Source code for

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

from grpclib.client import Channel
from typing_extensions import Self

from viam.errors import ResourceNotFoundError
from viam.proto.common import ResourceName
from viam.resource.base import ResourceBase, Subtype
from viam.utils import ValueTypes

    from viam.robot.client import RobotClient

[docs]class ServiceClientBase(abc.ABC, ResourceBase): """ Base service client. All service clients must inherit from this class. """ SUBTYPE: ClassVar[Subtype] channel: Channel def __init__(self, name: str, channel: Channel): = name = channel
[docs] @classmethod def from_robot(cls, robot: "RobotClient", name: str = "builtin") -> Self: """Get the service client named ``name`` from the provided robot. Args: robot (RobotClient): The robot name (str): The name of the service client Returns: Self: The service client, if it exists on the robot """ resource_name = ResourceName(namespace="rdk", type="service", subtype=cls.SUBTYPE.resource_subtype, name=name) if resource_name not in robot.resource_names: raise ResourceNotFoundError(resource_name.subtype, return cls(name, robot._channel)
[docs] async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]: raise NotImplementedError()