Class RobotClient

A gRPC-web client for a Robot.

Hierarchy

  • EventDispatcher
    • RobotClient

Implements

Modules

restartModule

Constructors

constructor

Properties

listeners

Accessors

armService baseService boardService discoveryService encoderService gantryService genericService gripperService inputControllerService mlModelService motionService motorService movementSensorService navigationService peerConnection powerSensorService robotService servoService sessionId slamService visionService

Methods

connect createServiceClient disconnect emit getMachineStatus getVersion has isConnected off on once

App/Cloud

getCloudMetadata

Frame System

frameSystemConfig transformPCD transformPose

Operations

blockForOperation cancelOperation getOperations stopAll

Resources

getModelsFromModules resourceNames resourceRPCSubtypes

Sessions

getSessions

Modules

restartModule

  • restartModule(moduleId?: string, moduleName?: string): Promise<void>
    Alpha

    Restarts a module running on the machine with the given id or name.

    Parameters

    • OptionalmoduleId: string

      The id matching the module_id field of the registry module in your part configuration

    • OptionalmoduleName: string

      The name matching the name field of the local/registry module in your part configuration

    Returns Promise<void>

    Example

    await machine.restartModule('namespace:module:model', 'my_model_name');

Constructors

constructor

  • new RobotClient(
        serviceHost: string,
        webrtcOptions?: WebRTCOptions,
        sessionOptions?: SessionOptions,
        directOptions?: DirectOptions,
    ): RobotClient

    Parameters

    • serviceHost: string
    • OptionalwebrtcOptions: WebRTCOptions
    • OptionalsessionOptions: SessionOptions
    • OptionaldirectOptions: DirectOptions

    Returns RobotClient

Properties

listeners

listeners: Partial<Record<string, Set<Callback>>> = {}

Accessors

armService

  • get armService(): PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getEndPosition: {
                    I: typeof GetEndPositionRequest;
                    kind: Unary;
                    name: "GetEndPosition";
                    O: typeof GetEndPositionResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                getJointPositions: {
                    I: typeof GetJointPositionsRequest;
                    kind: Unary;
                    name: "GetJointPositions";
                    O: typeof GetJointPositionsResponse;
                };
                getKinematics: {
                    I: typeof GetKinematicsRequest;
                    kind: Unary;
                    name: "GetKinematics";
                    O: typeof GetKinematicsResponse;
                };
                isMoving: {
                    I: typeof armApi.IsMovingRequest;
                    kind: Unary;
                    name: "IsMoving";
                    O: typeof armApi.IsMovingResponse;
                };
                moveThroughJointPositions: {
                    I: typeof MoveThroughJointPositionsRequest;
                    kind: Unary;
                    name: "MoveThroughJointPositions";
                    O: typeof MoveThroughJointPositionsResponse;
                };
                moveToJointPositions: {
                    I: typeof MoveToJointPositionsRequest;
                    kind: Unary;
                    name: "MoveToJointPositions";
                    O: typeof MoveToJointPositionsResponse;
                };
                moveToPosition: {
                    I: typeof armApi.MoveToPositionRequest;
                    kind: Unary;
                    name: "MoveToPosition";
                    O: typeof armApi.MoveToPositionResponse;
                };
                stop: {
                    I: typeof armApi.StopRequest;
                    kind: Unary;
                    name: "Stop";
                    O: typeof armApi.StopResponse;
                };
            };
            typeName: "viam.component.arm.v1.ArmService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getEndPosition: {
                    I: typeof GetEndPositionRequest;
                    kind: Unary;
                    name: "GetEndPosition";
                    O: typeof GetEndPositionResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                getJointPositions: {
                    I: typeof GetJointPositionsRequest;
                    kind: Unary;
                    name: "GetJointPositions";
                    O: typeof GetJointPositionsResponse;
                };
                getKinematics: {
                    I: typeof GetKinematicsRequest;
                    kind: Unary;
                    name: "GetKinematics";
                    O: typeof GetKinematicsResponse;
                };
                isMoving: {
                    I: typeof armApi.IsMovingRequest;
                    kind: Unary;
                    name: "IsMoving";
                    O: typeof armApi.IsMovingResponse;
                };
                moveThroughJointPositions: {
                    I: typeof MoveThroughJointPositionsRequest;
                    kind: Unary;
                    name: "MoveThroughJointPositions";
                    O: typeof MoveThroughJointPositionsResponse;
                };
                moveToJointPositions: {
                    I: typeof MoveToJointPositionsRequest;
                    kind: Unary;
                    name: "MoveToJointPositions";
                    O: typeof MoveToJointPositionsResponse;
                };
                moveToPosition: {
                    I: typeof armApi.MoveToPositionRequest;
                    kind: Unary;
                    name: "MoveToPosition";
                    O: typeof armApi.MoveToPositionResponse;
                };
                stop: {
                    I: typeof armApi.StopRequest;
                    kind: Unary;
                    name: "Stop";
                    O: typeof armApi.StopResponse;
                };
            };
            typeName: "viam.component.arm.v1.ArmService";
        },
    >

