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<!DOCTYPE html> <html class="writer-html5" lang="en" > <head> <meta charset="utf-8" /> <meta name="viewport" content="width=device-width, initial-scale=1.0" /> <title>bosdyn.client.data_buffer — Spot 4.1.0 documentation</title> <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" /> <link rel="stylesheet" href="../../../_static/style.css" type="text/css" /> <link rel="shortcut icon" href="../../../_static/bd-favicon.png"/> <link rel="canonical" href="https://dev.bostondynamics.com/_modules/bosdyn/client/data_buffer.html" />  <script src="../../../_static/jquery.js"></script> <script src="../../../_static/_sphinx_javascript_frameworks_compat.js"></script> <script data-url_root="../../../" id="documentation_options" src="../../../_static/documentation_options.js"></script> <script src="../../../_static/doctools.js"></script> <script src="../../../_static/sphinx_highlight.js"></script> <script src="../../../_static/js/theme.js"></script> <link rel="index" title="Index" href="../../../genindex.html" /> <link rel="search" title="Search" href="../../../search.html" />  <script async src="https://www.googletagmanager.com/gtag/js?id=UA-7602095-5"></script> <script> window.dataLayer = window.dataLayer || []; function gtag(){dataLayer.push(arguments);} gtag('js', new Date()); gtag('config', 'UA-7602095-5'); </script>X-Content-Type-Options: nosniff<script type="text/javascript" src="//script.crazyegg.com/pages/scripts/0096/9626.js" async="async"></script></head> <body class="wy-body-for-nav"> <div class="wy-grid-for-nav"> <nav data-toggle="wy-nav-shift" class="wy-nav-side"> <div class="wy-side-scroll"> <div class="wy-side-nav-search" > <a href='/readme'> <img src="../../../_static/bd-official-white.png" class="logo" alt="Logo"/> </a> <div class="version"> 4.1.0 </div> <div role="search"> <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get"> <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" /> <input type="hidden" name="check_keywords" value="yes" /> <input type="hidden" name="area" value="default" /> </form> </div> </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu"> <ul> <li class="toctree-l1"><a class='reference internal' href='/docs/concepts/readme'>Concepts</a><ul> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/about_spot'>About Spot</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/orbit/about_orbit'>About Orbit (formerly Scout)</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/orbit/orbit_api'>Orbit API</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/networking'>Networking</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/base_services'>Base services</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/geometry_and_frames'>Geometry and Frames</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/robot_services'>Robot services</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/estop_service'>E-Stop</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/keepalive_service'>KeepAlive (BETA)</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/lease_service'>Lease</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/developing_api_services'>Developing API Services</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/service_customization'>Service Customization</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/faults'>Faults</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/autonomy/readme'>Autonomy services</a><ul> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/graphnav_tech_summary'>Autonomy Technical Summary</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/autonomous_navigation_code_examples'>Autonomous navigation code examples</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/components_of_autonomous_navigation'>Components of autonomous navigation</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/docking'>Docking</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/typical_autonomous_navigation_use_case'>Typical autonomous navigation use case</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/autonomous_navigation_services'>Autonomous navigation services</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/graphnav_service'>GraphNav service</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/graphnav_map_structure'>GraphNav map structure</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/graphnav_area_callbacks'>GraphNav area callbacks</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/initialization'>Initialization</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/localization'>Localization</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/graphnav_and_robot_locomotion'>GraphNav and robot locomotion</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/missions_service'>Missions service</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/autowalk_service'>Autowalk service</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/network_compute_bridge'>Network compute bridge</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/auto_return'>AutoReturn service</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/directed_exploration'>Directed Exploration</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/autonomy/gps'>GPS</a></li> </ul> </li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/choreography/readme'>Choreography</a><ul> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/choreography_service'>Choreography Service</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/move_reference'>Move Reference Guide</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/custom_gait'>CustomGait Reference</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/choreographer_setup'>Choreographer Setup</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/choreographer'>Choreographer Overview</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/robot_controls_in_choreographer'>Robot Connections in Choreographer</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/animations_in_choreographer'>Animations in Choreography</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/animation_file_specification'>Animation File Format</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/choreography_in_tablet'>Tablet Choreography Mode</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/choreography/choreography_in_autowalk'>Choreography Actions in Autowalk</a></li> </ul> </li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/joint_control/readme'>Joint Control API</a><ul> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/joint_control/supplemental_data'>Supplemental Robot Information</a><ul> <li class="toctree-l4"><a class='reference internal' href='/docs/concepts/joint_control/knee_torque_limits'>Knee Torque Limits</a></li> </ul> </li> </ul> </li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/arm/readme'>Spot Arm</a><ul> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/arm/arm_specification'>Arm and Gripper Specification</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/arm/arm_concepts'>Concepts</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/arm/arm_services'>Services</a></li> </ul> </li> <li class="toctree-l2"><a class='reference internal' href='/docs/concepts/data'>Spot Data</a><ul> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/data_acquisition_overview'>Data Acquisition Overview</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/data_acquisition_output'>Data Acquisition Output</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/writing_services_for_data_acquisition'>Integrate Payloads with the API</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/data_buffer_overview'>Data Buffer Overview</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/bddf'>BDDF File Format</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/concepts/data_acquisition_thermal_raw'>Thermal Raw Data Format</a></li> </ul> </li> </ul> </li> <li