viam.components.servo.client

Module Contents

Classes

ServoClient

gRPC client for the Servo component.

class viam.components.servo.client.ServoClient(name: str, channel: grpclib.client.Channel)[source]

Bases: viam.components.servo.servo.Servo, viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase

gRPC client for the Servo component.

async get_position(*, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None) int[source]

Get the current angle (degrees) of the servo.

Returns:

The current angle of the servo in degrees.

Return type:

int

async move(angle: int, *, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None)[source]

Move the servo to the provided angle.

Parameters:

angle (int) – The desired angle of the servo in degrees.

async stop(*, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None)[source]

Stop the servo. It is assumed that the servo stops immediately.

async is_moving(*, timeout: Optional[float] = None) bool[source]

Get if the servo is currently moving.

Returns:

Whether the servo is moving.

Return type:

bool

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

Send/Receive arbitrary commands to the Resource

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: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) List[viam.proto.common.Geometry][source]

Get all geometries associated with the Component, in their current configuration, in the frame of the Component.

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

Parameters:

name (str) – The name of the Resource

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 retun errors when future non-Close methods are called.