Class BoardClient

A gRPC-web client for the Board component.

Implements

Board

Index

Constructors

constructor

new BoardClient(client, name, options?): BoardClient
Parameters
- client: RobotClient
- name: string
- options: Options = {}
Returns BoardClient

Properties

callOptions

callOptions: CallOptions = ...

`Private` client

client: PromiseClient<{
    methods: {
        doCommand: {
            I: typeof DoCommandRequest;
            O: typeof DoCommandResponse;
            kind: Unary;
            name: "DoCommand";
        };
        getDigitalInterruptValue: {
            I: typeof GetDigitalInterruptValueRequest;
            O: typeof GetDigitalInterruptValueResponse;
            kind: Unary;
            name: "GetDigitalInterruptValue";
        };
        getGPIO: {
            I: typeof GetGPIORequest;
            O: typeof GetGPIOResponse;
            kind: Unary;
            name: "GetGPIO";
        };
        getGeometries: {
            I: typeof GetGeometriesRequest;
            O: typeof GetGeometriesResponse;
            kind: Unary;
            name: "GetGeometries";
        };
        pWM: {
            I: typeof PWMRequest;
            O: typeof PWMResponse;
            kind: Unary;
            name: "PWM";
        };
        pWMFrequency: {
            I: typeof PWMFrequencyRequest;
            O: typeof PWMFrequencyResponse;
            kind: Unary;
            name: "PWMFrequency";
        };
        readAnalogReader: {
            I: typeof ReadAnalogReaderRequest;
            O: typeof ReadAnalogReaderResponse;
            kind: Unary;
            name: "ReadAnalogReader";
        };
        setGPIO: {
            I: typeof SetGPIORequest;
            O: typeof SetGPIOResponse;
            kind: Unary;
            name: "SetGPIO";
        };
        setPWM: {
            I: typeof SetPWMRequest;
            O: typeof SetPWMResponse;
            kind: Unary;
            name: "SetPWM";
        };
        setPWMFrequency: {
            I: typeof SetPWMFrequencyRequest;
            O: typeof SetPWMFrequencyResponse;
            kind: Unary;
            name: "SetPWMFrequency";
        };
        setPowerMode: {
            I: typeof SetPowerModeRequest;
            O: typeof SetPowerModeResponse;
            kind: Unary;
            name: "SetPowerMode";
        };
        streamTicks: {
            I: typeof StreamTicksRequest;
            O: typeof StreamTicksResponse;
            kind: ServerStreaming;
            name: "StreamTicks";
        };
        writeAnalog: {
            I: typeof WriteAnalogRequest;
            O: typeof WriteAnalogResponse;
            kind: Unary;
            name: "WriteAnalog";
        };
    };
    typeName: "viam.component.board.v1.BoardService";
}>

Type declaration

Readonly methods: {
    doCommand: {
        I: typeof DoCommandRequest;
        O: typeof DoCommandResponse;
        kind: Unary;
        name: "DoCommand";
    };
    getDigitalInterruptValue: {
        I: typeof GetDigitalInterruptValueRequest;
        O: typeof GetDigitalInterruptValueResponse;
        kind: Unary;
        name: "GetDigitalInterruptValue";
    };
    getGPIO: {
        I: typeof GetGPIORequest;
        O: typeof GetGPIOResponse;
        kind: Unary;
        name: "GetGPIO";
    };
    getGeometries: {
        I: typeof GetGeometriesRequest;
        O: typeof GetGeometriesResponse;
        kind: Unary;
        name: "GetGeometries";
    };
    pWM: {
        I: typeof PWMRequest;
        O: typeof PWMResponse;
        kind: Unary;
        name: "PWM";
    };
    pWMFrequency: {
        I: typeof PWMFrequencyRequest;
        O: typeof PWMFrequencyResponse;
        kind: Unary;
        name: "PWMFrequency";
    };
    readAnalogReader: {
        I: typeof ReadAnalogReaderRequest;
        O: typeof ReadAnalogReaderResponse;
        kind: Unary;
        name: "ReadAnalogReader";
    };
    setGPIO: {
        I: typeof SetGPIORequest;
        O: typeof SetGPIOResponse;
        kind: Unary;
        name: "SetGPIO";
    };
    setPWM: {
        I: typeof SetPWMRequest;
        O: typeof SetPWMResponse;
        kind: Unary;
        name: "SetPWM";
    };
    setPWMFrequency: {
        I: typeof SetPWMFrequencyRequest;
        O: typeof SetPWMFrequencyResponse;
        kind: Unary;
        name: "SetPWMFrequency";
    };
    setPowerMode: {
        I: typeof SetPowerModeRequest;
        O: typeof SetPowerModeResponse;
        kind: Unary;
        name: "SetPowerMode";
    };
    streamTicks: {
        I: typeof StreamTicksRequest;
        O: typeof StreamTicksResponse;
        kind: ServerStreaming;
        name: "StreamTicks";
    };
    writeAnalog: {
        I: typeof WriteAnalogRequest;
        O: typeof WriteAnalogResponse;
        kind: Unary;
        name: "WriteAnalog";
    };
}
- Readonly doCommand: {
      I: typeof DoCommandRequest;
      O: typeof DoCommandResponse;
      kind: Unary;
      name: "DoCommand";
  }
  DoCommand sends/receives arbitrary commands
  
