viam.components.input.client

Module Contents

Classes

ControllerClient

gRPC client for an Input Controller

Attributes

LOGGER

viam.components.input.client.LOGGER

class viam.components.input.client.ControllerClient(name: str, channel: grpclib.client.Channel)

Bases: viam.components.input.input.Controller, viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase

gRPC client for an Input Controller

async get_controls(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **__) → List[viam.components.input.input.Control]

Returns a list of Controls provided by the Controller

# Get the controller from the machine.
my_controller = Controller.from_robot(
    robot=myRobotWithController, name="my_controller")

# Get the list of Controls provided by the controller.
controls = await my_controller.get_controls()

# Print the list of Controls provided by the controller.
print(f"Controls: {controls}")

Returns:

List of controls provided by the Controller

Return type:

List[Control]

async get_events(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **__) → Dict[viam.components.input.input.Control, viam.components.input.input.Event]

Returns the most recent Event for each input (which should be the current state)

# Get the controller from the machine.
my_controller = Controller.from_robot(
    robot=myRobotWithController, name="my_controller")

# Get the most recent Event for each Control.
recent_events = await my_controller.get_events()

# Print out the most recent Event for each Control.
print(f"Recent Events: {recent_events}")

Returns:

The most recent event for each input

Return type:

Dict[Control, Event]

register_control_callback(control: viam.components.input.input.Control, triggers: List[viam.components.input.input.EventType], function: viam.components.input.input.ControlFunction | None, extra: Dict[str, Any] | None = None, **__)

Register a function that will fire on given EventTypes for a given Control

# Define a function to handle pressing the Start Menu Button "BUTTON_START" on
# your controller, printing out the start time.
def print_start_time(event):
    print(f"Start Menu Button was pressed at this time: {event.time}")


# Define a function that handles the controller.
async def handle_controller(controller):
    # Get the list of Controls on the controller.
    controls = await controller.get_controls()

    # If the "BUTTON_START" Control is found, register the function
    # print_start_time to fire when "BUTTON_START" has the event "ButtonPress"
    # occur.
    if Control.BUTTON_START in controls:
        controller.register_control_callback(
            Control.BUTTON_START, [EventType.BUTTON_PRESS], print_start_time)
    else:
        print("Oops! Couldn't find the start button control! Is your "
            "controller connected?")
        exit()

    while True:
        await asyncio.sleep(1.0)


async def main():
    # ... < INSERT CONNECTION CODE FROM MACHINE'S CODE SAMPLE TAB >

    # Get your controller from the machine.
    my_controller = Controller.from_robot(
        robot=myRobotWithController, name="my_controller")

    # Run the handleController function.
    await handleController(my_controller)

    # ... < INSERT ANY OTHER CODE FOR MAIN FUNCTION >

Parameters:

• control (Control) – The control to register the function for

• triggers (List[EventType]) – The events that will trigger the function

• function (ControlFunction) – The function to run on specific triggers

reset_channel(channel: grpclib.client.Channel)

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

Parameters:

channel (Channel) – The new RPC Channel

async trigger_event(event: viam.components.input.input.Event, *, extra: Dict[str, Any] | None = None, timeout: float | None = None, **__)

Directly send an Event (such as a button press) from external code

# Define a "Button is Pressed" event for the control BUTTON_START.
button_is_pressed_event = Event(
    time(), EventType.BUTTON_PRESS, Control.BUTTON_START, 1.0)

# Trigger the event on your controller. Set this trigger to timeout if it has
# not completed in 7 seconds.
await myController.trigger_event(event=my_event, timeout=7.0)

Parameters:

event (Event) – The event to trigger

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

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 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()