bosdyn-client 5.0.1.2__py3-none-any.whl → 5.1.0__py3-none-any.whl

bosdyn/client/payload_registration.py

@@ -19,8 +19,9 @@ import bosdyn.api.payload_registration_service_pb2_grpc as payload_registration_
 from bosdyn.client import (ResponseError, RetryableUnavailableError, TimedOutError,
                            TooManyRequestsError)
 from bosdyn.client.common import (BaseClient, error_factory, handle_common_header_errors,
-                                  handle_lease_use_result_errors, handle_unset_status_error)
+                                  handle_unset_status_error)
 from bosdyn.client.error_callback_result import ErrorCallbackResult
+from bosdyn.util import now_sec
 
 LOGGER = logging.getLogger('payload_registration_client')
 
@@ -156,7 +157,7 @@ class PayloadRegistrationClient(BaseClient):
 
     def get_payload_auth_token(self, guid, secret, **kw_args):
         """Request a limited-access auth token for a payload.
-        
+
         Getting the auth token requires payload to be authorized via the web console.
 
         Args:
@@ -166,7 +167,7 @@ class PayloadRegistrationClient(BaseClient):
 
         Returns:
           A limited-access user token for the robot
-        
+
         Raises:
           RpcError: Problem communicating with the robot.
           PayloadNotAuthorizedError: The payload with the provided GUID is
@@ -370,7 +371,7 @@ class PayloadRegistrationKeepAlive(object):
     the robot if it is ever forgotten. However, payload registrations on Spot are persistent
     across power cycles and updates, so in most cases there is no need to send a payload
     registration request after the first successful payload registration. The use of a payload
-    registration keep alive should only be used when a payload is expected to be regularly 
+    registration keep alive should only be used when a payload is expected to be regularly
     reconfigured by forgetting & re-authorizing the payload in the web page.
 
     Args:
@@ -413,9 +414,9 @@ class PayloadRegistrationKeepAlive(object):
 
     def start(self):
         """Register and then kick off thread.
-        
+
         Can not be restarted with this method after a shutdown.
-        
+
         Raises:
           RpcError: Problem communicating with the robot.
           RuntimeError: The thread was attempted to start more than once.
@@ -435,7 +436,7 @@ class PayloadRegistrationKeepAlive(object):
 
     def is_alive(self):
         """Are we still periodically re-registering?
-        
+
         Returns:
           A bool stating if still alive
         """
@@ -449,7 +450,7 @@ class PayloadRegistrationKeepAlive(object):
 
     def _periodic_reregister(self):
         """Handles a removal of the payload from the robot payload page while still connected.
-        
+
         Raises:
           RpcError: Problem communicating with the robot.
         """
@@ -458,7 +459,7 @@ class PayloadRegistrationKeepAlive(object):
         wait_time = self._registration_interval_secs
 
         while not self._end_reregister_signal.wait(wait_time):
-            exec_start = time.time()
+            exec_start = now_sec()
             action = ErrorCallbackResult.RESUME_NORMAL_OPERATION
             try:
                 self.pay_reg_client.register_payload(self.payload, self.secret)
@@ -486,7 +487,7 @@ class PayloadRegistrationKeepAlive(object):
                     # Log all other exceptions, but continue looping in hopes that it resolves itself
                     self.logger.exception('Caught general exception.')
 
-            exec_sec = time.time() - exec_start
+            exec_sec = now_sec() - exec_start
             if action == ErrorCallbackResult.ABORT:
                 self.logger.warning('Callback directed the re-registration loop to exit.')
                 break

bosdyn/client/power.py

@@ -13,13 +13,14 @@ from concurrent.futures import TimeoutError
 from deprecated.sphinx import deprecated
 from google.protobuf.duration_pb2 import Duration
 
