| +| [`GetGeometries`](/dev/reference/apis/components/generic/#getgeometries) | Get all the geometries associated with the generic component in its current configuration, in the frame of the generic component. |
| +| [`DoCommand`](/dev/reference/apis/components/generic/#docommand) | Execute model-specific commands. | | [`GetResourceName`](/dev/reference/apis/components/generic/#getresourcename) | Get the `ResourceName` for this generic component with the given name. |
| | [`Close`](/dev/reference/apis/components/generic/#close) | Safely shut down the resource and prevent further use. |
| diff --git a/static/include/components/apis/generated/generic_component.md b/static/include/components/apis/generated/generic_component.md index 1b983e44e9..99f8181b5b 100644 --- a/static/include/components/apis/generated/generic_component.md +++ b/static/include/components/apis/generated/generic_component.md @@ -63,7 +63,95 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/r **Returns:** -- [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html)\<[Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)\<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic\>\> +- [Future](https://api.flutter.dev/flutter/dart-core/Future-class.html)\<[Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)\<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic\>\> + +**Example:** + +```dart {class="line-numbers linkable-line-numbers"} +// Example using doCommand with an arm component +const command = {'cmd': 'test', 'data1': 500}; +var result = myArm.doCommand(command); +``` + +For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Resource/doCommand.html). + +{{% /tab %}} +{{< /tabs >}} + +### GetGeometries + +Get all the geometries associated with the generic component in its current configuration, in the [frame](/operate/mobility/define-geometry/) of the generic component. +The [motion](/operate/reference/services/motion/) and [navigation](/operate/reference/services/navigation/) services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning. + +{{< tabs >}} +{{% tab name="Python" %}} + +**Parameters:** + +- `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call. +- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. + +**Returns:** + +- ([List[viam.proto.common.Geometry]](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.Geometry)): The geometries associated with the Component. + +**Example:** + +```python {class="line-numbers linkable-line-numbers"} +my_generic_component = Generic.from_robot(robot=machine, name="my_generic_component") +geometries = await my_generic_component.get_geometries() + +if geometries: + # Get the center of the first geometry + print(f"Pose of the first geometry's centerpoint: {geometries[0].center}") +``` + +For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/generic/client/index.html#viam.components.generic.client.GenericClient.get_geometries). + +{{% /tab %}} +{{< /tabs >}} + +### DoCommand + +Execute model-specific commands. +If you are implementing your own generic component and add features that have no built-in API method, you can access them with `DoCommand`. + +{{< tabs >}} +{{% tab name="Python" %}} + +**Parameters:** + +- `command` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), ValueTypes]) (required): The command to execute. +- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. + +**Returns:** + +- (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]): Result of the executed command. + +**Raises:** + +- (NotImplementedError): Raised if the Resource does not support arbitrary commands. + +**Example:** + +```python {class="line-numbers linkable-line-numbers"} +my_generic_component = Generic.from_robot(robot=machine, name="my_generic_component") +command = {"cmd": "test", "data1": 500} +result = await my_generic_component.do_command(command) +``` + +For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/generic/client/index.html#viam.components.generic.client.GenericClient.do_command). + +{{% /tab %}} +{{% tab name="Flutter" %}} + +**Parameters:** + +- `command` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)\<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic\> (required) + +**Returns:** + +- [Future](https://api.flutter.dev/flutter/dart-core/Future-class.html)\<[Map](https://api.flutter.dev/flutter/dart-core/Map-class.html)\<[String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic\>\> **Example:** @@ -112,6 +200,12 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/ - [ResourceName](https://flutter.viam.dev/viam_sdk/ResourceName-class.html) +**Example:** + +```dart {class="line-numbers linkable-line-numbers"} +final myGenericResourceName = myGeneric.getResourceName("my_generic"); +``` + For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Generic/getResourceName.html). {{% /tab %}} diff --git a/static/include/components/apis/generated/gripper.md b/static/include/components/apis/generated/gripper.md index 98b14a76ee..1b7bd059d5 100644 --- a/static/include/components/apis/generated/gripper.md +++ b/static/include/components/apis/generated/gripper.md @@ -444,6 +444,12 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/ - [ResourceName](https://flutter.viam.dev/viam_sdk/ResourceName-class.html) +**Example:** + +```dart {class="line-numbers linkable-line-numbers"} +final myGripperResourceName = myGripper.getResourceName("my_gripper"); +``` + For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gripper/getResourceName.html). {{% /tab %}} diff --git a/static/include/components/apis/generated/input_controller-table.md b/static/include/components/apis/generated/input_controller-table.md index 5e22099891..7feeedf3e4 100644 --- a/static/include/components/apis/generated/input_controller-table.md +++ b/static/include/components/apis/generated/input_controller-table.md @@ -7,5 +7,6 @@ | [`GetGeometries`](/dev/reference/apis/components/input-controller/#getgeometries) | Get all the geometries associated with the input controller in its current configuration, in the frame of the input controller. | | [`RegisterControlCallback`](/dev/reference/apis/components/input-controller/#registercontrolcallback) | Defines a callback function to execute whenever one of the EventTypes selected occurs on the given Control. | | [`Reconfigure`](/dev/reference/apis/components/input-controller/#reconfigure) | Reconfigure this resource. | +| [`DoCommand`](/dev/reference/apis/components/input-controller/#docommand) | Execute model-specific commands that are not otherwise defined by the component API. | | [`GetResourceName`](/dev/reference/apis/components/input-controller/#getresourcename) | Get the `ResourceName` for this input controller with the given name. | | [`Close`](/dev/reference/apis/components/input-controller/#close) | Safely shut down the resource and prevent further use. | diff --git a/static/include/components/apis/generated/input_controller.md b/static/include/components/apis/generated/input_controller.md index 09c5ad37e2..6c383cefc5 100644 --- a/static/include/components/apis/generated/input_controller.md +++ b/static/include/components/apis/generated/input_controller.md @@ -348,6 +348,41 @@ For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/r {{% /tab %}} {{< /tabs >}} +### DoCommand + +Execute model-specific commands that are not otherwise defined by the component API. +For built-in models, model-specific commands are covered with each model's documentation. +If you are implementing your own input controller and add features that have no built-in API method, you can access them with `DoCommand`. + +{{< tabs >}} +{{% tab name="Python" %}} + +**Parameters:** + +- `command` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), ValueTypes]) (required): The command to execute. +- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. + +**Returns:** + +- (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), viam.utils.ValueTypes]): Result of the executed command. + +**Raises:** + +- (NotImplementedError): Raised if the Resource does not support arbitrary commands. + +**Example:** + +```python {class="line-numbers linkable-line-numbers"} +my_input_controller = InputController.from_robot(robot=machine, name="my_input_controller") +command = {"cmd": "test", "data1": 500} +result = await my_input_controller.do_command(command) +``` + +For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/input/client/index.html#viam.components.input.client.ControllerClient.do_command). + +{{% /tab %}} +{{< /tabs >}} + ### GetResourceName Get the `ResourceName` for this input controller with the given name. diff --git a/static/include/components/apis/generated/movement_sensor.md b/static/include/components/apis/generated/movement_sensor.md index 26e7f2b2e5..d2aff2bf7b 100644 --- a/static/include/components/apis/generated/movement_sensor.md +++ b/static/include/components/apis/generated/movement_sensor.md @@ -631,6 +631,39 @@ For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_s {{% /tab %}} {{< /tabs >}} +### GetGeometries + +Get all the geometries associated with the movement sensor in its current configuration, in the [frame](/operate/mobility/define-geometry/) of the movement sensor. +The [motion](/operate/reference/services/motion/) and [navigation](/operate/reference/services/navigation/) services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning. + +{{< tabs >}} +{{% tab