class="toctree-l1"><a class='reference internal' href='/docs/python/readme'>Python</a><ul> <li class="toctree-l2"><a class='reference internal' href='/docs/python/quickstart'>Quickstart</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/python/understanding_spot_programming'>Understanding Spot Programming</a></li> <li class="toctree-l2"><a class='reference internal' href='/python/examples/readme'>Examples</a><ul> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/basic_service_examples'>Basic Service Examples</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/hello_spot/readme'>Hello Spot</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/directory/readme'>Directory</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_robot_state/readme'>Get Robot State</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_robot_state_async/readme'>Get Robot State Async</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_image/readme'>Get Image</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_world_objects/readme'>Get World Objects</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_mission_state/readme'>Get Mission State</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/estop/readme'>E-Stop</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/time_sync/readme'>Time Sync</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/comms_test/readme'>Comms Test</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/disable_ir_emission/readme'>IR Enable/Disable</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/reset_safety_stop/readme'>Reset Safety Stop</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/robot_behavior_examples'>Robot Behavior and Commands Examples</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/stance/readme'>Stance</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/frame_trajectory_command/readme'>Frame Trajectory</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/spot_light/readme'>Spot Light</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/upload_choreographed_sequence/readme'>Upload Choreographed Sequence</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/xbox_controller/readme'>Xbox Controller</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/wasd/readme'>WASD</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/docking/readme'>Docking</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/animation_recorder/readme'>Animation Recorder</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/auto_return/readme'>Auto Return</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/fan_command/readme'>Fan Commands</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_wasd/readme'>ARM WASD</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/arm_examples'>Arm Command Examples</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_simple/readme'>Simple Arm Motion</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_stow_unstow/readme'>Stow/unstow Arm</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_freeze/readme'>Arm Freeze</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_and_mobility_command/readme'>Arm and Mobility Command</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_with_body_follow/readme'>Arm Command with Body Following</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_constrained_manipulation/readme'>Arm Constrained Manipulation</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_trajectory/readme'>Arm Trajectory</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_trajectory/readme#long-trajectory'>Long Trajectory</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_joint_move/readme'>Arm Joint Move Command</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_force_control/readme'>Arm Force Control Command</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_grasp/readme'>Arm Grasp Command</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_grasp_carry_overrides/readme'>Arm Grasp and Carry Overrides</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_gaze/readme'>Arm Gaze Command</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_surface_contact/readme'>Arm Command with Surface Contact</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_door/readme'>Arm Door Opening Command</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_walk_to_object/readme'>Walk to And Pick Up Object</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_gcode/readme'>Writing Gcode</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/gripper_camera_params/readme'>Gripper Camera Parameters</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_impedance_control/readme'>Arm Impedance Control</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/inverse_kinematics/readme'>Inverse Kinematics</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/arm_wasd/readme'>Arm WASD</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/joint_control/readme'>Wiggle Arm</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/payloads_examples'>Payloads and Registration Examples</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/payloads/readme'>Payloads</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/self_registration/readme'>Self Registration</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/service_faults/readme'>Faults</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/velodyne_client/readme'>Velodyne</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/core_io_gpio/readme'>CORE I/O GPIO</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/metrics_over_coreio/readme'>Overview</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/metrics_over_coreio/readme#usage'>Usage</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/metrics_over_coreio/readme#components'>Components</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/metrics_over_coreio/readme#recommended-debugging'>Recommended debugging</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/extensions/readme'>Extensions</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/perception_world_objects_examples'>Perception and World Objects Examples</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_image/readme'>Get Image</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_world_objects/readme'>Get World Objects</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/world_object_with_image_coordinates/readme'>World Object With Image Coordinates</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/world_object_mutations/readme'>World Object Mutations</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/visualizer/readme'>Visualizer</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/ricoh_theta/readme'>Ricoh Theta</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/gripper_camera_params/readme'>Gripper Camera Parameters</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/spot_cam/readme'>Spot CAM Services</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/spot_cam/readme#spot-cam-video-core-io-extension-example'>Spot Cam Video Core IO Extension Example</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/stitch_front_images/readme'>Stitch Front Images</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_depth_plus_visual_image/readme'>Project Depth Data on Visual Images</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/service_customization/custom_parameter_image_server/readme'>Custom Parameter Image Server</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/fiducial_follow/readme'>Fiducial Follow</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/spot_tensorflow_detector/readme'>Tensorflow Detector</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/service_customization/custom_parameter_ncb_worker/readme'>Custom Parameter Tensorflow Detector</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/network_compute_bridge/readme'>Machine Learning with the Network Compute