viam.components.generic.generic

Classes

Generic

Generic component, which represents any type of component that can executes arbitrary commands

Module Contents

class viam.components.generic.generic.Generic(name: str)[source]

Bases: viam.components.component_base.ComponentBase

Generic component, which represents any type of component that can executes arbitrary commands

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

To create a Generic component (an arbitrary component that can process commands), this Generic component should be subclassed and the do_command function implemented.

from viam.components.generic import Generic

Example:

class ComplexComponent(Generic):

    async def do_command(
        self,
        command: Mapping[str, ValueTypes],
        *,
        timeout: Optional[float] = None,
        **kwargs
    ) -> Mapping[str, ValueTypes]:
        result = {key: False for key in command.keys()}
        for (name, args) in command.items():
            if name == 'on':
                self.on(*args)
                result[name] = True
            if name == 'set_frequency':
                self.set_frequency(*args)
                result[name] = True
            if name == 'get_frequency':
                result[name] = self.frequency
            if name == 'complex_command':
                self.complex_command(*args)
                result[name] = True
        return result

    def set_frequency(self, frequency: int):
        self.frequency = frequency

    def on(self, frequency: int, duration: int):
        self.frequency = frequency
        self.power = 1
        task = threading.Timer(duration, self.off)
        task.start()

    def off(self):
        self.power = 0

    def complex_command(self, arg1, arg2, arg3):
        ...

To execute commands, simply call the do_command function with the appropriate parameters.

await component.do_command({'on': [300, 10]})
component.power  # 1
await asyncio.sleep(10)
component.power  # 0

For more information, see Gantry component.

SUBTYPE: Final
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()