:py:mod:`viam.components.board.board` ===================================== .. py:module:: viam.components.board.board Module Contents --------------- Classes ~~~~~~~ .. autoapisummary:: viam.components.board.board.Board .. py:class:: Board(name: str) Bases: :py:obj:`viam.components.component_base.ComponentBase` Board represents a physical general purpose compute board that contains various components such as analog readers, and digital interrupts. This acts as an abstract base class for any drivers representing specific board implementations. This cannot be used on its own. If the ``__init__()`` function is overridden, it must call the ``super().__init__()`` function. :: from viam.components.board import Board .. py:class:: AnalogReader(name: str) AnalogReader represents an analog pin reader that resides on a Board. .. py:attribute:: name :type: str The name of the analog reader .. py:method:: read(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> int :abstractmethod: :async: Read the current value. :: my_board = Board.from_robot(robot=robot, name="my_board") # Get the GPIOPin with pin number 15. pin = await my_board.gpio_pin_by_name(name="15") # Get if it is true or false that the pin is set to high. duty_cycle = await pin.get_pwm() # Get the AnalogReader "my_example_analog_reader". reader = await my_board.analog_reader_by_name( name="my_example_analog_reader") # Get the value of the digital signal "my_example_analog_reader" has most # recently measured. reading = reader.read() :returns: The current value. :rtype: int .. py:class:: DigitalInterrupt(name: str) DigitalInterrupt represents a configured interrupt on the Board that when interrupted, calls the added callbacks. Post processors can be added to modify what Value it ultimately returns. .. py:attribute:: name :type: str The name of the digital interrupt .. py:method:: value(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> int :abstractmethod: :async: Get the current value of the interrupt, which is based on the type of interrupt. :: my_board = Board.from_robot(robot=robot, name="my_board") # Get the DigitalInterrupt "my_example_digital_interrupt". interrupt = await my_board.digital_interrupt_by_name( name="my_example_digital_interrupt") # Get the amount of times this DigitalInterrupt has been interrupted with a # tick. count = await interrupt.value() :returns: The current value. :rtype: int .. py:class:: GPIOPin(name: str) Abstract representation of an individual GPIO pin on a board .. py:attribute:: name :type: str The name of the GPIO pin .. py:method:: set(high: bool, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) :abstractmethod: :async: Set the pin to either low or high. :: my_board = Board.from_robot(robot=robot, name="my_board") # Get the GPIOPin with pin number 15. pin = await my_board.gpio_pin_by_name(name="15") # Set the pin to high. await pin.set(high="true") :param high: When true, sets the pin to high. When false, sets the pin to low. :type high: bool .. py:method:: get(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> bool :abstractmethod: :async: Get the high/low state of the pin. :: my_board = Board.from_robot(robot=robot, name="my_board") # Get the GPIOPin with pin number 15. pin = await my_board.gpio_pin_by_name(name="15") # Get if it is true or false that the state of the pin is high. high = await pin.get() :returns: Indicates if the state of the pin is high. :rtype: bool .. py:method:: get_pwm(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> float :abstractmethod: :async: Get the pin's given duty cycle. :: my_board = Board.from_robot(robot=robot, name="my_board") # Get the GPIOPin with pin number 15. pin = await my_board.gpio_pin_by_name(name="15") # Get if it is true or false that the state of the pin is high. duty_cycle = await pin.get_pwm() :returns: The duty cycle. :rtype: float .. py:method:: set_pwm(duty_cycle: float, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) :abstractmethod: :async: Set the pin to the given ``duty_cycle``. :: my_board = Board.from_robot(robot=robot, name="my_board") # Get the GPIOPin with pin number 15. pin = await my_board.gpio_pin_by_name(name="15") # Set the duty cycle to .6, meaning that this pin will be in the high state for # 60% of the duration of the PWM interval period. await pin.set_pwm(cycle=.6) :param duty_cycle: The duty cycle. :type duty_cycle: float .. py:method:: get_pwm_frequency(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> int :abstractmethod: :async: Get the PWM frequency of the pin. :: my_board = Board.from_robot(robot=robot, name="my_board") # Get the GPIOPin with pin number 15. pin = await my_board.gpio_pin_by_name(name="15") # Get the PWM frequency of this pin. freq = await pin.get_pwm_frequency() :returns: The PWM frequency. :rtype: int .. py:method:: set_pwm_frequency(frequency: int, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) :abstractmethod: :async: Set the pin to the given PWM ``frequency`` (in Hz). When ``frequency`` is 0, it will use the board's default PWM frequency. :: my_board = Board.from_robot(robot=robot, name="my_board") # Get the GPIOPin with pin number 15. pin = await my_board.gpio_pin_by_name(name="15") # Set the PWM frequency of this pin to 1600 Hz. high = await pin.set_pwm_frequency(frequency=1600) :param frequency: The frequency, in Hz. :type frequency: int .. py:attribute:: SUBTYPE :type: Final .. py:method:: analog_reader_by_name(name: str) -> AnalogReader :abstractmethod: :async: Get an AnalogReader by ``name``. :: my_board = Board.from_robot(robot=robot, name="my_board") # Get