  Generated
  from rpc viam.component.board.v1.BoardService.DoCommand
  - Readonly I: typeof DoCommandRequest
  - Readonly O: typeof DoCommandResponse
  - Readonly kind: Unary
  - Readonly name: "DoCommand"
- Readonly getDigitalInterruptValue: {
      I: typeof GetDigitalInterruptValueRequest;
      O: typeof GetDigitalInterruptValueResponse;
      kind: Unary;
      name: "GetDigitalInterruptValue";
  }
  GetDigitalInterruptValue returns the current value of the interrupt which is based on the type of interrupt.
  
  Generated
  from rpc viam.component.board.v1.BoardService.GetDigitalInterruptValue
  - Readonly I: typeof GetDigitalInterruptValueRequest
  - Readonly O: typeof GetDigitalInterruptValueResponse
  - Readonly kind: Unary
  - Readonly name: "GetDigitalInterruptValue"
- Readonly getGPIO: {
      I: typeof GetGPIORequest;
      O: typeof GetGPIOResponse;
      kind: Unary;
      name: "GetGPIO";
  }
  GetGPIO gets the high/low state of the given pin of a board of the underlying robot.
  
  Generated
  from rpc viam.component.board.v1.BoardService.GetGPIO
  - Readonly I: typeof GetGPIORequest
  - Readonly O: typeof GetGPIOResponse
  - Readonly kind: Unary
  - Readonly name: "GetGPIO"
- Readonly getGeometries: {
      I: typeof GetGeometriesRequest;
      O: typeof GetGeometriesResponse;
      kind: Unary;
      name: "GetGeometries";
  }
  GetGeometries returns the geometries of the component in their current configuration.
  
  Generated
  from rpc viam.component.board.v1.BoardService.GetGeometries
  - Readonly I: typeof GetGeometriesRequest
  - Readonly O: typeof GetGeometriesResponse
  - Readonly kind: Unary
  - Readonly name: "GetGeometries"
- Readonly pWM: {
      I: typeof PWMRequest;
      O: typeof PWMResponse;
      kind: Unary;
      name: "PWM";
  }
  PWM gets the duty cycle of the given pin of a board of the underlying robot.
  
  Generated
  from rpc viam.component.board.v1.BoardService.PWM
  - Readonly I: typeof PWMRequest
  - Readonly O: typeof PWMResponse
  - Readonly kind: Unary
  - Readonly name: "PWM"
- Readonly pWMFrequency: {
      I: typeof PWMFrequencyRequest;
      O: typeof PWMFrequencyResponse;
      kind: Unary;
      name: "PWMFrequency";
  }
  PWMFrequency gets the PWM frequency of the given pin of a board of the underlying robot.
  
