viam.services.service_base
Module Contents
Classes
This class describes the base functionality required for a Viam Service. |
- class viam.services.service_base.ServiceBase(name: str)[source]
Bases:
abc.ABC
,viam.resource.base.ResourceBase
This class describes the base functionality required for a Viam Service. All services must inherit from this class.
- SUBTYPE: ClassVar[viam.resource.types.Subtype]
- classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) typing_extensions.Self [source]
Get the service named
name
from the provided robot.async def connect() -> ViamClient: # Replace "<API-KEY>" (including brackets) with your API key and "<API-KEY-ID>" with your API key ID dial_options = DialOptions.with_api_key("<API-KEY>", "<API-KEY-ID>") return await ViamClient.create_from_dial_options(dial_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=robot, 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 async do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: float | None = None, **kwargs) Mapping[str, viam.utils.ValueTypes] [source]
Send/receive arbitrary commands.
motion = MotionClient.from_robot(robot, "builtin") my_command = { "cmnd": "dosomething", "someparameter": 52 } # Can be used with any resource, using the motion service as an example await motion.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 = my_arm.get_resource_name("my_arm")
- 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 return errors when future non-Close methods are called.
await component.close()