viam.services.service_client_base
Classes
Base service client. |
Module Contents
- class viam.services.service_client_base.ServiceClientBase(name: str, channel: grpclib.client.Channel)[source]
Bases:
abc.ABC
,viam.resource.base.ResourceBase
Base service client. All service clients must inherit from this class.
- SUBTYPE: ClassVar[viam.resource.base.Subtype]
The Subtype of the Resource
- channel: grpclib.client.Channel
- name
The name of the Resource
- classmethod from_robot(robot: viam.robot.client.RobotClient, name: str = 'builtin') typing_extensions.Self [source]
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
- abstract do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: float | None = None, **kwargs) Mapping[str, viam.utils.ValueTypes] [source]
- Async:
Send/Receive arbitrary commands to the Resource
command = {"cmd": "test", "data1": 500} result = await component.do_command(command)
- 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
# 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:
- 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()