viam.components.input
Submodules
Attributes
Classes
Control identifies the input (specific Axis or Button) of a controller. |
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Controller is a logical "container" more than an actual device |
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Represents the type of input event. |
Package Contents
- class viam.components.input.Control[source]
Bases:
str
,enum.Enum
Control identifies the input (specific Axis or Button) of a controller.
- ABSOLUTE_X = 'AbsoluteX'
- ABSOLUTE_Y = 'AbsoluteY'
- ABSOLUTE_Z = 'AbsoluteZ'
- ABSOLUTE_RX = 'AbsoluteRX'
- ABSOLUTE_RY = 'AbsoluteRY'
- ABSOLUTE_RZ = 'AbsoluteRZ'
- ABSOLUTE_HAT0_X = 'AbsoluteHat0X'
- ABSOLUTE_HAT0_Y = 'AbsoluteHat0Y'
- BUTTON_SOUTH = 'ButtonSouth'
- BUTTON_EAST = 'ButtonEast'
- BUTTON_WEST = 'ButtonWest'
- BUTTON_NORTH = 'ButtonNorth'
- BUTTON_LT = 'ButtonLT'
- BUTTON_RT = 'ButtonRT'
- BUTTON_LT2 = 'ButtonLT2'
- BUTTON_RT2 = 'ButtonRT2'
- BUTTON_L_THUMB = 'ButtonLThumb'
- BUTTON_R_THUMB = 'ButtonRThumb'
- BUTTON_SELECT = 'ButtonSelect'
- BUTTON_START = 'ButtonStart'
- BUTTON_MENU = 'ButtonMenu'
- BUTTON_RECORD = 'ButtonRecord'
- BUTTON_E_STOP = 'ButtonEStop'
- ABSOLUTE_PEDAL_ACCELERATOR = 'AbsolutePedalAccelerator'
- ABSOLUTE_PEDAL_BRAKE = 'AbsolutePedalBrake'
- ABSOLUTE_PEDAL_CLUTCH = 'AbsolutePedalClutch'
- viam.components.input.ControlFunction
- class viam.components.input.Controller(name: str)[source]
Bases:
viam.components.component_base.ComponentBase
Controller is a logical “container” more than an actual device Could be a single gamepad, or a collection of digitalInterrupts and analogReaders, a keyboard, etc.
from viam.components.input import Control, Controller, EventType
For more information, see Input Controller component.
- SUBTYPE: Final
The Subtype of the Resource
- abstract get_controls(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) List[Control] [source]
- Async:
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]
For more information, see Input Controller component.
- abstract get_events(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) Dict[Control, Event] [source]
- Async:
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}")
For more information, see Input Controller component.
- abstract register_control_callback(control: Control, triggers: List[EventType], function: ControlFunction | None, *, extra: Dict[str, Any] | None = None, **kwargs)[source]
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:
For more information, see Input Controller component.
- async trigger_event(event: Event, *, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) None [source]
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
For more information, see Input Controller 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 = Arm.get_resource_name("my_arm")
- Parameters:
name (str) – The name of the Resource
- Returns:
The ResourceName of this Resource
- Return type:
- 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:
- 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.input.Event[source]
- time: float
seconds since epoch
- value: float
0 or 1 for buttons, -1.0 to +1.0 for axes
- property proto
- classmethod from_proto(proto: viam.proto.component.inputcontroller.Event) typing_extensions.Self [source]
- class viam.components.input.EventType[source]
Bases:
str
,enum.Enum
Represents the type of input event.
- ALL_EVENTS = 'AllEvents'
Callbacks registered for this event will be called in ADDITION to other registered event callbacks.
- CONNECT = 'Connect'
Sent at controller initialization, and on reconnects.
- DISCONNECT = 'Disconnect'
If unplugged, or wireless/network times out.
- BUTTON_PRESS = 'ButtonPress'
Typical key press.
- BUTTON_RELEASE = 'ButtonRelease'
Key release.
- BUTTON_HOLD = 'ButtonHold'
Key is held down. This wil likely be a repeated event.
- BUTTON_CHANGE = 'ButtonChange'
Both up and down for convenience during registration, not typically emitted.
- POSITION_CHANGE_ABSOLUTE = 'PositionChangeAbs'
Absolute position is reported via Value, a la joysticks.
- POSITION_CHANGE_RELATIVE = 'PositionChangeRel'
Relative position is reported via Value, a la mice, or simulating axes with up/down buttons.