Bridge</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/network_compute_bridge/fire_extinguisher_server/readme'>Fire Extinguisher Detector with the Network Compute Bridge</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/ray_cast/readme'>Ray Cast</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/user_nogo_regions/readme'>No-Go Regions</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/gps_service/readme'>GPS</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/logging_examples'>Logging Examples</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/bddf_download/readme'>BDDF Download</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/data_buffer/readme'>Data Buffer</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/data_service/readme'>Data Service</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/logging/readme'>Logging</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/log_status/readme'>Log Status</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/data_acquisition_examples'>Data Acquisition Examples</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/data_acquisition_service/readme'>Data Acquisition Service</a><ul> <li class="toctree-l5"><a class='reference internal' href='/python/examples/data_acquisition_service/signals_coreio_modem_plugin/readme'>Modem Signals</a></li> </ul> </li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/service_faults/readme'>Faults</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/ricoh_theta/readme'>Ricoh Theta</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/service_customization/custom_parameter_image_server/readme'>Custom Parameter Image Service</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/service_customization/custom_parameters_data_acquisition/readme'>Custom Parameter Data Acquisition Plugin</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_image/readme'>Test Image Service Implementation with Get Image</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/post_docking_callbacks/readme'>Post Docking Callbacks</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/cloud_upload/readme'>Cloud Upload</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/comms_mapping/readme'>Comms image service</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/comms_mapping/readme#how-to-use'>How to use</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/data_acquisition_service/signals_coreio_modem_plugin/readme'>CoreIO Modem Signals Plugin</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/tester_programs/readme'>Tester Programs</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/autonomy_and_missions_examples'>Autonomy and Missions Examples</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/graph_nav_anchoring_optimization/readme'>Graph Nav Anchoring Optimization</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/graph_nav_command_line/readme'>GraphNav and Recording Service Command Line Interfaces</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/graph_nav_command_line/readme#example-programs'>Example Programs</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/graph_nav_extract_point_cloud/readme'>Graph Nav Extract Point Cloud</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/graph_nav_view_map/readme'>Graph Nav View Map</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/graph_nav_view_gps/readme'>Graph Nav View GPS Data</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/get_mission_state/readme'>Get Mission State</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/remote_mission_service/readme'>Remote Mission Service</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/mission_question_answerer/readme'>Mission Question Answerer</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/mission_recorder/readme'>Mission Recorder</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/replay_mission/readme'>Replay Mission</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/post_docking_callbacks/readme'>Post Docking Callbacks</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/area_callback/readme'>Area Callbacks</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/edit_autowalk/readme'>Edit Autowalk</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/record_autowalk/readme'>Record Autowalk</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/extract_images_from_walk/readme'>Extract Images from Autowalk</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/network_request_callback/readme'>Network Request Callback</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/network_request_callback/readme#id1'>Network Request Callback</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/joint_control_examples'>Joint Control API Examples</a></li> <li class="toctree-l3"><a class='reference internal' href='/python/examples/docs/orbit'>Orbit</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/hello_orbit/readme'>Hello Orbit</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/export_run_archives/readme'>Export Run Archives</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/export_site_walk_archives/readme'>Export Sitewalk Archives</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/anomalies/readme'>Anomalies</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/schedule_mission/readme'>Schedule Mission</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/runs_response/readme'>Runs Response</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/send_robot_back_to_dock/readme'>Return to Dock</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/toggle_mission_based_on_weather/readme'>Mission Toggle</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/webhook/readme'>Webhook</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/backups/readme'>Backups</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/webhook_integration/readme'>Webhook Integrations</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/examples/orbit/webhook_integration/readme#example-overview'>Example Overview</a></li> </ul> </li> </ul> </li> <li class="toctree-l2"><a class='reference internal' href='/python/readme'>Python Reference Guide</a><ul> <li class="toctree-l3"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/readme'>Client</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/area_callback'>Area Callback</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/area_callback_region_handler_base'>Area Callback Region Handler</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/area_callback_service_runner'>Area Callback Service Runner</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/area_callback_service_servicer'>Area Callback Servicer</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/area_callback_service_utils'>Area Callback Service Utils</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/arm_surface_contact'>Arm Surface Contact</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/async_tasks'>Async Tasks</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/auth'>Auth</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/auto_return'>Auto Return</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/autowalk'>Autowalk</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/bddf'>BDDF</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/bddf_download'>BDDF Download</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/channel'>Channel</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/command_line'>Command</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/common'>Common</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/data_acquisition'>Data Acquisition</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/data_acquisition_helpers'>Data Acquisition Helpers</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/data_acquisition_plugin'>Data Acquisition Plugin</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/data_acquisition_plugin_service'>Data Acquisition Plugin