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)

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

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

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

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 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