Common

Contains elements common to all service clients.

bosdyn.client.common.common_header_errors(response)

Return an exception based on common response header. None if no error.

bosdyn.client.common.streaming_common_header_errors(response_iterator)

Return an exception based on common response header for a streaming response iterator. None if no error.

bosdyn.client.common.common_lease_errors(response)

Return an exception based on lease use result. None if no error.

bosdyn.client.common.streaming_common_lease_errors(response_iterator)

Return an exception based on lease use result for a streaming response iterator. None if no error.

bosdyn.client.common.error_pair(error_message)

Creates a pair of an error class and the associated docstring as the error message

which can be used by the error_factory.

Parameters

error_message – A class that inherits from the python Error class.

Returns

The tuple of the error class and it’s associated docstring.

bosdyn.client.common.error_factory(response, status, status_to_string, status_to_error)

Return an error based on the status field of the given response.

Since most callers of this function are “response to error” callbacks, any exceptions raised by this function are a considered a serious problem. Strongly consider using collections.defaultdict for the status_to_error mapping, and/or wrapping calls to this function in try/except blocks.

Parameters

• response – Protobuf message to examine or an iterator of protobuf responses.

• status – Status from the protobuf message.

• status_to_string – Function that converts numeric status value to string. May raise ValueError, in which case just the numeric code is included in a default error message.

• status_to_error – mapping of status -> (error_constructor, error_message) error_constructor must take arguments “response” and “error_message”. (and ideally will subclass from ResponseError.)

Returns

None if status_to_error[status] maps to (None, _). Otherwise, an instance of an error determined by status_to_error.

bosdyn.client.common.handle_unset_status_error(unset, field='status', statustype=None)

Decorate “error from response” functions to handle unset status field errors.

bosdyn.client.common.handle_common_header_errors(func)

Decorate “error from response” functions to handle typical header errors.

bosdyn.client.common.handle_lease_use_result_errors(func)

Decorate “error from response” functions to handle typical lease errors.

bosdyn.client.common.print_response(func)

Decorate “error from response” functions to print for debugging specific messages.

bosdyn.client.common.process_kwargs(func)

class bosdyn.client.common.BaseClient(stub_creation_func, name=None)

Bases: object

Helper base class for all clients to Boston Dynamics services.

static request_trim_for_log(req)

static response_trim_for_log(resp)

property channel

update_from(other)

Adopt key objects like processors, logger, and wallet from other.

update_request_iterator(request_iterator, logger, rpc_method, is_blocking)

update_response_iterator(response_iterator, logger, rpc_method, is_blocking)

call(rpc_method, request, value_from_response=None, error_from_response=None, **kwargs)

Returns result of calling rpc_method(request, kwargs) after running processors.

value_from_response and error_from_response should not raise their own exceptions! Additionally, value_from_response and error_from_response that are not common handlers must accept streaming responses if it is a grpc streaming response.

handle_response(response, error_from_response, value_from_response)

handle_response_streaming(response, error_from_response, value_from_response)

call_async(rpc_method, request, value_from_response=None, error_from_response=None, **kwargs)

Returns a Future for rpc_method(request, kwargs) after running processors.

value_from_response and error_from_response should not raise their own exceptions!

Asynchronous calls cannot be done with streaming rpcs right now.

class bosdyn.client.common.FutureWrapper(future, value_from_response, error_from_response)

Bases: object

Wraps a Future to aid more complicated clients’ async calls.

cancel()

cancelled()

running()

done()

traceback(**kwargs)

add_done_callback(cb)

Add callback executed on FutureWrapper when future is done.

result(**kwargs)

Get the result of the value_from_response(future.result()).

exception(**kwargs)

Get exceptions from the Future, or from custom response processing.

bosdyn.client.common.get_self_ip(robot_hostname)

Get the IP address of the ethernet or WiFi interface used to talk to the robot.