viam.services.navigation.client

Module Contents

Classes

NavigationClient

Connect to the NavigationService, which allows the robot to navigate to specified locations.
class viam.services.navigation.client.NavigationClient(name: str, channel: grpclib.client.Channel)[source]

Bases: viam.services.navigation.navigation.Navigation, viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase

Connect to the NavigationService, which allows the robot to navigate to specified locations.

client: viam.proto.service.navigation.NavigationServiceStub
async get_paths(*, timeout: Optional[float] = None) → List[viam.proto.service.navigation.Path][source]
async get_location(*, timeout: Optional[float] = None) → viam.services.navigation.GeoPoint[source]
async get_obstacles(*, timeout: Optional[float] = None) → List[viam.services.navigation.GeoObstacle][source]
async get_waypoints(*, timeout: Optional[float] = None) → List[viam.services.navigation.Waypoint][source]
async add_waypoint(point: viam.services.navigation.GeoPoint, *, timeout: Optional[float] = None)[source]
async remove_waypoint(id: str, *, timeout: Optional[float] = None)[source]
async get_mode(*, timeout: Optional[float] = None) → viam.services.navigation.Mode.ValueType[source]
async set_mode(mode: viam.services.navigation.Mode.ValueType, *, timeout: Optional[float] = None)[source]
async do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: Optional[float] = None) → Mapping[str, viam.utils.ValueTypes][source]

Send/Receive arbitrary commands to the Resource

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]

classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) → typing_extensions.Self

Get the service named name from the provided robot.

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

Parameters:

name (str) – The name of the Resource

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 retun errors when future non-Close methods are called.