`viam.components.input`

Submodules

Package Contents

Classes

`Control`	Control identifies the input (specific Axis or Button) of a controller.
`Controller`	Controller is a logical "container" more than an actual device
`Event`
`EventType`	Represents the type of input event.

Attributes

ControlFunction

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

SUBTYPE: Final

abstract async get_controls(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) → List[Control][source]

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]

abstract async get_events(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) → Dict[Control, Event][source]

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]

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:

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

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

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

class viam.components.input.Event[source]

property proto

time: float: seconds since epoch

event: EventType

control: Control

value: float: 0 or 1 for buttons, -1.0 to +1.0 for axes

classmethod from_proto(proto: viam.proto.component.inputcontroller.Event) → typing_extensions.Self[source]

class viam.components.input.EventType[source]