viam.components.encoder.client

Attributes

ValueTypes

Types that can be encoded into a protobuf Value

Classes

DoCommandRequest

DoCommandRequest represents a generic DoCommand input

DoCommandResponse

DoCommandResponse represents a generic DoCommand output

Geometry

Geometry contains the dimensions of a given geometry and the pose of its center. The geometry is one of either a sphere or a box.

EncoderServiceStub

GetPositionRequest

Abstract base class for protocol messages.

GetPositionResponse

Abstract base class for protocol messages.

GetPropertiesRequest

Abstract base class for protocol messages.

GetPropertiesResponse

Abstract base class for protocol messages.

PositionType

ResetPositionRequest

Abstract base class for protocol messages.

ReconfigurableResourceRPCClientBase

A base RPC client that can reset its channel.

Encoder

Base component.

EncoderClient

gRPC client for the Encoder component.

Functions

dict_to_struct(→ google.protobuf.struct_pb2.Struct)

get_geometries(→ List[viam.proto.common.Geometry])

struct_to_dict(→ Dict[str, ValueTypes])

Module Contents

class viam.components.encoder.client.DoCommandRequest(*, name: str = ..., command: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

DoCommandRequest represents a generic DoCommand input

name: str
property command: google.protobuf.struct_pb2.Struct
HasField(field_name: Literal['command', b'command']) bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.encoder.client.DoCommandResponse(*, result: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

DoCommandResponse represents a generic DoCommand output

property result: google.protobuf.struct_pb2.Struct
HasField(field_name: Literal['result', b'result']) bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.encoder.client.Geometry(*, center: global___Pose | None = ..., sphere: global___Sphere | None = ..., box: global___RectangularPrism | None = ..., capsule: global___Capsule | None = ..., label: str = ...)

Bases: google.protobuf.message.Message

Geometry contains the dimensions of a given geometry and the pose of its center. The geometry is one of either a sphere or a box.

label: str

Label of the geometry. If none supplied, will be an empty string.

property center: global___Pose

Pose of a geometries center point

property sphere: global___Sphere
property box: global___RectangularPrism
property capsule: global___Capsule
HasField(field_name: Literal['box', b'box', 'capsule', b'capsule', 'center', b'center', 'geometry_type', b'geometry_type', 'sphere', b'sphere']) bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

WhichOneof(oneof_group: Literal['geometry_type', b'geometry_type']) Literal['sphere', 'box', 'capsule'] | None

Returns the name of the field that is set inside a oneof group.

If no field is set, returns None.

Parameters:

oneof_group (str) – the name of the oneof group to check.

Returns:

The name of the group that is set, or None.

Return type:

str or None

Raises:

ValueError – no group with the given name exists

class viam.components.encoder.client.EncoderServiceStub(channel: grpclib.client.Channel)[source]
class viam.components.encoder.client.GetPositionRequest(*, name: str = ..., position_type: global___PositionType | None = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

name: str

Name of encoder

position_type: global___PositionType

If supplied, the response will return the specified position type. If the driver does not implement the requested type, this call will return an error. If position type is not specified, the response will return a default according to the driver.

property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

HasField(field_name: Literal['_position_type', b'_position_type', 'extra', b'extra', 'position_type', b'position_type']) bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

WhichOneof(oneof_group: Literal['_position_type', b'_position_type']) Literal['position_type'] | None

Returns the name of the field that is set inside a oneof group.

If no field is set, returns None.

Parameters:

oneof_group (str) – the name of the oneof group to check.

Returns:

The name of the group that is set, or None.

