viam.services.discovery
Submodules
Classes
Connect to the Discovery service, which allows you to discover resources on a machine. |
|
Discovery represents a Discovery service. |
Package Contents
- class viam.services.discovery.DiscoveryClient(name: str, channel: grpclib.client.Channel)[source]
Bases:
viam.services.discovery.discovery.Discovery
,viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase
Connect to the Discovery service, which allows you to discover resources on a machine.
- channel
- async discover_resources(*, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs) List[viam.proto.app.robot.ComponentConfig] [source]
Get all component configs of discovered resources on a machine
my_discovery = DiscoveryClient.from_robot(machine, "my_discovery") # Get the discovered resources result = await my_discovery.discover_resources( "my_discovery", ) discoveries = result.discoveries
- Parameters:
name (str) – The name of the discover service
- Returns:
A list of ComponentConfigs that describe the components found by a discover service
- Return type:
List[ComponentConfig]
- async do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: float | None = None, **kwargs) Mapping[str, viam.utils.ValueTypes] [source]
Send/receive arbitrary commands.
service = SERVICE.from_robot(robot=machine, "builtin") # replace SERVICE with the appropriate class my_command = { "cmnd": "dosomething", "someparameter": 52 } # Can be used with any resource, using the motion service as an example await service.do_command(command=my_command)
- Parameters:
command (Dict[str, ValueTypes]) – The command to execute
- Returns:
Result of the executed command
- Return type:
Dict[str, ValueTypes]
- classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) typing_extensions.Self
Get the service named
name
from the provided robot.async def connect() -> RobotClient: # Replace "<API-KEY>" (including brackets) with your API key and "<API-KEY-ID>" with your API key ID options = RobotClient.Options.with_api_key("<API-KEY>", "<API-KEY-ID>") # Replace "<MACHINE-URL>" (included brackets) with your machine's connection URL or FQDN return await RobotClient.at_address("<MACHINE-URL>", options) async def main(): robot = await connect() # Can be used with any resource, using the motion service as an example motion = MotionClient.from_robot(robot=machine, name="builtin") robot.close()
- Parameters:
robot (RobotClient) – The robot
name (str) – The name of the service
- Returns:
The service, 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
# Can be used with any resource, using an arm as an example my_arm_name = Arm.get_resource_name("my_arm")
- Parameters:
name (str) – The name of the Resource
- Returns:
The ResourceName of this Resource
- Return type:
- 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 theOperation
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:
- 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.services.discovery.Discovery(name: str, *, logger: logging.Logger | None = None)[source]
Bases:
viam.services.service_base.ServiceBase
Discovery represents a Discovery service.
This acts as an abstract base class for any drivers representing specific discovery implementations. This cannot be used on its own. If the
__init__()
function is overridden, it must call thesuper().__init__()
function.- API: Final
The API of the Resource
- abstract discover_resources(*, extra: Mapping[str, viam.utils.ValueTypes] | None = None, timeout: float | None = None) List[viam.proto.app.robot.ComponentConfig] [source]
- Async:
Get all component configs of discovered resources on a machine
my_discovery = DiscoveryClient.from_robot(machine, "my_discovery") # Get the discovered resources result = await my_discovery.discover_resources( "my_discovery", ) discoveries = result.discoveries
- Parameters:
name (str) – The name of the discover service
- Returns:
A list of ComponentConfigs that describe the components found by a discover service
- Return type:
List[ComponentConfig]
- classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) typing_extensions.Self
Get the service named
name
from the provided robot.async def connect() -> RobotClient: # Replace "<API-KEY>" (including brackets) with your API key and "<API-KEY-ID>" with your API key ID options = RobotClient.Options.with_api_key("<API-KEY>", "<API-KEY-ID>") # Replace "<MACHINE-URL>" (included brackets) with your machine's connection URL or FQDN return await RobotClient.at_address("<MACHINE-URL>", options) async def main(): robot = await connect() # Can be used with any resource, using the motion service as an example motion = MotionClient.from_robot(robot=machine, name="builtin") robot.close()
- Parameters:
robot (RobotClient) – The robot
name (str) – The name of the service
- Returns:
The service, if it exists on the robot
- Return type:
Self
- abstract do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: float | None = None, **kwargs) Mapping[str, viam.utils.ValueTypes]
- Async:
Send/receive arbitrary commands.
service = SERVICE.from_robot(robot=machine, "builtin") # replace SERVICE with the appropriate class my_command = { "cmnd": "dosomething", "someparameter": 52 } # Can be used with any resource, using the motion service as an example await service.do_command(command=my_command)
- Parameters:
command (Dict[str, ValueTypes]) – The command to execute
- Returns:
Result of the executed command
- Return type:
Dict[str, ValueTypes]
- 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 = Arm.get_resource_name("my_arm")
- Parameters:
name (str) – The name of the Resource
- Returns:
The ResourceName of this Resource
- Return type:
- 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 theOperation
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:
- 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()