RSDK-11340: Combine Resource.FromRobot and Resource.FromDependencies

cli/mock_resource_arm.txt

@@ -57,15 +57,15 @@ func Named(name string) resource.Name {
 //
 // EndPosition example:
 //
-//	myArm, err := arm.FromRobot(machine, "my_arm")
+//	myArm, err := arm.FromProvider(machine, "my_arm")
 //	// Get the end position of the arm as a Pose.
 //	pos, err := myArm.EndPosition(context.Background(), nil)
 //
 // For more information, see the [EndPosition method docs].
 //
 // MoveToPosition example:
 //
-//	myArm, err := arm.FromRobot(machine, "my_arm")
+//	myArm, err := arm.FromProvider(machine, "my_arm")
 //	// Create a Pose for the arm.
 //	examplePose := spatialmath.NewPose(
 //	        r3.Vector{X: 5, Y: 5, Z: 5},
@@ -79,7 +79,7 @@ func Named(name string) resource.Name {
 //
 // MoveToJointPositions example:
 //
-//	myArm, err := arm.FromRobot(machine, "my_arm")
+//	myArm, err := arm.FromProvider(machine, "my_arm")
 //
 //	// Declare an array of values with your desired rotational value (in radians) for each joint on the arm.
 //	inputs := referenceframe.FloatsToInputs([]float64{0, math.Pi/2, math.Pi})
@@ -91,7 +91,7 @@ func Named(name string) resource.Name {
 //
 // MoveThroughJointPositions example:
 //
-//	myArm, err := arm.FromRobot(machine, "my_arm")
+//	myArm, err := arm.FromProvider(machine, "my_arm")
 //
 //	// Declare a 2D array of values with your desired rotational value (in radians) for each joint on the arm.
 //	inputs := [][]referenceframe.Input{
@@ -106,7 +106,7 @@ func Named(name string) resource.Name {
 //
 // JointPositions example:
 //
-//	myArm , err := arm.FromRobot(machine, "my_arm")
+//	myArm , err := arm.FromProvider(machine, "my_arm")
 //
 //	// Get the current position of each joint on the arm as JointPositions.
 //	pos, err := myArm.JointPositions(context.Background(), nil)
@@ -144,15 +144,11 @@ type Arm interface {
 	JointPositions(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error)
 }
 
-// FromDependencies is a helper for getting the named arm from a collection of
-// dependencies.
-func FromDependencies(deps resource.Dependencies, name string) (Arm, error) {
-	return resource.FromDependencies[Arm](deps, Named(name))
-}
-
-// FromRobot is a helper for getting the named Arm from the given Robot.
-func FromRobot(r robot.Robot, name string) (Arm, error) {
-	return robot.ResourceFromRobot[Arm](r, Named(name))
+// FromProvider is a helper for getting the named Arm from either a collection of dependencies
+// or the given robot.
+// FromProvider is a helper for getting the named arm from a resource Provider (collection of Dependencies or a Robot).
+func FromProvider(provider resource.Provider, name string) (Arm, error) {
+	return resource.FromProvider[Arm](provider, Named(name))
 }
 
 // NamesFromRobot is a helper for getting all arm names from the given Robot.

cli/motion.go

@@ -94,7 +94,7 @@ func motionPrintStatusAction(c *cli.Context, args motionPrintArgs) error {
 		return err
 	}
 
-	myMotion, err := motion.FromRobot(robotClient, "builtin")
+	myMotion, err := motion.FromProvider(robotClient, "builtin")
 	if err != nil || myMotion == nil {
 		return fmt.Errorf("no motion: %w", err)
 	}
@@ -148,7 +148,7 @@ func motionGetPoseAction(c *cli.Context, args motionGetPoseArgs) error {
 		utils.UncheckedError(robotClient.Close(ctx))
 	}()
 
-	myMotion, err := motion.FromRobot(robotClient, "builtin")
+	myMotion, err := motion.FromProvider(robotClient, "builtin")
 	if err != nil || myMotion == nil {
 		return fmt.Errorf("no motion: %w", err)
 	}
@@ -200,7 +200,7 @@ func motionSetPoseAction(c *cli.Context, args motionSetPoseArgs) error {
 		utils.UncheckedError(robotClient.Close(ctx))
 	}()
 
