndPosition(
 	ctx context.Context,
 	req *pb.GetEndPositionRequest,
 ) (*pb.GetEndPositionResponse, error) {
@@ -42,7 +42,7 @@ func (s *subtypeServer) GetEndPosition(
 }
 
 // GetJointPositions gets the current joint position of an arm of the underlying robot.
-func (s *subtypeServer) GetJointPositions(
+func (s *serviceServer) GetJointPositions(
 	ctx context.Context,
 	req *pb.GetJointPositionsRequest,
 ) (*pb.GetJointPositionsResponse, error) {
@@ -59,7 +59,7 @@ func (s *subtypeServer) GetJointPositions(
 }
 
 // MoveToPosition returns the position of the arm specified.
-func (s *subtypeServer) MoveToPosition(ctx context.Context, req *pb.MoveToPositionRequest) (*pb.MoveToPositionResponse, error) {
+func (s *serviceServer) MoveToPosition(ctx context.Context, req *pb.MoveToPositionRequest) (*pb.MoveToPositionResponse, error) {
 	operation.CancelOtherWithLabel(ctx, req.Name)
 	arm, err := s.coll.Resource(req.Name)
 	if err != nil {
@@ -73,7 +73,7 @@ func (s *subtypeServer) MoveToPosition(ctx context.Context, req *pb.MoveToPositi
 }
 
 // MoveToJointPositions moves an arm of the underlying robot to the requested joint positions.
-func (s *subtypeServer) MoveToJointPositions(
+func (s *serviceServer) MoveToJointPositions(
 	ctx context.Context,
 	req *pb.MoveToJointPositionsRequest,
 ) (*pb.MoveToJointPositionsResponse, error) {
@@ -86,7 +86,7 @@ func (s *subtypeServer) MoveToJointPositions(
 }
 
 // Stop stops the arm specified.
-func (s *subtypeServer) Stop(ctx context.Context, req *pb.StopRequest) (*pb.StopResponse, error) {
+func (s *serviceServer) Stop(ctx context.Context, req *pb.StopRequest) (*pb.StopResponse, error) {
 	operation.CancelOtherWithLabel(ctx, req.Name)
 	arm, err := s.coll.Resource(req.Name)
 	if err != nil {
@@ -96,7 +96,7 @@ func (s *subtypeServer) Stop(ctx context.Context, req *pb.StopRequest) (*pb.Stop
 }
 
 // IsMoving queries of a component is in motion.
-func (s *subtypeServer) IsMoving(ctx context.Context, req *pb.IsMovingRequest) (*pb.IsMovingResponse, error) {
+func (s *serviceServer) IsMoving(ctx context.Context, req *pb.IsMovingRequest) (*pb.IsMovingResponse, error) {
 	arm, err := s.coll.Resource(req.GetName())
 	if err != nil {
 		return nil, err
@@ -109,7 +109,7 @@ func (s *subtypeServer) IsMoving(ctx context.Context, req *pb.IsMovingRequest) (
 }
 
 // DoCommand receives arbitrary commands.
-func (s *subtypeServer) DoCommand(ctx context.Context,
+func (s *serviceServer) DoCommand(ctx context.Context,
 	req *commonpb.DoCommandRequest,
 ) (*commonpb.DoCommandResponse, error) {
 	arm, err := s.coll.Resource(req.GetName())

components/arm/server_test.go

@@ -24,7 +24,7 @@ func newServer() (pb.ArmServiceServer, *inject.Arm, *inject.Arm, error) {
 		arm.Named(testArmName): injectArm,
 		arm.Named(failArmName): injectArm2,
 	}
-	armSvc, err := resource.NewSubtypeCollection(arm.Subtype, arms)
+	armSvc, err := resource.NewAPIResourceCollection(arm.API, arms)
 	if err != nil {
 		return nil, nil, nil, err
 	}