viam.components.servo.service

Classes

DoCommandRequest

DoCommandRequest represents a generic DoCommand input

DoCommandResponse

DoCommandResponse represents a generic DoCommand output

GetGeometriesRequest

Abstract base class for protocol messages.

GetGeometriesResponse

Abstract base class for protocol messages.

GetPositionRequest

Abstract base class for protocol messages.

GetPositionResponse

Abstract base class for protocol messages.

IsMovingRequest

Abstract base class for protocol messages.

IsMovingResponse

Abstract base class for protocol messages.

MoveRequest

Abstract base class for protocol messages.

MoveResponse

Abstract base class for protocol messages.

ServoServiceBase

Helper class that provides a standard way to create an ABC using

StopRequest

Abstract base class for protocol messages.

StopResponse

Abstract base class for protocol messages.

ResourceRPCServiceBase

Base RPC service for a resource.

Servo

Servo represents a physical servo.

ServoRPCService

gRPC Service for a Servo

Functions

dict_to_struct(→ google.protobuf.struct_pb2.Struct)

struct_to_dict(→ Dict[str, ValueTypes])

Module Contents

class viam.components.servo.service.DoCommandRequest(*, name: str = ..., command: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

DoCommandRequest represents a generic DoCommand input

name: str
property command: google.protobuf.struct_pb2.Struct
HasField(field_name: Literal['command', b'command']) bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.servo.service.DoCommandResponse(*, result: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

DoCommandResponse represents a generic DoCommand output

property result: google.protobuf.struct_pb2.Struct
HasField(field_name: Literal['result', b'result']) bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.servo.service.GetGeometriesRequest(*, name: str = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

name: str

The component name

property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

HasField(field_name: Literal['extra', b'extra']) bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.servo.service.GetGeometriesResponse(*, geometries: collections.abc.Iterable[global___Geometry] | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

property geometries: google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___Geometry]

All geometries associated with the component, in their current configuration, in the frame of that component.

class viam.components.servo.service.GetPositionRequest(*, name: str = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

name: str

the name of the servo, as registered

property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

HasField(field_name: Literal['extra', b'extra']) bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.servo.service.GetPositionResponse(*, position_deg: int = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

position_deg: int

the degrees from neutral by which the servo is currently rotated. Values are between 0 and 180

class viam.components.servo.service.IsMovingRequest(*, name: str = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

name: str
class viam.components.servo.service.IsMovingResponse(*, is_moving: bool = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

is_moving: bool
class viam.components.servo.service.MoveRequest(*, name: str = ..., angle_deg: int = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

name: str

the name of the servo, as registered

angle_deg: int

the degrees by which to rotate the servo. Accepted values are between 0 and 180

property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

HasField(field_name: Literal['extra', b'extra']) bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.servo.service.MoveResponse

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

class viam.components.servo.service.ServoServiceBase[source]

Bases: abc.ABC

Helper class that provides a standard way to create an ABC using inheritance.

abstract Move(stream: grpclib.server.Stream[component.servo.v1.servo_pb2.MoveRequest, component.servo.v1.servo_pb2.MoveResponse]) None[source]
Async:

abstract GetPosition(stream: grpclib.server.Stream[component.servo.v1.servo_pb2.GetPositionRequest, component.servo.v1.servo_pb2.GetPositionResponse]) None[source]
Async:

abstract Stop(stream: grpclib.server.Stream[component.servo.v1.servo_pb2.StopRequest, component.servo.v1.servo_pb2.StopResponse]) None[source]
Async:

abstract IsMoving(stream: grpclib.server.Stream[component.servo.v1.servo_pb2.IsMovingRequest, component.servo.v1.servo_pb2.IsMovingResponse]) None[source]
Async:

abstract DoCommand(stream: grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]) None[source]
Async:

abstract GetGeometries(stream: grpclib.server.Stream[common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse]) None[source]
Async:

__mapping__() Dict[str, grpclib.const.Handler][source]
class viam.components.servo.service.StopRequest(*, name: str = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

name: str

Name of a servo

property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

HasField(field_name: Literal['extra', b'extra']) bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.servo.service.StopResponse

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

class viam.components.servo.service.ResourceRPCServiceBase(manager: viam.resource.manager.ResourceManager)[source]

Bases: abc.ABC, viam.rpc.types.RPCServiceBase, Generic[viam.resource.manager.ResourceType]

Base RPC service for a resource. All resource RPC services must inherit from this class.

