Data Acquisition

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

exception bosdyn.client.data_acquisition.DataAcquisitionResponseError(response, error_message=None)

Bases: ResponseError

Error in Data Acquisition RPC

exception bosdyn.client.data_acquisition.RequestIdDoesNotExistError(response, error_message=None)

Bases: DataAcquisitionResponseError

The provided request id does not exist or is invalid.

exception bosdyn.client.data_acquisition.UnknownCaptureTypeError(response, error_message=None)

Bases: DataAcquisitionResponseError

The provided request contains unknown capture requests.

exception bosdyn.client.data_acquisition.CancellationFailedError(response, error_message=None)

Bases: DataAcquisitionResponseError

The data acquisition request was unable to be cancelled.

class bosdyn.client.data_acquisition.DataAcquisitionClient

Bases: BaseClient

A client for triggering data acquisition and logging.

default_service_name = 'data-acquisition'

service_type = 'bosdyn.api.DataAcquisitionService'

update_from(other)

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)

Helper utility to generate an AcquireDataRequest.

acquire_data(acquisition_requests, action_name, group_name, data_timestamp=None, metadata=None, **kwargs)

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)

Async version of the acquire_data() RPC.

acquire_data_from_request(request, **kwargs)

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)

Async version of acquire_data_from_request().

get_status(request_id, **kwargs)

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)

Async version of the get_status() RPC.

get_service_info(**kwargs)

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)

Async version of the get_service_info() RPC.

cancel_acquisition(request_id, **kwargs)

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)

Async version of the cancel_acquisition() RPC.

bosdyn.client.data_acquisition.metadata_to_proto(metadata)

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)

Return a custom exception based on the AcquireData response, None if no error.

bosdyn.client.data_acquisition.get_request_id(response)