baseService

  • get baseService(): PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                getProperties: {
                    I: typeof baseApi.GetPropertiesRequest;
                    kind: Unary;
                    name: "GetProperties";
                    O: typeof baseApi.GetPropertiesResponse;
                };
                isMoving: {
                    I: typeof baseApi.IsMovingRequest;
                    kind: Unary;
                    name: "IsMoving";
                    O: typeof baseApi.IsMovingResponse;
                };
                moveStraight: {
                    I: typeof MoveStraightRequest;
                    kind: Unary;
                    name: "MoveStraight";
                    O: typeof MoveStraightResponse;
                };
                setPower: {
                    I: typeof baseApi.SetPowerRequest;
                    kind: Unary;
                    name: "SetPower";
                    O: typeof baseApi.SetPowerResponse;
                };
                setVelocity: {
                    I: typeof SetVelocityRequest;
                    kind: Unary;
                    name: "SetVelocity";
                    O: typeof SetVelocityResponse;
                };
                spin: {
                    I: typeof SpinRequest;
                    kind: Unary;
                    name: "Spin";
                    O: typeof SpinResponse;
                };
                stop: {
                    I: typeof baseApi.StopRequest;
                    kind: Unary;
                    name: "Stop";
                    O: typeof baseApi.StopResponse;
                };
            };
            typeName: "viam.component.base.v1.BaseService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                getProperties: {
                    I: typeof baseApi.GetPropertiesRequest;
                    kind: Unary;
                    name: "GetProperties";
                    O: typeof baseApi.GetPropertiesResponse;
                };
                isMoving: {
                    I: typeof baseApi.IsMovingRequest;
                    kind: Unary;
                    name: "IsMoving";
                    O: typeof baseApi.IsMovingResponse;
                };
                moveStraight: {
                    I: typeof MoveStraightRequest;
                    kind: Unary;
                    name: "MoveStraight";
                    O: typeof MoveStraightResponse;
                };
                setPower: {
                    I: typeof baseApi.SetPowerRequest;
                    kind: Unary;
                    name: "SetPower";
                    O: typeof baseApi.SetPowerResponse;
                };
                setVelocity: {
                    I: typeof SetVelocityRequest;
                    kind: Unary;
                    name: "SetVelocity";
                    O: typeof SetVelocityResponse;
                };
                spin: {
                    I: typeof SpinRequest;
                    kind: Unary;
                    name: "Spin";
                    O: typeof SpinResponse;
                };
                stop: {
                    I: typeof baseApi.StopRequest;
                    kind: Unary;
                    name: "Stop";
                    O: typeof baseApi.StopResponse;
                };
            };
            typeName: "viam.component.base.v1.BaseService";
        },
    >

boardService

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

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

discoveryService

  • get discoveryService(): PromiseClient<
        {
            methods: {
                discoverResources: {
                    I: typeof DiscoverResourcesRequest;
                    kind: Unary;
                    name: "DiscoverResources";
                    O: typeof DiscoverResourcesResponse;
                };
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
            };
            typeName: "viam.service.discovery.v1.DiscoveryService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                discoverResources: {
                    I: typeof DiscoverResourcesRequest;
                    kind: Unary;
                    name: "DiscoverResources";
                    O: typeof DiscoverResourcesResponse;
                };
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
            };
            typeName: "viam.service.discovery.v1.DiscoveryService";
        },
    >

encoderService

  • get encoderService(): PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                getPosition: {
                    I: typeof encoderApi.GetPositionRequest;
                    kind: Unary;
                    name: "GetPosition";
                    O: typeof encoderApi.GetPositionResponse;
                };
                getProperties: {
                    I: typeof encoderApi.GetPropertiesRequest;
                    kind: Unary;
                    name: "GetProperties";
                    O: typeof encoderApi.GetPropertiesResponse;
                };
                resetPosition: {
                    I: typeof ResetPositionRequest;
                    kind: Unary;
                    name: "ResetPosition";
                    O: typeof ResetPositionResponse;
                };
            };
            typeName: "viam.component.encoder.v1.EncoderService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                getPosition: {
                    I: typeof encoderApi.GetPositionRequest;
                    kind: Unary;
                    name: "GetPosition";
                    O: typeof encoderApi.GetPositionResponse;
                };
                getProperties: {
                    I: typeof encoderApi.GetPropertiesRequest;
                    kind: Unary;
                    name: "GetProperties";
                    O: typeof encoderApi.GetPropertiesResponse;
                };
                resetPosition: {
                    I: typeof ResetPositionRequest;
                    kind: Unary;
                    name: "ResetPosition";
                    O: typeof ResetPositionResponse;
                };
            };
            typeName: "viam.component.encoder.v1.EncoderService";
        },
    >

gantryService

  • get gantryService(): PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                getLengths: {
                    I: typeof GetLengthsRequest;
                    kind: Unary;
                    name: "GetLengths";
                    O: typeof GetLengthsResponse;
                };
                getPosition: {
                    I: typeof gantryApi.GetPositionRequest;
                    kind: Unary;
                    name: "GetPosition";
                    O: typeof gantryApi.GetPositionResponse;
                };
                home: {
                    I: typeof HomeRequest;
                    kind: Unary;
                    name: "Home";
                    O: typeof HomeResponse;
                };
                isMoving: {
                    I: typeof gantryApi.IsMovingRequest;
                    kind: Unary;
                    name: "IsMoving";
                    O: typeof gantryApi.IsMovingResponse;
                };
                moveToPosition: {
                    I: typeof gantryApi.MoveToPositionRequest;
                    kind: Unary;
                    name: "MoveToPosition";
                    O: typeof gantryApi.MoveToPositionResponse;
                };
                stop: {
                    I: typeof gantryApi.StopRequest;
                    kind: Unary;
                    name: "Stop";
                    O: typeof gantryApi.StopResponse;
                };
            };
            typeName: "viam.component.gantry.v1.GantryService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                getLengths: {
                    I: typeof GetLengthsRequest;
                    kind: Unary;
                    name: "GetLengths";
                    O: typeof GetLengthsResponse;
                };
                getPosition: {
                    I: typeof gantryApi.GetPositionRequest;
                    kind: Unary;
                    name: "GetPosition";
                    O: typeof gantryApi.GetPositionResponse;
                };
                home: {
                    I: typeof HomeRequest;
                    kind: Unary;
                    name: "Home";
                    O: typeof HomeResponse;
                };
                isMoving: {
                    I: typeof gantryApi.IsMovingRequest;
                    kind: Unary;
                    name: "IsMoving";
                    O: typeof gantryApi.IsMovingResponse;
                };
                moveToPosition: {
                    I: typeof gantryApi.MoveToPositionRequest;
                    kind: Unary;
                    name: "MoveToPosition";
                    O: typeof gantryApi.MoveToPositionResponse;
                };
                stop: {
                    I: typeof gantryApi.StopRequest;
                    kind: Unary;
                    name: "Stop";
                    O: typeof gantryApi.StopResponse;
                };
            };
            typeName: "viam.component.gantry.v1.GantryService";
        },
    >

genericService

  • get genericService(): PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
            };
            typeName: "viam.component.generic.v1.GenericService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
            };
            typeName: "viam.component.generic.v1.GenericService";
        },
    >