RESOURCE_TYPE
manager: viam.resource.manager.ResourceManager
get_resource(name: str) viam.resource.manager.ResourceType[source]

Return the resource with the given name if it exists in the registry. If the resource does not exist in the registry, this function will raise an error

Parameters:

name (str) – Name of the resource

Raises:

GRPCError with the status code Status.NOT_FOUND

Returns:

The resource

Return type:

ResourceType

viam.components.servo.service.dict_to_struct(obj: Mapping[str, ValueTypes]) google.protobuf.struct_pb2.Struct[source]
viam.components.servo.service.struct_to_dict(struct: google.protobuf.struct_pb2.Struct) Dict[str, ValueTypes][source]
class viam.components.servo.service.Servo(name: str)[source]

Bases: viam.components.component_base.ComponentBase

Servo represents a physical servo.

This acts as an abstract base class for any drivers representing specific servo implementations. This cannot be used on its own. If the __init__() function is overridden, it must call the super().__init__() function.

from viam.components.servo import Servo

For more information, see Servo component.

SUBTYPE: Final
abstract move(angle: int, *, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs)[source]
Async:

Move the servo to the provided angle.

my_servo = Servo.from_robot(robot=robot, name="my_servo")

# Move the servo from its origin to the desired angle of 10 degrees.
await my_servo.move(10)

# Move the servo from its origin to the desired angle of 90 degrees.
await my_servo.move(90)
Parameters:

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

For more information, see Servo component.

abstract get_position(*, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs) int[source]
Async:

Get the current angle (degrees) of the servo.

my_servo = Servo.from_robot(robot=robot, name="my_servo")

# Move the servo from its origin to the desired angle of 10 degrees.
await my_servo.move(10)

# Get the current set angle of the servo.
pos1 = await my_servo.get_position()

# Move the servo from its origin to the desired angle of 20 degrees.
await my_servo.move(20)

# Get the current set angle of the servo.
pos2 = await my_servo.get_position()
Returns:

The current angle of the servo in degrees.

Return type:

int

For more information, see Servo component.

abstract stop(*, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs)[source]
Async:

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

my_servo = Servo.from_robot(robot=robot, name="my_servo")

# Move the servo from its origin to the desired angle of 10 degrees.
await my_servo.move(10)

# Stop the servo. It is assumed that the servo stops moving immediately.
await my_servo.stop()

For more information, see Servo component.

abstract is_moving() bool[source]
Async:

Get if the servo is currently moving.

my_servo = Servo.from_robot(robot=robot, name="my_servo")

print(my_servo.is_moving())
Returns:

Whether the servo is moving.

Return type:

bool

For more information, see Servo 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()
class viam.components.servo.service.ServoRPCService(manager: viam.resource.manager.ResourceManager)[source]

Bases: viam.proto.component.servo.ServoServiceBase, viam.resource.rpc_service_base.ResourceRPCServiceBase[viam.components.servo.servo.Servo]

gRPC Service for a Servo

RESOURCE_TYPE
async Move(stream: grpclib.server.Stream[viam.proto.component.servo.MoveRequest, viam.proto.component.servo.MoveResponse]) None[source]
async GetPosition(stream: grpclib.server.Stream[viam.proto.component.servo.GetPositionRequest, viam.proto.component.servo.GetPositionResponse]) None[source]
async Stop(stream: grpclib.server.Stream[viam.proto.component.servo.StopRequest, viam.proto.component.servo.StopResponse]) None[source]
async IsMoving(stream: grpclib.server.Stream[viam.proto.component.servo.IsMovingRequest, viam.proto.component.servo.IsMovingResponse]) None[source]
async DoCommand(stream: grpclib.server.Stream[viam.proto.common.DoCommandRequest, viam.proto.common.DoCommandResponse]) None[source]
async GetGeometries(stream: grpclib.server.Stream[viam.proto.common.GetGeometriesRequest, viam.proto.common.GetGeometriesResponse]) None[source]