Audio Visual

exception bosdyn.client.audio_visual.AudioVisualResponseError(response, error_message=None)

Bases: ResponseError

General class of errors for AudioVisual service.

exception bosdyn.client.audio_visual.Error

Bases: Error

Base class for non-response errors in this module.

exception bosdyn.client.audio_visual.NoTimeSyncError

Bases: Error

Client has not done timesync with robot.

exception bosdyn.client.audio_visual.DoesNotExistError(response, error_message=None)

Bases: AudioVisualResponseError

The specified behavior does not exist.

exception bosdyn.client.audio_visual.PermanentBehaviorError(response, error_message=None)

Bases: AudioVisualResponseError

Permanent behaviors cannot be modified or deleted.

exception bosdyn.client.audio_visual.BehaviorExpiredError(response, error_message=None)

Bases: AudioVisualResponseError

The specified end_time has already expired.

exception bosdyn.client.audio_visual.InvalidBehaviorError(response, error_message=None)

Bases: AudioVisualResponseError

The request contained a behavior with invalid fields.

exception bosdyn.client.audio_visual.InvalidClientError(response, error_message=None)

Bases: AudioVisualResponseError

The behavior cannot be stopped because a different client is running it.

class bosdyn.client.audio_visual.AudioVisualClient

Bases: BaseClient

Client for calling the Audio Visual Service.

default_service_name = 'audio-visual'

service_type = 'bosdyn.api.AudioVisualService'

update_from(other)

Update instance from another object.

Parameters:

other – The object where to copy from.

run_behavior(name, end_time_secs, restart=False, timesync_endpoint=None, **kwargs)

Run a behavior on the robot.

Parameters:

• name – The name of the behavior to run.

• end_time_secs – The time that this behavior should stop.

• restart – If this behavior is already running, should we restart it from the beginning.

• timesync_endpoint – Timesync endpoint.

Raises:

• RpcError – Problem communicating with the robot.

• DoesNotExistError – The behavior name specified has not been added to the system.

• BehaviorExpiredError – The specified end_time has already expired.

• NoTimeSyncError – Time sync has not been established with the robot yet.

run_behavior_async(name, end_time_secs, restart=False, timesync_endpoint=None, **kwargs)

Async version of run_behavior().

Parameters:

• name – The name of the behavior to run.

• end_time_secs – The time that this behavior should stop.

• restart – If this behavior is already running, should we restart it from the beginning.

• timesync_endpoint – Timesync endpoint.

Raises:

• RpcError – Problem communicating with the robot.

• DoesNotExistError – The behavior name specified has not been added to the system.

• BehaviorExpiredError – The specified end_time has already expired.

• NoTimeSyncError – Time sync has not been established with the robot yet.

stop_behavior(name, **kwargs)

Stop a behavior that is currently running.

Parameters:

name – The name of the behavior to stop.

Raises:

• RpcError – Problem communicating with the robot.

• InvalidClientError – A different client is running this behavior.

stop_behavior_async(name, **kwargs)

Async version of stop_behavior().

Parameters:

name – The name of the behavior to stop.

Raises:

• RpcError – Problem communicating with the robot.

• InvalidClientError – A different client is running this behavior.

list_behaviors(**kwargs)

List all currently added AudioVisualBehaviors.

Returns:

A list of all LiveAudioVisualBehavior protos.

Raises:

RpcError – Problem communicating with the robot.

list_behaviors_async(**kwargs)

Async version of list_behaviors().

Returns:

A list of all LiveAudioVisualBehavior protos.

Raises:

RpcError – Problem communicating with the robot.

get_system_params(**kwargs)

Get the current system params.

Returns:

An AudioVisualSystemParams proto containing the current system param values.

Raises:

RpcError – Problem communicating with the robot.

get_system_params_async(**kwargs)

Async version of get_system_params().

Returns:

An AudioVisualSystemParams proto containing the current system param values.

Raises:

RpcError – Problem communicating with the robot.

set_system_params(enabled=None, max_brightness=None, buzzer_max_volume=None, speaker_max_volume=None, normal_color_association=None, warning_color_association=None, danger_color_association=None, **kwargs)

Set the system params.

Parameters:

• enabled – [optional] System is enabled or disabled (boolean).

• max_brightness – [optional] New max_brightness value [0, 1].

• buzzer_max_volume – [optional] New buzzer_max_volume value [0, 1].

• speaker_max_volume – [optional] New speaker_max_volume value [0, 1].

• normal_color_association – [optional] The color to associate with the normal color preset.

• warning_color_association – [optional] The color to associate with the warning color preset.

• danger_color_association – [optional] The color to associate with the danger color preset.

Raises:

RpcError – Problem communicating with the robot.

set_system_params_async(enabled=None, max_brightness=None, buzzer_max_volume=None, speaker_max_volume=None, normal_color_association=None, warning_color_association=None, danger_color_association=None, **kwargs)

Async version of set_system_params().

Parameters:

• enabled – [optional] System is enabled or disabled (boolean).

• max_brightness – [optional] New max_brightness value [0, 1].

• buzzer_max_volume – [optional] New buzzer_max_volume value [0, 1].

• speaker_max_volume – [optional] New speaker_max_volume value [0, 1].

• normal_color_association – [optional] The color to associate with the normal color preset.

• warning_color_association – [optional] The color to associate with the warning color preset.

• danger_color_association – [optional] The color to associate with the danger color preset.

Raises:

RpcError – Problem communicating with the robot.