viam.services.worldstatestore.client
====================================

.. py:module:: viam.services.worldstatestore.client


Classes
-------

.. autoapisummary::

   viam.services.worldstatestore.client.WorldStateStoreClient


Module Contents
---------------

.. py:class:: WorldStateStoreClient(name: str, channel: grpclib.client.Channel)

   Bases: :py:obj:`viam.services.worldstatestore.worldstatestore.WorldStateStore`, :py:obj:`viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase`


   gRPC client for the WorldStateStore service.


   .. py:attribute:: client
      :type:  viam.proto.service.worldstatestore.WorldStateStoreServiceStub


   .. py:attribute:: channel


   .. py:method:: list_uuids(*, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[bytes]
      :async:


      List all world state transform UUIDs.

      ::

          worldstatestore = WorldStateStoreClient.from_robot(robot=machine, name="builtin")

          uuids = await worldstatestore.list_uuids()

      :returns: A list of transform UUIDs
      :rtype: List[bytes]



   .. py:method:: get_transform(uuid: bytes, *, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> viam.proto.common.Transform
      :async:


      Get a world state transform by UUID.

      ::

          worldstatestore = WorldStateStoreClient.from_robot(robot=machine, name="builtin")

          transform = await worldstatestore.get_transform(uuid=b"some-uuid")

      :param uuid: The UUID of the transform to retrieve
      :type uuid: bytes

      :returns: The requested transform
      :rtype: Transform



   .. py:method:: stream_transform_changes(*, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> AsyncGenerator[viam.proto.service.worldstatestore.StreamTransformChangesResponse, None]
      :async:


      Stream changes to world state transforms.

      ::

          worldstatestore = WorldStateStoreClient.from_robot(robot=machine, name="builtin")

          async for change in worldstatestore.stream_transform_changes():
              print(f"Transform {change.transform.uuid} {change.change_type}")

      :returns: A stream of transform changes
      :rtype: AsyncIterator[StreamTransformChangesResponse]



   .. py:method:: do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, viam.utils.ValueTypes]
      :async:


      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)

      :param command: The command to execute
      :type command: Dict[str, ValueTypes]

      :returns: Result of the executed command
      :rtype: Dict[str, ValueTypes]



   .. py:method:: from_robot(robot: viam.robot.client.RobotClient, name: str) -> typing_extensions.Self
      :classmethod:


      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()

      :param robot: The robot
      :type robot: RobotClient
      :param name: The name of the service
      :type name: str

      :returns: The service, if it exists on the robot
      :rtype: Self



   .. 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 = Arm.get_resource_name("my_arm")

      :param name: The name of the Resource
      :type name: str

      :returns: The ResourceName of this Resource
      :rtype: ResourceName



   .. 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()