Control your generic component with the generic API

The generic API allows you to give commands to your generic components for running model-specific commands using DoCommand.

Example usage

See Deploy control logic for an example of how to use the generic component API, including how to call DoCommand() from the SDKs or the web UI.

The generic component supports the following method:

API

GetGeometries

Get all the geometries associated with the generic component in its current configuration, in the frame of the generic component.
The motion and navigation services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning.

• Python
• Go
• TypeScript

Parameters:

• extra (Mapping[ str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout ( float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• ( List[viam.proto.common.Geometry]): : The geometries associated with the Component.

Example:

Copy

For more information, see the Python SDK Docs.

Parameters:

• ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
• extra (map[string]interface{}): Extra options to pass to the underlying RPC call.

Returns:

• ([]spatialmath.Geometry): The geometries associated with this resource, in any order.
• (error): An error, if one occurred.

Example:

Copy

For more information, see the Go SDK Docs.

Parameters:

• extra (None) (optional)
• callOptions (CallOptions) (optional)

Returns:

• (Promise< commonApi. Geometry[]>

Example:

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For more information, see the TypeScript SDK Docs.

DoCommand

Execute model-specific commands.
If you are implementing your own generic component and want to add features that have no corresponding built-in API method, you can implement them with DoCommand.
Supported by viam-micro-server.

• Python
• Go
• TypeScript
• Flutter

Parameters:

• command (Mapping[ str, ValueTypes]) (required): The command to execute.
• timeout ( float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• (Mapping[ str, Any]): : Result of the executed command.

Raises:

• (NotImplementedError): Raised if the Resource does not support arbitrary commands.

Example:

Copy

For more information, see the Python SDK Docs.

Parameters:

• ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
• cmd (map[string]interface{}): The command to execute.

Returns:

• (map[string]interface{}): The command response.
• (error): An error, if one occurred.

Example:

Copy

For more information, see the Go SDK Docs.

Parameters:

• command ( Struct) (required): The command to execute. Accepts either a Struct or a plain object, which will be converted automatically.
• callOptions (CallOptions) (optional)

Returns:

• (Promise< JsonValue >)

Example:

Copy

For more information, see the TypeScript SDK Docs.

Parameters:

• command Map < String, dynamic> (required)

Returns:

• Future < Map < String, dynamic>>

Example:

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For more information, see the Flutter SDK Docs.

GetResourceName

Get the ResourceName for this generic component.

• Python
• Go
• TypeScript
• Flutter

Parameters:

• name ( str) (required): The name of the Resource.

Returns:

• ( viam.proto.common.ResourceName): : The ResourceName of this Resource.

Example:

Copy

For more information, see the Python SDK Docs.

Parameters:

• None.

Returns:

• (Name)

Example:

Copy

For more information, see the Go SDK Docs.

Parameters:

• None.

Returns:

• (string): The name of the resource.

Example:

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For more information, see the TypeScript SDK Docs.

Parameters:

• name String (required)

Returns:

• ResourceName

Example:

Copy

For more information, see the Flutter SDK Docs.

Close

Safely shut down the resource and prevent further use.

• Python

Parameters:

• None.

Returns:

• None.

Example:

Copy

For more information, see the Python SDK Docs.