gripperService

  • get gripperService(): PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                grab: {
                    I: typeof GrabRequest;
                    kind: Unary;
                    name: "Grab";
                    O: typeof GrabResponse;
                };
                isMoving: {
                    I: typeof gripperApi.IsMovingRequest;
                    kind: Unary;
                    name: "IsMoving";
                    O: typeof gripperApi.IsMovingResponse;
                };
                open: {
                    I: typeof OpenRequest;
                    kind: Unary;
                    name: "Open";
                    O: typeof OpenResponse;
                };
                stop: {
                    I: typeof gripperApi.StopRequest;
                    kind: Unary;
                    name: "Stop";
                    O: typeof gripperApi.StopResponse;
                };
            };
            typeName: "viam.component.gripper.v1.GripperService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                grab: {
                    I: typeof GrabRequest;
                    kind: Unary;
                    name: "Grab";
                    O: typeof GrabResponse;
                };
                isMoving: {
                    I: typeof gripperApi.IsMovingRequest;
                    kind: Unary;
                    name: "IsMoving";
                    O: typeof gripperApi.IsMovingResponse;
                };
                open: {
                    I: typeof OpenRequest;
                    kind: Unary;
                    name: "Open";
                    O: typeof OpenResponse;
                };
                stop: {
                    I: typeof gripperApi.StopRequest;
                    kind: Unary;
                    name: "Stop";
                    O: typeof gripperApi.StopResponse;
                };
            };
            typeName: "viam.component.gripper.v1.GripperService";
        },
    >

inputControllerService

  • get inputControllerService(): PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getControls: {
                    I: typeof GetControlsRequest;
                    kind: Unary;
                    name: "GetControls";
                    O: typeof GetControlsResponse;
                };
                getEvents: {
                    I: typeof GetEventsRequest;
                    kind: Unary;
                    name: "GetEvents";
                    O: typeof GetEventsResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                streamEvents: {
                    I: typeof StreamEventsRequest;
                    kind: ServerStreaming;
                    name: "StreamEvents";
                    O: typeof StreamEventsResponse;
                };
                triggerEvent: {
                    I: typeof TriggerEventRequest;
                    kind: Unary;
                    name: "TriggerEvent";
                    O: typeof TriggerEventResponse;
                };
            };
            typeName: "viam.component.inputcontroller.v1.InputControllerService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getControls: {
                    I: typeof GetControlsRequest;
                    kind: Unary;
                    name: "GetControls";
                    O: typeof GetControlsResponse;
                };
                getEvents: {
                    I: typeof GetEventsRequest;
                    kind: Unary;
                    name: "GetEvents";
                    O: typeof GetEventsResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                streamEvents: {
                    I: typeof StreamEventsRequest;
                    kind: ServerStreaming;
                    name: "StreamEvents";
                    O: typeof StreamEventsResponse;
                };
                triggerEvent: {
                    I: typeof TriggerEventRequest;
                    kind: Unary;
                    name: "TriggerEvent";
                    O: typeof TriggerEventResponse;
                };
            };
            typeName: "viam.component.inputcontroller.v1.InputControllerService";
        },
    >

mlModelService

  • get mlModelService(): PromiseClient<
        {
            methods: {
                infer: {
                    I: typeof InferRequest;
                    kind: Unary;
                    name: "Infer";
                    O: typeof InferResponse;
                };
                metadata: {
                    I: typeof MetadataRequest;
                    kind: Unary;
                    name: "Metadata";
                    O: typeof MetadataResponse;
                };
            };
            typeName: "viam.service.mlmodel.v1.MLModelService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                infer: {
                    I: typeof InferRequest;
                    kind: Unary;
                    name: "Infer";
                    O: typeof InferResponse;
                };
                metadata: {
                    I: typeof MetadataRequest;
                    kind: Unary;
                    name: "Metadata";
                    O: typeof MetadataResponse;
                };
            };
            typeName: "viam.service.mlmodel.v1.MLModelService";
        },
    >

motionService

  • get motionService(): PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getPlan: {
                    I: typeof GetPlanRequest;
                    kind: Unary;
                    name: "GetPlan";
                    O: typeof motionApi.GetPlanResponse;
                };
                getPose: {
                    I: typeof GetPoseRequest;
                    kind: Unary;
                    name: "GetPose";
                    O: typeof GetPoseResponse;
                };
                listPlanStatuses: {
                    I: typeof ListPlanStatusesRequest;
                    kind: Unary;
                    name: "ListPlanStatuses";
                    O: typeof motionApi.ListPlanStatusesResponse;
                };
                move: {
                    I: typeof motionApi.MoveRequest;
                    kind: Unary;
                    name: "Move";
                    O: typeof motionApi.MoveResponse;
                };
                moveOnGlobe: {
                    I: typeof MoveOnGlobeRequest;
                    kind: Unary;
                    name: "MoveOnGlobe";
                    O: typeof MoveOnGlobeResponse;
                };
                moveOnMap: {
                    I: typeof MoveOnMapRequest;
                    kind: Unary;
                    name: "MoveOnMap";
                    O: typeof MoveOnMapResponse;
                };
                stopPlan: {
                    I: typeof StopPlanRequest;
                    kind: Unary;
                    name: "StopPlan";
                    O: typeof StopPlanResponse;
                };
            };
            typeName: "viam.service.motion.v1.MotionService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getPlan: {
                    I: typeof GetPlanRequest;
                    kind: Unary;
                    name: "GetPlan";
                    O: typeof motionApi.GetPlanResponse;
                };
                getPose: {
                    I: typeof GetPoseRequest;
                    kind: Unary;
                    name: "GetPose";
                    O: typeof GetPoseResponse;
                };
                listPlanStatuses: {
                    I: typeof ListPlanStatusesRequest;
                    kind: Unary;
                    name: "ListPlanStatuses";
                    O: typeof motionApi.ListPlanStatusesResponse;
                };
                move: {
                    I: typeof motionApi.MoveRequest;
                    kind: Unary;
                    name: "Move";
                    O: typeof motionApi.MoveResponse;
                };
                moveOnGlobe: {
                    I: typeof MoveOnGlobeRequest;
                    kind: Unary;
                    name: "MoveOnGlobe";
                    O: typeof MoveOnGlobeResponse;
                };
                moveOnMap: {
                    I: typeof MoveOnMapRequest;
                    kind: Unary;
                    name: "MoveOnMap";
                    O: typeof MoveOnMapResponse;
                };
                stopPlan: {
                    I: typeof StopPlanRequest;
                    kind: Unary;
                    name: "StopPlan";
                    O: typeof StopPlanResponse;
                };
            };
            typeName: "viam.service.motion.v1.MotionService";
        },
    >

