viam.components.gantry.client
Module Contents
Classes
gRPC client for the Gantry component. |
- class viam.components.gantry.client.GantryClient(name: str, channel: grpclib.client.Channel)[source]
Bases:
viam.components.gantry.gantry.Gantry
,viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase
gRPC client for the Gantry component.
- async get_position(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) List[float] [source]
Get the position in millimeters.
- Returns:
The position of the axes.
- Return type:
List[float]
- async move_to_position(positions: List[float], speeds: List[float], *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None)[source]
Move the gantry to a new position at the requested speeds.
- Parameters:
positions (List[float]) – List of positions for the axes to move to, in millimeters.
- async home(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) bool [source]
Home the gantry to find it’s starting and ending positions
- Returns:
whether the gantry has run the homing sequence successfully
- Return type:
bool
- async get_lengths(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) List[float] [source]
Get the lengths of the axes of the gantry in millimeters.
- Returns:
The lengths of the axes.
- Return type:
List[float]
- async stop(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None)[source]
Stop all motion of the gantry. It is assumed that the gantry stops immediately.
- async is_moving(*, timeout: Optional[float] = None) bool [source]
Get if the gantry is currently moving.
- Returns:
Whether the gantry is moving.
- Return type:
bool
- async do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: Optional[float] = None) Mapping[str, viam.utils.ValueTypes] [source]
Send/Receive arbitrary commands to the Resource
- 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: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) List[viam.proto.common.Geometry] [source]
Get all geometries associated with the Component, in their current configuration, in the frame of the Component.
- 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
- Parameters:
name (str) – The name of the Resource
- 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 theOperation
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: