Power

For clients to the power command service.

exception bosdyn.client.power.PowerResponseError(response, error_message=None)[source]

Bases: ResponseError

General class of errors for Power service.

exception bosdyn.client.power.ShorePowerConnectedError(response, error_message=None)[source]

Bases: PowerResponseError

Robot cannot be powered on while on wall power.

exception bosdyn.client.power.BatteryMissingError(response, error_message=None)[source]

Bases: PowerResponseError

Battery not inserted into robot.

exception bosdyn.client.power.CommandInProgressError(response, error_message=None)[source]

Bases: PowerResponseError

Power command cannot be overwritten.

exception bosdyn.client.power.EstoppedError(response, error_message=None)[source]

Bases: PowerResponseError

Cannot power on while estopped; inspect EStopState for more info.

exception bosdyn.client.power.OverriddenError(response, error_message=None)[source]

Bases: PowerResponseError

The command was overridden and is no longer valid.

exception bosdyn.client.power.KeepaliveMotorsOffError(response, error_message=None)[source]

Bases: PowerResponseError

Cannot power on while Keepalive requests motors off.

exception bosdyn.client.power.FaultedError(response, error_message=None)[source]

Bases: PowerResponseError

Cannot power on due to a fault; inspect FaultState for more info.

exception bosdyn.client.power.PowerError[source]

Bases: Error

General class of errors to handle non-response non-grpc errors.

exception bosdyn.client.power.CommandTimedOutError[source]

Bases: PowerError

Timed out waiting for SUCCESS response from power command.

exception bosdyn.client.power.FanControlTemperatureError(response, error_message=None)[source]

Bases: PowerResponseError

Current measured robot temperatures are too high to accept user fan command.

exception bosdyn.client.power.SafetyStopIncompatibleHardwareError(response, error_message=None)[source]

Bases: PowerResponseError

SafetyStop command invalid because robot is not configured for SRSF.

exception bosdyn.client.power.SafetyStopFailedError(response, error_message=None)[source]

Bases: PowerResponseError

SafetyStop command executed and failed.

exception bosdyn.client.power.SafetyStopUnknownStopTypeError(response, error_message=None)[source]

Bases: PowerResponseError

SafetyStop command failed due to unknown stop type.

class bosdyn.client.power.PowerClient[source]

Bases: BaseClient

A client for enabling / disabling robot motor power. Commands are non-blocking. Clients are expected to issue a power command and then periodically check the status of this command. This service requires ownership over the robot, in the form of a lease.

default_service_name = 'power'

service_type = 'bosdyn.api.PowerService'

update_from(other)[source]: Adopt key objects like processors, logger, and wallet from other.

power_command(request, lease=None, **kwargs)[source]: Issue a power request to the robot.

power_command_async(request, lease=None, **kwargs)[source]: Async version of power_command().

power_command_feedback(power_command_id, **kwargs)[source]: Check the status of a previously issued power command.

power_command_feedback_async(power_command_id, **kwargs)[source]: Async version of power_command_feedback()

fan_power_command(percent_power, duration, lease=None, **kwargs)[source]: Issue a fan power command request to the robot.

fan_power_command_async(percent_power, duration, lease=None, **kwargs)[source]: Async version of fan_power_command()

fan_power_command_feedback(command_id, **kwargs)[source]: Check the status of a previously issued fan command

fan_power_command_feedback_async(command_id, **kwargs)[source]: Async version of fan_power_command_feedback()

reset_safety_stop(safety_stop_type, lease=None, **kwargs)[source]: Issue a reset safety stop request to the robot.

reset_safety_stop_async(safety_stop_type, lease=None, **kwargs)[source]: Async version of reset_safety_stop()

bosdyn.client.power.safe_power_off(command_client, state_client, timeout_sec=30, update_frequency=1.0, **kwargs)[source]: Safely power off motors. See safe_power_off_motors().

Deprecated since version 3.0.0: Replaced by the less ambiguous safe_power_off_motors function.

bosdyn.client.power.safe_power_off_motors(command_client, state_client, timeout_sec=30, update_frequency=1.0, **kwargs)[source]

Power off robot motors safely. This function blocks until robot safely powers off. This means the robot will attempt to sit before powering motors off.

Parameters:

command_client (RobotCommandClient) – client for calling RobotCommandService safe power off.
state_client (RobotStateClient) – client for monitoring power state.
timeout_sec (float) – Max time this function will block for.
update_frequency (float) – The frequency with which the robot should check if the command has succeeded.

Raises:

RpcError – Problem communicating with the robot.
power.CommandTimedOutError – Did not power off within timeout_sec
RobotCommandResponseError – Something went wrong with the safe power off.

bosdyn.client.power.power_on(power_client, timeout_sec=30, update_frequency=1.0, **kwargs)[source]: Power on robot motors. See power_on_motors().

Deprecated since version 2.3.4: Replaced by the less ambiguous power_on_motors function.

bosdyn.client.power.power_off(power_client, timeout_sec=30, update_frequency=1.0, **kwargs)[source]: Power off the robot motors. See power_off_motors().

Deprecated since version 2.3.4: Replaced by the less ambiguous power_off_motors function.

bosdyn.client.power.power_on_motors(power_client, timeout_sec=30, update_frequency=1.0, **kwargs)[source]

Power on robot motors. This function blocks until the command returns success.

Parameters:

power_client (bosdyn.api.PowerClient) – client for calling power service.
timeout_sec (float) – Max time this function will block for.
update_frequency (float) – The frequency with which the robot should check if the command has succeeded.