-from bosdyn.api import (basic_command_pb2, full_body_command_pb2, license_pb2, power_pb2,
-                        power_service_pb2_grpc, robot_command_pb2, robot_state_pb2)
+from bosdyn.api import (basic_command_pb2, full_body_command_pb2, power_pb2, power_service_pb2_grpc,
+                        robot_command_pb2, robot_state_pb2)
 from bosdyn.client.common import (BaseClient, common_license_errors, error_factory,
                                   handle_common_header_errors, handle_lease_use_result_errors,
                                   handle_unset_status_error)
 from bosdyn.client.exceptions import (Error, InternalServerError, LicenseError, ResponseError,
                                       TimedOutError)
+from bosdyn.util import now_sec
 
 from .lease import add_lease_wallet_processors
 
@@ -82,9 +83,10 @@ class SafetyStopUnknownStopTypeError(PowerResponseError):
 
 class PowerClient(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.
+    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'
@@ -134,7 +136,7 @@ class PowerClient(BaseClient):
                                _fan_power_command_error_from_response, **kwargs)
 
     def fan_power_command_feedback(self, command_id, **kwargs):
-        """Check the status of a previously issued fan command"""
+        """Check the status of a previously issued fan command."""
         req = self._fan_power_command_feedback_request(command_id)
         return self.call(self._stub.FanPowerCommandFeedback, req, None,
                          _fan_power_feedback_error_from_response, **kwargs)
@@ -190,7 +192,10 @@ def _handle_license_errors(func):
 
 
 def _common_license_errors(response):
-    """Return an exception based on license status. None if no error."""
+    """Return an exception based on license status.
+
+    None if no error.
+    """
     if response.status != power_pb2.STATUS_LICENSE_ERROR:
         return None
 
@@ -284,14 +289,17 @@ _RESET_SAFETY_STOP_STATUS_TO_ERROR.update({
 @deprecated(reason='Replaced by the less ambiguous safe_power_off_motors function.',
             version='3.0.0', action="ignore")
 def safe_power_off(command_client, state_client, timeout_sec=30, update_frequency=1.0, **kwargs):
-    """Safely power off motors. See safe_power_off_motors()."""
+    """Safely power off motors.
+
+    See safe_power_off_motors().
+    """
     safe_power_off_motors(command_client, state_client, timeout_sec, update_frequency, **kwargs)
 
 
 def safe_power_off_motors(command_client, state_client, timeout_sec=30, update_frequency=1.0,
                           **kwargs):
-    """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.
+    """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.
 
     Args:
         command_client (RobotCommandClient): client for calling RobotCommandService safe power off.
@@ -305,7 +313,7 @@ def safe_power_off_motors(command_client, state_client, timeout_sec=30, update_f
         power.CommandTimedOutError: Did not power off within timeout_sec
         RobotCommandResponseError: Something went wrong with the safe power off.
     """
-    start_time = time.time()
+    start_time = now_sec()
     end_time = start_time + timeout_sec
     update_time = 1.0 / update_frequency
 
@@ -314,9 +322,9 @@ def safe_power_off_motors(command_client, state_client, timeout_sec=30, update_f
     command = robot_command_pb2.RobotCommand(full_body_command=full_body_command)
     command_client.robot_command(command=command, **kwargs)
 
-    while time.time() < end_time:
-        time_until_timeout = end_time - time.time()
-        start_call_time = time.time()
+    while now_sec() < end_time:
+        time_until_timeout = end_time - now_sec()
+        start_call_time = now_sec()
         future = state_client.get_robot_state_async(**kwargs)
         try:
             response = future.result(timeout=time_until_timeout)
@@ -324,7 +332,7 @@ def safe_power_off_motors(command_client, state_client, timeout_sec=30, update_f
                 return
         except TimeoutError:
             raise CommandTimedOutError
-        call_time = time.time() - start_call_time
+        call_time = now_sec() - start_call_time
         sleep_time = max(0.0, update_time - call_time)
         time.sleep(sleep_time)
     raise CommandTimedOutError
@@ -333,14 +341,20 @@ def safe_power_off_motors(command_client, state_client, timeout_sec=30, update_f
 @deprecated(reason='Replaced by the less ambiguous power_on_motors function.', version='2.3.4',
             action="ignore")
 def power_on(power_client, timeout_sec=30, update_frequency=1.0, **kwargs):
-    """Power on robot motors. See power_on_motors()."""
+    """Power on robot motors.
+
+    See power_on_motors().
+    """
     power_on_motors(power_client, timeout_sec, update_frequency, **kwargs)
 
