viam.resource.registry

Attributes

Resource

Classes

`ResourceCreatorRegistration`	An object representing a resource creator to be registered.
`ResourceRegistration`	An object representing a resource to be registered.
`Registry`	The global registry of robotic parts.

Functions

default_create_status(→ viam.proto.robot.Status)

Module Contents

viam.resource.registry.Resource

async viam.resource.registry.default_create_status(resource: viam.resource.base.ResourceBase) → viam.proto.robot.Status[source]

class viam.resource.registry.ResourceCreatorRegistration[source]

An object representing a resource creator to be registered.

If creating a custom Resource creator, you should register the creator by creating a ResourceCreatorRegistration object and registering it to the Registry.

creator: viam.resource.types.ResourceCreator: A function that can create a resource given a mapping of dependencies (ResourceName to ResourceBase

validator: viam.resource.types.Validator

A function that can validate a resource and return implicit dependencies.

If called without a validator function, default to a function returning an empty Sequence

class viam.resource.registry.ResourceRegistration[source]

Bases: Generic[Resource]

An object representing a resource to be registered.

This object is generic over the ResourceBase, and it includes various functionality for the resource, such as creating its RPC client or status.

If creating a custom Resource type, you should register the resource by creating a ResourceRegistration object and registering it to the Registry.

resource_type: Type[Resource]: The type of the Resource to be registered

rpc_service: Type[viam.resource.rpc_service_base.ResourceRPCServiceBase]: The type of the RPC service of the resource. This must extend from RPCServiceBase

create_rpc_client: Callable[[str, grpclib.client.Channel], Resource]: A function that will create the RPC client for this resource

create_status: Callable[[Resource], Coroutine[Any, Any, viam.proto.robot.Status]]

A function to create a Status object for this resource.

If the resource does not provide a custom status type, the default implementation can be used.

class viam.resource.registry.Registry[source]

The global registry of robotic parts.

NB The Registry should almost never be used directly

The Registry keeps track of the types of Resources that are available on robots using this SDK. All the base resource types are pre-registered (for example Arm, Motor).

If you create a new resource type that is not an extension of any of the existing base resource types, then you must register said resource using Registry.register(...).

classmethod register_subtype(registration: ResourceRegistration[Resource])[source]

Register a Subtype with the Registry

Parameters:

registration (ResourceRegistration) – Object containing registration data for the subtype

Raises:

DuplicateResourceError – Raised if the Subtype to register is already in the registry
ValidationError – Raised if registration is missing any necessary parameters

classmethod register_resource_creator(subtype: viam.resource.types.Subtype, model: viam.resource.types.Model, registration: ResourceCreatorRegistration)[source]

Register a specific Model and validator function for the specific resource Subtype with the Registry

Parameters:

subtype (Subtype) – The Subtype of the resource
model (Model) – The Model of the resource
registration (ResourceCreatorRegistration) – The registration functions of the model

Raises:

DuplicateResourceError – Raised if the Subtype and Model pairing is already registered
ValidationError – Raised if registration does not have creator

classmethod lookup_subtype(subtype: viam.resource.types.Subtype) → ResourceRegistration[source]

Lookup and retrieve a registered Subtype by its name

Parameters:: subtype (str) – The subtype of the resource
Raises:: ResourceNotFoundError – Raised if the Subtype is not registered
Returns:: The registration object of the resource
Return type:: ResourceRegistration

classmethod lookup_resource_creator(subtype: viam.resource.types.Subtype, model: viam.resource.types.Model) → viam.resource.types.ResourceCreator[source]

Lookup and retrieve a registered resource creator by its subtype and model

Parameters:

subtype (Subtype) – The Subtype of the resource
model (Model) – The Model of the resource

Raises:

ResourceNotFoundError – Raised if the Subtype Model pairing is not registered

Returns:

The function to create the resource

Return type:

ResourceCreator

classmethod lookup_validator(subtype: viam.resource.types.Subtype, model: viam.resource.types.Model) → viam.resource.types.Validator[source]

Lookup and retrieve a registered validator function by its subtype and model. If there is none, return None

Parameters:

subtype (Subtype) – The Subtype of the resource
model (Model) – The Model of the resource

Returns:

The function to validate the resource

Return type:

Validator

classmethod REGISTERED_SUBTYPES() → Mapping[viam.resource.types.Subtype, ResourceRegistration][source]

The dictionary of all registered resources - Key: Subtype of the resource - Value: The registration object for the resource

Returns:: All registered resources
Return type:: Mapping[Subtype, ResourceRegistration]

classmethod REGISTERED_RESOURCE_CREATORS() → Mapping[str, ResourceCreatorRegistration][source]

The dictionary of all registered resources - Key: subtype/model - Value: The ResourceCreatorRegistration for the resource

Returns:: All registered resources
Return type:: Mapping[str, ResourceCreatorRegistration]