motorService

  • get motorService(): PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                getPosition: {
                    I: typeof motorApi.GetPositionRequest;
                    kind: Unary;
                    name: "GetPosition";
                    O: typeof motorApi.GetPositionResponse;
                };
                getProperties: {
                    I: typeof motorApi.GetPropertiesRequest;
                    kind: Unary;
                    name: "GetProperties";
                    O: typeof motorApi.GetPropertiesResponse;
                };
                goFor: {
                    I: typeof GoForRequest;
                    kind: Unary;
                    name: "GoFor";
                    O: typeof GoForResponse;
                };
                goTo: {
                    I: typeof GoToRequest;
                    kind: Unary;
                    name: "GoTo";
                    O: typeof GoToResponse;
                };
                isMoving: {
                    I: typeof motorApi.IsMovingRequest;
                    kind: Unary;
                    name: "IsMoving";
                    O: typeof motorApi.IsMovingResponse;
                };
                isPowered: {
                    I: typeof IsPoweredRequest;
                    kind: Unary;
                    name: "IsPowered";
                    O: typeof IsPoweredResponse;
                };
                resetZeroPosition: {
                    I: typeof ResetZeroPositionRequest;
                    kind: Unary;
                    name: "ResetZeroPosition";
                    O: typeof ResetZeroPositionResponse;
                };
                setPower: {
                    I: typeof motorApi.SetPowerRequest;
                    kind: Unary;
                    name: "SetPower";
                    O: typeof motorApi.SetPowerResponse;
                };
                setRPM: {
                    I: typeof SetRPMRequest;
                    kind: Unary;
                    name: "SetRPM";
                    O: typeof SetRPMResponse;
                };
                stop: {
                    I: typeof motorApi.StopRequest;
                    kind: Unary;
                    name: "Stop";
                    O: typeof motorApi.StopResponse;
                };
            };
            typeName: "viam.component.motor.v1.MotorService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                getPosition: {
                    I: typeof motorApi.GetPositionRequest;
                    kind: Unary;
                    name: "GetPosition";
                    O: typeof motorApi.GetPositionResponse;
                };
                getProperties: {
                    I: typeof motorApi.GetPropertiesRequest;
                    kind: Unary;
                    name: "GetProperties";
                    O: typeof motorApi.GetPropertiesResponse;
                };
                goFor: {
                    I: typeof GoForRequest;
                    kind: Unary;
                    name: "GoFor";
                    O: typeof GoForResponse;
                };
                goTo: {
                    I: typeof GoToRequest;
                    kind: Unary;
                    name: "GoTo";
                    O: typeof GoToResponse;
                };
                isMoving: {
                    I: typeof motorApi.IsMovingRequest;
                    kind: Unary;
                    name: "IsMoving";
                    O: typeof motorApi.IsMovingResponse;
                };
                isPowered: {
                    I: typeof IsPoweredRequest;
                    kind: Unary;
                    name: "IsPowered";
                    O: typeof IsPoweredResponse;
                };
                resetZeroPosition: {
                    I: typeof ResetZeroPositionRequest;
                    kind: Unary;
                    name: "ResetZeroPosition";
                    O: typeof ResetZeroPositionResponse;
                };
                setPower: {
                    I: typeof motorApi.SetPowerRequest;
                    kind: Unary;
                    name: "SetPower";
                    O: typeof motorApi.SetPowerResponse;
                };
                setRPM: {
                    I: typeof SetRPMRequest;
                    kind: Unary;
                    name: "SetRPM";
                    O: typeof SetRPMResponse;
                };
                stop: {
                    I: typeof motorApi.StopRequest;
                    kind: Unary;
                    name: "Stop";
                    O: typeof motorApi.StopResponse;
                };
            };
            typeName: "viam.component.motor.v1.MotorService";
        },
    >

movementSensorService

  • get movementSensorService(): PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getAccuracy: {
                    I: typeof GetAccuracyRequest;
                    kind: Unary;
                    name: "GetAccuracy";
                    O: typeof GetAccuracyResponse;
                };
                getAngularVelocity: {
                    I: typeof GetAngularVelocityRequest;
                    kind: Unary;
                    name: "GetAngularVelocity";
                    O: typeof GetAngularVelocityResponse;
                };
                getCompassHeading: {
                    I: typeof GetCompassHeadingRequest;
                    kind: Unary;
                    name: "GetCompassHeading";
                    O: typeof GetCompassHeadingResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                getLinearAcceleration: {
                    I: typeof GetLinearAccelerationRequest;
                    kind: Unary;
                    name: "GetLinearAcceleration";
                    O: typeof GetLinearAccelerationResponse;
                };
                getLinearVelocity: {
                    I: typeof GetLinearVelocityRequest;
                    kind: Unary;
                    name: "GetLinearVelocity";
                    O: typeof GetLinearVelocityResponse;
                };
                getOrientation: {
                    I: typeof GetOrientationRequest;
                    kind: Unary;
                    name: "GetOrientation";
                    O: typeof GetOrientationResponse;
                };
                getPosition: {
                    I: typeof movementSensorApi.GetPositionRequest;
                    kind: Unary;
                    name: "GetPosition";
                    O: typeof movementSensorApi.GetPositionResponse;
                };
                getProperties: {
                    I: typeof movementSensorApi.GetPropertiesRequest;
                    kind: Unary;
                    name: "GetProperties";
                    O: typeof movementSensorApi.GetPropertiesResponse;
                };
                getReadings: {
                    I: typeof GetReadingsRequest;
                    kind: Unary;
                    name: "GetReadings";
                    O: typeof GetReadingsResponse;
                };
            };
            typeName: "viam.component.movementsensor.v1.MovementSensorService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getAccuracy: {
                    I: typeof GetAccuracyRequest;
                    kind: Unary;
                    name: "GetAccuracy";
                    O: typeof GetAccuracyResponse;
                };
                getAngularVelocity: {
                    I: typeof GetAngularVelocityRequest;
                    kind: Unary;
                    name: "GetAngularVelocity";
                    O: typeof GetAngularVelocityResponse;
                };
                getCompassHeading: {
                    I: typeof GetCompassHeadingRequest;
                    kind: Unary;
                    name: "GetCompassHeading";
                    O: typeof GetCompassHeadingResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                getLinearAcceleration: {
                    I: typeof GetLinearAccelerationRequest;
                    kind: Unary;
                    name: "GetLinearAcceleration";
                    O: typeof GetLinearAccelerationResponse;
                };
                getLinearVelocity: {
                    I: typeof GetLinearVelocityRequest;
                    kind: Unary;
                    name: "GetLinearVelocity";
                    O: typeof GetLinearVelocityResponse;
                };
                getOrientation: {
                    I: typeof GetOrientationRequest;
                    kind: Unary;
                    name: "GetOrientation";
                    O: typeof GetOrientationResponse;
                };
                getPosition: {
                    I: typeof movementSensorApi.GetPositionRequest;
                    kind: Unary;
                    name: "GetPosition";
                    O: typeof movementSensorApi.GetPositionResponse;
                };
                getProperties: {
                    I: typeof movementSensorApi.GetPropertiesRequest;
                    kind: Unary;
                    name: "GetProperties";
                    O: typeof movementSensorApi.GetPropertiesResponse;
                };
                getReadings: {
                    I: typeof GetReadingsRequest;
                    kind: Unary;
                    name: "GetReadings";
                    O: typeof GetReadingsResponse;
                };
            };
            typeName: "viam.component.movementsensor.v1.MovementSensorService";
        },
    >