Raises:

RpcError – Problem communicating with the robot.
power.CommandTimedOutError – Did not power off within timeout_sec
PowerResponseError – Something went wrong during the power off sequence.

bosdyn.client.power.power_off_motors(power_client, timeout_sec=30, update_frequency=1.0, **kwargs)[source]

Power off the robot motors.

Parameters:

power_client (bosdyn.api.PowerClient) – client for calling power service.
timeout_sec (float) – Max time this function will block for.
update_frequency (float) – The frequency with which the robot should check if the command has succeeded.

Raises:

RpcError – Problem communicating with the robot.
power.CommandTimedOutError – Did not power off within timeout_sec
PowerResponseError – Something went wrong during the power off sequence.

bosdyn.client.power.safe_power_off_robot(command_client, state_client, power_client, timeout_sec=30, update_frequency=1.0, **kwargs)[source]

Power off the robot motors and then the robot computers safely. This function blocks until robot safely powers off. This means the robot will attempt to sit before powering motors off.

Parameters:

command_client (RobotCommandClient) – client for calling RobotCommandService safe power off.
state_client (RobotStateClient) – client for monitoring power state.
power_client (bosdyn.api.PowerClient) – client for calling power service.
timeout_sec (float) – Max time this function will block for.
update_frequency (float) – The frequency with which the robot should check if the command has succeeded.

Raises:

RpcError – Problem communicating with the robot.
power.CommandTimedOutError – Did not power off within timeout_sec
RobotCommandResponseError – Something went wrong with the safe power off.

bosdyn.client.power.power_off_robot(power_client, timeout_sec=30, update_frequency=1.0, **kwargs)[source]

Fully power off the robot. Powering off the robot will stop API comms.

Parameters:

power_client (bosdyn.api.PowerClient) – client for calling power service.
timeout_sec (float) – Max time this function will block for.
update_frequency (float) – The frequency with which the robot should check if the command has succeeded.

Raises:

RpcError – Problem communicating with the robot.
power.CommandTimedOutError – Did not power off within timeout_sec
PowerResponseError – Something went wrong during the power off sequence.

bosdyn.client.power.safe_power_cycle_robot(command_client, state_client, power_client, timeout_sec=30, update_frequency=1.0, **kwargs)[source]

Power cycle the robot safely. This function blocks until robot safely powers off. The robot will attempt to sit before powering cycling.

Parameters:

command_client (RobotCommandClient) – client for calling RobotCommandService safe power off.
state_client (RobotStateClient) – client for monitoring power state.
power_client (bosdyn.api.PowerClient) – client for calling power service.
timeout_sec (float) – Max time this function will block for.
update_frequency (float) – The frequency with which the robot should check if the command has succeeded.

Raises:

RpcError – Problem communicating with the robot.
power.CommandTimedOutError – Did not power off within timeout_sec
RobotCommandResponseError – Something went wrong with the safe power off.

bosdyn.client.power.power_cycle_robot(power_client, timeout_sec=30, update_frequency=1.0, **kwargs)[source]

Power cycle the robot. Power cycling the robot will stop API comms.

Parameters:

power_client (bosdyn.api.PowerClient) – client for calling power service.
timeout_sec (float) – Max time this function will block for.
update_frequency (float) – The frequency with which the robot should check if the command has succeeded.

Raises:

RpcError – Problem communicating with the robot.
power.CommandTimedOutError – Did not power off within timeout_sec
PowerResponseError – Something went wrong during the power off sequence.

bosdyn.client.power.power_off_payload_ports(power_client, timeout_sec=30, update_frequency=1.0, **kwargs)[source]

Power off the robot payload ports.

Parameters:

power_client (bosdyn.api.PowerClient) – client for calling power service.
timeout_sec (float) – Max time this function will block for.
update_frequency (float) – The frequency with which the robot should check if the command has succeeded.

Raises:

RpcError – Problem communicating with the robot.
power.CommandTimedOutError – Did not power off within timeout_sec
PowerResponseError – Something went wrong during the power off sequence.

bosdyn.client.power.power_on_payload_ports(power_client, timeout_sec=30, update_frequency=1.0, **kwargs)[source]

Power on the robot payload ports.

Parameters:

power_client (bosdyn.api.PowerClient) – client for calling power service.
timeout_sec (float) – Max time this function will block for.
update_frequency (float) – The frequency with which the robot should check if the command has succeeded.

Raises:

RpcError – Problem communicating with the robot.
power.CommandTimedOutError – Did not power off within timeout_sec
PowerResponseError – Something went wrong during the power off sequence.

bosdyn.client.power.power_off_wifi_radio(power_client, timeout_sec=30, update_frequency=1.0, **kwargs)[source]

Power off the robot Wi-Fi radio.

Parameters:

power_client (bosdyn.api.PowerClient) – client for calling power service.
timeout_sec (float) – Max time this function will block for.
update_frequency (float) – The frequency with which the robot should check if the command has succeeded.

Raises:

RpcError – Problem communicating with the robot.
power.CommandTimedOutError – Did not power off within timeout_sec
PowerResponseError – Something went wrong during the power off sequence.

bosdyn.client.power.power_on_wifi_radio(power_client, timeout_sec=30, update_frequency=1.0, **kwargs)[source]

Power off the robot Wi-Fi radio.

Parameters:

power_client (bosdyn.api.PowerClient) – client for calling power service.
timeout_sec (float) – Max time this function will block for.
update_frequency (float) – The frequency with which the robot should check if the command has succeeded.

Raises:

RpcError – Problem communicating with the robot.
power.CommandTimedOutError – Did not power off within timeout_sec
PowerResponseError – Something went wrong during the power off sequence.

bosdyn.client.power.is_powered_on(state_client, **kwargs)[source]

Returns true if robot is powered on, false otherwise.

Raises:: RpcError – Problem communicating with the robot