RSDK-2870: use api instead of subtype

README.md

@@ -122,7 +122,7 @@ The SDK provides a number of abstract base components and services (collectively
    1. Define all requirements of the resource in `{RESOURCE_NAME}.py`
    1. Implement the gRPC service for the new resource in `service.py`
    1. Create a gRPC client for the new resource in `client.py`
-   1. Register the subtype and define package exports in `__init__.py`
+   1. Register the API and define package exports in `__init__.py`
 1. Write tests for the new resource and add the resource to `tests.mocks.{components|services}`
 1. If the resource is a component, add the component to `examples.server.v1.components` and its corresponding concrete type in `examples.server.v1.server`
 

docs/examples/module_step2.py

@@ -35,7 +35,7 @@ async def close(self):
 
 
 async def main():
-    Registry.register_resource_creator(Sensor.SUBTYPE, MySensor.MODEL, ResourceCreatorRegistration(MySensor.new))
+    Registry.register_resource_creator(Sensor.API, MySensor.MODEL, ResourceCreatorRegistration(MySensor.new))
 
 
 if __name__ == "__main__":

docs/examples/module_step2_optional.py

@@ -57,7 +57,7 @@ async def close(self):
 
 
 async def main():
-    Registry.register_resource_creator(Sensor.SUBTYPE, MySensor.MODEL, ResourceCreatorRegistration(MySensor.new, MySensor.validate_config))
+    Registry.register_resource_creator(Sensor.API, MySensor.MODEL, ResourceCreatorRegistration(MySensor.new, MySensor.validate_config))
 
 
 if __name__ == "__main__":

docs/examples/module_step3.py

@@ -40,10 +40,10 @@ async def main():
     This function creates and starts a new module, after adding all desired resource model.
     Resource creators must be registered to the resource registry before the module adds the resource model.
     """
-    Registry.register_resource_creator(Sensor.SUBTYPE, MySensor.MODEL, ResourceCreatorRegistration(MySensor.new))
+    Registry.register_resource_creator(Sensor.API, MySensor.MODEL, ResourceCreatorRegistration(MySensor.new))
 
     module = Module.from_args()
-    module.add_model_from_registry(Sensor.SUBTYPE, MySensor.MODEL)
+    module.add_model_from_registry(Sensor.API, MySensor.MODEL)
     await module.start()
 
 

examples/complex_module/src/arm/my_arm.py

@@ -115,4 +115,4 @@ async def close(self):
         LOGGER.info(f"{self.name} is closed.")
 
 
-Registry.register_resource_creator(Arm.SUBTYPE, MyArm.MODEL, ResourceCreatorRegistration(MyArm.new))
+Registry.register_resource_creator(Arm.API, MyArm.MODEL, ResourceCreatorRegistration(MyArm.new))

examples/complex_module/src/base/my_base.py

@@ -18,7 +18,7 @@ class MyBase(Base, Reconfigurable):
     MyBase implements a base that only supports set_power (basic forward/back/turn controls), is_moving (check if in motion), and stop (stop
     all motion).
 
-    It inherits from the built-in resource subtype Base and conforms to the ``Reconfigurable`` protocol, which signifies that this component
+    It inherits from the built-in resource API Base and conforms to the ``Reconfigurable`` protocol, which signifies that this component
     can be reconfigured. Additionally, it specifies a constructor function ``MyBase.new`` which conforms to the
     ``resource.types.ResourceCreator`` type required for all models. It also specifies a validator function `MyBase.validate_config` which
     conforms to the ``resource.types.Validator`` type and returns implicit dependencies for the model.
@@ -147,4 +147,4 @@ async def get_geometries(self) -> List[Geometry]:
         raise NotImplementedError()
 
 
-Registry.register_resource_creator(Base.SUBTYPE, MyBase.MODEL, ResourceCreatorRegistration(MyBase.new, MyBase.validate_config))
+Registry.register_resource_creator(Base.API, MyBase.MODEL, ResourceCreatorRegistration(MyBase.new, MyBase.validate_config))

examples/complex_module/src/gizmo/__init__.py

@@ -1,10 +1,10 @@
 """
-This file registers the Gizmo subtype with the Viam Registry, as well as the specific MyGizmo model.
+This file registers the Gizmo API with the Viam Registry, as well as the specific MyGizmo model.
 """
 
 from viam.components.motor import *  # noqa: F403 Need to import motor so the component registers itself
 from viam.resource.registry import Registry, ResourceRegistration
 
 from .api import Gizmo, GizmoClient, GizmoService
 
-Registry.register_subtype(ResourceRegistration(Gizmo, GizmoService, lambda name, channel: GizmoClient(name, channel)))
+Registry.register_api(ResourceRegistration(Gizmo, GizmoService, lambda name, channel: GizmoClient(name, channel)))

examples/complex_module/src/gizmo/api.py

@@ -6,7 +6,7 @@
 and the gRPC client that will be able to make calls to this component.
 
