viam.components.generic.client

Classes

GenericClient

gRPC client for the Generic component.

Functions

do_command(→ Mapping[str, viam.utils.ValueTypes])

Convenience method to allow component clients to execute do_command functions

Module Contents

class viam.components.generic.client.GenericClient(name: str, channel: grpclib.client.Channel)[source]

Bases: viam.components.generic.generic.Generic, viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase

gRPC client for the Generic component.

channel

client

async do_command(command: Mapping[str, Any], *, timeout: float | None = None, **kwargs) → Mapping[str, Any][source]

Send/Receive arbitrary commands to the Resource

command = {"cmd": "test", "data1": 500}
result = await component.do_command(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, **kwargs) → 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 = 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()

async viam.components.generic.client.do_command(channel: grpclib.client.Channel, name: str, command: Mapping[str, viam.utils.ValueTypes], *, timeout: float | None = None, **kwargs) → Mapping[str, viam.utils.ValueTypes][source]

Convenience method to allow component clients to execute do_command functions

Parameters:

channel (Channel) – A gRPC channel
name (str) – The name of the component
command (Dict[str, Any]) – The command to execute

Returns:

The result of the executed command

Return type:

Dict[str, Any]