Return type:

str or None

Raises:

ValueError – no group with the given name exists

class viam.components.encoder.client.GetPositionResponse(*, value: float = ..., position_type: global___PositionType = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

value: float
position_type: global___PositionType
class viam.components.encoder.client.GetPropertiesRequest(*, name: str = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

name: str

Name of the encoder

property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

HasField(field_name: Literal['extra', b'extra']) bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.encoder.client.GetPropertiesResponse(*, ticks_count_supported: bool = ..., angle_degrees_supported: bool = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

ticks_count_supported: bool
angle_degrees_supported: bool
class viam.components.encoder.client.PositionType

Bases: _PositionType

class viam.components.encoder.client.ResetPositionRequest(*, name: str = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

name: str

Name of an encoder

property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

HasField(field_name: Literal['extra', b'extra']) bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.encoder.client.ReconfigurableResourceRPCClientBase[source]

Bases: ResourceRPCClientBase

A base RPC client that can reset its channel.

Useful if connection is lost and then regained.

reset_channel(channel: grpclib.client.Channel)[source]

Called when the RPC channel was reset. Passes in the new channel.

Parameters:

channel (Channel) – The new RPC Channel

viam.components.encoder.client.ValueTypes

Types that can be encoded into a protobuf Value

viam.components.encoder.client.dict_to_struct(obj: Mapping[str, ValueTypes]) google.protobuf.struct_pb2.Struct[source]
async viam.components.encoder.client.get_geometries(client: viam.resource.types.SupportsGetGeometries, name: str, extra: Dict[str, Any] | None = None, timeout: float | None = None) List[viam.proto.common.Geometry][source]
viam.components.encoder.client.struct_to_dict(struct: google.protobuf.struct_pb2.Struct) Dict[str, ValueTypes][source]
class viam.components.encoder.client.Encoder(name: str)[source]

Bases: viam.components.component_base.ComponentBase

Base component. All components must inherit from this class.

class Properties[source]
ticks_count_supported: bool
angle_degrees_supported: bool
SUBTYPE: Final
abstract reset_position(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs)[source]
Async:

Set the current position to be the new zero (home) position.

my_encoder = Encoder.from_robot(robot=robot, name='my_encoder')

# Reset the zero position of the encoder.
await my_encoder.reset_position()

For more information, see Encoder component.

abstract get_position(position_type: viam.proto.component.encoder.PositionType.ValueType | None = None, *, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) Tuple[float, viam.proto.component.encoder.PositionType.ValueType][source]
Async:

Report the position of the encoder. The value returned is the current position in terms of it’s position_type. The position will be either in relative units (ticks away from a zero position) for PositionType.POSITION_TYPE_TICKS_COUNT or absolute units (degrees along a circle) for PositionType.POSITION_TYPE_ANGLE_DEGREES.

my_encoder = Encoder.from_robot(robot=robot, name='my_encoder')

# Get the position of the encoder in ticks
position = await my_encoder.get_position(PositionType.POSITION_TYPE_TICKS_COUNT)
print("The encoder position is currently ", position[0], position[1])
Parameters:

position_type (PositionType) – The desired output type of the position.

Returns:

A tuple containing two values; the first [0] the position of the encoder which can either be ticks since last zeroing for a relative encoder or degrees for an absolute encoder, and the second [1] the type of position the encoder returns (ticks or degrees).

Return type:

Tuple[float, PositionType]

For more information, see Encoder component.

abstract get_properties(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) Properties[source]
Async:

Return a dictionary of the types of position reporting this encoder supports.

my_encoder = Encoder.from_robot(robot=robot, name='my_encoder')

# Get whether the encoder returns position in ticks or degrees.
properties = await my_encoder.get_properties()
Returns:

Map of position types to supported status.

Return type:

Encoder.Properties

For more information, see Encoder component.

classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) typing_extensions.Self

Get the component named name from the provided robot.

Parameters:
  • robot (RobotClient) – The robot

  • name (str) – The name of the component

Returns:

The component, if it exists on the robot

Return type:

Self

abstract do_command(command: Mapping[str, ValueTypes], *, timeout: float | None = None, **kwargs) Mapping[str, ValueTypes]
Async:

Send/Receive arbitrary commands to the Resource

command = {"cmd": "test", "data1": 500}
result = component.do(command)
Parameters:

command (Mapping[str, ValueTypes]) – The command to execute

Raises:

NotImplementedError – Raised if the Resource does not support arbitrary commands

Returns:

Result of the executed command

Return type:

Mapping[str, ValueTypes]

async get_geometries(*, extra: Dict[str, Any] | None = None, timeout: float | None = None) List[viam.proto.common.Geometry]

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.