 
 @deprecated(reason='Replaced by the less ambiguous power_off_motors function.', version='2.3.4',
             action="ignore")
 def power_off(power_client, timeout_sec=30, update_frequency=1.0, **kwargs):
-    """Power off the robot motors. See power_off_motors()."""
+    """Power off the robot motors.
+
+    See power_off_motors().
+    """
     power_off_motors(power_client, timeout_sec, update_frequency, **kwargs)
 
 
@@ -399,10 +413,10 @@ def safe_power_off_robot(command_client, state_client, power_client, timeout_sec
         power.CommandTimedOutError: Did not power off within timeout_sec
         RobotCommandResponseError: Something went wrong with the safe power off.
     """
-    end_time = time.time() + timeout_sec
-    safe_power_off_motors(command_client, state_client, timeout_sec=end_time - time.time(),
+    end_time = now_sec() + timeout_sec
+    safe_power_off_motors(command_client, state_client, timeout_sec=end_time - now_sec(),
                           update_frequency=update_frequency, **kwargs)
-    power_off_robot(power_client, timeout_sec=end_time - time.time(),
+    power_off_robot(power_client, timeout_sec=end_time - now_sec(),
                     update_frequency=update_frequency, **kwargs)
 
 
@@ -442,10 +456,10 @@ def safe_power_cycle_robot(command_client, state_client, power_client, timeout_s
         power.CommandTimedOutError: Did not power off within timeout_sec
         RobotCommandResponseError: Something went wrong with the safe power off.
     """
-    end_time = time.time() + timeout_sec
-    safe_power_off_motors(command_client, state_client, timeout_sec=end_time - time.time(),
+    end_time = now_sec() + timeout_sec
+    safe_power_off_motors(command_client, state_client, timeout_sec=end_time - now_sec(),
                           update_frequency=update_frequency, **kwargs)
-    power_cycle_robot(power_client, timeout_sec=end_time - time.time(),
+    power_cycle_robot(power_client, timeout_sec=end_time - now_sec(),
                       update_frequency=update_frequency, **kwargs)
 
 
@@ -467,6 +481,49 @@ def power_cycle_robot(power_client, timeout_sec=30, update_frequency=1.0, **kwar
                    **kwargs)
 
 
+def safe_soft_reboot_robot(command_client, state_client, power_client, timeout_sec=30,
+                           update_frequency=1.0, **kwargs):
+    """Soft reboot the robot safely. This function blocks until robot safely powers off. The robot
+    will attempt to sit before soft rebooting.
+
+    Args:
+        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.
+    """
+    end_time = now_sec() + timeout_sec
+    safe_power_off_motors(command_client, state_client, timeout_sec=end_time - now_sec(),
+                          update_frequency=update_frequency, **kwargs)
+    soft_reboot_robot(power_client, timeout_sec=end_time - now_sec(),
+                      update_frequency=update_frequency, **kwargs)
+
+
+def soft_reboot_robot(power_client, timeout_sec=30, update_frequency=1.0, **kwargs):
+    """Soft reboot the robot. Rebooting the robot will stop API comms.
+
+    Args:
+        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.
+    """
+    request = power_pb2.PowerCommandRequest.REQUEST_SOFT_REBOOT_ROBOT
+    _power_command(power_client, request, timeout_sec, update_frequency, expect_grpc_timeout=True,
+                   **kwargs)
+
+
 def power_off_payload_ports(power_client, timeout_sec=30, update_frequency=1.0, **kwargs):
     """Power off the robot payload ports.
 