the AnalogReader "my_example_analog_reader". reader = await my_board.analog_reader_by_name(name="my_example_analog_reader") :param name: Name of the analog reader to be retrieved. :type name: str :returns: The analog reader. :rtype: AnalogReader .. py:method:: digital_interrupt_by_name(name: str) -> DigitalInterrupt :abstractmethod: :async: Get a DigitalInterrupt by ``name``. :: my_board = Board.from_robot(robot=robot, name="my_board") # Get the DigitalInterrupt "my_example_digital_interrupt". interrupt = await my_board.digital_interrupt_by_name( name="my_example_digital_interrupt") :param name: Name of the digital interrupt. :type name: str :returns: the digital interrupt. :rtype: DigitalInterrupt .. py:method:: gpio_pin_by_name(name: str) -> GPIOPin :abstractmethod: :async: Get a GPIO Pin by ``name``. :: my_board = Board.from_robot(robot=robot, name="my_board") # Get the GPIOPin with pin number 15. pin = await my_board.gpio_pin_by_name(name="15") :param name: Name of the GPIO pin. :type name: str :returns: the pin. :rtype: GPIOPin .. py:method:: analog_reader_names() -> List[str] :abstractmethod: :async: Get the names of all known analog readers. :: my_board = Board.from_robot(robot=robot, name="my_board") # Get the name of every AnalogReader configured on the board. names = await my_board.analog_reader_names() :returns: The names of the analog readers.. :rtype: List[str] .. py:method:: digital_interrupt_names() -> List[str] :abstractmethod: :async: Get the names of all known digital interrupts. :: my_board = Board.from_robot(robot=robot, name="my_board") # Get the name of every DigitalInterrupt configured on the board. names = await my_board.digital_interrupt_names() :returns: The names of the digital interrupts. :rtype: List[str] .. py:method:: status(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> viam.proto.common.BoardStatus :abstractmethod: :async: Return the current status of the board. :: my_board = Board.from_robot(robot=robot, name="my_board") # Get the current status of the board. status = await my_board.status() :returns: the status. :rtype: viam.proto.common.BoardStatus .. py:method:: set_power_mode(mode: viam.proto.component.board.PowerMode.ValueType, duration: Optional[datetime.timedelta] = None, *, timeout: Optional[float] = None, **kwargs) :abstractmethod: :async: Set the board to the indicated power mode. :: my_board = Board.from_robot(robot=robot, name="my_board") # Set the power mode of the board to OFFLINE_DEEP. status = await my_board.set_power_mode(mode=PowerMode.POWER_MODE_OFFLINE_DEEP) :param mode: the desired power mode .. py:method:: write_analog(pin: str, value: int, *, timeout: Optional[float] = None, **kwargs) :abstractmethod: :async: Write an analog value to a pin on the board. :: my_board = Board.from_robot(robot=robot, name="my_board") # Set pin 11 to value 48. await my_board.write_analog(pin="11", value=48) :param pin: name of the pin. :type pin: str :param value: value to write. :type value: int .. py:method:: from_robot(robot: viam.robot.client.RobotClient, name: str) -> typing_extensions.Self :classmethod: Get the component named ``name`` from the provided robot. :param robot: The robot :type robot: RobotClient :param name: The name of the component :type name: str :returns: The component, if it exists on the robot :rtype: Self .. py:method:: do_command(command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes] :abstractmethod: :async: Send/Receive arbitrary commands to the Resource :: command = {"cmd": "test", "data1": 500} result = component.do(command) :param command: The command to execute :type command: Mapping[str, ValueTypes] :raises NotImplementedError: Raised if the Resource does not support arbitrary commands :returns: Result of the executed command :rtype: Mapping[str, ValueTypes] .. py:method:: get_geometries(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[viam.proto.common.Geometry] :async: Get all geometries associated with the Component, in their current configuration, in the frame of the Component. :: geometries = await component.get_geometries() if geometries: # Get the center of the first geometry print(f"Pose of the first geometry's centerpoint: {geometries[0].center}") :returns: The geometries associated with the Component. :rtype: List[Geometry] .. py:method:: get_resource_name(name: str) -> viam.proto.common.ResourceName :classmethod: Get the ResourceName for this Resource with the given name :: # Can be used with any resource, using an arm as an example my_arm_name = my_arm.get_resource_name("my_arm") :param name: The name of the Resource :type name: str .. py:method:: get_operation(kwargs: Mapping[str, Any]) -> viam.operations.Operation Get the ``Operation`` associated with the currently running function. When writing custom resources, you should get the ``Operation`` by calling this function and check to see if it's cancelled. If the ``Operation`` is cancelled, then you can perform any necessary (terminating long running tasks, cleaning up connections, etc. ). :param kwargs: The kwargs object containing the operation :type kwargs: Mapping[str, Any] :returns: The operation associated with this function :rtype: viam.operations.Operation .. py:method:: close() :async: Safely shut down the resource and prevent further use. Close must be idempotent. Later configuration may allow a resource to be "open" again. If a resource does not want or need a close function, it is assumed that the resource does not need to return errors when future non-Close methods are called. :: await component.close()