Service</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/data_acquisition_store'>Data Acquisition Store</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/data_buffer'>Data Buffer</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/data_chunk'>Data Chunk</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/data_service'>Data Service</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/directory_registration'>Directory Registration</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/directory'>Directory</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/docking'>Docking</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/door'>Door</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/estop'>E-Stop</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/exceptions'>Exceptions</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/fault'>Fault</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/frame_helpers'>Frame Helpers</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/graph_nav'>Graph Nav</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/gripper_camera_param'>Gripper Camera Params</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/gps/readme'>GPS</a><ul> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/gps/aggregator_client'>Aggregator Client</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/gps/gps_listener'>GPS Listener</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/gps/nmeaparser'>NMEA Parser</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/gps/registration_client'>Registration Client</a></li> </ul> </li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/image'>Image</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/image_service_helpers'>Image Service Helpers</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/inverse_kinematics'>Inverse Kinematics</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/ir_enable_disable'>IR Enable/Disable</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/keepalive'>Keep Alive</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/lease'>Lease</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/lease_resource_hierarchy'>Lease Resource Hierarchy</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/lease_validator'>Lease Validator</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/license'>License</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/local_grid'>Local Grid</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/log_status'>Log Status</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/math_helpers'>Math Helpers</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/manipulation_api_client'>Manipulation API</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/map_processing'>Map Processing</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/metrics_logging'>Metrics Logging</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/network_compute_bridge_client'>Network Compute Bridge</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/payload_registration'>Payload Registration</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/payload'>Payload</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/point_cloud'>Point Cloud</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/power'>Power</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/processors'>Processors</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/ray_cast'>Ray casting</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/recording'>Recording</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/robot_command'>Robot Command</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/robot_id'>Robot ID</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/robot'>Robot</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/robot_state'>Robot State</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/sdk'>SDK</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/server_util'>Server Util</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/service_customization_helpers'>Service Customization Helpers</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/signals_helpers'>Signals Helpers</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/readme'>Spot CAM</a><ul> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/audio'>Audio</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/compositor'>Compositor</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/health'>Health</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/lighting'>Lighting</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/lights_helper'>Lights Helper</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/media_log'>Media Log</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/network'>Network</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/power'>Power</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/ptz'>PTZ</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/streamquality'>Stream Quality</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_cam/version'>Version</a></li> </ul> </li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/spot_check'>Spot Check</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/time_sync'>Time Sync</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/token_cache'>Token Cache</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/token_manager'>Token Manager</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/units_helpers'>Units Helpers</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/util'>Util</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-client/src/bosdyn/client/world_object'>World Object</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/readme'>Core</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/readme'>BDDF</a><ul> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/base_data_reader'>Base Data Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/block_writer'>Block Writer</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/bosdyn'>BDDF Conventions</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/common'>Common</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/data_reader'>Data Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/data_writer'>Data Writer</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/file_indexer'>File Indexer</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/grpc_proto_reader'>GRPC Proto Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/grpc_reader'>GRPC Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/grpc_service_reader'>GRPC Service Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/grpc_service_writer'>GRPC Service Writer</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/message_reader'>Message Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/pod_series_reader'>POD Series Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/pod_series_writer'>POD Series Writer</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/protobuf_channel_reader'>Protobuf Channel Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/protobuf_reader'>Protobuf Reader</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/protobuf_series_writer'>Protobuf Series Writer</a></li> <li class="toctree-l5"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/bddf/stream_data_reader'>Stream Data Reader</a></li> </ul> </li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/geometry'>Geometry</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/util'>Util</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-core/src/bosdyn/deprecated'>Deprecated</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/bosdyn-mission/src/bosdyn/mission/readme'>Mission</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-mission/src/bosdyn/mission/client'>Client</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-mission/src/bosdyn/mission/constants'>Constants</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-mission/src/bosdyn/mission/exceptions'>Exceptions</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-mission/src/bosdyn/mission/remote_client'>Remote