@@ -551,7 +608,7 @@ def _power_command(power_client, request, timeout_sec=30, update_frequency=1.0,
                                   has succeeded.
         expect_timeout (bool): Expect API comms to drop on a success.
     """
-    start_time = time.time()
+    start_time = now_sec()
     end_time = start_time + timeout_sec
     update_time = 1.0 / update_frequency
 
@@ -566,9 +623,9 @@ def _power_command(power_client, request, timeout_sec=30, update_frequency=1.0,
         return  # Command succeeded immediately.
 
     power_command_id = response.power_command_id
-    while time.time() < end_time:
-        time_until_timeout = end_time - time.time()
-        start_call_time = time.time()
+    while now_sec() < end_time:
+        time_until_timeout = end_time - now_sec()
+        start_call_time = now_sec()
         future = power_client.power_command_feedback_async(power_command_id, **kwargs)
         try:
             response = future.result(timeout=time_until_timeout)
@@ -585,7 +642,7 @@ def _power_command(power_client, request, timeout_sec=30, update_frequency=1.0,
                 raise
         except TimeoutError:
             raise CommandTimedOutError
-        call_time = time.time() - start_call_time
+        call_time = now_sec() - start_call_time
         sleep_time = max(0.0, update_time - call_time)
         time.sleep(sleep_time)
     raise CommandTimedOutError

bosdyn/client/processors.py

@@ -25,11 +25,36 @@ class AddRequestHeader(object):
 
     def mutate(self, request):
         """Mutate request such that its header contains a client name and a timestamp.
-        
+
         Headers are not required for third party proto requests/responses.
         """
         header = self._create_header()
         try:
             request.header.CopyFrom(header)
         except AttributeError:
-            pass
+            pass
+
+
+class DataBufferLoggingProcessor:
+    """Processor that logs every protobuf message to the robot's data buffer."""
+
+    def __init__(self, data_buffer_client):
+        """
+        Args:
+            data_buffer_client: Instance of DataBufferClient.
+        """
+        self.data_buffer_client = data_buffer_client
+
+    def mutate(self, proto, **kwargs):
+        """Logs the protobuf message to the data buffer.
+        Args:
+            proto: The protobuf request or response to log.
+        """
+        self.data_buffer_client.add_protobuf_async(proto)
+
+
+def log_all_rpcs(client, data_buffer_client):
+    """Attach a DataBufferLoggingProcessor to log all RPC requests and responses for the given client."""
+    processor = DataBufferLoggingProcessor(data_buffer_client)
+    client.request_processors.append(processor)
+    client.response_processors.append(processor)

bosdyn/client/recording.py

@@ -9,11 +9,11 @@
 import collections
 from enum import Enum
 
-from bosdyn.api.graph_nav import map_pb2, nav_pb2, recording_pb2, recording_service_pb2
+from bosdyn.api.graph_nav import map_pb2, recording_pb2
 from bosdyn.api.graph_nav import recording_service_pb2_grpc as recording_service
 from bosdyn.client.common import (BaseClient, common_header_errors, error_factory,
-                                  handle_common_header_errors, handle_lease_use_result_errors,
-                                  handle_license_errors_if_present, handle_unset_status_error)
+                                  handle_common_header_errors, handle_license_errors_if_present,
+                                  handle_unset_status_error)
 from bosdyn.client.exceptions import ResponseError
 
 

bosdyn/client/robot_command.py

@@ -8,27 +8,26 @@
 import collections
 import time
 
-from google.protobuf import any_pb2, wrappers_pb2
-
-from bosdyn import geometry
 from bosdyn.api import (arm_command_pb2, basic_command_pb2, full_body_command_pb2, geometry_pb2,
-                        gripper_command_pb2, mobility_command_pb2, payload_estimation_pb2,
-                        robot_command_pb2, robot_command_service_pb2_grpc, synchronized_command_pb2,
-                        trajectory_pb2)
+                        mobility_command_pb2, payload_estimation_pb2, robot_command_pb2,
+                        robot_command_service_pb2_grpc, synchronized_command_pb2, trajectory_pb2)
 