-	myMotion, err := motion.FromRobot(robotClient, "builtin")
+	myMotion, err := motion.FromProvider(robotClient, "builtin")
 	if err != nil || myMotion == nil {
 		return fmt.Errorf("no motion: %w", err)
 	}

components/arm/arm.go

@@ -57,15 +57,15 @@ func Named(name string) resource.Name {
 //
 // EndPosition example:
 //
-//	myArm, err := arm.FromRobot(machine, "my_arm")
+//	myArm, err := arm.FromProvider(machine, "my_arm")
 //	// Get the end position of the arm as a Pose.
 //	pos, err := myArm.EndPosition(context.Background(), nil)
 //
 // For more information, see the [EndPosition method docs].
 //
 // MoveToPosition example:
 //
-//	myArm, err := arm.FromRobot(machine, "my_arm")
+//	myArm, err := arm.FromProvider(machine, "my_arm")
 //	// Create a Pose for the arm.
 //	examplePose := spatialmath.NewPose(
 //	        r3.Vector{X: 5, Y: 5, Z: 5},
@@ -79,7 +79,7 @@ func Named(name string) resource.Name {
 //
 // MoveToJointPositions example:
 //
-//	myArm, err := arm.FromRobot(machine, "my_arm")
+//	myArm, err := arm.FromProvider(machine, "my_arm")
 //
 //	// Declare an array of values with your desired rotational value (in radians) for each joint on the arm.
 //	inputs := referenceframe.FloatsToInputs([]float64{0, math.Pi/2, math.Pi})
@@ -91,7 +91,7 @@ func Named(name string) resource.Name {
 //
 // MoveThroughJointPositions example:
 //
-//	myArm, err := arm.FromRobot(machine, "my_arm")
+//	myArm, err := arm.FromProvider(machine, "my_arm")
 //
 //	// Declare a 2D array of values with your desired rotational value (in radians) for each joint on the arm.
 //	inputs := [][]referenceframe.Input{
@@ -106,7 +106,7 @@ func Named(name string) resource.Name {
 //
 // JointPositions example:
 //
-//	myArm , err := arm.FromRobot(machine, "my_arm")
+//	myArm , err := arm.FromProvider(machine, "my_arm")
 //
 //	// Get the current position of each joint on the arm as JointPositions.
 //	pos, err := myArm.JointPositions(context.Background(), nil)
@@ -144,17 +144,27 @@ type Arm interface {
 	JointPositions(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error)
 }
 
-// FromDependencies is a helper for getting the named arm from a collection of
-// dependencies.
+// Deprecated: FromDependencies is a helper for getting the named arm from a collection of
+// dependencies. Use FromProvider instead.
+//
+//nolint:revive // ignore exported comment check
 func FromDependencies(deps resource.Dependencies, name string) (Arm, error) {
 	return resource.FromDependencies[Arm](deps, Named(name))
 }
 
-// FromRobot is a helper for getting the named Arm from the given Robot.
+// Deprecated: FromRobot is a helper for getting the named Arm from the given Robot.
+// Use FromProvider instead.
+//
+//nolint:revive // ignore exported comment check
 func FromRobot(r robot.Robot, name string) (Arm, error) {
 	return robot.ResourceFromRobot[Arm](r, Named(name))
 }
 
+// FromProvider is a helper for getting the named arm from a resource Provider (collection of Dependencies or a Robot).
+func FromProvider(provider resource.Provider, name string) (Arm, error) {
+	return resource.FromProvider[Arm](provider, Named(name))
+}
+
 // NamesFromRobot is a helper for getting all arm names from the given Robot.
 func NamesFromRobot(r robot.Robot) []string {
 	return robot.NamesByAPI(r, API)

components/arm/wrapper/wrapper.go

@@ -79,7 +79,7 @@ func (wrapper *Arm) Reconfigure(ctx context.Context, deps resource.Dependencies,
 		return err
 	}
 