Client</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-mission/src/bosdyn/mission/server_util'>Server Util</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-mission/src/bosdyn/mission/util'>Util</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/bosdyn-choreography-client/src/bosdyn/choreography/client/readme'>Choreography</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-choreography-client/src/bosdyn/choreography/client/choreography'>Choreography</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-choreography-client/src/bosdyn/choreography/client/animation_file_to_proto'>Animation File to Proto</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-choreography-client/src/bosdyn/choreography/client/animation_file_conversion_helpers'>Animation File to Proto Helpers</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/bosdyn-orbit/src/bosdyn/orbit/readme'>Orbit (formerly Scout)</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-orbit/src/bosdyn/orbit/client'>Client</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-orbit/src/bosdyn/orbit/utils'>Utils</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-orbit/src/bosdyn/orbit/exceptions'>Exceptions</a></li> </ul> </li> <li class="toctree-l3"><a class='reference internal' href='/python/bosdyn-scout/src/bosdyn/scout/readme'>Scout (deprecated)</a><ul> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-scout/src/bosdyn/scout/client'>Client</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-scout/src/bosdyn/scout/utils'>Utils</a></li> <li class="toctree-l4"><a class='reference internal' href='/python/bosdyn-scout/src/bosdyn/scout/exceptions'>Exceptions</a></li> </ul> </li> </ul> </li> <li class="toctree-l2"><a class='reference internal' href='/docs/python/fetch_tutorial/fetch1'>Fetch Tutorial</a><ul> <li class="toctree-l3"><a class='reference internal' href='/docs/python/fetch_tutorial/fetch2'>Part 2: Training the Model</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/python/fetch_tutorial/fetch3'>Part 3: Evaluating the Model</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/python/fetch_tutorial/fetch4'>Part 4: Autonomous Pick Up</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/python/fetch_tutorial/fetch5'>Part 5: Detecting People and Playing Fetch</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/python/fetch_tutorial/fetch6'>Part 6: Running the model on Core IO</a></li> </ul> </li> <li class="toctree-l2"><a class='reference internal' href='/docs/python/daq_tutorial/daq1'>Data Collection Tutorial</a><ul> <li class="toctree-l3"><a class='reference internal' href='/docs/python/daq_tutorial/daq2'>Part 2: Capturing images</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/python/daq_tutorial/daq3'>Part 3: Capturing other data</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/python/daq_tutorial/daq4'>Part 4: Deploying to the CORE I/O</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/python/daq_tutorial/daq5'>Part 5: Collecting data</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/python/daq_tutorial/daq6'>Part 6: Processing collected data</a></li> </ul> </li> </ul> </li> <li class="toctree-l1"><a class='reference internal' href='/docs/payload/readme'>Payloads</a><ul> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/payload_configuration_requirements'>Payload configuration requirements</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/mechanical_interfaces'>Mechanical interfaces</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/robot_mounting_rails'>Robot mounting rails</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/guidelines_for_robust_payload_design'>Guidelines for robust payload design</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/robot_electrical_interface'>Robot electrical interface</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/coreio_documentation'>CORE I/O Documentation</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/coreio_openvpn_extension'>CORE I/O OpenVPN Extension</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/configuring_payload_software'>Configuring payload software</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/docker_containers'>Dockerize payload software</a></li> <li class="toctree-l2"><a class='reference internal' href='/docs/payload/spot_core_documentation'>Pre-3.2 Spot CORE Documentation</a><ul> <li class="toctree-l3"><a class='reference internal' href='/docs/payload/spot_core_portainer'>Configuring Docker containers in SpotCORE</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/payload/spot_core_cockpit'>Spot CORE system management tool: Cockpit</a></li> <li class="toctree-l3"><a class='reference internal' href='/docs/payload/spot_core_vnc'>Spot CORE VNC</a></li> </ul> </li> </ul> </li> <li class="toctree-l1"><a class='reference internal' href='/docs/protos/readme'>API Protocol</a><ul> <li class="toctree-l2"><a class='reference internal' href='/docs/protos/style_guide'>Style Guide</a></li> <li class="toctree-l2"><a class='reference internal' href='/protos/bosdyn/api/readme'>Proto Reference Guide</a><ul> <li class="toctree-l3"><a class='reference internal' href='/protos/bosdyn/api/proto_reference'>Protos</a></li> </ul> </li> </ul> </li> <li class="toctree-l1"><a class='reference internal' href='/docs/release_notes'>Release Notes</a></li> <li class="toctree-l1"><a class="reference external" href="https://github.com/boston-dynamics/spot-sdk">SDK Repository</a></li> </ul> </div> </div> </nav> <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" > <a href='/readme'>Spot</a> </nav> <div class="wy-nav-content"> <div class="rst-content"> <div role="navigation" aria-label="Page navigation"> <ul class="wy-breadcrumbs"> <li><a aria-label='Home' class='icon icon-home' href='/readme'></a></li> <li class="breadcrumb-item"><a href='/_modules/'>Module code</a></li> <li class="breadcrumb-item active">bosdyn.client.data_buffer</li> <li class="wy-breadcrumbs-aside"> </li> </ul> <hr/> </div> <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article"> <div itemprop="articleBody"> <h1>Source code for bosdyn.client.data_buffer</h1><div class="highlight"><pre> # Copyright (c) 2023 Boston Dynamics, Inc. All rights reserved. # # Downloading, reproducing, distributing or otherwise using the SDK Software # is subject to the terms and conditions of the Boston Dynamics Software # Development Kit License (20191101-BDSDK-SL). """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. """ import functools import logging import sys import threading import time import traceback import uuid from google.protobuf.duration_pb2 import Duration from google.protobuf.timestamp_pb2 import Timestamp import bosdyn.api.data_buffer_pb2 as data_buffer_protos import bosdyn.api.data_buffer_service_pb2_grpc as data_buffer_service from bosdyn import util as core_util from bosdyn.api import parameter_pb2 from bosdyn.client import time_sync from bosdyn.client.common import BaseClient, common_header_errors from bosdyn.client.exceptions import Error, ResponseError, RpcError <div class="viewcode-block" id="InvalidArgument"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.InvalidArgument'>[docs]</a>class InvalidArgument(Error): """A given argument could not be used."""