viam.services.sensors.client

Classes

SensorsClient

Connect to the SensorService, which centralizes all Sensors in a single place

Module Contents

class viam.services.sensors.client.SensorsClient(name: str, channel: grpclib.client.Channel)

Bases: viam.services.service_client_base.ServiceClientBase, viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase

Connect to the SensorService, which centralizes all Sensors in a single place

SUBTYPE: Final

The Subtype of the Resource

client: viam.proto.service.sensors.SensorsServiceStub

async get_sensors(*, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs) → List[viam.proto.common.ResourceName]

Get the ResourceName of all the Sensor resources connected to this Robot

Returns:

The list of all Sensors

Return type:

List[viam.proto.common.ResourceName]

async get_readings(sensors: List[viam.proto.common.ResourceName], *, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs) → Mapping[viam.proto.common.ResourceName, Mapping[str, viam.utils.SensorReading]]

Get the readings from the specific sensors provided

Parameters:

sensors (List[viam.proto.common.ResourceName]) – The ResourceName of the Sensor resources to get readings from

Returns:

The readings from the sensors, mapped by ResourceName

Return type:

Mapping[viam.proto.common.ResourceName, Mapping[str, Any]]

async do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: float | None = None, **kwargs) → Mapping[str, viam.utils.ValueTypes]

Send/receive arbitrary commands

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 = 'builtin') → typing_extensions.Self

Get the service client named name from the provided robot.

Parameters:

• robot (RobotClient) – The robot

• name (str) – The name of the service client

Returns:

The service client, 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:

ResourceName

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 return errors when future non-Close methods are called.

await component.close()