navigationService

  • Returns PromiseClient<
        {
            methods: {
                addWaypoint: {
                    I: typeof AddWaypointRequest;
                    kind: Unary;
                    name: "AddWaypoint";
                    O: typeof AddWaypointResponse;
                };
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getLocation: {
                    I: typeof navigationApi.GetLocationRequest;
                    kind: Unary;
                    name: "GetLocation";
                    O: typeof navigationApi.GetLocationResponse;
                };
                getMode: {
                    I: typeof GetModeRequest;
                    kind: Unary;
                    name: "GetMode";
                    O: typeof GetModeResponse;
                };
                getObstacles: {
                    I: typeof GetObstaclesRequest;
                    kind: Unary;
                    name: "GetObstacles";
                    O: typeof GetObstaclesResponse;
                };
                getPaths: {
                    I: typeof GetPathsRequest;
                    kind: Unary;
                    name: "GetPaths";
                    O: typeof GetPathsResponse;
                };
                getProperties: {
                    I: typeof navigationApi.GetPropertiesRequest;
                    kind: Unary;
                    name: "GetProperties";
                    O: typeof navigationApi.GetPropertiesResponse;
                };
                getWaypoints: {
                    I: typeof GetWaypointsRequest;
                    kind: Unary;
                    name: "GetWaypoints";
                    O: typeof GetWaypointsResponse;
                };
                removeWaypoint: {
                    I: typeof RemoveWaypointRequest;
                    kind: Unary;
                    name: "RemoveWaypoint";
                    O: typeof RemoveWaypointResponse;
                };
                setMode: {
                    I: typeof SetModeRequest;
                    kind: Unary;
                    name: "SetMode";
                    O: typeof SetModeResponse;
                };
            };
            typeName: "viam.service.navigation.v1.NavigationService";
        },
    >

peerConnection

  • get peerConnection(): undefined | RTCPeerConnection

    Returns undefined | RTCPeerConnection

powerSensorService

  • get powerSensorService(): PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getCurrent: {
                    I: typeof GetCurrentRequest;
                    kind: Unary;
                    name: "GetCurrent";
                    O: typeof GetCurrentResponse;
                };
                getPower: {
                    I: typeof GetPowerRequest;
                    kind: Unary;
                    name: "GetPower";
                    O: typeof GetPowerResponse;
                };
                getReadings: {
                    I: typeof GetReadingsRequest;
                    kind: Unary;
                    name: "GetReadings";
                    O: typeof GetReadingsResponse;
                };
                getVoltage: {
                    I: typeof GetVoltageRequest;
                    kind: Unary;
                    name: "GetVoltage";
                    O: typeof GetVoltageResponse;
                };
            };
            typeName: "viam.component.powersensor.v1.PowerSensorService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getCurrent: {
                    I: typeof GetCurrentRequest;
                    kind: Unary;
                    name: "GetCurrent";
                    O: typeof GetCurrentResponse;
                };
                getPower: {
                    I: typeof GetPowerRequest;
                    kind: Unary;
                    name: "GetPower";
                    O: typeof GetPowerResponse;
                };
                getReadings: {
                    I: typeof GetReadingsRequest;
                    kind: Unary;
                    name: "GetReadings";
                    O: typeof GetReadingsResponse;
                };
                getVoltage: {
                    I: typeof GetVoltageRequest;
                    kind: Unary;
                    name: "GetVoltage";
                    O: typeof GetVoltageResponse;
                };
            };
            typeName: "viam.component.powersensor.v1.PowerSensorService";
        },
    >