</div> <div class="viewcode-block" id="log_event"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.log_event'>[docs]</a>def log_event( # pylint: disable=too-many-arguments,no-member robot, event_type, level, description, start_timestamp_secs, end_timestamp_secs=None, id_str=None, parameters=None, log_preserve_hint=data_buffer_protos.Event.LOG_PRESERVE_HINT_NORMAL): """Add an Event to the Data Buffer. Args: robot: A Robot object. event_type (string): The type of event. level (bosdyn.api.Event.Level): The relative importance of the event. description (string): A human-readable description of the event. start_timestamp_secs (float): Start of the event, in local time. end_timestamp_secs (float): End of the event. start_timestamp_secs is used if None. id_str (string): Unique id for event. A uuid is generated if None. parameters ([bosdyn.api.Parameter]): Parameters to attach to the event. log_preserve_hint (bosdyn.api.LogPreserveHint): Whether event should try to preserve log data. """ data_buffer_client = robot.ensure_client(DataBufferClient.default_service_name) if not id_str: id_str = str(uuid.uuid1()) robot.time_sync.wait_for_sync() robot_start_timestamp = robot.time_sync.robot_timestamp_from_local_secs(start_timestamp_secs) if end_timestamp_secs: robot_end_timestamp = robot.time_sync.robot_timestamp_from_local_secs(end_timestamp_secs) else: robot_end_timestamp = robot_start_timestamp # pylint: disable=no-member if isinstance(log_preserve_hint, bool): if log_preserve_hint: log_preserve_hint = data_buffer_protos.Event.LOG_PRESERVE_HINT_PRESERVE else: log_preserve_hint = data_buffer_protos.Event.LOG_PRESERVE_HINT_NORMAL event = data_buffer_protos.Event(type=event_type, description=description, source=robot.client_name, id=id_str, start_time=robot_start_timestamp, end_time=robot_end_timestamp, level=level, log_preserve_hint=log_preserve_hint) if parameters: for parameter in parameters: proto = event.parameters.add() proto.CopyFrom(parameter) data_buffer_client.add_events([event])</div> <div class="viewcode-block" id="make_parameter"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.make_parameter'>[docs]</a>def make_parameter(label, value, units="", notes=""): """Create a parameter proto from a label and the parameter value.""" parameter = parameter_pb2.Parameter(label=label, units=units, notes=notes) if isinstance(value, bool): parameter.bool_value = value elif isinstance(value, int): parameter.int_value = value elif isinstance(value, float): parameter.float_value = value elif isinstance(value, Timestamp): parameter.timestamp.CopyFrom(value) elif isinstance(value, Duration): parameter.duration.CopyFrom(value) elif isinstance(value, str): parameter.string_value = value else: return None return parameter</div> <div class="viewcode-block" id="DataBufferClient"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient'>[docs]</a>class DataBufferClient(BaseClient): """A client for adding to robot data buffer.""" default_service_name = 'data-buffer' service_type = 'bosdyn.api.DataBufferService' def __init__(self): super(DataBufferClient, self).__init__(data_buffer_service.DataBufferServiceStub) self.log_tick_schemas = {} self._timesync_endpoint = None <div class="viewcode-block" id="DataBufferClient.update_from"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient.update_from'>[docs]</a> def update_from(self, other): super(DataBufferClient, self).update_from(other) # Grab a timesync endpoint if it is available. try: self._timesync_endpoint = other.time_sync.endpoint except AttributeError: pass # other doesn't have a time_sync accessor</div> <div class="viewcode-block" id="DataBufferClient.add_text_messages"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient.add_text_messages'>[docs]</a> def add_text_messages(self, text_messages, **kwargs): """Log text messages to the robot. Args: text_messages (List[TextMessage]): Sequence of TextMessage protos. Raises: RpcError: Problem communicating with the robot. """ return self._do_add_text_messages(self.call, text_messages, **kwargs)</div> <div class="viewcode-block" id="DataBufferClient.add_text_messages_async"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient.add_text_messages_async'>[docs]</a> def add_text_messages_async(self, text_messages, **kwargs): """Async version of add_text_messages.""" return self._do_add_text_messages(self.call_async, text_messages, **kwargs)</div> def _do_add_text_messages(self, func, text_messages, **kwargs): """Internal text message RPC stub call.""" request = data_buffer_protos.RecordTextMessagesRequest() request.text_messages.extend(text_messages) return func(self._stub.RecordTextMessages, request, value_from_response=None, error_from_response=common_header_errors, **kwargs) <div class="viewcode-block" id="DataBufferClient.add_operator_comment"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient.add_operator_comment'>[docs]</a> def add_operator_comment(self, msg, robot_timestamp=None, **kwargs): """Add an operator comment to the robot log. Args: 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. """ return self._do_add_operator_comment(self.call, msg, robot_timestamp, **kwargs)</div> <div class="viewcode-block" id="DataBufferClient.add_operator_comment_async"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient.add_operator_comment_async'>[docs]</a> def add_operator_comment_async(self, msg, robot_timestamp=None, **kwargs): """Async version of add_operator_comment.""" return self._do_add_operator_comment(self.call_async, msg, robot_timestamp, **kwargs)</div> def _do_add_operator_comment(self, func, msg, robot_timestamp=None, **kwargs): """Internal operator comment RPC stub call.""" request = data_buffer_protos.RecordOperatorCommentsRequest() robot_timestamp = robot_timestamp or self.now_in_robot_basis(msg_type="Operator Comment") # pylint: disable=no-member request.operator_comments.add(message=msg, timestamp=robot_timestamp) return func(self._stub.RecordOperatorComments, request, value_from_response=None, error_from_response=common_header_errors, **kwargs) <div class="viewcode-block" id="DataBufferClient.add_blob"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient.add_blob'>[docs]</a> def add_blob(self, data, type_id, channel=None, robot_timestamp=None, write_sync=False, **kwargs): """Log blob messages to the data buffer. Args: 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. """ return self._do_add_blob(self.call, data, type_id, channel, robot_timestamp, write_sync, **kwargs)</div> <div class="viewcode-block" id="DataBufferClient.add_blob_async"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient.add_blob_async'>[docs]</a> def add_blob_async(self, data, type_id, channel=None, robot_timestamp=None, write_sync=False, **kwargs): """Async version of add_blob.""" return self._do_add_blob(self.call_async, data, type_id, channel, robot_timestamp, write_sync, **kwargs)</div> def _do_add_blob( # pylint: disable=too-many-arguments self, func, data, type_id, channel, robot_timestamp, write_sync, **kwargs): """Internal blob RPC stub call.""" request = data_buffer_protos.RecordDataBlobsRequest() if not channel: channel = type_id robot_timestamp = robot_timestamp or self.now_in_robot_basis(msg_type=type_id) request.blob_data.add( # pylint: disable=no-member timestamp=robot_timestamp, channel=channel, type_id=type_id, data=data) request.sync = write_sync return func(self._stub.RecordDataBlobs, request, value_from_response=None, error_from_response=common_header_errors, **kwargs) <div class="viewcode-block" id="DataBufferClient.add_protobuf"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient.add_protobuf'>[docs]</a> def add_protobuf(self, proto, channel=None, robot_timestamp=None, write_sync=False): """Log protobuf messages to the data buffer. Args: 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. """ return self._do_add_protobuf(self.add_blob, proto, channel, robot_timestamp, write_sync)</div> <div class="viewcode-block" id="DataBufferClient.add_protobuf_async"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient.add_protobuf_async'>[docs]</a> def add_protobuf_async(self, proto, channel=None, robot_timestamp=None, write_sync=False): """Async version of add_protobuf.""" return self._do_add_protobuf(self.add_blob_async, proto, channel, robot_timestamp, write_sync)</div> def _do_add_protobuf(self, func, proto, channel, robot_timestamp, write_sync): """Internal blob stub call, serializes proto and logs as blob.""" binary_data = proto.SerializeToString() robot_timestamp = robot_timestamp or self.now_in_robot_basis(proto=proto) type_id = proto.DESCRIPTOR.full_name channel = channel or type_id return func(data=binary_data, type_id=type_id, channel=channel, robot_timestamp=robot_timestamp, write_sync=write_sync) <div class="viewcode-block" id="DataBufferClient.add_events"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient.add_events'>[docs]</a> def add_events(self, events, **kwargs): """Log event messages to the robot. Args: events (List[Event]): Sequence of Event protos. Raises: RpcError: Problem communicating with the robot. """ return self._do_add_events(self.call, events, **kwargs)</div> <div class="viewcode-block" id="DataBufferClient.add_events_async"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient.add_events_async'>[docs]</a> def add_events_async(self, events, **kwargs): """Async version of add_events.""" return self._do_add_events(self.call_async, events, **kwargs)</div> def _do_add_events(self, func, events, **kwargs): """Internal event stub call.""" request = data_buffer_protos.RecordEventsRequest() for event in events: request.events.add().CopyFrom(event) # pylint: disable=no-member return func(self._stub.RecordEvents, request, value_from_response=None, error_from_response=common_header_errors, **kwargs) <div class="viewcode-block" id="DataBufferClient.register_signal_schema"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient.register_signal_schema'>[docs]</a> def register_signal_schema(self, variables, schema_name, **kwargs): """Log signal schema to the robot. Args: 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. """ return self._do_register_signal_schema(self.call, variables, schema_name, **kwargs)</div> <div class="viewcode-block" id="DataBufferClient.register_signal_schema_async"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient.register_signal_schema_async'>[docs]</a> def register_signal_schema_async(self, variables, schema_name, **kwargs): """Async version of register_signal_schema""" return self._do_register_signal_schema(self.call_async, variables, schema_name, **kwargs)</div> def _do_register_signal_schema(self, func, variables, schema_name, **kwargs): """Internal register stub call.""" tick_schema = data_buffer_protos.SignalSchema(vars=variables, schema_name=schema_name) request = data_buffer_protos.RegisterSignalSchemaRequest() request.schema.CopyFrom(tick_schema) # pylint: disable=no-member # Schemas are saved internally, according to their schema ID. We need to wait for the # response from the server to get the schema id. The response does not include the schema # itself so use a partial to process the response appropriately. value_from_response = functools.partial(self._save_schema_id, tick_schema) return func(self._stub.RegisterSignalSchema, request, value_from_response=value_from_response, error_from_response=common_header_errors, **kwargs) <div class="viewcode-block" id="DataBufferClient.add_signal_tick"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient.add_signal_tick'>[docs]</a> def add_signal_tick( # pylint: disable=too-many-arguments,no-member self, data, schema_id, encoding=data_buffer_protos.SignalTick.ENCODING_RAW, sequence_id=0, source="client", **kwargs): """Log signal data to the robot data buffer. Schema should be sent before any ticks. Args: 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) """ return self._do_add_signal_tick(self.call, data, schema_id, encoding, sequence_id, source, **kwargs)</div> <div class="viewcode-block" id="DataBufferClient.add_signal_tick_async"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient.add_signal_tick_async'>[docs]</a> def add_signal_tick_async( # pylint: disable=too-many-arguments,no-member self, data, schema_id, encoding=data_buffer_protos.SignalTick.ENCODING_RAW, sequence_id=0, source="client", **kwargs): """Async version of add_signal_tick.""" return self._do_add_signal_tick(self.call_async, data, schema_id, encoding, sequence_id, source, **kwargs)</div> def _do_add_signal_tick( # pylint: disable=too-many-arguments self, func, data, schema_id, encoding, sequence_id, source, **kwargs): """Internal add signal tick stub call.""" if schema_id not in self.log_tick_schemas: raise LookupError('The log tick schema id "{}" is unknown'.format(schema_id)) request = data_buffer_protos.RecordSignalTicksRequest() request.tick_data.add( # pylint: disable=no-member sequence_id=sequence_id, source=source, schema_id=schema_id, encoding=encoding, data=data) return func(self._stub.RecordSignalTicks, request, value_from_response=None, error_from_response=common_header_errors, **kwargs) def _save_schema_id(self, schema, response): """Return schema id from response, after saving the schema in a dict indexed by id.""" self.log_tick_schemas[response.schema_id] = schema return response.schema_id <div class="viewcode-block" id="DataBufferClient.now_in_robot_basis"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.DataBufferClient.now_in_robot_basis'>[docs]</a> def now_in_robot_basis(self, msg_type=None, proto=None): """Get current time in robot clock basis if possible, None otherwise.""" if self._timesync_endpoint: try: converter = self._timesync_endpoint.get_robot_time_converter() except time_sync.NotEstablishedError: # No timesync. That's OK -- the receiving host will provide the timestamp. self.logger.debug( 'Could not timestamp message of type %s', (msg_type if msg_type is not None else (proto.DESCRIPTOR.full_name if proto is not None else 'Unknown'))) else: return converter.robot_timestamp_from_local_secs(time.time()) return None</div></div> <div class="viewcode-block" id="LoggingHandler"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.LoggingHandler'>[docs]</a>class LoggingHandler(logging.Handler): # pylint: disable=too-many-instance-attributes """A logging system Handler that will publish text to the data-buffer service. Args: service: Name of the service. See LogAnnotationTextMessage. data_buffer_client: API client that will send log messages. level: Python logging level. Defaults to NOTSET. time_sync_endpoint: A TimeSyncEndpoint, already synchronized to the remote clock. rpc_timeout: Timeout on RPCs made by data_buffer_client. msg_num_limit: If number of messages reaches this number, send data with data_buffer_client. msg_age_limit: If messages have been sitting locally for this many seconds, send data with data_buffer_client. skip_rpcs: Do not log any messages for RPC sending. Raises: log_annotation.InvalidArgument: The TimeSyncEndpoint is not valid. """ def __init__( # pylint: disable=too-many-arguments self, service, data_buffer_client, level=logging.NOTSET, time_sync_endpoint=None, rpc_timeout=1, msg_num_limit=10, msg_age_limit=1, skip_rpcs=False): logging.Handler.__init__(self, level=level) self.addFilter(is_not_text_log) if skip_rpcs: self.addFilter(is_not_rpc) self.msg_age_limit = msg_age_limit self.msg_num_limit = msg_num_limit self.rpc_timeout = rpc_timeout self.service = service self.time_sync_endpoint = time_sync_endpoint if self.time_sync_endpoint and not self.time_sync_endpoint.has_established_time_sync: raise InvalidArgument('time_sync_endpoint must have already established timesync!') # If we have this many unsent messages in the queue after a failure to send, # "dump" the messages to stdout. self._dump_msg_count = 20 # Internal tracking of errors. self._num_failed_sends = 0 self._num_failed_sends_sequential = 0 # If we have this many failed sends in a row, stop the send thread. self._limit_failed_sends_sequential = 5 # Event to trigger immediate flush of messages to the log client. self._flush_event = threading.Event() # How long to wait for flush events. Dictates non-flush update rate. self._flush_event_wait_time = 0.1 # Last time "emit" was called. self._last_emit_time = 0 self._data_buffer_client = data_buffer_client self._lock = threading.Lock() self._msg_queue = [] self._send_thread = threading.Thread(target=self._run_send_thread) # Set to stop the message send thread. self._shutdown_event = threading.Event() # This