viam.services.service_base

Module Contents

Classes

ServiceBase

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 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()