Merge branch 'main' into moreesp32fixes

.github/workflows/docs.yml

@@ -30,7 +30,7 @@ jobs:
       - name: Setup Hugo
         uses: peaceiris/actions-hugo@v2
         with:
-          hugo-version: "latest"
+          hugo-version: "0.128.2"
           extended: true
 
       - name: Build

.github/workflows/get_modular_resources.py

@@ -100,9 +100,14 @@ async def main():
 
     # Deleting documents that didn't get updated (presumably deleted)
     try:
-        typesense_client.collections['resources'].documents.delete({'filter_by': 'last_updated: <' + time_now + ',module_id: !builtin' })
-        typesense_client.collections['mlmodels'].documents.delete({'filter_by': 'last_updated: <' + time_now})
+        res = typesense_client.collections['resources'].documents.delete({'filter_by': 'last_updated: <' + str(time_now)})
+        print("Resources deleted")
+        print(res)
+        res = typesense_client.collections['mlmodels'].documents.delete({'filter_by': 'last_updated: <' + str(time_now)})
+        print("ML models deleted")
+        print(res)
     except Exception as e:
+        print(e)
         pass
 
 

.github/workflows/pr-deploy-and-comment.yml

@@ -26,7 +26,7 @@ jobs:
       - name: Setup Hugo
         uses: peaceiris/actions-hugo@v2
         with:
-          hugo-version: 'latest'
+          hugo-version: "0.128.2"
           extended: true
 
       - name: Temp config

.github/workflows/sdk_protos_map.csv

@@ -40,12 +40,12 @@ board,GetPWM,get_pwm,PWM,pwm
 board,SetPWM,set_pwm,SetPWM,setPwm
 board,PWMFrequency,get_pwm_frequency,PWMFreq,pwmFrequency
 board,SetPWMFrequency,set_pwm_frequency,SetPWMFreq,setPwmFrequency
-board,AnalogReaderNames,analog_names,AnalogNames,
-board,ReadAnalogReader,analog_by_name,AnalogByName,analogReaderValue
+board,AnalogNames,analog_names,AnalogNames,
+board,AnalogByName,analog_by_name,AnalogByName,analogReaderValue
 ## HACK: Omitting PySDK: write_analog, currently borked: https://python.viam.dev/autoapi/viam/components/board/client/index.html#viam.components.board.client.BoardClient.write_analog
-board,WriteAnalog,,Write,writeAnalog
+board,Write,,Write,writeAnalog
 board,GetDigitalInterruptValue,digital_interrupt_by_name,DigitalInterruptByName,,
-board,StreamTicks,,StreamTicks,streamTicks
+board,StreamTicks,stream_ticks,StreamTicks,streamTicks
 board,SetPowerMode,set_power_mode,SetPowerMode,setPowerMode
 board,GetGeometries,get_geometries,,
 ## HACK: Board (python, go) provides additional helper functions, adding 5 pseudo-entries:
@@ -102,7 +102,7 @@ gantry,Close,close,Close,
 
 ## Generic Component
 ## NOTED:Generic Component in Go SDK doesn't appear to implement (inherit) these:
-generic_component,DoCommand,do_command,,doCommand
+generic_component,DoCommand,do_command,DoCommand,doCommand
 generic_component,GetGeometries,get_geometries,,
 ## HACK: No proto for close, manually mapping:
 ## NOTED: Go SDK also missing Close, but we have it in our docs?:
@@ -230,7 +230,7 @@ data_manager,Close,,Close,
 
 ## Generic Service
 ## NOTED:Generic Component in Go SDK doesn't appear to implement (inherit) these:
-generic_service,DoCommand,do_command,,
+generic_service,DoCommand,do_command,DoCommand,
 ## HACK: No proto for close, manually mapping:
 ## NOTED: Go SDK also missing Close, but we have it in our docs?:
 generic_service,Close,close,,
@@ -420,6 +420,7 @@ data_sync,StreamingDataCaptureUpload,streaming_data_capture_upload,,
 
