Data Acquisition Plugin

General client implementation for all data-acquisition plugin services.

class bosdyn.client.data_acquisition_plugin.DataAcquisitionPluginClient[source]

Bases: BaseClient

A client for triggering data acquisition plugin and logging. This client is not intended for use directly by users or applications. All acquisition requests should go to the data acquisition service first, which is responsible for forwarding the requests to the right data acquisition plugin services through this client.

default_service_name = None
service_type = 'bosdyn.api.DataAcquisitionPluginService'
update_from(other)[source]

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

acquire_plugin_data(acquisition_requests, action_id, data_identifiers=None, metadata=None, **kwargs)[source]

Trigger a data acquisition to save data and metadata to the data acquisition store service.

Parameters:

  • acquisition_requests (bosdyn.api.AcquisitionRequestList) – The different image sources and data sources to capture from and save to the data acquisition store service with the same timestamp.

  • action_id (bosdyn.api.CaptureActionId) – The unique action that all data should be saved with.

  • data_identifiers (bosdyn.api.DataIdentifier) – List of data identifiers to associate with metadata.

  • metadata (bosdyn.api.Metadata | dict) – The JSON structured metadata to be associated with the data returned by the DataAcquisitionService when logged in the data acquisition store 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 response, which can be used to check the status of the acquisition and get feedback.

acquire_plugin_data_async(acquisition_requests, action_id, data_identifiers=None, metadata=None, **kwargs)[source]

Async version of the acquire_plugin_data() RPC.

get_live_data(request)[source]

Call the GetLiveData RPC of the plugin service.

get_live_data_async(request)[source]

Async version of the get_live_data() RPC.

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:
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.

Parameters:

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

Raises:
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.