name="Python" %}} + +**Parameters:** + +- `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call. +- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. + +**Returns:** + +- ([List[viam.proto.common.Geometry]](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.Geometry)): The geometries associated with the Component. + +**Example:** + +```python {class="line-numbers linkable-line-numbers"} +my_movement_sensor = MovementSensor.from_robot(robot=machine, name="my_movement_sensor") +geometries = await my_movement_sensor.get_geometries() + +if geometries: + # Get the center of the first geometry + print(f"Pose of the first geometry's centerpoint: {geometries[0].center}") +``` + +For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/movement_sensor/client/index.html#viam.components.movement_sensor.client.MovementSensorClient.get_geometries). + +{{% /tab %}} +{{< /tabs >}} + ### GetReadings Get all the measurements/data from the sensor. @@ -843,6 +876,12 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/ - [ResourceName](https://flutter.viam.dev/viam_sdk/ResourceName-class.html) +**Example:** + +```dart {class="line-numbers linkable-line-numbers"} +final myMovementSensorResourceName = myMovementSensor.getResourceName("my_movement_sensor"); +``` + For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/MovementSensor/getResourceName.html). {{% /tab %}} diff --git a/static/include/components/apis/generated/power_sensor.md b/static/include/components/apis/generated/power_sensor.md index 8430209f88..6c741242ca 100644 --- a/static/include/components/apis/generated/power_sensor.md +++ b/static/include/components/apis/generated/power_sensor.md @@ -428,6 +428,12 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/ - [ResourceName](https://flutter.viam.dev/viam_sdk/ResourceName-class.html) +**Example:** + +```dart {class="line-numbers linkable-line-numbers"} +final myPowerSensorResourceName = myPowerSensor.getResourceName("my_power_sensor"); +``` + For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/PowerSensor/getResourceName.html). {{% /tab %}} diff --git a/static/include/components/apis/generated/sensor-table.md b/static/include/components/apis/generated/sensor-table.md index 6c916e9014..fcce48bf96 100644 --- a/static/include/components/apis/generated/sensor-table.md +++ b/static/include/components/apis/generated/sensor-table.md @@ -2,6 +2,7 @@ | Method Name | Description | `viam-micro-server` Support | | ----------- | ----------- | --------------------------- | | [`GetReadings`](/dev/reference/apis/components/sensor/#getreadings) | Get the measurements or readings that this sensor provides. |
| +| [`GetGeometries`](/dev/reference/apis/components/sensor/#getgeometries) | Get all the geometries associated with the sensor in its current configuration, in the frame of the sensor. | | [`Reconfigure`](/dev/reference/apis/components/sensor/#reconfigure) | Reconfigure this resource. |
| | [`DoCommand`](/dev/reference/apis/components/sensor/#docommand) | Execute model-specific commands that are not otherwise defined by the component API. | | [`GetResourceName`](/dev/reference/apis/components/sensor/#getresourcename) | Get the `ResourceName` for this sensor with the given name. |
| diff --git a/static/include/components/apis/generated/sensor.md b/static/include/components/apis/generated/sensor.md index 6cba6b44bb..01387b5f1d 100644 --- a/static/include/components/apis/generated/sensor.md +++ b/static/include/components/apis/generated/sensor.md @@ -70,6 +70,39 @@ For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_s {{% /tab %}} {{< /tabs >}} +### GetGeometries + +Get all the geometries associated with the sensor in its current configuration, in the [frame](/operate/mobility/define-geometry/) of the sensor. +The [motion](/operate/reference/services/motion/) and [navigation](/operate/reference/services/navigation/) services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning. + +{{< tabs >}} +{{% tab name="Python" %}} + +**Parameters:** + +- `extra` (Mapping[[str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call. +- `timeout` ([float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. + +**Returns:** + +- ([List[viam.proto.common.Geometry]](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.Geometry)): The geometries associated with the Component. + +**Example:** + +```python {class="line-numbers linkable-line-numbers"} +my_sensor = Sensor.from_robot(robot=machine, name="my_sensor") +geometries = await my_sensor.get_geometries() + +if geometries: + # Get the center of the first geometry + print(f"Pose of the first geometry's centerpoint: {geometries[0].center}") +``` + +For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/sensor/client/index.html#viam.components.sensor.client.SensorClient.get_geometries). + +{{% /tab %}} +{{< /tabs >}} + ### Reconfigure Reconfigure