:py:mod:`viam.components.sensor`
================================

.. py:module:: viam.components.sensor


Submodules
----------
.. toctree::
   :titlesonly:
   :maxdepth: 1

   client/index.rst
   sensor/index.rst
   service/index.rst


Package Contents
----------------

Classes
~~~~~~~

.. autoapisummary::

   viam.components.sensor.Sensor




.. py:class:: Sensor(name: str)


   Bases: :py:obj:`viam.components.component_base.ComponentBase`

   Sensor represents a physical sensing device that can provide measurement readings.

   This acts as an abstract base class for any drivers representing specific
   sensor implementations. This cannot be used on its own. If the ``__init__()`` function is
   overridden, it must call the ``super().__init__()`` function.

   ::

       from viam.components.sensor import Sensor

   .. py:attribute:: SUBTYPE
      :type: Final

      

   .. py:method:: get_readings(*, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> Mapping[str, viam.utils.SensorReading]
      :abstractmethod:
      :async:

      Obtain the measurements/data specific to this sensor.

      ::

          my_sensor = Sensor.from_robot(robot=robot, name='my_sensor')

          # Get the readings provided by the sensor.
          readings = await my_sensor.get_readings()

      :returns: The measurements. Can be of any type.
      :rtype: Mapping[str, Any]


   .. 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()