viam.components.input.input

Attributes

ControlFunction

Classes

EventType

Represents the type of input event.

Control

Control identifies the input (specific Axis or Button) of a controller.

Event

Controller

Controller is a logical "container" more than an actual device

Module Contents

class viam.components.input.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.

class viam.components.input.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'
class viam.components.input.input.Event[source]
time: float

seconds since epoch

event: EventType
control: Control
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]
viam.components.input.input.ControlFunction
class viam.components.input.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
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}")
Returns:

The most recent event for each input

Return type:

Dict[Control, Event]

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:
  • 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

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 = 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()