robotService

  • get robotService(): PromiseClient<
        {
            methods: {
                blockForOperation: {
                    I: typeof BlockForOperationRequest;
                    kind: Unary;
                    name: "BlockForOperation";
                    O: typeof BlockForOperationResponse;
                };
                cancelOperation: {
                    I: typeof CancelOperationRequest;
                    kind: Unary;
                    name: "CancelOperation";
                    O: typeof CancelOperationResponse;
                };
                frameSystemConfig: {
                    I: typeof FrameSystemConfigRequest;
                    kind: Unary;
                    name: "FrameSystemConfig";
                    O: typeof FrameSystemConfigResponse;
                };
                getCloudMetadata: {
                    I: typeof GetCloudMetadataRequest;
                    kind: Unary;
                    name: "GetCloudMetadata";
                    O: typeof GetCloudMetadataResponse;
                };
                getMachineStatus: {
                    I: typeof GetMachineStatusRequest;
                    kind: Unary;
                    name: "GetMachineStatus";
                    O: typeof GetMachineStatusResponse;
                };
                getModelsFromModules: {
                    I: typeof GetModelsFromModulesRequest;
                    kind: Unary;
                    name: "GetModelsFromModules";
                    O: typeof GetModelsFromModulesResponse;
                };
                getOperations: {
                    I: typeof GetOperationsRequest;
                    kind: Unary;
                    name: "GetOperations";
                    O: typeof GetOperationsResponse;
                };
                getSessions: {
                    I: typeof GetSessionsRequest;
                    kind: Unary;
                    name: "GetSessions";
                    O: typeof GetSessionsResponse;
                };
                getStatus: {
                    I: typeof GetStatusRequest;
                    kind: Unary;
                    name: "GetStatus";
                    O: typeof GetStatusResponse;
                };
                getVersion: {
                    I: typeof GetVersionRequest;
                    kind: Unary;
                    name: "GetVersion";
                    O: typeof GetVersionResponse;
                };
                listTunnels: {
                    I: typeof ListTunnelsRequest;
                    kind: Unary;
                    name: "ListTunnels";
                    O: typeof ListTunnelsResponse;
                };
                log: {
                    I: typeof robotApi.LogRequest;
                    kind: Unary;
                    name: "Log";
                    O: typeof robotApi.LogResponse;
                };
                resourceNames: {
                    I: typeof ResourceNamesRequest;
                    kind: Unary;
                    name: "ResourceNames";
                    O: typeof ResourceNamesResponse;
                };
                resourceRPCSubtypes: {
                    I: typeof ResourceRPCSubtypesRequest;
                    kind: Unary;
                    name: "ResourceRPCSubtypes";
                    O: typeof ResourceRPCSubtypesResponse;
                };
                restartModule: {
                    I: typeof RestartModuleRequest;
                    kind: Unary;
                    name: "RestartModule";
                    O: typeof RestartModuleResponse;
                };
                sendSessionHeartbeat: {
                    I: typeof SendSessionHeartbeatRequest;
                    kind: Unary;
                    name: "SendSessionHeartbeat";
                    O: typeof SendSessionHeartbeatResponse;
                };
                shutdown: {
                    I: typeof ShutdownRequest;
                    kind: Unary;
                    name: "Shutdown";
                    O: typeof ShutdownResponse;
                };
                startSession: {
                    I: typeof StartSessionRequest;
                    kind: Unary;
                    name: "StartSession";
                    O: typeof StartSessionResponse;
                };
                stopAll: {
                    I: typeof StopAllRequest;
                    kind: Unary;
                    name: "StopAll";
                    O: typeof StopAllResponse;
                };
                streamStatus: {
                    I: typeof StreamStatusRequest;
                    kind: ServerStreaming;
                    name: "StreamStatus";
                    O: typeof StreamStatusResponse;
                };
                transformPCD: {
                    I: typeof TransformPCDRequest;
                    kind: Unary;
                    name: "TransformPCD";
                    O: typeof TransformPCDResponse;
                };
                transformPose: {
                    I: typeof TransformPoseRequest;
                    kind: Unary;
                    name: "TransformPose";
                    O: typeof TransformPoseResponse;
                };
                tunnel: {
                    I: typeof TunnelRequest;
                    kind: BiDiStreaming;
                    name: "Tunnel";
                    O: typeof TunnelResponse;
                };
            };
            typeName: "viam.robot.v1.RobotService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                blockForOperation: {
                    I: typeof BlockForOperationRequest;
                    kind: Unary;
                    name: "BlockForOperation";
                    O: typeof BlockForOperationResponse;
                };
                cancelOperation: {
                    I: typeof CancelOperationRequest;
                    kind: Unary;
                    name: "CancelOperation";
                    O: typeof CancelOperationResponse;
                };
                frameSystemConfig: {
                    I: typeof FrameSystemConfigRequest;
                    kind: Unary;
                    name: "FrameSystemConfig";
                    O: typeof FrameSystemConfigResponse;
                };
                getCloudMetadata: {
                    I: typeof GetCloudMetadataRequest;
                    kind: Unary;
                    name: "GetCloudMetadata";
                    O: typeof GetCloudMetadataResponse;
                };
                getMachineStatus: {
                    I: typeof GetMachineStatusRequest;
                    kind: Unary;
                    name: "GetMachineStatus";
                    O: typeof GetMachineStatusResponse;
                };
                getModelsFromModules: {
                    I: typeof GetModelsFromModulesRequest;
                    kind: Unary;
                    name: "GetModelsFromModules";
                    O: typeof GetModelsFromModulesResponse;
                };
                getOperations: {
                    I: typeof GetOperationsRequest;
                    kind: Unary;
                    name: "GetOperations";
                    O: typeof GetOperationsResponse;
                };
                getSessions: {
                    I: typeof GetSessionsRequest;
                    kind: Unary;
                    name: "GetSessions";
                    O: typeof GetSessionsResponse;
                };
                getStatus: {
                    I: typeof GetStatusRequest;
                    kind: Unary;
                    name: "GetStatus";
                    O: typeof GetStatusResponse;
                };
                getVersion: {
                    I: typeof GetVersionRequest;
                    kind: Unary;
                    name: "GetVersion";
                    O: typeof GetVersionResponse;
                };
                listTunnels: {
                    I: typeof ListTunnelsRequest;
                    kind: Unary;
                    name: "ListTunnels";
                    O: typeof ListTunnelsResponse;
                };
                log: {
                    I: typeof robotApi.LogRequest;
                    kind: Unary;
                    name: "Log";
                    O: typeof robotApi.LogResponse;
                };
                resourceNames: {
                    I: typeof ResourceNamesRequest;
                    kind: Unary;
                    name: "ResourceNames";
                    O: typeof ResourceNamesResponse;
                };
                resourceRPCSubtypes: {
                    I: typeof ResourceRPCSubtypesRequest;
                    kind: Unary;
                    name: "ResourceRPCSubtypes";
                    O: typeof ResourceRPCSubtypesResponse;
                };
                restartModule: {
                    I: typeof RestartModuleRequest;
                    kind: Unary;
                    name: "RestartModule";
                    O: typeof RestartModuleResponse;
                };
                sendSessionHeartbeat: {
                    I: typeof SendSessionHeartbeatRequest;
                    kind: Unary;
                    name: "SendSessionHeartbeat";
                    O: typeof SendSessionHeartbeatResponse;
                };
                shutdown: {
                    I: typeof ShutdownRequest;
                    kind: Unary;
                    name: "Shutdown";
                    O: typeof ShutdownResponse;
                };
                startSession: {
                    I: typeof StartSessionRequest;
                    kind: Unary;
                    name: "StartSession";
                    O: typeof StartSessionResponse;
                };
                stopAll: {
                    I: typeof StopAllRequest;
                    kind: Unary;
                    name: "StopAll";
                    O: typeof StopAllResponse;
                };
                streamStatus: {
                    I: typeof StreamStatusRequest;
                    kind: ServerStreaming;
                    name: "StreamStatus";
                    O: typeof StreamStatusResponse;
                };
                transformPCD: {
                    I: typeof TransformPCDRequest;
                    kind: Unary;
                    name: "TransformPCD";
                    O: typeof TransformPCDResponse;
                };
                transformPose: {
                    I: typeof TransformPoseRequest;
                    kind: Unary;
                    name: "TransformPose";
                    O: typeof TransformPoseResponse;
                };
                tunnel: {
                    I: typeof TunnelRequest;
                    kind: BiDiStreaming;
                    name: "Tunnel";
                    O: typeof TunnelResponse;
                };
            };
            typeName: "viam.robot.v1.RobotService";
        },
    >

