viam.services.worldstatestore.client

Classes

WorldStateStoreClient

gRPC client for the WorldStateStore service.

Module Contents

class viam.services.worldstatestore.client.WorldStateStoreClient(name: str, channel: grpclib.client.Channel)[source]

Bases: viam.services.worldstatestore.worldstatestore.WorldStateStore, viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase

gRPC client for the WorldStateStore service.

client: viam.proto.service.worldstatestore.WorldStateStoreServiceStub

channel

async list_uuids(*, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs) → List[bytes][source]

List all world state transform UUIDs.

worldstatestore = WorldStateStoreClient.from_robot(robot=machine, name="builtin")

uuids = await worldstatestore.list_uuids()

Returns:: A list of transform UUIDs
Return type:: List[bytes]

async get_transform(uuid: bytes, *, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs) → viam.proto.common.Transform[source]

Get a world state transform by UUID.

worldstatestore = WorldStateStoreClient.from_robot(robot=machine, name="builtin")

transform = await worldstatestore.get_transform(uuid=b"some-uuid")

Parameters:: uuid (bytes) – The UUID of the transform to retrieve
Returns:: The requested transform
Return type:: Transform

async stream_transform_changes(*, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs) → AsyncGenerator[viam.proto.service.worldstatestore.StreamTransformChangesResponse, None][source]

Stream changes to world state transforms.

worldstatestore = WorldStateStoreClient.from_robot(robot=machine, name="builtin")

async for change in worldstatestore.stream_transform_changes():
    print(f"Transform {change.transform.uuid} {change.change_type}")

Returns:: A stream of transform changes
Return type:: AsyncIterator[StreamTransformChangesResponse]

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

Send/receive arbitrary commands.

service = SERVICE.from_robot(robot=machine, "builtin")  # replace SERVICE with the appropriate class

my_command = {
  "cmnd": "dosomething",
  "someparameter": 52
}

# Can be used with any resource, using the motion service as an example
await service.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 from_robot(robot: viam.robot.client.RobotClient, name: str) → typing_extensions.Self

Get the service named name from the provided robot.

async def connect() -> RobotClient:
    # Replace "<API-KEY>" (including brackets) with your API key and "<API-KEY-ID>" with your API key ID
    options = RobotClient.Options.with_api_key("<API-KEY>", "<API-KEY-ID>")
    # Replace "<MACHINE-URL>" (included brackets) with your machine's connection URL or FQDN
    return await RobotClient.at_address("<MACHINE-URL>", 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=machine, 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

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()