 ## MLTraining
 mltraining,SubmitTrainingJob,submit_training_job,,
+mltraining,SubmitCustomTrainingJob,submit_custom_training_job,,
 mltraining,GetTrainingJob,get_training_job,,
 mltraining,ListTrainingJobs,list_training_jobs,,
 mltraining,CancelTrainingJob,cancel_training_job,,
@@ -444,7 +445,7 @@ robot,StopAll,stop_all,StopAll,
 robot,StartSession,,,
 robot,SendSessionHeartbeat,,,
 robot,Log,log,,
-robot,GetCloudMetadata,get_cloud_metadata,GetCloudMetadata,getCloudMetadata
+robot,GetCloudMetadata,get_cloud_metadata,CloudMetadata,getCloudMetadata
 ## HACK: Robot (python) provides additional helper function, adding 4 pseudo-entries:
 robot,Options.with_api_key,with_api_key,,
 robot,AtAddress,at_address,,atAddress

.github/workflows/update_sdk_methods.py

@@ -412,6 +412,8 @@
     "bool": "https://docs.python.org/3/library/stdtypes.html#boolean-type-bool",
     "datetime.datetime": "https://docs.python.org/3/library/datetime.html",
     "datetime.timedelta": "https://docs.python.org/3/library/datetime.html#timedelta-objects",
+    ## Third-party data types:
+    "numpy.typing.NDArray": "https://numpy.org/doc/stable/reference/typing.html#numpy.typing.NDArray",
     ## Viam-specific data types:
     "viam.proto.app.OrganizationMember": "https://python.viam.dev/autoapi/viam/proto/app/index.html#viam.proto.app.OrganizationMember",
     "viam.proto.app.OrganizationInvite": "https://python.viam.dev/autoapi/viam/proto/app/index.html#viam.proto.app.OrganizationInvite",
@@ -725,7 +727,10 @@ def parse(type, names):
                 pass
 
             ## Scrape each parent method tag and all contained child tags for Go by resource:
-            if sdk == "go" and type != "app":
+            ## Skip Go: App (Go has no App client) and the generic component and service, which
+            ## require explicit in-script workaround (DoCommand neither inherited (from resource.Resource)
+            ## nor explicitly defined in-interface (not in Go docs, only in un-doc'd code):
+            if sdk == "go" and type != "app" and resource != "generic_component" and resource != "generic_service":
 
                 soup = make_soup(url)
 
@@ -936,6 +941,20 @@ def parse(type, names):
                 ## in its entirety to the all_methods dictionary using "go" as the key:
                 all_methods["go"] = go_methods
 
+            ## Assemble workaround data object for DoCommand for Go generic component and service.
+            ## Using code sample and method_link from resource.Resource, because these cannot be found
+            ## in Go docs for these resources:
+            elif sdk == "go" and (resource == "generic_component" or resource == "generic_service"):
+
+                go_methods[type][resource]['DoCommand'] = {}
+                go_methods[type][resource]['DoCommand'] = {'proto': 'DoCommand', \
+                                    'description': 'DoCommand sends/receives arbitrary data.', \
+                                    'usage': 'DoCommand(ctx <a href="/context">context</a>.<a href="/context#Context">Context</a>, cmd map[<a href="/builtin#string">string</a>]interface{}) (map[<a href="/builtin#string">string</a>]interface{}, <a href="/builtin#error">error</a>)', \
+                                    'method_link': 'https://pkg.go.dev/go.viam.com/rdk/resource#Resource', \
+                                    'code_sample': '// This example shows using DoCommand with an arm component.\nmyArm, err := arm.FromRobot(machine, "my_arm")\n\ncommand := map[string]interface{}{"cmd": "test", "data1": 500}\nresult, err := myArm.DoCommand(context.Background(), command)\n'}
+
+                all_methods["go"] = go_methods
+
             elif sdk == "go" and type == "app":
                ##Go SDK has no APP API!
                pass
@@ -1089,7 +1108,7 @@ def parse(type, names):
                                             this_method_parameters_dict['param_usage'] = strong_tag.parent.text.replace("\n", " ")
 