servoService

  • get servoService(): PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                getPosition: {
                    I: typeof servoApi.GetPositionRequest;
                    kind: Unary;
                    name: "GetPosition";
                    O: typeof servoApi.GetPositionResponse;
                };
                isMoving: {
                    I: typeof servoApi.IsMovingRequest;
                    kind: Unary;
                    name: "IsMoving";
                    O: typeof servoApi.IsMovingResponse;
                };
                move: {
                    I: typeof servoApi.MoveRequest;
                    kind: Unary;
                    name: "Move";
                    O: typeof servoApi.MoveResponse;
                };
                stop: {
                    I: typeof servoApi.StopRequest;
                    kind: Unary;
                    name: "Stop";
                    O: typeof servoApi.StopResponse;
                };
            };
            typeName: "viam.component.servo.v1.ServoService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getGeometries: {
                    I: typeof GetGeometriesRequest;
                    kind: Unary;
                    name: "GetGeometries";
                    O: typeof GetGeometriesResponse;
                };
                getPosition: {
                    I: typeof servoApi.GetPositionRequest;
                    kind: Unary;
                    name: "GetPosition";
                    O: typeof servoApi.GetPositionResponse;
                };
                isMoving: {
                    I: typeof servoApi.IsMovingRequest;
                    kind: Unary;
                    name: "IsMoving";
                    O: typeof servoApi.IsMovingResponse;
                };
                move: {
                    I: typeof servoApi.MoveRequest;
                    kind: Unary;
                    name: "Move";
                    O: typeof servoApi.MoveResponse;
                };
                stop: {
                    I: typeof servoApi.StopRequest;
                    kind: Unary;
                    name: "Stop";
                    O: typeof servoApi.StopResponse;
                };
            };
            typeName: "viam.component.servo.v1.ServoService";
        },
    >

sessionId

  • get sessionId(): string

    Returns string

slamService

  • get slamService(): PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getInternalState: {
                    I: typeof GetInternalStateRequest;
                    kind: ServerStreaming;
                    name: "GetInternalState";
                    O: typeof GetInternalStateResponse;
                };
                getPointCloudMap: {
                    I: typeof GetPointCloudMapRequest;
                    kind: ServerStreaming;
                    name: "GetPointCloudMap";
                    O: typeof GetPointCloudMapResponse;
                };
                getPosition: {
                    I: typeof slamApi.GetPositionRequest;
                    kind: Unary;
                    name: "GetPosition";
                    O: typeof slamApi.GetPositionResponse;
                };
                getProperties: {
                    I: typeof slamApi.GetPropertiesRequest;
                    kind: Unary;
                    name: "GetProperties";
                    O: typeof slamApi.GetPropertiesResponse;
                };
            };
            typeName: "viam.service.slam.v1.SLAMService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getInternalState: {
                    I: typeof GetInternalStateRequest;
                    kind: ServerStreaming;
                    name: "GetInternalState";
                    O: typeof GetInternalStateResponse;
                };
                getPointCloudMap: {
                    I: typeof GetPointCloudMapRequest;
                    kind: ServerStreaming;
                    name: "GetPointCloudMap";
                    O: typeof GetPointCloudMapResponse;
                };
                getPosition: {
                    I: typeof slamApi.GetPositionRequest;
                    kind: Unary;
                    name: "GetPosition";
                    O: typeof slamApi.GetPositionResponse;
                };
                getProperties: {
                    I: typeof slamApi.GetPropertiesRequest;
                    kind: Unary;
                    name: "GetProperties";
                    O: typeof slamApi.GetPropertiesResponse;
                };
            };
            typeName: "viam.service.slam.v1.SLAMService";
        },
    >

visionService

  • get visionService(): PromiseClient<
        {
            methods: {
                captureAllFromCamera: {
                    I: typeof CaptureAllFromCameraRequest;
                    kind: Unary;
                    name: "CaptureAllFromCamera";
                    O: typeof CaptureAllFromCameraResponse;
                };
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getClassifications: {
                    I: typeof GetClassificationsRequest;
                    kind: Unary;
                    name: "GetClassifications";
                    O: typeof GetClassificationsResponse;
                };
                getClassificationsFromCamera: {
                    I: typeof GetClassificationsFromCameraRequest;
                    kind: Unary;
                    name: "GetClassificationsFromCamera";
                    O: typeof GetClassificationsFromCameraResponse;
                };
                getDetections: {
                    I: typeof GetDetectionsRequest;
                    kind: Unary;
                    name: "GetDetections";
                    O: typeof GetDetectionsResponse;
                };
                getDetectionsFromCamera: {
                    I: typeof GetDetectionsFromCameraRequest;
                    kind: Unary;
                    name: "GetDetectionsFromCamera";
                    O: typeof GetDetectionsFromCameraResponse;
                };
                getObjectPointClouds: {
                    I: typeof GetObjectPointCloudsRequest;
                    kind: Unary;
                    name: "GetObjectPointClouds";
                    O: typeof GetObjectPointCloudsResponse;
                };
                getProperties: {
                    I: typeof visionApi.GetPropertiesRequest;
                    kind: Unary;
                    name: "GetProperties";
                    O: typeof visionApi.GetPropertiesResponse;
                };
            };
            typeName: "viam.service.vision.v1.VisionService";
        },
    >