 In this example, the ``Gizmo`` abstract class defines what functionality is required for all Gizmos. It extends ``ComponentBase``,
-as all component types must. It also defines its specific ``SUBTYPE``, which is used internally to keep track of supported types.
+as all component types must. It also defines its specific ``API``, which is used internally to keep track of supported types.
 
 The ``GizmoService`` implements the gRPC service for the Gizmo. This will allow other robots and clients to make requests of the Gizmo.
 It extends both from ``GizmoServiceBase`` and ``ResourceRPCServiceBase``. The former is the gRPC service as defined by the proto,
@@ -28,7 +28,7 @@
 from viam.components.component_base import ComponentBase
 from viam.components.generic.client import do_command
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
-from viam.resource.types import RESOURCE_TYPE_COMPONENT, Subtype
+from viam.resource.types import RESOURCE_TYPE_COMPONENT, API
 from viam.utils import ValueTypes
 
 from ..proto.gizmo_grpc import GizmoServiceBase, GizmoServiceStub
@@ -49,7 +49,7 @@
 class Gizmo(ComponentBase):
     """Example component to use with the example module."""
 
-    SUBTYPE: Final = Subtype("acme", RESOURCE_TYPE_COMPONENT, "gizmo")
+    API: Final = API("acme", RESOURCE_TYPE_COMPONENT, "gizmo")
 
     @abc.abstractmethod
     async def do_one(self, arg1: str, **kwargs) -> bool:

examples/complex_module/src/gizmo/my_gizmo.py

@@ -38,7 +38,7 @@ def validate_config(cls, config: ComponentConfig) -> Sequence[str]:
         # can raise errors that will be returned to the parent through gRPC. Validate functions can
         # also return a sequence of strings representing the implicit dependencies of the resource.
         if "invalid" in config.attributes.fields:
-            raise Exception(f"'invalid' attribute not allowed for model {cls.SUBTYPE}:{cls.MODEL}")
+            raise Exception(f"'invalid' attribute not allowed for model {cls.API}:{cls.MODEL}")
         arg1 = config.attributes.fields["arg1"].string_value
         if arg1 == "":
             raise Exception("A arg1 attribute is required for Gizmo component.")
@@ -79,4 +79,4 @@ async def close(self):
         LOGGER.info(f"{self.name} is closed.")
 
 
-Registry.register_resource_creator(Gizmo.SUBTYPE, MyGizmo.MODEL, ResourceCreatorRegistration(MyGizmo.new, MyGizmo.validate_config))
+Registry.register_resource_creator(Gizmo.API, MyGizmo.MODEL, ResourceCreatorRegistration(MyGizmo.new, MyGizmo.validate_config))

examples/complex_module/src/main.py

@@ -15,10 +15,10 @@ async def main():
     Resource models must be pre-registered. For an example, see the `gizmo.__init__.py` file.
     """
     module = Module.from_args()
-    module.add_model_from_registry(Gizmo.SUBTYPE, MyGizmo.MODEL)
-    module.add_model_from_registry(SummationService.SUBTYPE, MySummationService.MODEL)
-    module.add_model_from_registry(Arm.SUBTYPE, MyArm.MODEL)
-    module.add_model_from_registry(Base.SUBTYPE, MyBase.MODEL)
+    module.add_model_from_registry(Gizmo.API, MyGizmo.MODEL)
+    module.add_model_from_registry(SummationService.API, MySummationService.MODEL)
+    module.add_model_from_registry(Arm.API, MyArm.MODEL)
+    module.add_model_from_registry(Base.API, MyBase.MODEL)
     await module.start()
 
 

examples/complex_module/src/summation/__init__.py

@@ -1,9 +1,9 @@
 """
-This file registers the Summation subtype with the Viam Registry, as well as the specific MySummation model.
+This file registers the Summation API with the Viam Registry, as well as the specific MySummation model.
 """
 
 from viam.resource.registry import Registry, ResourceRegistration
 
 from .api import SummationClient, SummationRPCService, SummationService
 
-Registry.register_subtype(ResourceRegistration(SummationService, SummationRPCService, lambda name, channel: SummationClient(name, channel)))
+Registry.register_api(ResourceRegistration(SummationService, SummationRPCService, lambda name, channel: SummationClient(name, channel)))

examples/complex_module/src/summation/api.py

@@ -7,7 +7,7 @@
 
 In this example, the ``Summation`` abstract class defines what functionality is required for all Summation services.
 It extends ``ServiceBase``, as all service types must.
-It also defines its specific ``SUBTYPE``, which is used internally to keep track of supported types.
+It also defines its specific ``API``, which is used internally to keep track of supported types.
 