-	newArm, err := arm.FromDependencies(deps, newConf.ArmName)
+	newArm, err := arm.FromProvider(deps, newConf.ArmName)
 	if err != nil {
 		return err
 	}

components/audioinput/audio_input.go

@@ -61,17 +61,27 @@ type LivenessMonitor interface {
 	Monitor(notifyReset func())
 }
 
-// FromDependencies is a helper for getting the named audio input from a collection of
-// dependencies.
+// Deprecated: FromDependencies is a helper for getting the named audio input from a collection of
+// dependencies. Use FromProvider instead.
+//
+//nolint:revive // ignore exported comment check.
 func FromDependencies(deps resource.Dependencies, name string) (AudioInput, error) {
 	return resource.FromDependencies[AudioInput](deps, Named(name))
 }
 
-// FromRobot is a helper for getting the named audio input from the given Robot.
+// Deprecated: FromRobot is a helper for getting the named audio input from the given Robot.
+// Use FromProvider instead.
+//
+//nolint:revive // ignore exported comment check
 func FromRobot(r robot.Robot, name string) (AudioInput, error) {
 	return robot.ResourceFromRobot[AudioInput](r, Named(name))
 }
 
+// FromProvider is a helper for getting the named AudioInput from a resource Provider (collection of Dependencies or a Robot).
+func FromProvider(provider resource.Provider, name string) (AudioInput, error) {
+	return resource.FromProvider[AudioInput](provider, Named(name))
+}
+
 // NamesFromRobot is a helper for getting all audio input names from the given Robot.
 func NamesFromRobot(r robot.Robot) []string {
 	return robot.NamesByAPI(r, API)

components/base/base.go

@@ -44,7 +44,7 @@ func Named(name string) resource.Name {
 //
 // MoveStraight example:
 //
-//	myBase, err := base.FromRobot(machine, "my_base")
+//	myBase, err := base.FromProvider(machine, "my_base")
 //	// Move the base forward 40 mm at a velocity of 90 mm/s.
 //	myBase.MoveStraight(context.Background(), 40, 90, nil)
 //
@@ -55,7 +55,7 @@ func Named(name string) resource.Name {
 //
 // Spin example:
 //
-//	myBase, err := base.FromRobot(machine, "my_base")
+//	myBase, err := base.FromProvider(machine, "my_base")
 //
 //	// Spin the base 10 degrees at an angular velocity of 15 deg/sec.
 //	myBase.Spin(context.Background(), 10, 15, nil)
@@ -64,7 +64,7 @@ func Named(name string) resource.Name {
 //
 // SetPower example:
 //
-//	myBase, err := base.FromRobot(machine, "my_base")
+//	myBase, err := base.FromProvider(machine, "my_base")
 //
 //	// Make your wheeled base move forward. Set linear power to 75%.
 //	logger.Info("move forward")
@@ -86,7 +86,7 @@ func Named(name string) resource.Name {
 //
 // SetVelocity example:
 //
-//	myBase, err := base.FromRobot(machine, "my_base")
+//	myBase, err := base.FromProvider(machine, "my_base")
 //
 //	// Set the linear velocity to 50 mm/sec and the angular velocity to 15 deg/sec.
 //	myBase.SetVelocity(context.Background(), r3.Vector{Y: 50}, r3.Vector{Z: 15}, nil)
@@ -95,7 +95,7 @@ func Named(name string) resource.Name {
 //
 // Properties example:
 //
-//	myBase, err := base.FromRobot(machine, "my_base")
+//	myBase, err := base.FromProvider(machine, "my_base")
 //
 //	// Get the width and turning radius of the base
 //	properties, err := myBase.Properties(context.Background(), nil)
@@ -147,17 +147,27 @@ type Base interface {
 	Properties(ctx context.Context, extra map[string]interface{}) (Properties, error)
 }
 