 # isort: off
 # isort: on
+from google.protobuf import any_pb2, wrappers_pb2
+
+from bosdyn import geometry
 from bosdyn.api.spot import robot_command_pb2 as spot_command_pb2
 from bosdyn.client.common import (BaseClient, error_factory, error_pair,
                                   handle_common_header_errors, handle_lease_use_result_errors,
                                   handle_unset_status_error)
-from bosdyn.util import seconds_to_duration
+from bosdyn.util import now_sec, seconds_to_duration
 
 from .exceptions import Error as BaseError
 from .exceptions import InvalidRequestError, ResponseError, TimedOutError, UnsetStatusError
 from .frame_helpers import BODY_FRAME_NAME, ODOM_FRAME_NAME, get_se2_a_tform_b
 from .lease import add_lease_wallet_processors
-from .math_helpers import SE2Pose, SE3Pose, SE3Velocity
+from .math_helpers import SE2Pose, SE3Pose
 
 # The angles (in radians) that represent the claw gripper open and closed positions.
 _CLAW_GRIPPER_OPEN_ANGLE = -1.5708
@@ -372,11 +371,12 @@ class RobotCommandClient(BaseClient):
         return self.call_async(self._stub.RobotCommand, req, _robot_command_value,
                                _robot_command_error, copy_request=False, **kwargs)
 
-    def robot_command_feedback(self, robot_command_id, **kwargs):
+    def robot_command_feedback(self, robot_command_id=None, **kwargs):
         """Get feedback from a previously issued command.
 
         Args:
-            robot_command_id: ID of the robot command to get feedback on.
+            robot_command_id: ID of the robot command to get feedback on. If blank, will return feedback for the 
+            current active command if a command is in progress.
 
         Raises:
             RpcError: Problem communicating with the robot.
@@ -386,7 +386,7 @@ class RobotCommandClient(BaseClient):
         return self.call(self._stub.RobotCommandFeedback, req, None, _robot_command_feedback_error,
                          copy_request=False, **kwargs)
 
-    def robot_command_feedback_async(self, robot_command_id, **kwargs):
+    def robot_command_feedback_async(self, robot_command_id=None, **kwargs):
         """Async version of robot_command_feedback().
 
         Args:
@@ -1928,18 +1928,18 @@ def blocking_command(command_client, command, check_status_fn, end_time_secs=Non
                 basic_command_pb2.RobotCommandFeedbackStatus.Status.Name(feedback_status)),
             response)
 
-    start_time = time.time()
+    start_time = now_sec()
     end_time = start_time + timeout_sec
     update_time = 1.0 / update_frequency
 
     command_id = command_client.robot_command(command, timeout=timeout_sec,
                                               end_time_secs=end_time_secs)
 
-    now = time.time()
+    now = now_sec()
     while now < end_time:
         time_until_timeout = end_time - now
         rpc_timeout = max(time_until_timeout, 1)
-        start_call_time = time.time()
+        start_call_time = now_sec()
         try:
             response = command_client.robot_command_feedback(command_id, timeout=rpc_timeout)
         except TimedOutError:
@@ -1977,9 +1977,9 @@ def blocking_command(command_client, command, check_status_fn, end_time_secs=Non
             if check_status_fn(response):
                 return
 
-        delta_t = time.time() - start_call_time
+        delta_t = now_sec() - start_call_time
         time.sleep(max(min(delta_t, update_time), 0.0))
-        now = time.time()
+        now = now_sec()
 
     raise CommandTimedOutError(
         "Took longer than {:.1f} seconds to execute the command.".format(now - start_time))
@@ -2079,9 +2079,9 @@ def block_until_arm_arrives(command_client, cmd_id, timeout_sec=None):
         arm_command.proto for more information about why a trajectory would succeed or fail.
     """
     if timeout_sec is not None:
-        start_time = time.time()
+        start_time = now_sec()
         end_time = start_time + timeout_sec
-        now = time.time()
+        now = now_sec()
 
     while timeout_sec is None or now < end_time:
         feedback_resp = command_client.robot_command_feedback(cmd_id)
@@ -2114,7 +2114,7 @@ def block_until_arm_arrives(command_client, cmd_id, timeout_sec=None):
                 return False
 
         time.sleep(0.1)
-        now = time.time()
+        now = now_sec()
     return False
 