  Generated
  from rpc viam.component.board.v1.BoardService.PWMFrequency
  - Readonly I: typeof PWMFrequencyRequest
  - Readonly O: typeof PWMFrequencyResponse
  - Readonly kind: Unary
  - Readonly name: "PWMFrequency"
- Readonly readAnalogReader: {
      I: typeof ReadAnalogReaderRequest;
      O: typeof ReadAnalogReaderResponse;
      kind: Unary;
      name: "ReadAnalogReader";
  }
  ReadAnalogReader reads off the current value of an analog reader of a board of the underlying robot.
  
  Generated
  from rpc viam.component.board.v1.BoardService.ReadAnalogReader
  - Readonly I: typeof ReadAnalogReaderRequest
  - Readonly O: typeof ReadAnalogReaderResponse
  - Readonly kind: Unary
  - Readonly name: "ReadAnalogReader"
- Readonly setGPIO: {
      I: typeof SetGPIORequest;
      O: typeof SetGPIOResponse;
      kind: Unary;
      name: "SetGPIO";
  }
  Generated
  from rpc viam.component.board.v1.BoardService.SetGPIO
  - Readonly I: typeof SetGPIORequest
  - Readonly O: typeof SetGPIOResponse
  - Readonly kind: Unary
  - Readonly name: "SetGPIO"
- Readonly setPWM: {
      I: typeof SetPWMRequest;
      O: typeof SetPWMResponse;
      kind: Unary;
      name: "SetPWM";
  }
  SetPWM sets the given pin of a board of the underlying robot to the given duty cycle.
  
  Generated
  from rpc viam.component.board.v1.BoardService.SetPWM
  - Readonly I: typeof SetPWMRequest
  - Readonly O: typeof SetPWMResponse
  - Readonly kind: Unary
  - Readonly name: "SetPWM"
- Readonly setPWMFrequency: {
      I: typeof SetPWMFrequencyRequest;
      O: typeof SetPWMFrequencyResponse;
      kind: Unary;
      name: "SetPWMFrequency";
  }
  SetPWMFrequency sets the given pin of a board of the underlying robot to the given PWM frequency. 0 will use the board's default PWM frequency.
  
  Generated
  from rpc viam.component.board.v1.BoardService.SetPWMFrequency
  - Readonly I: typeof SetPWMFrequencyRequest
  - Readonly O: typeof SetPWMFrequencyResponse
  - Readonly kind: Unary
  - Readonly name: "SetPWMFrequency"
- Readonly setPowerMode: {
      I: typeof SetPowerModeRequest;
      O: typeof SetPowerModeResponse;
      kind: Unary;
      name: "SetPowerMode";
  }
  SetPowerMode sets the power consumption mode of the board to the requested setting for the given duration.
  
  Generated
  from rpc viam.component.board.v1.BoardService.SetPowerMode
  - Readonly I: typeof SetPowerModeRequest
  - Readonly O: typeof SetPowerModeResponse
  - Readonly kind: Unary
  - Readonly name: "SetPowerMode"
- Readonly streamTicks: {
      I: typeof StreamTicksRequest;
      O: typeof StreamTicksResponse;
      kind: ServerStreaming;
      name: "StreamTicks";
  }
  StreamTicks starts a stream of ticks for the given digital interrupts.
  
  Generated
  from rpc viam.component.board.v1.BoardService.StreamTicks
  - Readonly I: typeof StreamTicksRequest
  - Readonly O: typeof StreamTicksResponse
  - Readonly kind: ServerStreaming
  - Readonly name: "StreamTicks"
- Readonly writeAnalog: {
      I: typeof WriteAnalogRequest;
      O: typeof WriteAnalogResponse;
      kind: Unary;
      name: "WriteAnalog";
  }
  WriteAnalog writes the value to the analog writer of the board.
  