-// FromDependencies is a helper for getting the named base from a collection of
-// dependencies.
+// Deprecated: FromDependencies is a helper for getting the named base from a collection of
+// dependencies. Use FromProvider instead.
+//
+//nolint:revive // ignore exported comment check
 func FromDependencies(deps resource.Dependencies, name string) (Base, error) {
 	return resource.FromDependencies[Base](deps, Named(name))
 }
 
-// FromRobot is a helper for getting the named base from the given Robot.
+// Deprecated: FromRobot is a helper for getting the named base from the given Robot.
+// Use FromProvider instead.
+//
+//nolint:revive // ignore exported comment check
 func FromRobot(r robot.Robot, name string) (Base, error) {
 	return robot.ResourceFromRobot[Base](r, Named(name))
 }
 
+// FromProvider is a helper for getting the named Base from a resource Provider (collection of Dependencies or a Robot).
+func FromProvider(provider resource.Provider, name string) (Base, error) {
+	return resource.FromProvider[Base](provider, Named(name))
+}
+
 // NamesFromRobot is a helper for getting all base names from the given Robot.
 func NamesFromRobot(r robot.Robot) []string {
 	return robot.NamesByAPI(r, API)

components/base/base_test.go

@@ -29,15 +29,15 @@ func TestFromRobot(t *testing.T) {
 	expected := []string{"base1", "base2"}
 	testutils.VerifySameElements(t, base.NamesFromRobot(r), expected)
 
-	_, err := base.FromRobot(r, "base1")
+	_, err := base.FromProvider(r, "base1")
 	test.That(t, err, test.ShouldBeNil)
 
-	_, err = base.FromRobot(r, "base2")
+	_, err = base.FromProvider(r, "base2")
 	test.That(t, err, test.ShouldBeNil)
 
-	_, err = base.FromRobot(r, "base0")
+	_, err = base.FromProvider(r, "base0")
 	test.That(t, err, test.ShouldNotBeNil)
 
-	_, err = base.FromRobot(r, "g")
+	_, err = base.FromProvider(r, "g")
 	test.That(t, err, test.ShouldNotBeNil)
 }

components/base/sensorcontrolled/sensorcontrolled.go

@@ -149,7 +149,7 @@ func (sb *sensorBase) Reconfigure(ctx context.Context, deps resource.Dependencie
 	sb.controlledBase = nil
 
 	for _, name := range newConf.MovementSensor {
-		ms, err := movementsensor.FromDependencies(deps, name)
+		ms, err := movementsensor.FromProvider(deps, name)
 		if err != nil {
 			return errors.Wrapf(err, "no movement sensor named (%s)", name)
 		}
@@ -201,7 +201,7 @@ func (sb *sensorBase) Reconfigure(ctx context.Context, deps resource.Dependencie
 		return errNoGoodSensor
 	}
 
-	sb.controlledBase, err = base.FromDependencies(deps, newConf.Base)
+	sb.controlledBase, err = base.FromProvider(deps, newConf.Base)
 	if err != nil {
 		return errors.Wrapf(err, "no base named (%s)", newConf.Base)
 	}

components/base/wheeled/wheeled_base.go

@@ -151,7 +151,7 @@ func (wb *wheeledBase) Reconfigure(ctx context.Context, deps resource.Dependenci
 					return newMotors, rdkutils.NewBuildTimeoutError(wb.Name().String(), wb.logger)
 				default:
 				}
-				m, err := motor.FromDependencies(deps, name)
+				m, err := motor.FromProvider(deps, name)
 				if err != nil {
 					return newMotors, errors.Wrapf(err, "no %s motor named (%s)", whichMotor, name)
 				}
@@ -167,7 +167,7 @@ func (wb *wheeledBase) Reconfigure(ctx context.Context, deps resource.Dependenci
 				}
 				if (curr)[i].Name().String() != (fromConfig)[i] {
 					for _, name := range fromConfig {
-						m, err := motor.FromDependencies(deps, name)
+						m, err := motor.FromProvider(deps, name)
 						if err != nil {
 							return newMotors, errors.Wrapf(err, "no %s motor named (%s)", whichMotor, name)
 						}