 
@@ -2145,9 +2145,9 @@ def block_for_trajectory_cmd(
     """
 
     if timeout_sec is not None:
-        start_time = time.time()
+        start_time = now_sec()
         end_time = start_time + timeout_sec
-        now = time.time()
+        now = now_sec()
 
     while timeout_sec is None or now < end_time:
         feedback_resp = command_client.robot_command_feedback(cmd_id)
@@ -2173,7 +2173,7 @@ def block_for_trajectory_cmd(
                 return True
 
         time.sleep(feedback_interval_secs)
-        now = time.time()
+        now = now_sec()
 
     if logger is not None:
         logger.info('block_for_trajectory_cmd: timeout exceeded.')

bosdyn/client/robot_state.py

@@ -131,7 +131,7 @@ class RobotStateClient(BaseClient):
 
 class RobotStateStreamingClient(BaseClient):
     """Client for the RobotState service.
-    
+
     This client is in BETA and may undergo changes in future releases.
     """
     default_service_name = 'robot-state-streaming'

bosdyn/client/sdk.py

@@ -14,6 +14,7 @@ import os
 import platform
 from enum import Enum
 
+import __main__
 import jwt
 from deprecated.sphinx import deprecated
 
@@ -87,10 +88,8 @@ BOSDYN_RESOURCE_ROOT = os.environ.get('BOSDYN_RESOURCE_ROOT',
 
 def generate_client_name(prefix=''):
     """Returns a descriptive client name for API clients with an optional prefix."""
-    import bosdyn.client.__main__
     try:
-        process_info = '{}-{}'.format(os.path.basename(bosdyn.client.__main__.__file__),
-                                      os.getpid())
+        process_info = '{}-{}'.format(os.path.basename(__main__.__file__), os.getpid())
     except AttributeError:
         process_info = '{}'.format(os.getpid())
     machine_name = platform.node()

bosdyn/client/service_customization_helpers.py

@@ -149,7 +149,7 @@ def oneof_param_to_dict(oneof_param: OneOfParam, oneof_spec: OneOfParam.Spec,
 
 
 def check_types_match(param, proto_type):
-    if type(param) != proto_type:
+    if type(param) is not proto_type:
         return CustomParamError(
             status=CustomParamError.STATUS_INVALID_VALUE,
             error_messages=[

bosdyn/client/spot_cam/audio.py

@@ -12,9 +12,8 @@ _LOGGER = logging.getLogger(__name__)
 
 from google.protobuf.wrappers_pb2 import FloatValue
 
-from bosdyn.api import data_chunk_pb2
 from bosdyn.api.spot_cam import audio_pb2, service_pb2_grpc
-from bosdyn.client.common import BaseClient, common_header_errors, handle_common_header_errors
+from bosdyn.client.common import BaseClient, handle_common_header_errors
 
 
 class AudioClient(BaseClient):

bosdyn/client/spot_cam/health.py

@@ -11,7 +11,7 @@ import logging
 _LOGGER = logging.getLogger(__name__)
 
 from bosdyn.api.spot_cam import health_pb2, service_pb2_grpc
-from bosdyn.client.common import BaseClient, common_header_errors, handle_common_header_errors
+from bosdyn.client.common import BaseClient, handle_common_header_errors
 
 
 class HealthClient(BaseClient):

bosdyn/client/spot_cam/lighting.py

@@ -11,7 +11,7 @@ import logging
 _LOGGER = logging.getLogger(__name__)
 
