# Sensor API

The sensor API allows you to get measurements from your [sensor components](https://docs.viam.com/reference/components/sensor/).

The sensor component supports the following methods:

| Method Name | Description | `viam-micro-server` Support |
| --- | --- | --- |
| [`GetReadings`](https://docs.viam.com/reference/apis/components/sensor/#getreadings) | Get the measurements or readings that this sensor provides. |  |
| [`GetGeometries`](https://docs.viam.com/reference/apis/components/sensor/#getgeometries) | Get all the geometries associated with the sensor in its current configuration, in the frame of the sensor. |  |
| [`Reconfigure`](https://docs.viam.com/reference/apis/components/sensor/#reconfigure) | Reconfigure this resource. |  |
| [`DoCommand`](https://docs.viam.com/reference/apis/components/sensor/#docommand) | Execute model-specific commands that are not otherwise defined by the component API. |  |
| [`GetResourceName`](https://docs.viam.com/reference/apis/components/sensor/#getresourcename) | Get the `ResourceName` for this sensor. |  |
| [`Close`](https://docs.viam.com/reference/apis/components/sensor/#close) | Safely shut down the resource and prevent further use. |  |

## API

### GetReadings

Get the measurements or readings that this sensor provides. Supported by `viam-micro-server`.

- [Python](https://docs.viam.com/reference/apis/components/sensor/#tabset-referenceapiscomponentssensor-1-0)
- [Go](https://docs.viam.com/reference/apis/components/sensor/#tabset-referenceapiscomponentssensor-1-1)
- [TypeScript](https://docs.viam.com/reference/apis/components/sensor/#tabset-referenceapiscomponentssensor-1-2)
- [Flutter](https://docs.viam.com/reference/apis/components/sensor/#tabset-referenceapiscomponentssensor-1-3)

**Parameters:**

- `extra` (Mapping[ [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call.
- `timeout` ( [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- (Mapping[ [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), viam.utils.SensorReading]): : The measurements. Can be of any type.

**Example:**

```python

```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/sensor/client/index.html#viam.components.sensor.client.SensorClient.get_readings).

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.

**Returns:**

- [(map[string]interface{})](https://pkg.go.dev/builtin#string): A map containing the measurements from the sensor. Contents depend on sensor model and can be of any type.
- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

**Example:**

```go

```

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Sensor).

### GetGeometries

Get all the geometries associated with the sensor in its current configuration, in the [frame](https://docs.viam.com/reference/services/frame-system/) of the sensor. The [motion](https://docs.viam.com/reference/services/motion/) and [navigation](https://docs.viam.com/reference/services/navigation/) services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning.

- [Python](https://docs.viam.com/reference/apis/components/sensor/#tabset-referenceapiscomponentssensor-2-0)

**Parameters:**

**Returns:**

- ( [List[viam.proto.common.Geometry]](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.Geometry)): : The geometries associated with the Component.

**Example:**

```python

```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/sensor/client/index.html#viam.components.sensor.client.SensorClient.get_geometries).

### Reconfigure

Reconfigure this resource. Reconfigure must reconfigure the resource atomically and in place.

- [Go](https://docs.viam.com/reference/apis/components/sensor/#tabset-referenceapiscomponentssensor-3-0)

**Parameters:**

- `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
- `deps` [(Dependencies)](https://pkg.go.dev/go.viam.com/rdk/resource#Dependencies): The resource dependencies.
- `conf` [(Config)](https://pkg.go.dev/go.viam.com/rdk/resource#Config): The resource configuration.

**Returns:**

- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.

For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource).

### DoCommand

Execute model-specific commands that are not otherwise defined by the component API. Most models do not implement `DoCommand`. Any available model-specific commands should be covered in the model’s documentation. If you are implementing your own sensor and want to add features that have no corresponding built-in API method, you can implement them with [`DoCommand`](https://docs.viam.com/reference/sdks/docommand/).

- [Python](https://docs.viam.com/reference/apis/components/sensor/#tabset-referenceapiscomponentssensor-4-0)
- [Go](https://docs.viam.com/reference/apis/components/sensor/#tabset-referenceapiscomponentssensor-4-1)
- [TypeScript](https://docs.viam.com/reference/apis/components/sensor/#tabset-referenceapiscomponentssensor-4-2)
- [Flutter](https://docs.viam.com/reference/apis/components/sensor/#tabset-referenceapiscomponentssensor-4-3)

**Parameters:**

- `command` (Mapping[ [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), ValueTypes]) (required): The command to execute.
- `timeout` ( [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

**Returns:**

- (Mapping[ [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), viam.utils.ValueTypes]): : Result of the executed command.

**Raises:**

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

**Example:**

```python

```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/sensor/client/index.html#viam.components.sensor.client.SensorClient.do_command).

### GetResourceName

Get the `ResourceName` for this sensor.

- [Python](https://docs.viam.com/reference/apis/components/sensor/#tabset-referenceapiscomponentssensor-5-0)
- [Go](https://docs.viam.com/reference/apis/components/sensor/#tabset-referenceapiscomponentssensor-5-1)
- [TypeScript](https://docs.viam.com/reference/apis/components/sensor/#tabset-referenceapiscomponentssensor-5-2)
- [Flutter](https://docs.viam.com/reference/apis/components/sensor/#tabset-referenceapiscomponentssensor-5-3)

**Parameters:**

- `name` ( [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The name of the Resource.

**Returns:**

- ( [viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.ResourceName)): : The ResourceName of this Resource.

**Example:**

```python

```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/sensor/client/index.html#viam.components.sensor.client.SensorClient.get_resource_name).

### Close

Safely shut down the resource and prevent further use.

- [Python](https://docs.viam.com/reference/apis/components/sensor/#tabset-referenceapiscomponentssensor-6-0)
- [Go](https://docs.viam.com/reference/apis/components/sensor/#tabset-referenceapiscomponentssensor-6-1)

**Parameters:**

- None.

**Returns:**

- None.

**Example:**

```python

```

For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/sensor/client/index.html#viam.components.sensor.client.SensorClient.close).