  Generated
  from rpc viam.component.board.v1.BoardService.WriteAnalog
  - Readonly I: typeof WriteAnalogRequest
  - Readonly O: typeof WriteAnalogResponse
  - Readonly kind: Unary
  - Readonly name: "WriteAnalog"
Readonly typeName: "viam.component.board.v1.BoardService"

`Private` `Readonly` name

name: string

`Private` `Readonly` options

options: Options

Methods

doCommand

doCommand(command, callOptions?): Promise<JsonValue>
Send/Receive arbitrary commands to the resource.
Parameters
- command: Struct
  The command to execute.
- callOptions: CallOptions = ...
Returns Promise<JsonValue>
Implementation of Board.doCommand

getDigitalInterruptValue

getDigitalInterruptValue(digitalInterruptName, extra?, callOptions?): Promise<number>
Return the current value of the interrupt which is based on the type of interrupt.
Parameters
- digitalInterruptName: string
  The name of the digital interrupt.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<number>
Implementation of Board.getDigitalInterruptValue

getGPIO

getGPIO(pin, extra?, callOptions?): Promise<boolean>
Parameters
- pin: string
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<boolean>
Implementation of Board.getGPIO

getPWM

getPWM(pin, extra?, callOptions?): Promise<number>
Get the duty cycle of the given pin of a board.
Parameters
- pin: string
  The pin.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<number>
The duty cycle, which is a value from 0 to 1.

Implementation of Board.getPWM

getPWMFrequency

getPWMFrequency(pin, extra?, callOptions?): Promise<number>
Get the PWM frequency of the given pin of a board.
Parameters
- pin: string
  The pin.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<number>
Implementation of Board.getPWMFrequency

readAnalogReader

readAnalogReader(analogReader, extra?, callOptions?): Promise<ReadAnalogReaderResponse>
Read the current value of an analog reader of a board.
Parameters
- analogReader: string
  The name of the analog reader.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<ReadAnalogReaderResponse>
Implementation of Board.readAnalogReader

setGPIO

setGPIO(pin, high, extra?, callOptions?): Promise<void>
Set the high/low state of the given pin of a board.
Parameters
- pin: string
  The pin.
- high: boolean
  When true, set the given pin to high. When false, set the given pin to low.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<void>
Implementation of Board.setGPIO

setPWM

setPWM(pin, dutyCyle, extra?, callOptions?): Promise<void>
Set the duty cycle of the given pin of a board.
Parameters
- pin: string
  The pin.
- dutyCyle: number
  A value from 0 to 1.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<void>
Implementation of Board.setPWM

setPWMFrequency

setPWMFrequency(pin, frequencyHz, extra?, callOptions?): Promise<void>
Set the PWM frequency of the given pin of a board.
Parameters
- pin: string
  The pin.
- frequencyHz: number
  The PWM frequency, in hertz. 0 will use the board's default PWM frequency.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<void>
Implementation of Board.setPWMFrequency

setPowerMode

setPowerMode(powerMode, duration?, extra?, callOptions?): Promise<void>
Set power mode of the board.
Parameters
- powerMode: boardApi.PowerMode
  The requested power mode.
- Optional duration: Duration
  The requested duration to stay in power mode.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<void>
Implementation of Board.setPowerMode

streamTicks

streamTicks(interrupts, queue, extra?, callOptions?): Promise<void>
Stream digital interrupt ticks on the board.
Parameters
- interrupts: string[]
  Names of the interrupts to stream.
- queue: Tick[]
  Array to put the ticks in.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<void>
Implementation of Board.streamTicks

writeAnalog

writeAnalog(pin, value, extra?, callOptions?): Promise<void>
Write an analog value to a pin on the board.
Parameters
- pin: string
  The pin name.
- value: number
  An integer value to write.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<void>
Implementation of Board.writeAnalog

Class BoardClient

Implements

Index

Constructors

Properties

Methods

Constructors

constructor

Parameters

Returns BoardClient

Properties

callOptions

Private client

Type declaration

Readonly doCommand: { I: typeof DoCommandRequest; O: typeof DoCommandResponse; kind: Unary; name: "DoCommand"; }

Generated

Readonly I: typeof DoCommandRequest

Readonly O: typeof DoCommandResponse

Readonly kind: Unary

Readonly name: "DoCommand"

Readonly getDigitalInterruptValue: { I: typeof GetDigitalInterruptValueRequest; O: typeof GetDigitalInterruptValueResponse; kind: Unary; name: "GetDigitalInterruptValue"; }