                                             ## Some params provide data type links in Parameters section only, not initial usage.
-                                            ## Get that here if soL
+                                            ## Get that here if so:
                                             if strong_tag.parent.find('a', class_="reference internal"):
                                                 param_type_link_raw = strong_tag.parent.find('a', class_="reference internal").get("href")
                                                 ## Parameter type link is an anchor link:
@@ -1522,8 +1541,14 @@ def format_method_usage(parsed_usage_string, go_method_name, resource, path_to_m
             param_or_return_description = ''
             ## Param override:
             if type_name != '':
+                # To handle 'ch chan' param name, similar. Use as 'ch' in override filename:
+                if ' ' in type_name:
+                    type_name_short = type_name.split(' ')[0]
+                else:
+                    type_name_short = type_name
+
                 ## .../overrides/methods/{sdk}.{resource}.{method_name}.{param_name}.md
-                param_desc_override_file = path_to_methods_override + '/go.' + resource + '.' + go_method_name + '.' + type_name + '.md'
+                param_desc_override_file = path_to_methods_override + '/go.' + resource + '.' + go_method_name + '.' + type_name_short + '.md'
             ## Return override:
             else:
                 if 'map[string]interface{}' in param_type:
@@ -1557,8 +1582,9 @@ def format_method_usage(parsed_usage_string, go_method_name, resource, path_to_m
             ## If we have a param description override, use that. If not, skip:
             if param_or_return_description != '':
 
-                ## Add a trailing period if it is missing, either from upstream or from override file:
-                if not param_or_return_description.endswith('.'):
+                ## Add a trailing period if it is missing, either from upstream or from override file,
+                ## but skip doing so if the copy instead ends with an HTML tag (like a closing '</ul>' tag):
+                if not param_or_return_description.endswith('.') and not param_or_return_description.endswith('>'):
                     param_or_return_description = param_or_return_description + '.'
 
                 ## Format returns:
@@ -1793,8 +1819,9 @@ def write_markdown(type, names, methods):
 
                                     if param_description:
 
-                                        ## Add a trailing period if it is missing, either from upstream or from override file:
-                                        if not param_description.endswith('.'):
+                                        ## Add a trailing period if it is missing, either from upstream or from override file,
+                                        ## but skip doing so if the copy instead ends with an HTML tag (like a closing '</ul>' tag):
+                                        if not param_description.endswith('.') and not param_description.endswith('>'):
                                             param_description = param_description + '.'
 
                                         output_file.write(f": {param_description}")
@@ -1838,8 +1865,9 @@ def write_markdown(type, names, methods):
 
                                     if return_description:
 
-                                        ## Add a trailing period if it is missing, either from upstream or from override file:
-                                        if not return_description.endswith('.'):
+                                        ## Add a trailing period if it is missing, either from upstream or from override file,
+                                        ## but skip doing so if the copy instead ends with an HTML tag (like a closing '</ul>' tag):
+                                        if not return_description.endswith('.') and not return_description.endswith('>'):
                                             return_description = return_description + '.'
 
                                         output_file.write(f": {return_description}\n")
@@ -1858,8 +1886,9 @@ def write_markdown(type, names, methods):
                                     output_file.write(f"- ({raises_type})")
                                     if "raises_description" in raises_object[raises_type]:
                                         raises_description= raises_object[raises_type]["raises_description"]
-                                        ## Add a trailing period if it is missing:
-                                        if not raises_description.endswith('.'):
+                                        ## Add a trailing period if it is missing, either from upstream or from override file,
+                                        ## but skip doing so if the copy instead ends with an HTML tag (like a closing '</ul>' tag):
+                                        if not raises_description.endswith('.') and not raises_description.endswith('>'):
                                             raises_description = raises_description + '.'
 
                                         output_file.write(f": {raises_description}\n")
@@ -2039,8 +2068,9 @@ def write_markdown(type, names, methods):
 
                                     if param_description:
 
-                                        ## Add a trailing period if it is missing, either from upstream or from override file:
-                                        if not param_description.endswith('.'):
+                                        ## Add a trailing period if it is missing, either from upstream or from override file,
+                                        ## but skip doing so if the copy instead ends with an HTML tag (like a closing '</ul>' tag):
+                                        if not param_description.endswith('.') and not param_description.endswith('>'):
                                             param_description = param_description + '.'
 
                                         output_file.write(f": {param_description}")
@@ -2092,8 +2122,9 @@ def write_markdown(type, names, methods):
 
                                         if return_description:
 
-                                            ## Add a trailing period if it is missing, either from upstream or from override file:
-                                            if not return_description.endswith('.'):
+                                            ## Add a trailing period if it is missing, either from upstream or from override file,
+                                            ## but skip doing so if the copy instead ends with an HTML tag (like a closing '</ul>' tag):
+                                            if not return_description.endswith('.') and not return_description.endswith('>'):
                                                 return_description = return_description + '.'
 
                                             output_file.write(f": {return_description}\n")