this resource. @@ -157,6 +190,12 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/ - [ResourceName](https://flutter.viam.dev/viam_sdk/ResourceName-class.html) +**Example:** + +```dart {class="line-numbers linkable-line-numbers"} +final mySensorResourceName = mySensor.getResourceName("my_sensor"); +``` + For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Sensor/getResourceName.html). {{% /tab %}} diff --git a/static/include/components/apis/generated/servo.md b/static/include/components/apis/generated/servo.md index 98eee445e9..98b96b98ba 100644 --- a/static/include/components/apis/generated/servo.md +++ b/static/include/components/apis/generated/servo.md @@ -421,7 +421,7 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/ ```dart {class="line-numbers linkable-line-numbers"} // Example: -var name = Servo.getResourceName('myServo'); +var name = Servo.getResourceName('my_servo'); ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Servo/getResourceName.html). diff --git a/static/include/robot/apis/overrides/protos/robot.DiscoverComponents.md b/static/include/robot/apis/overrides/protos/robot.DiscoverComponents.md new file mode 100644 index 0000000000..6f788e1779 --- /dev/null +++ b/static/include/robot/apis/overrides/protos/robot.DiscoverComponents.md @@ -0,0 +1 @@ +Get a list of discovered potential component configurations, for example listing different supported resolutions. Currently only works for some cameras. \ No newline at end of file diff --git a/static/include/services/apis/generated/motion.md b/static/include/services/apis/generated/motion.md index 1615dbeb3f..59773de3e5 100644 --- a/static/include/services/apis/generated/motion.md +++ b/static/include/services/apis/generated/motion.md @@ -144,7 +144,7 @@ Make sure the [SLAM service](/operate/reference/services/slam/) you use alongsid - `component_name` ([viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/gen/common/v1/common_pb2/index.html#viam.gen.common.v1.common_pb2.ResourceName)) (required): The `ResourceName` of the base to move. - `destination` ([viam.proto.common.Pose](https://python.viam.dev/autoapi/viam/components/arm/index.html#viam.components.arm.Pose)) (required): The destination, which can be any [Pose](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.Pose) with respect to the SLAM map's origin. - `slam_service_name` ([viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/gen/common/v1/common_pb2/index.html#viam.gen.common.v1.common_pb2.ResourceName)) (required): The `ResourceName` of the [SLAM service](/operate/reference/services/slam/) from which the SLAM map is requested. -- `configuration` ([viam.proto.service.motion.MotionConfiguration](https://python.viam.dev/autoapi/viam/gen/service/motion/v1/motion_pb2/index.html#viam.gen.service.motion.v1.motion_pb2.MotionConfiguration)) (optional): +- `configuration` ([viam.proto.service.motion.MotionConfiguration](https://python.viam.dev/autoapi/viam/gen/service/motion/v1/motion_pb2/index.html#viam.gen.service.motion.v1.motion_pb2.MotionConfiguration)) (optional): The configuration you want to set across this machine for this motion service. This parameter and each of its fields are optional. - `obstacle_detectors` [(Iterable[ObstacleDetector])](https://python.viam.dev/autoapi/viam/proto/service/motion/index.html#viam.proto.service.motion.ObstacleDetector): The names of each [vision service](/operate/reference/services/vision/) and [camera](/operate/reference/components/camera/) resource pair you want to use for transient obstacle avoidance. @@ -188,7 +188,7 @@ For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/ **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. -- `req` [(MoveOnMapReq)](https://pkg.go.dev/go.viam.com/rdk/services/motion#MoveOnMapReq): +- `req` [(MoveOnMapReq)](https://pkg.go.dev/go.viam.com/rdk/services/motion#MoveOnMapReq): A `MoveOnMapReq` which contains the following values: - `ComponentName` [(resource.Name)](https://pkg.go.dev/go.viam.com/rdk/resource#Name): The `resource.Name` of the base to move. @@ -290,7 +290,7 @@ Translation in obstacles is not supported by the [navigation service](/operate/r - `movement_sensor_name` ([viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/gen/common/v1/common_pb2/index.html#viam.gen.common.v1.common_pb2.ResourceName)) (required): The `ResourceName` of the [movement sensor](/operate/reference/components/movement-sensor/) that you want to use to check the machine's location. - `obstacles` ([Sequence[viam.proto.common.GeoGeometry]](https://python.viam.dev/autoapi/viam/gen/common/v1/common_pb2/index.html#viam.gen.common.v1.common_pb2.GeoGeometry)) (optional): Obstacles to consider when planning the motion of the component, with each represented as a `GeoGeometry`.