Generated

Readonly I: typeof GetDigitalInterruptValueRequest

Readonly O: typeof GetDigitalInterruptValueResponse

Readonly kind: Unary

Readonly name: "GetDigitalInterruptValue"

Readonly getGPIO: { I: typeof GetGPIORequest; O: typeof GetGPIOResponse; kind: Unary; name: "GetGPIO"; }

Generated

Readonly I: typeof GetGPIORequest

Readonly O: typeof GetGPIOResponse

Readonly kind: Unary

Readonly name: "GetGPIO"

Readonly getGeometries: { I: typeof GetGeometriesRequest; O: typeof GetGeometriesResponse; kind: Unary; name: "GetGeometries"; }

Generated

Readonly I: typeof GetGeometriesRequest

Readonly O: typeof GetGeometriesResponse

Readonly kind: Unary

Readonly name: "GetGeometries"

Readonly pWM: { I: typeof PWMRequest; O: typeof PWMResponse; kind: Unary; name: "PWM"; }

Generated

Readonly I: typeof PWMRequest

Readonly O: typeof PWMResponse

Readonly kind: Unary

Readonly name: "PWM"

Readonly pWMFrequency: { I: typeof PWMFrequencyRequest; O: typeof PWMFrequencyResponse; kind: Unary; name: "PWMFrequency"; }

Generated

Readonly I: typeof PWMFrequencyRequest

Readonly O: typeof PWMFrequencyResponse

Readonly kind: Unary

Readonly name: "PWMFrequency"

Readonly readAnalogReader: { I: typeof ReadAnalogReaderRequest; O: typeof ReadAnalogReaderResponse; kind: Unary; name: "ReadAnalogReader"; }

Generated

Readonly I: typeof ReadAnalogReaderRequest

Readonly O: typeof ReadAnalogReaderResponse

Readonly kind: Unary

Readonly name: "ReadAnalogReader"

Readonly setGPIO: { I: typeof SetGPIORequest; O: typeof SetGPIOResponse; kind: Unary; name: "SetGPIO"; }

Generated

Readonly I: typeof SetGPIORequest

Readonly O: typeof SetGPIOResponse

Readonly kind: Unary

Readonly name: "SetGPIO"

Readonly setPWM: { I: typeof SetPWMRequest; O: typeof SetPWMResponse; kind: Unary; name: "SetPWM"; }

Generated

Readonly I: typeof SetPWMRequest

Readonly O: typeof SetPWMResponse

Readonly kind: Unary

Readonly name: "SetPWM"

Readonly setPWMFrequency: { I: typeof SetPWMFrequencyRequest; O: typeof SetPWMFrequencyResponse; kind: Unary; name: "SetPWMFrequency"; }

Generated

Readonly I: typeof SetPWMFrequencyRequest

Readonly O: typeof SetPWMFrequencyResponse

Readonly kind: Unary

Readonly name: "SetPWMFrequency"

Readonly setPowerMode: { I: typeof SetPowerModeRequest; O: typeof SetPowerModeResponse; kind: Unary; name: "SetPowerMode"; }

Generated

Readonly I: typeof SetPowerModeRequest

Readonly O: typeof SetPowerModeResponse

Readonly kind: Unary

Readonly name: "SetPowerMode"

`Private` client

`Readonly` doCommand: {
I: typeof DoCommandRequest;
O: typeof DoCommandResponse;
kind: Unary;
name: "DoCommand";
}

`Readonly` I: typeof DoCommandRequest

`Readonly` O: typeof DoCommandResponse

`Readonly` kind: Unary

`Readonly` name: "DoCommand"

`Readonly` getDigitalInterruptValue: {
I: typeof GetDigitalInterruptValueRequest;
O: typeof GetDigitalInterruptValueResponse;
kind: Unary;
name: "GetDigitalInterruptValue";
}

`Readonly` I: typeof GetDigitalInterruptValueRequest

`Readonly` O: typeof GetDigitalInterruptValueResponse

`Readonly` kind: Unary

`Readonly` name: "GetDigitalInterruptValue"

