import abc
from logging import Logger
from typing import TYPE_CHECKING, ClassVar, Mapping, Optional, cast
from typing_extensions import Self
from viam.logging import getLogger
from viam.resource.base import ResourceBase
from viam.utils import ValueTypes
if TYPE_CHECKING:
from viam.resource.types import API
from viam.robot.client import RobotClient
[docs]class ServiceBase(abc.ABC, ResourceBase):
"""This class describes the base functionality required for a Viam Service.
All services must inherit from this class.
"""
API: ClassVar["API"]
def __init__(self, name: str, *, logger: Optional[Logger] = None) -> None:
self.name = name
self.logger = logger if logger is not None else getLogger(f"{self.API}.{name}")
[docs] @classmethod
def from_robot(cls, robot: "RobotClient", name: str) -> Self:
"""Get the service named ``name`` from the provided robot.
::
async def connect() -> RobotClient:
# Replace "<API-KEY>" (including brackets) with your API key and "<API-KEY-ID>" with your API key ID
options = RobotClient.Options.with_api_key("<API-KEY>", "<API-KEY-ID>")
# Replace "<MACHINE-URL>" (included brackets) with your machine's connection URL or FQDN
return await RobotClient.at_address("<MACHINE-URL>", options)
async def main():
robot = await connect()
# Can be used with any resource, using the motion service as an example
motion = MotionClient.from_robot(robot=machine, name="builtin")
robot.close()
Args:
robot (RobotClient): The robot
name (str): The name of the service
Returns:
Self: The service, if it exists on the robot
"""
service = robot.get_service(cls.get_resource_name(name))
return cast(cls, service) # type: ignore
[docs] async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
"""Send/receive arbitrary commands.
::
service = SERVICE.from_robot(robot=machine, "builtin") # replace SERVICE with the appropriate class
my_command = {
"cmnd": "dosomething",
"someparameter": 52
}
# Can be used with any resource, using the motion service as an example
await service.do_command(command=my_command)
Args:
command (Dict[str, ValueTypes]): The command to execute
Returns:
Dict[str, ValueTypes]: Result of the executed command
"""
raise NotImplementedError()