viam.services.generic.generic
Classes
Generic service, which represents any type of service that can execute arbitrary commands |
Module Contents
- class viam.services.generic.generic.Generic(name: str, *, logger: logging.Logger | None = None)[source]
Bases:
viam.services.service_base.ServiceBase
Generic service, which represents any type of service that can execute arbitrary commands
This acts as an abstract base class for any drivers representing generic services. This cannot be used on its own. If the
__init__()
function is overridden, it must call thesuper().__init__()
function.To create a Generic service (an arbitrary service that can process commands), this
Generic
service should be subclassed and thedo_command
function implemented.Example:
class ComplexService(Generic): async def do_command( self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs ) -> Mapping[str, ValueTypes]: result = {key: False for key in command.keys()} for (name, args) in command.items(): if name == 'set_val': self.set_val(*args) result[name] = True if name == 'get_val': result[name] = self.val if name == 'complex_command': self.complex_command(*args) result[name] = True return result def set_val(self, val: int): self.val = val def complex_command(self, arg1, arg2, arg3): ...
To execute commands, simply call the
do_command
function with the appropriate parameters.await service.do_command({'set_val': 10}) service.val # 10 await service.do_command({'set_val': 5}) service.val # 5
- SUBTYPE: Final
The Subtype of the Resource
- 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()