 The ``SummationRPCService`` implements the gRPC service for the Summation service. This will allow other robots and clients to make
 requests of the Summation service. It extends both from ``SummationServiceBase`` and ``RPCServiceBase``.
@@ -27,7 +27,7 @@
 from grpclib.server import Stream
 
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
-from viam.resource.types import RESOURCE_TYPE_SERVICE, Subtype
+from viam.resource.types import RESOURCE_TYPE_SERVICE, API
 from viam.services.service_base import ServiceBase
 
 from ..proto.summation_grpc import SummationServiceBase, SummationServiceStub
@@ -37,7 +37,7 @@
 class SummationService(ServiceBase):
     """Example service to use with the example module"""
 
-    SUBTYPE: Final = Subtype("acme", RESOURCE_TYPE_SERVICE, "summation")
+    API: Final = API("acme", RESOURCE_TYPE_SERVICE, "summation")
 
     @abc.abstractmethod
     async def sum(self, nums: Sequence[float]) -> float:

examples/complex_module/src/summation/my_summation.py

@@ -45,4 +45,4 @@ def reconfigure(self, config: ComponentConfig, dependencies: Mapping[ResourceNam
         self.subtract = config.attributes.fields["subtract"].bool_value or False
 
 
-Registry.register_resource_creator(SummationService.SUBTYPE, MySummationService.MODEL, ResourceCreatorRegistration(MySummationService.new))
+Registry.register_resource_creator(SummationService.API, MySummationService.MODEL, ResourceCreatorRegistration(MySummationService.new))

examples/simple_module/src/main.py

@@ -63,10 +63,10 @@ async def main():
     """This function creates and starts a new module, after adding all desired resource models.
     Resource creators must be registered to the resource registry before the module adds the resource model.
     """
-    Registry.register_resource_creator(Sensor.SUBTYPE, MySensor.MODEL, ResourceCreatorRegistration(MySensor.new, MySensor.validate_config))
+    Registry.register_resource_creator(Sensor.API, MySensor.MODEL, ResourceCreatorRegistration(MySensor.new, MySensor.validate_config))
 
     module = Module.from_args()
-    module.add_model_from_registry(Sensor.SUBTYPE, MySensor.MODEL)
+    module.add_model_from_registry(Sensor.API, MySensor.MODEL)
     await module.start()
 
 

src/viam/components/arm/__init__.py

@@ -13,4 +13,4 @@
     "Pose",
 ]
 
-Registry.register_subtype(ResourceRegistration(Arm, ArmRPCService, lambda name, channel: ArmClient(name, channel)))
+Registry.register_api(ResourceRegistration(Arm, ArmRPCService, lambda name, channel: ArmClient(name, channel)))

src/viam/components/arm/arm.py

@@ -1,7 +1,7 @@
 import abc
 from typing import Any, Dict, Final, Optional, Tuple
 
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
+from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, API
 
 from ..component_base import ComponentBase
 from . import JointPositions, KinematicsFileFormat, Pose
@@ -26,7 +26,7 @@ class Arm(ComponentBase):
     For more information, see `Arm component <https://docs.viam.com/components/arm/>`_.
     """
 
-    SUBTYPE: Final = Subtype(RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "arm")  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "arm")  # pyright: ignore [reportIncompatibleVariableOverride]
 
     @abc.abstractmethod
     async def get_end_position(

src/viam/components/audio_input/__init__.py

@@ -9,7 +9,7 @@
 ]
 
 
-Registry.register_subtype(
+Registry.register_api(
     ResourceRegistration(
         AudioInput,
         AudioInputRPCService,

src/viam/components/audio_input/audio_input.py

@@ -8,7 +8,7 @@
 
 from viam.media.audio import Audio, AudioStream
 from viam.proto.component.audioinput import PropertiesResponse
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
+from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, API
 from viam.streams import StreamSource
 
 from ..component_base import ComponentBase
@@ -22,7 +22,7 @@ class AudioInput(ComponentBase, StreamSource[Audio]):
     overridden, it must call the ``super().__init__()`` function.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "audio_input"
     )
 

src/viam/components/base/__init__.py

@@ -10,4 +10,4 @@
     "Vector3",
 ]
 
-Registry.register_subtype(ResourceRegistration(Base, BaseRPCService, lambda name, channel: BaseClient(name, channel)))
+Registry.register_api(ResourceRegistration(Base, BaseRPCService, lambda name, channel: BaseClient(name, channel)))

src/viam/components/base/base.py

@@ -2,7 +2,7 @@
 from dataclasses import dataclass
 from typing import Any, Dict, Final, Optional
 
