Plugin¶

class PluginClient¶

Canonical: kortex_api.autogen.client_stubs.PluginClientRpc

__init__(router, namespace)¶

Constructs a PluginClient with an initialized RouterClient and a namespace.

Parameters

router (RouterClient) – RouterClient used for the communication
namespace (string) – Namespace on which to initialize the PluginClient

IsAlive(timeoutMs: int = 1000)¶

Returns True if the Service Server is detected online before timeoutMs is expired, False otherwise.

Parameters: timeoutMs (unsigned int) – The maximum time to wait for an answer from the server
Return type: bool

GetStatus(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

Status

GetMetaData(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Get the plugin’s meta data

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

MetaData

GetConfiguration(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Get the plugin’s current configuration

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

Configuration

GetConfigurationSchema(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Get the plugin’s current configuration schema

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

ConfigurationSchema

SetConfiguration(configuration, deviceId=0, options=RouterClientSendOptions())¶

The CONFIGURE permission is necessary to call this RPC.

Set the plugin’s configuration

Parameters

configuration (Configuration) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

ResetConfiguration(deviceId = 0, options = RouterClientSendOptions())¶

The CONFIGURE permission is necessary to call this RPC.

Set the plugin’s configuration to its default configuration

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

GetActionTypes(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Get Plugin’s available Action Types list

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

ActionDescriptionList

StartAction(action, deviceId=0, options=RouterClientSendOptions())¶

The OPERATE permission is necessary to call this RPC.

Start an Action

Parameters

action (Action) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

ActionInstanceHandle

PauseAction(actioninstancehandle, deviceId=0, options=RouterClientSendOptions())¶

The OPERATE permission is necessary to call this RPC.

Pause an ongoing Action

Parameters

actioninstancehandle (ActionInstanceHandle) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

ResumeAction(actioninstancehandle, deviceId=0, options=RouterClientSendOptions())¶

The OPERATE permission is necessary to call this RPC.

Resume a paused Action

Parameters

actioninstancehandle (ActionInstanceHandle) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

StopAction(actioninstancehandle, deviceId=0, options=RouterClientSendOptions())¶

The OPERATE permission is necessary to call this RPC.

Stop an ongoing Action

Parameters

actioninstancehandle (ActionInstanceHandle) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

OnNotificationStateTopic(callback, notificationoptions)¶

The READ_ONLY permission is necessary to call this RPC.

Subscribes to State change topic for the Plugin

Parameters

callback (function) – Function callback taking a Kinova.Api.Plugin.StateNotification as only argument, and returning None.
notificationoptions (NotificationOptions) – Notification options

Return type

NotificationHandle

OnNotificationConfigurationChangeTopic(callback, notificationoptions)¶

The READ_ONLY permission is necessary to call this RPC.

Subscribes to Configuration change topic for the Plugin

Parameters

callback (function) – Function callback taking a Kinova.Api.Plugin.ConfigurationChangeNotification as only argument, and returning None.
notificationoptions (NotificationOptions) – Notification options

Return type

NotificationHandle

OnNotificationActionTopic(callback, notificationoptions)¶

The READ_ONLY permission is necessary to call this RPC.

Subscribes to Action notifications for the Plugin

Parameters

callback (function) – Function callback taking a Kinova.Api.Plugin.ActionNotification as only argument, and returning None.
notificationoptions (NotificationOptions) – Notification options

Return type

NotificationHandle

Unsubscribe(notificationhandle, deviceId=0, options=RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Unsubscribes client from receiving notifications for the specified topic

Parameters

notificationhandle (NotificationHandle) –
deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

GetVisualizers(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Getter for the visualizers the Plugin offers

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

VisualizerList

OnNotificationInfoChangeTopic(callback, notificationoptions)¶

The READ_ONLY permission is necessary to call this RPC.

Subscribes to Info change topic for the Plugin

Parameters

callback (function) – Function callback taking a Kinova.Api.Plugin.InfoChangeNotification as only argument, and returning None.
notificationoptions (NotificationOptions) – Notification options

Return type

NotificationHandle

GetFeedback(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Get the plugin’s current feedback

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

Feedback

GetFeedbackSchema(deviceId = 0, options = RouterClientSendOptions())¶

The READ_ONLY permission is necessary to call this RPC.

Get the plugin’s current feedback schema

Parameters

deviceId (int) – Device’s Id called by rpc (optional)
options (RouterClientSendOptions) – Router options for sending the message

Return type

FeedbackSchema