Source code for

import abc
from typing import TYPE_CHECKING, ClassVar, Mapping, Optional, cast

from typing_extensions import Self

from viam.resource.base import ResourceBase
from viam.utils import ValueTypes

    from viam.resource.types import Subtype
    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. """ SUBTYPE: ClassVar["Subtype"] def __init__(self, name: str) -> None: = 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=robot, 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)
[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, "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()