viam.services.navigation.client
Module Contents
Classes
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.
- 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 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 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 retun errors when future non-Close methods are called.