    Returns PromiseClient<
        {
            methods: {
                captureAllFromCamera: {
                    I: typeof CaptureAllFromCameraRequest;
                    kind: Unary;
                    name: "CaptureAllFromCamera";
                    O: typeof CaptureAllFromCameraResponse;
                };
                doCommand: {
                    I: typeof DoCommandRequest;
                    kind: Unary;
                    name: "DoCommand";
                    O: typeof DoCommandResponse;
                };
                getClassifications: {
                    I: typeof GetClassificationsRequest;
                    kind: Unary;
                    name: "GetClassifications";
                    O: typeof GetClassificationsResponse;
                };
                getClassificationsFromCamera: {
                    I: typeof GetClassificationsFromCameraRequest;
                    kind: Unary;
                    name: "GetClassificationsFromCamera";
                    O: typeof GetClassificationsFromCameraResponse;
                };
                getDetections: {
                    I: typeof GetDetectionsRequest;
                    kind: Unary;
                    name: "GetDetections";
                    O: typeof GetDetectionsResponse;
                };
                getDetectionsFromCamera: {
                    I: typeof GetDetectionsFromCameraRequest;
                    kind: Unary;
                    name: "GetDetectionsFromCamera";
                    O: typeof GetDetectionsFromCameraResponse;
                };
                getObjectPointClouds: {
                    I: typeof GetObjectPointCloudsRequest;
                    kind: Unary;
                    name: "GetObjectPointClouds";
                    O: typeof GetObjectPointCloudsResponse;
                };
                getProperties: {
                    I: typeof visionApi.GetPropertiesRequest;
                    kind: Unary;
                    name: "GetProperties";
                    O: typeof visionApi.GetPropertiesResponse;
                };
            };
            typeName: "viam.service.vision.v1.VisionService";
        },
    >

Methods

connect

  • connect(__namedParameters?: ConnectOptions): Promise<void>

    Parameters

    • __namedParameters: ConnectOptions = {}

    Returns Promise<void>

createServiceClient

  • createServiceClient<T extends ServiceType>(svcType: T): PromiseClient<T>

    Type Parameters

    • T extends ServiceType

    Parameters

    • svcType: T

    Returns PromiseClient<T>

disconnect

  • disconnect(): Promise<void>

    Returns Promise<void>

emit

  • emit(type: string, args: unknown): void

    Parameters

    • type: string
    • args: unknown

    Returns void

getMachineStatus

getVersion

has

  • has(type: string, listener: Callback): undefined | boolean

    Parameters

    • type: string
    • listener: Callback

    Returns undefined | boolean

isConnected

  • isConnected(): boolean

    Returns boolean

off

  • off(type: string, listener: Callback): void

    Parameters

    • type: string
    • listener: Callback

    Returns void

Alphaon

  • on(type: string, listener: Callback): void

    Parameters

    • type: string
    • listener: Callback

    Returns void

once

  • once(type: string, listener: Callback): void

    Parameters

    • type: string
    • listener: Callback

    Returns void

App/Cloud

getCloudMetadata

Frame System

frameSystemConfig

transformPCD

  • transformPCD(
        pointCloudPCD: Uint8Array,
        source: string,
        destination: string,
    ): Promise<Uint8Array>
    Alpha

    Transform a given source point cloud from the reference frame to a new specified destination which is a reference frame.

    Parameters

    • pointCloudPCD: Uint8Array

      The point clouds to transform. This should be in the PCD format encoded into bytes: https://pointclouds.org/documentation/tutorials/pcd_file_format.html

    • source: string

      The reference frame of the point cloud.

    • destination: string

      The reference frame into which the source data should be transformed, if unset this defaults to the "world" reference frame. Do not move the robot between the generation of the initial pointcloud and the receipt of the transformed pointcloud because that will make the transformations inaccurate.

    Returns Promise<Uint8Array>

transformPose

Operations

blockForOperation

  • blockForOperation(id: string): Promise<void>
    Alpha

    Blocks on the specified operation on the machine. This function will only return when the specific operation has finished or has been cancelled.

    Parameters

    • id: string

      ID of operation to block on.

    Returns Promise<void>

    Example

    await machine.blockForOperation('INSERT OPERATION ID');

cancelOperation

  • cancelOperation(id: string): Promise<void>
    Alpha

    Cancels the specified operation on the machine.

    Parameters

    • id: string

      ID of operation to kill.

    Returns Promise<void>

    Example

    await machine.cancelOperation('INSERT OPERATION ID');

getOperations

  • getOperations(): Promise<Operation[]>
    Alpha

    Get the list of operations currently running on the machine.

    Returns Promise<Operation[]>

    Example

    const operations = await machine.getOperations();

stopAll

  • stopAll(): Promise<void>
    Alpha

    Cancel all current and outstanding operations for the robot and stop all actuators and movement.

    Returns Promise<void>

    Example

    await machine.stopAll();

Resources

getModelsFromModules

  • getModelsFromModules(): Promise<ModuleModel[]>
    Alpha

    Get the list of models provided by modules on the machine.

    Returns Promise<ModuleModel[]>

    Example

    const models = await machine.getModelsFromModules();

resourceNames

resourceRPCSubtypes

Sessions

getSessions

  • getSessions(): Promise<Session[]>
    Alpha

    Get the list of sessions currently connected to the machine.

    Returns Promise<Session[]>

    Example

    const sessions = await machine.getSessions();

Settings

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On This Page

Modules
Constructors
Properties
Accessors
Methods
App/Cloud
Frame System
Operations
Resources
Sessions
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