`Readonly` getGPIO: {
I: typeof GetGPIORequest;
O: typeof GetGPIOResponse;
kind: Unary;
name: "GetGPIO";
}

`Readonly` I: typeof GetGPIORequest

`Readonly` O: typeof GetGPIOResponse

`Readonly` kind: Unary

`Readonly` name: "GetGPIO"

`Readonly` getGeometries: {
I: typeof GetGeometriesRequest;
O: typeof GetGeometriesResponse;
kind: Unary;
name: "GetGeometries";
}

`Readonly` I: typeof GetGeometriesRequest

`Readonly` O: typeof GetGeometriesResponse

`Readonly` kind: Unary

`Readonly` name: "GetGeometries"

`Readonly` pWM: {
I: typeof PWMRequest;
O: typeof PWMResponse;
kind: Unary;
name: "PWM";
}

`Readonly` I: typeof PWMRequest

`Readonly` O: typeof PWMResponse

`Readonly` kind: Unary

`Readonly` name: "PWM"

`Readonly` pWMFrequency: {
I: typeof PWMFrequencyRequest;
O: typeof PWMFrequencyResponse;
kind: Unary;
name: "PWMFrequency";
}

`Readonly` I: typeof PWMFrequencyRequest

`Readonly` O: typeof PWMFrequencyResponse

`Readonly` kind: Unary

`Readonly` name: "PWMFrequency"

`Readonly` readAnalogReader: {
I: typeof ReadAnalogReaderRequest;
O: typeof ReadAnalogReaderResponse;
kind: Unary;
name: "ReadAnalogReader";
}

`Readonly` I: typeof ReadAnalogReaderRequest

`Readonly` O: typeof ReadAnalogReaderResponse

`Readonly` kind: Unary

`Readonly` name: "ReadAnalogReader"

`Readonly` setGPIO: {
I: typeof SetGPIORequest;
O: typeof SetGPIOResponse;
kind: Unary;
name: "SetGPIO";
}

`Readonly` I: typeof SetGPIORequest

`Readonly` O: typeof SetGPIOResponse

`Readonly` kind: Unary

`Readonly` name: "SetGPIO"

`Readonly` setPWM: {
I: typeof SetPWMRequest;
O: typeof SetPWMResponse;
kind: Unary;
name: "SetPWM";
}

`Readonly` I: typeof SetPWMRequest

`Readonly` O: typeof SetPWMResponse

`Readonly` kind: Unary

`Readonly` name: "SetPWM"

`Readonly` setPWMFrequency: {
I: typeof SetPWMFrequencyRequest;
O: typeof SetPWMFrequencyResponse;
kind: Unary;
name: "SetPWMFrequency";
}

`Readonly` I: typeof SetPWMFrequencyRequest

`Readonly` O: typeof SetPWMFrequencyResponse

`Readonly` kind: Unary

`Readonly` name: "SetPWMFrequency"

`Readonly` setPowerMode: {
I: typeof SetPowerModeRequest;
O: typeof SetPowerModeResponse;
kind: Unary;
name: "SetPowerMode";
}

`Readonly` I: typeof SetPowerModeRequest

`Readonly` O: typeof SetPowerModeResponse

`Readonly` kind: Unary

`Readonly` name: "SetPowerMode"

`Readonly` streamTicks: {
I: typeof StreamTicksRequest;
O: typeof StreamTicksResponse;
kind: ServerStreaming;
name: "StreamTicks";
}

`Readonly` I: typeof StreamTicksRequest

`Readonly` O: typeof StreamTicksResponse

`Readonly` kind: ServerStreaming

`Readonly` name: "StreamTicks"

`Readonly` writeAnalog: {
I: typeof WriteAnalogRequest;
O: typeof WriteAnalogResponse;
kind: Unary;
name: "WriteAnalog";
}

`Readonly` I: typeof WriteAnalogRequest

`Readonly` O: typeof WriteAnalogResponse

`Readonly` kind: Unary

`Readonly` name: "WriteAnalog"

`Readonly` typeName: "viam.component.board.v1.BoardService"

`Private` `Readonly` name

`Private` `Readonly` options