Data Buffer

Client for the data-buffer service.

This allows client code to log the following to the robot’s data buffer: text-messages, operator comments, blobs, signal ticks, and protobuf messages.

exception bosdyn.client.data_buffer.InvalidArgument

Bases: bosdyn.client.exceptions.Error

A given argument could not be used.

class bosdyn.client.data_buffer.DataBufferClient

Bases: bosdyn.client.common.BaseClient

A client for adding to robot data buffer.

default_service_name = 'data-buffer'

service_type = 'bosdyn.api.DataBufferService'

update_from(other)

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

add_text_messages(text_messages, **kwargs)

Log text messages to the robot.

Parameters

text_messages (List[TextMessage]) – Sequence of TextMessage protos.

Raises

RpcError – Problem communicating with the robot.

add_text_messages_async(text_messages, **kwargs)

Async version of add_text_messages.

add_operator_comment(msg, robot_timestamp=None, **kwargs)

Add an operator comment to the robot log.

Parameters

• msg (string) – Text of user comment to log.

• robot_timestamp (google.protobuf.Timestamp) – Time of messages, in robot time. If not set, timestamp will be when the robot receives the message.

Raises

RpcError – Problem communicating with the robot.

add_operator_comment_async(msg, robot_timestamp=None, **kwargs)

Async version of add_operator_comment.

add_blob(data, type_id, channel=None, robot_timestamp=None, write_sync=False, **kwargs)

Log blob messages to the data buffer.

Parameters

• data (bytes) – Binary data of one blob.

• type_id (string) – Type of binary data of blob. For example, this could be the full name of a protobuf message type.

• channel (string) – The name by which messages are typically queried: often the same as type_id, or of the form ‘{prefix}/{type_id}’.

• robot_timestamp (google.protobuf.Timestamp) – Time of messages, in robot time.

Raises

RpcError – Problem communicating with the robot.

add_blob_async(data, type_id, channel=None, robot_timestamp=None, write_sync=False, **kwargs)

Async version of add_blob.

add_protobuf(proto, channel=None, robot_timestamp=None, write_sync=False)

Log protobuf messages to the data buffer.

Parameters

• proto (Protobuf message) – Serializable protobuf to log.

• channel (string) – Name of channel for data. If not set defaults to proto type name.

• robot_timestamp (google.protobuf.Timestamp) – Time of proto, in robot time.

Raises

RpcError – Problem communicating with the robot.

add_protobuf_async(proto, channel=None, robot_timestamp=None, write_sync=False)

Async version of add_protobuf.

add_events(events, **kwargs)

Log event messages to the robot.

Parameters

events (List[Event]) – Sequence of Event protos.

Raises

RpcError – Problem communicating with the robot.

add_events_async(events, **kwargs)

Async version of add_events.

register_signal_schema(variables, schema_name, **kwargs)

Log signal schema to the robot.

Parameters

• variables (List[SignalSchema.Variable]) – List of SignalSchema variables defining what is in tick.

• schema_name (string) – Name of schema (defined previously by client).

Raises

RpcError – Problem communicating with the robot.

register_signal_schema_async(variables, schema_name, **kwargs)

Async version of register_signal_schema

add_signal_tick(data, schema_id, encoding=1, sequence_id=0, source='client', **kwargs)

Log signal data to the robot data buffer.

Schema should be sent before any ticks.

Parameters

• data (bytes) – Single hunk of binary data.

• schema_id (int) – ID name of schema (obtained from a previous schema registration)

• encoding (SignalTick.Encoding) – Encoding of the data

• sequence_id (int) – Index of which sequence tick this is

• source (string) – String name representing client

Raises

• RpcError – Problem communicating with the robot.

• LookupError – The schema_id is unknown (not previously registered by this client)

add_signal_tick_async(data, schema_id, encoding=1, sequence_id=0, source='client', **kwargs)

Async version of add_signal_tick.