Data Acquisition

General client implementation for the main, on-robot data-acquisition service.

exception bosdyn.client.data_acquisition.DataAcquisitionResponseError(response, error_message=None)[source]

Bases: ResponseError

Error in Data Acquisition RPC

exception bosdyn.client.data_acquisition.RequestIdDoesNotExistError(response, error_message=None)[source]

Bases: DataAcquisitionResponseError

The provided request id does not exist or is invalid.

exception bosdyn.client.data_acquisition.UnknownCaptureTypeError(response, error_message=None)[source]

Bases: DataAcquisitionResponseError

The provided request contains unknown capture requests.

exception bosdyn.client.data_acquisition.CancellationFailedError(response, error_message=None)[source]

Bases: DataAcquisitionResponseError

The data acquisition request was unable to be cancelled.

class bosdyn.client.data_acquisition.DataAcquisitionClient[source]

Bases: BaseClient

A client for triggering data acquisition and logging.

default_service_name = 'data-acquisition'

service_type = 'bosdyn.api.DataAcquisitionService'

update_from(other)[source]: Adopt key objects like processors, logger, and wallet from other.

make_acquire_data_request(acquisition_requests, action_name, group_name, data_timestamp=None, metadata=None, min_timeout=None)[source]: Helper utility to generate an AcquireDataRequest.

acquire_data(acquisition_requests, action_name, group_name, data_timestamp=None, metadata=None, **kwargs)[source]

Trigger a data acquisition to save data and metadata to the data buffer.

Parameters:

acquisition_requests (bosdyn.api.AcquisitionRequestList) – The different image sources and data sources to capture from and save to the data buffer with the same timestamp.
action_name (string) – The unique action name that all data will be saved with.
group_name (string) – The unique group name that all data will be saved with.
data_timestamp (google.protobuf.Timestamp) – The unique timestamp that all data will be saved with.
metadata (bosdyn.api.Metadata | dict) – The JSON structured metadata to be associated with the data returned by the DataAcquisitionService when logged in the data buffer service.

Raises:

RpcError – Problem communicating with the robot.
ValueError – Metadata is not in the right format.

Returns:

If the RPC is successful, then it will return the acquire data request id, which can be used to check the status of the acquisition and get feedback.

acquire_data_async(acquisition_requests, action_name, group_name, data_timestamp=None, metadata=None, **kwargs)[source]: Async version of the acquire_data() RPC.

acquire_data_from_request(request, **kwargs)[source]

Alternate version of acquire_data() that takes an AcquireDataRequest directly.

Returns:: If the RPC is successful, then it will return the AcquireDataResponse.

acquire_data_from_request_async(request, **kwargs)[source]: Async version of acquire_data_from_request().

get_status(request_id, **kwargs)[source]

Check the status of a data acquisition based on the request id.

Parameters:

request_id (int) – The request id associated with an AcquireData request.

Raises:

RpcError – Problem communicating with the robot.
bosdyn.client.data_acquisition.RequestIdDoesNotExistError – The request id provided is incorrect.

Returns:

If the RPC is successful, then it will return the full status response, which includes the status as well as other information about any possible errors.

get_status_async(request_id, **kwargs)[source]: Async version of the get_status() RPC.

get_service_info(**kwargs)[source]

Get information from a Data Acquisition service to list its capabilities - which data, metadata,or processing the Data Acquisition service will perform.

Raises:: RpcError – Problem communicating with the robot.
Returns:: The GetServiceInfoResponse message, which contains all the different capabilities.

get_service_info_async(**kwargs)[source]: Async version of the get_service_info() RPC.

cancel_acquisition(request_id, **kwargs)[source]

Cancel a data acquisition based on the request id. :param request_id: The request id associated with an AcquireData request. :type request_id: int

Raises:

RpcError – Problem communicating with the robot.
CancellationFailedError – The data acquisitions associated with the request id were unable to be cancelled.
bosdyn.client.data_acquisition.RequestIdDoesNotExistError – The request id provided is incorrect.

Returns:

If the RPC is successful, then it will return the full status response, which includes the status as well as other information about any possible errors.

cancel_acquisition_async(request_id, **kwargs)[source]: Async version of the cancel_acquisition() RPC.

bosdyn.client.data_acquisition.metadata_to_proto(metadata)[source]

Checks the type to determine if a conversion is required to create a bosdyn.api.Metadata proto message.

Parameters:: metadata (bosdyn.api.Metadata or dict) – The JSON structured metadata to be associated with the data returned by the DataAcquisitionService when logged in the data buffer service.
Raises:: ValueError – Metadata is not in the right format.
Returns:: If metadata is provided, this will return a protobuf Metadata message. Otherwise it will return None.

bosdyn.client.data_acquisition.acquire_data_error(response)[source]: Return a custom exception based on the AcquireData response, None if no error.

bosdyn.client.data_acquisition.get_request_id(response)[source]