Return type:

List[Geometry]

classmethod get_resource_name(name: str) viam.proto.common.ResourceName

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")
Parameters:

name (str) – The name of the Resource

Returns:

The ResourceName of this Resource

Return type:

ResourceName

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. ).

Parameters:

kwargs (Mapping[str, Any]) – The kwargs object containing the operation

Returns:

The operation associated with this function

Return type:

viam.operations.Operation

async close()

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()
class viam.components.encoder.client.EncoderClient(name: str, channel: grpclib.client.Channel)[source]

Bases: viam.components.encoder.encoder.Encoder, viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase

gRPC client for the Encoder component.

async reset_position(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **__)[source]

Set the current position to be the new zero (home) position.

my_encoder = Encoder.from_robot(robot=robot, name='my_encoder')

# Reset the zero position of the encoder.
await my_encoder.reset_position()

For more information, see Encoder component.

async get_position(position_type: viam.proto.component.encoder.PositionType.ValueType | None = None, *, extra: Dict[str, Any] | None = None, timeout: float | None = None, **__) Tuple[float, viam.proto.component.encoder.PositionType.ValueType][source]

Report the position of the encoder. The value returned is the current position in terms of it’s position_type. The position will be either in relative units (ticks away from a zero position) for PositionType.POSITION_TYPE_TICKS_COUNT or absolute units (degrees along a circle) for PositionType.POSITION_TYPE_ANGLE_DEGREES.

my_encoder = Encoder.from_robot(robot=robot, name='my_encoder')

# Get the position of the encoder in ticks
position = await my_encoder.get_position(PositionType.POSITION_TYPE_TICKS_COUNT)
print("The encoder position is currently ", position[0], position[1])
Parameters:

position_type (PositionType) – The desired output type of the position.

Returns:

A tuple containing two values; the first [0] the position of the encoder which can either be ticks since last zeroing for a relative encoder or degrees for an absolute encoder, and the second [1] the type of position the encoder returns (ticks or degrees).

Return type:

Tuple[float, PositionType]

For more information, see Encoder component.

async get_properties(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **__) viam.components.encoder.encoder.Encoder.Properties[source]

Return a dictionary of the types of position reporting this encoder supports.

my_encoder = Encoder.from_robot(robot=robot, name='my_encoder')

# Get whether the encoder returns position in ticks or degrees.
properties = await my_encoder.get_properties()
Returns:

Map of position types to supported status.

Return type:

Encoder.Properties

For more information, see Encoder component.

async do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: float | None = None, **__) Mapping[str, viam.utils.ValueTypes][source]

Send/Receive arbitrary commands to the Resource

command = {"cmd": "test", "data1": 500}
result = component.do(command)
Parameters:

command (Mapping[str, ValueTypes]) – The command to execute

Raises:

NotImplementedError – Raised if the Resource does not support arbitrary commands

Returns:

Result of the executed command

Return type:

Mapping[str, ValueTypes]

async get_geometries(*, extra: Dict[str, Any] | None = None, timeout: float | None = None) List[viam.proto.common.Geometry][source]

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.

Return type:

List[Geometry]

classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) typing_extensions.Self

Get the component named name from the provided robot.

Parameters:
  • robot (RobotClient) – The robot

  • name (str) – The name of the component

Returns:

The component, if it exists on the robot

Return type:

Self

classmethod get_resource_name(name: str) viam.proto.common.ResourceName

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")
Parameters:

name (str) – The name of the Resource

Returns:

The ResourceName of this Resource

Return type:

ResourceName

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. ).

Parameters:

kwargs (Mapping[str, Any]) – The kwargs object containing the operation

Returns:

The operation associated with this function

Return type:

viam.operations.Operation

async close()

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()