apparently needs to be a daemon thread to play nicely with python's Handler shutdown # procedure. self._send_thread.daemon = True self._send_thread.start() def __enter__(self): """Optionally use this as a ContextManager to be more cautious about sending messages.""" return self def __exit__(self, exc_type, exc_val, exc_tb): """To ensure all messages have been sent to the best of our ability, call close().""" self.close() <div class="viewcode-block" id="LoggingHandler.emit"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.LoggingHandler.emit'>[docs]</a> def emit(self, record): msg = self.record_to_msg(record) with self._lock: self._msg_queue.append(msg) self._last_emit_time = time.time()</div> <div class="viewcode-block" id="LoggingHandler.flush"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.LoggingHandler.flush'>[docs]</a> def flush(self): self._flush_event.set()</div> <div class="viewcode-block" id="LoggingHandler.close"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.LoggingHandler.close'>[docs]</a> def close(self): self._shutdown_event.set() self._send_thread.join() # One last attempt to send any messages. if self._msg_queue: try: self._data_buffer_client.add_text_messages(self._msg_queue, timeout=self.rpc_timeout) # Catch all client library errors. except Error: self._num_failed_sends += 1 with self._lock: self._dump_msg_queue() logging.Handler.close(self)</div> <div class="viewcode-block" id="LoggingHandler.is_thread_alive"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.LoggingHandler.is_thread_alive'>[docs]</a> def is_thread_alive(self): """Return true if send-thread is running.""" return self._send_thread.is_alive()</div> <div class="viewcode-block" id="LoggingHandler.restart"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.LoggingHandler.restart'>[docs]</a> def restart(self, data_buffer_client): """Restart the send thread. Raises: AssertionError if send thread is still alive. """ assert not self.is_thread_alive() self._num_failed_sends_sequential = 0 self._data_buffer_client = data_buffer_client self._send_thread = threading.Thread(target=self._run_send_thread) self._send_thread.daemon = True self._send_thread.start()</div> def _dump_msg_queue(self): """Pop all of the message queue, using fallback_log to try and capture them. Should be called with the lock held. """ self.fallback_log('Dumping {} messages!'.format(len(self._msg_queue))) for msg in self._msg_queue: self.fallback_log(msg) del self._msg_queue[:] <div class="viewcode-block" id="LoggingHandler.fallback_log"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.LoggingHandler.fallback_log'>[docs]</a> @staticmethod def fallback_log(msg): """Handle log messages that were failed to be sent by printing to the console.""" print(msg, file=sys.stderr)</div> def _run_send_thread(self): while (self._num_failed_sends_sequential < self._limit_failed_sends_sequential and not self._shutdown_event.is_set()): flush = self._flush_event.wait(self._flush_event_wait_time) msg_age = time.time() - self._last_emit_time with self._lock: num_msgs = len(self._msg_queue) to_send = self._msg_queue[:num_msgs] send_now = num_msgs >= 1 and (flush or msg_age >= self.msg_age_limit or num_msgs >= self.msg_num_limit) if send_now: self._flush_event.clear() send_errors = 0 error_limit = 2 sent = False while send_errors < error_limit and not self._shutdown_event.is_set(): try: self._data_buffer_client.add_text_messages(to_send, timeout=self.rpc_timeout) except (ResponseError, RpcError): self.fallback_log('Error:\n{}'.format(traceback.format_exc())) send_errors += 1 except: # pylint: disable=bare-except # Catch all other exceptions and log them. self.fallback_log('Unexpected exception!\n{}'.format( traceback.format_exc())) break else: sent = True break # Default to possibly dumping messages. maybe_dump = True if sent: # We successfully sent logs to the log service! Delete relevant local cache. with self._lock: del self._msg_queue[:num_msgs] maybe_dump = False self._num_failed_sends_sequential = 0 elif send_errors >= error_limit: self._num_failed_sends += 1 self._num_failed_sends_sequential += 1 elif self._shutdown_event.is_set(): # Don't dump if we're shutting down; we'll clear the messages in close(). maybe_dump = False else: # We can hit this state if # 1) We break out of the above loop without setting sent = True # 2) There is a logic bug in the above handling code / while loop. function_name = traceback.extract_stack()[-1][2] self.fallback_log('Unexpected condition in {}.{}!'.format( self.__class__.__name__, function_name)) # If we decided we may need to dump the message queue... if maybe_dump: with self._lock: if len(self._msg_queue) >= self._dump_msg_count: self._dump_msg_queue() <div class="viewcode-block" id="LoggingHandler.record_to_msg"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.LoggingHandler.record_to_msg'>[docs]</a> def record_to_msg(self, record: logging.LogRecord): """Convert logging record to TextMessage proto.""" level = self.record_level_to_proto_level(record.levelno) msg = data_buffer_protos.TextMessage(source=self.service, level=level, message=self.format(record), filename=record.filename, line_number=record.lineno) # pylint: disable=no-member if self.time_sync_endpoint is not None: try: msg.timestamp.CopyFrom( self.time_sync_endpoint.robot_timestamp_from_local_secs(time.time())) except time_sync.NotEstablishedError: # If timestamp is not set in the proto, data-buffer will timestamp it on receipt. msg.message = '(No time sync!): ' + msg.message else: msg.timestamp.CopyFrom(core_util.now_timestamp()) return msg</div> <div class="viewcode-block" id="LoggingHandler.record_level_to_proto_level"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.LoggingHandler.record_level_to_proto_level'>[docs]</a> @staticmethod def record_level_to_proto_level(record_level): """Convert logging record level to TextMessage proto level.""" # pylint: disable=no-member if record_level >= logging.ERROR: return data_buffer_protos.TextMessage.LEVEL_ERROR if record_level >= logging.WARNING: return data_buffer_protos.TextMessage.LEVEL_WARN if record_level >= logging.INFO: return data_buffer_protos.TextMessage.LEVEL_INFO return data_buffer_protos.TextMessage.LEVEL_DEBUG</div></div> <div class="viewcode-block" id="is_not_text_log"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.is_not_text_log'>[docs]</a>def is_not_text_log(record: logging.LogRecord) -> bool: """Filter out the RecordMessages calls that the handler sends so that we do not go into an infinite loop.""" return not record.name.endswith('.DataBufferService.RecordTextMessages')</div> <div class="viewcode-block" id="is_not_rpc"><a class='viewcode-back' href='/python/bosdyn-client/src/bosdyn/client/data_buffer#bosdyn.client.data_buffer.is_not_rpc'>[docs]</a>def is_not_rpc(record: logging.LogRecord) -> bool: """Because our loggers use the form sdk_name.robot_name.service_name.rpc_method, we can't easily just turn off all logging for rpcs. This function identifies the rpc logging calls to be able to strip them out.""" return not (record.module == 'common' and (record.funcName == 'call' or record.funcName == 'call_async'))</div> </pre></div> </div> </div> <footer> <hr/> <div role="contentinfo"> © Copyright 2024 Boston Dynamics. All rights reserved. <a href="https://www.bostondynamics.com/privacy-policy">Privacy Policy</a> | <a href="https://www.bostondynamics.com/terms">Terms of Use</a> </div> </footer> </div> </div> </section> </div> <script> jQuery(function () { SphinxRtdTheme.Navigation.enable(false); }); </script>  <script async src="https://www.googletagmanager.com/gtag/js?id=UA-XXXXXXX-1"></script> <script> window.dataLayer = window.dataLayer || []; function gtag(){dataLayer.push(arguments);} gtag('js', new Date()); gtag('config', 'UA-XXXXXXX-1', { 'anonymize_ip': false, }); </script>  <script type="text/javascript" id="hs-script-loader" async defer src="//js.hs-scripts.com/4845432.js"></script> </body> </html>