viam.module

Submodules

• viam.module.module
• viam.module.service
• viam.module.types

Classes

Module

Package Contents

class viam.module.Module(address: str, *, log_level: int = logging.INFO)

parent: viam.robot.client.RobotClient | None = None

server: viam.rpc.server.Server

classmethod from_args() → typing_extensions.Self

Create a new Module with the args provided in the command line. The first argument after the command must be the socket path. If the second argument after the command is “–log-level=debug”, the Module’s logger will be DEBUG level. Otherwise, it will be INFO level. See LogLevel documentation in the RDK for more information on how to start modules with a “log-level” commandline argument.

Raises:

Exception – If there is no socket path provided in the command line argument

Returns:

a new Module instance

Return type:

Module

classmethod run_with_models(*models: viam.resource.base.ResourceBase)

Async:

Module entrypoint that takes a list of ResourceBase implementations. In most cases you’ll want to use run_from_registry instead (see below).

classmethod run_from_registry()

Async:

Module entrypoint that automatically includes all the resources you’ve created in your program.

Example:

if __name__ == ‘__main__’:

asyncio.run(Module.run_from_registry())

Full example at examples/easy_resource/main.py.

async start()

Start the module service and gRPC server

async stop()

Stop the module service and gRPC server

set_ready(ready: bool)

Set the module’s ready state. The module automatically sets to READY on load. Setting to False can be useful in instances where the module is not instantly ready (for example waiting on hardware)

Parameters:

ready (bool) – Whether the module is ready

async add_resource(request: viam.proto.module.AddResourceRequest)

async reconfigure_resource(request: viam.proto.module.ReconfigureResourceRequest)

async remove_resource(request: viam.proto.module.RemoveResourceRequest)

async ready(request: viam.proto.module.ReadyRequest) → viam.proto.module.ReadyResponse

add_model_from_registry(subtype: viam.resource.types.Subtype, model: viam.resource.types.Model)

Add a pre-registered model to this Module

async validate_config(request: viam.proto.module.ValidateConfigRequest) → viam.proto.module.ValidateConfigResponse