 from bosdyn.api.spot_cam import LED_pb2, service_pb2_grpc
-from bosdyn.client.common import BaseClient, common_header_errors, handle_common_header_errors
+from bosdyn.client.common import BaseClient, handle_common_header_errors
 
 
 class LightingClient(BaseClient):

bosdyn/client/spot_cam/media_log.py

@@ -13,7 +13,7 @@ _LOGGER = logging.getLogger(__name__)
 from deprecated.sphinx import deprecated
 
 from bosdyn.api.spot_cam import logging_pb2, service_pb2_grpc
-from bosdyn.client.common import BaseClient, common_header_errors, handle_common_header_errors
+from bosdyn.client.common import BaseClient, handle_common_header_errors
 
 
 class MediaLogClient(BaseClient):

bosdyn/client/spot_cam/network.py

@@ -27,7 +27,7 @@ class NetworkClient(BaseClient):
         super(NetworkClient, self).__init__(service_pb2_grpc.NetworkServiceStub)
 
     def get_ice_configuration(self, **kwargs):
-        """Set ICE configuration on Spot CAM. This overrides all existing configured servers"""
+        """Get ICE configuration from Spot CAM"""
         request = network_pb2.GetICEConfigurationRequest()
         return self.call(self._stub.GetICEConfiguration, request, self._ice_servers_from_response,
                          self._ice_network_error_from_response, copy_request=False, **kwargs)
@@ -41,7 +41,7 @@ class NetworkClient(BaseClient):
 
 
     def set_ice_configuration(self, ice_servers, **kwargs):
-        """Get ICE configuration from Spot CAM"""
+        """Set ICE configuration on Spot CAM. This overrides all existing configured servers"""
         request = self._set_ice_configuration_request(ice_servers)
         return self.call(self._stub.SetICEConfiguration, request, None,
                          self._ice_network_error_from_response, copy_request=False, **kwargs)
@@ -67,3 +67,4 @@ class NetworkClient(BaseClient):
     @handle_common_header_errors
     def _ice_network_error_from_response(response):  # pylint: disable=unused-argument
         return None
+

bosdyn/client/spot_cam/power.py

@@ -13,7 +13,7 @@ _LOGGER = logging.getLogger(__name__)
 from google.protobuf.wrappers_pb2 import BoolValue
 
 from bosdyn.api.spot_cam import power_pb2, service_pb2_grpc
-from bosdyn.client.common import BaseClient, common_header_errors, handle_common_header_errors
+from bosdyn.client.common import BaseClient, handle_common_header_errors
 
 
 class PowerClient(BaseClient):

bosdyn/client/spot_cam/ptz.py

@@ -13,7 +13,7 @@ _LOGGER = logging.getLogger(__name__)
 from google.protobuf.wrappers_pb2 import FloatValue, Int32Value
 
 from bosdyn.api.spot_cam import ptz_pb2, service_pb2_grpc
-from bosdyn.client.common import BaseClient, common_header_errors, handle_common_header_errors
+from bosdyn.client.common import BaseClient, common_header_errors
 from bosdyn.client.math_helpers import recenter_value_mod
 
 

bosdyn/client/spot_cam/streamquality.py

@@ -11,7 +11,7 @@ import logging
 _LOGGER = logging.getLogger(__name__)
 
 from bosdyn.api.spot_cam import service_pb2_grpc, streamquality_pb2
-from bosdyn.client.common import BaseClient, common_header_errors, handle_common_header_errors
+from bosdyn.client.common import BaseClient, handle_common_header_errors
 
 
 class StreamQualityClient(BaseClient):

bosdyn/client/spot_cam/version.py

@@ -11,7 +11,7 @@ import logging
 _LOGGER = logging.getLogger(__name__)
 
 from bosdyn.api.spot_cam import service_pb2_grpc, version_pb2
-from bosdyn.client.common import BaseClient, common_header_errors, handle_common_header_errors
+from bosdyn.client.common import BaseClient, handle_common_header_errors
 
 
 class VersionClient(BaseClient):