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
+from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, API
 
 from ..component_base import ComponentBase
 from . import Vector3
@@ -23,7 +23,7 @@ class Base(ComponentBase):
     For more information, see `Base component <https://docs.viam.com/components/base/>`_.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "base"
     )
 

src/viam/components/board/__init__.py

@@ -6,4 +6,4 @@
 
 __all__ = ["Board", "Tick", "TickStream"]
 
-Registry.register_subtype(ResourceRegistration(Board, BoardRPCService, lambda name, channel: BoardClient(name, channel)))
+Registry.register_api(ResourceRegistration(Board, BoardRPCService, lambda name, channel: BoardClient(name, channel)))

src/viam/components/board/board.py

@@ -4,7 +4,7 @@
 from typing import Any, Dict, Final, List, Optional
 
 from viam.proto.component.board import PowerMode, ReadAnalogReaderResponse, StreamTicksResponse
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
+from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, API
 from viam.streams import Stream
 
 from ..component_base import ComponentBase
@@ -34,7 +34,7 @@ class Board(ComponentBase):
     For more information, see `Board component <https://docs.viam.com/components/board/>`_.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "board"
     )
 

src/viam/components/camera/__init__.py

@@ -13,7 +13,7 @@
     "ViamImage",
 ]
 
-Registry.register_subtype(
+Registry.register_api(
     ResourceRegistration(
         Camera,
         CameraRPCService,

src/viam/components/camera/camera.py

@@ -5,7 +5,7 @@
 from viam.media.video import NamedImage, ViamImage
 from viam.proto.common import ResponseMetadata
 from viam.proto.component.camera import GetPropertiesResponse
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
+from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, API
 
 from ..component_base import ComponentBase
 
@@ -30,7 +30,7 @@ class Camera(ComponentBase):
     For more information, see `Camera component <https://docs.viam.com/components/camera/>`_.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "camera"
     )
 

src/viam/components/component_base.py

@@ -10,7 +10,7 @@
 from viam.resource.base import ResourceBase
 
 if TYPE_CHECKING:
-    from viam.resource.types import Subtype
+    from viam.resource.types import API
     from viam.robot.client import RobotClient
 
 
@@ -23,11 +23,11 @@ class ComponentBase(abc.ABC, ResourceBase):
     All components must inherit from this class.
     """
 
-    SUBTYPE: ClassVar["Subtype"]
+    API: ClassVar["API"]
 
     def __init__(self, name: str, *, logger: Optional[Logger] = None):
         self.name = name
-        self.logger = logger if logger is not None else getLogger(f"{self.SUBTYPE}.{name}")
+        self.logger = logger if logger is not None else getLogger(f"{self.API}.{name}")
 
     @classmethod
     def from_robot(cls, robot: "RobotClient", name: str) -> Self:

src/viam/components/encoder/__init__.py

@@ -9,7 +9,7 @@
 ]
 
 
-Registry.register_subtype(
+Registry.register_api(
     ResourceRegistration(
         Encoder,
         EncoderRPCService,

src/viam/components/encoder/encoder.py

@@ -3,7 +3,7 @@
 from typing import Any, Dict, Final, Optional, Tuple
 
 from viam.proto.component.encoder import PositionType
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
+from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, API
 
 from ..component_base import ComponentBase
 
@@ -28,7 +28,7 @@ class Properties:
     For more information, see `Encoder component <https://docs.viam.com/components/encoder/>`_.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "encoder"
     )
 

src/viam/components/gantry/__init__.py

@@ -8,4 +8,4 @@
     "Gantry",
 ]
 
-Registry.register_subtype(ResourceRegistration(Gantry, GantryRPCService, lambda name, channel: GantryClient(name, channel)))
+Registry.register_api(ResourceRegistration(Gantry, GantryRPCService, lambda name, channel: GantryClient(name, channel)))

src/viam/components/gantry/gantry.py

@@ -1,7 +1,7 @@
 import abc
 from typing import Any, Dict, Final, List, Optional
 
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
+from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, API
 
 from ..component_base import ComponentBase
 
@@ -21,7 +21,7 @@ class Gantry(ComponentBase):
     For more information, see `Gantry component <https://docs.viam.com/components/gantry/>`_.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "gantry"
     )
 

src/viam/components/generic/__init__.py

@@ -9,7 +9,7 @@
     "Generic",
 ]
 
-Registry.register_subtype(
+Registry.register_api(
     ResourceRegistration(
         Generic,
         GenericRPCService,