Util

bosdyn.client.util.cli_login_prompt(username=None, password=None)

Interactive CLI for scripting conveniences.

bosdyn.client.util.cli_auth(robot, username=None, password=None)

Interactive CLI for authenticating with the robot.

class bosdyn.client.util.DedupLoggingMessages(always_print_logger_levels={40, 50})

Bases: logging.Filter

Logger filter to prevent duplicated messages from being logged.

Parameters

always_print_logger_levels (set[logging.Level]) – A set of logging levels which any logged message at that level will always be logged.

filter(record)

Determine if the specified record is to be logged.

Is the specified record to be logged? Returns 0 for no, nonzero for yes. If deemed appropriate, the record may be modified in-place.

bosdyn.client.util.setup_logging(verbose=False, include_dedup_filter=False, always_print_logger_levels={40, 50})

Setup a basic streaming console handler at the root logger.

Parameters

• verbose (boolean) – if False (default) show messages at INFO level and above, if True show messages at DEBUG level and above.

• include_dedup_filter (boolean) – If true, the logger includes a filter which will prevent repeated duplicated messages from being logged.

• always_print_logger_levels (set[logging.Level]) – A set of logging levels which any logged message at that level will always be logged.

bosdyn.client.util.does_dedup_filter_exist(logger, always_print_logger_levels)

Check if the DedupLoggingMessages filter exists for a logger.

Returns

Boolean indicating if the DedupLoggingMessages filter already exists and matches the new parameters.

bosdyn.client.util.get_logger()

bosdyn.client.util.default_app_token_path()

Do nothing, this method is kept only to maintain backwards compatibility.

Deprecated since version 2.0.1: App tokens are no longer in use. Authorization is now handled via licenses.

bosdyn.client.util.add_base_arguments(parser)

Add hostname argument to parser.

Parameters

parser – Argument parser object.

bosdyn.client.util.add_common_arguments(parser)

Add arguments common to most applications used for authentication.

Parameters

parser – Argument parser object.

bosdyn.client.util.add_payload_credentials_arguments(parser, required=True)

Add arguments common to most payload related applications.

Parameters

• parser – Argument parser object.

• required – Require all arguments to be populated.

bosdyn.client.util.add_service_hosting_arguments(parser)

Add arguments common to most applications hosting a GRPC service.

Parameters

parser – Argument parser object.

bosdyn.client.util.add_service_endpoint_arguments(parser)

Add arguments common to most applications defining a GRPC service endpoint.

Parameters

parser – Argument parser object.

class bosdyn.client.util.GrpcServiceRunner(service_servicer, add_servicer_to_server_fn, port=0, max_workers=4, max_send_message_length=None, max_receive_message_length=None, timeout_secs=3, force_sigint_capture=True, logger=None)

Bases: object

A runner to start a gRPC server on a background thread and allow easy cleanup.

Parameters

• service_servicer (custom servicer class derived from ServiceServicer) – Servicer that defines server behavior.

• add_servicer_to_server_fn (function) – Function generated by gRPC compilation that attaches the servicer to the gRPC server.

• port (int) – The port number the service can be accessed through on the host system. Defaults to 0, which will assign an ephemeral port.

• max_send_message_length (int) – Max message length (bytes) allowed for messages sent.

• max_receive_message_length (int) – Max message length (bytes) allowed for messages received.

• timeout_secs (int) – Number of seconds to wait for a clean server shutdown.

• force_sigint_capture (bool) – Re-assign the SIGINT handler to default in order to prevent other scripts from blocking a clean exit. Defaults to True.

• logger (logging.Logger) – Logger to log with.

stop()

run_until_interrupt()

Spin the thread until a SIGINT is received and then shut down cleanly.

bosdyn.client.util.populate_response_header(response, request, error_code=1, error_msg=None)

Sets the ResponseHeader header in the response. :param response: The GRPC response message to be populated. :type response: bosdyn.api Response message :param request: The header from the request is added to the response. :type request: bosdyn.api Request message :param error_code: The status for the RPC response. :type error_code: header_pb2.CommonError :param error_msg: An optional error message describing a bad header status failure. :type error_msg: str

Returns

Mutates the response message’s header to be fully populated.

bosdyn.client.util.strip_large_bytes_fields(proto_message)

bosdyn.client.util.get_bytes_field_whitelist()

bosdyn.client.util.strip_image_response(proto_message)

bosdyn.client.util.strip_get_image_response(proto_message)

bosdyn.client.util.strip_local_grid_responses(proto_message)

bosdyn.client.util.strip_store_image_request(proto_message)

bosdyn.client.util.strip_store_data_request(proto_message)

bosdyn.client.util.strip_record_signal_tick(proto_message)

bosdyn.client.util.strip_record_data_blob(proto_message)

bosdyn.client.util.strip_log_annotation(proto_message)