viam-sdk 0.25.2__py3-none-linux_armv7l.whl → 0.62.0__py3-none-linux_armv7l.whl

viam/components/arm/client.py

@@ -39,12 +39,11 @@ class ArmClient(Arm, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Pose:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetEndPositionRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetEndPositionResponse = await self.client.GetEndPosition(request, timeout=timeout)
+        response: GetEndPositionResponse = await self.client.GetEndPosition(request, timeout=timeout, metadata=md)
         return response.pose
 
     async def move_to_position(
@@ -53,24 +52,22 @@ class ArmClient(Arm, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = MoveToPositionRequest(name=self.name, to=pose, extra=dict_to_struct(extra))
-        await self.client.MoveToPosition(request, timeout=timeout)
+        await self.client.MoveToPosition(request, timeout=timeout, metadata=md)
 
     async def get_joint_positions(
         self,
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> JointPositions:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetJointPositionsRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetJointPositionsResponse = await self.client.GetJointPositions(request, timeout=timeout)
+        response: GetJointPositionsResponse = await self.client.GetJointPositions(request, timeout=timeout, metadata=md)
         return response.positions
 
     async def move_to_joint_positions(
@@ -79,28 +76,27 @@ class ArmClient(Arm, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = MoveToJointPositionsRequest(name=self.name, positions=positions, extra=dict_to_struct(extra))
-        await self.client.MoveToJointPositions(request, timeout=timeout)
+        await self.client.MoveToJointPositions(request, timeout=timeout, metadata=md)
 
     async def stop(
         self,
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = StopRequest(name=self.name, extra=dict_to_struct(extra))
-        await self.client.Stop(request, timeout=timeout)
+        await self.client.Stop(request, timeout=timeout, metadata=md)
 
-    async def is_moving(self, *, timeout: Optional[float] = None) -> bool:
+    async def is_moving(self, *, timeout: Optional[float] = None, **kwargs) -> bool:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = IsMovingRequest(name=self.name)
-        response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout)
+        response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout, metadata=md)
         return response.is_moving
 
     async def do_command(
@@ -108,20 +104,21 @@ class ArmClient(Arm, ReconfigurableResourceRPCClientBase):
         command: Mapping[str, Any],
         *,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Mapping[str, ValueTypes]:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
-        response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
+        response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout, metadata=md)
         return struct_to_dict(response.result)
 
     async def get_kinematics(
-        self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None
+        self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs
     ) -> Tuple[KinematicsFileFormat.ValueType, bytes]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetKinematicsRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetKinematicsResponse = await self.client.GetKinematics(request, timeout=timeout)
+        response: GetKinematicsResponse = await self.client.GetKinematics(request, timeout=timeout, metadata=md)
         return (response.format, response.kinematics_data)
 
-    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
-        return await get_geometries(self.client, self.name, extra, timeout)
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
+        md = kwargs.get("metadata", self.Metadata())
+        return await get_geometries(self.client, self.name, extra, timeout, md)

viam/components/arm/service.py

@@ -9,7 +9,6 @@ from viam.proto.common import (
     GetKinematicsResponse,
 )
 from viam.proto.component.arm import (
-    ArmServiceBase,
     GetEndPositionRequest,
     GetEndPositionResponse,
     GetJointPositionsRequest,
@@ -22,6 +21,7 @@ from viam.proto.component.arm import (
     MoveToPositionResponse,
     StopRequest,
     StopResponse,
+    UnimplementedArmServiceBase,
 )
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
 from viam.utils import dict_to_struct, struct_to_dict
@@ -29,7 +29,7 @@ from viam.utils import dict_to_struct, struct_to_dict
 from .arm import Arm
 
 
-class ArmRPCService(ArmServiceBase, ResourceRPCServiceBase[Arm]):
+class ArmRPCService(UnimplementedArmServiceBase, ResourceRPCServiceBase[Arm]):
     """
     gRPC Service for an Arm
     """
@@ -109,7 +109,7 @@ class ArmRPCService(ArmServiceBase, ResourceRPCServiceBase[Arm]):
         assert request is not None
         arm = self.get_resource(request.name)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        format, kinematics_data = await arm.get_kinematics(extra=struct_to_dict(request.extra), timeout=timeout)
+        format, kinematics_data = await arm.get_kinematics(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = GetKinematicsResponse(format=format, kinematics_data=kinematics_data)
         await stream.send_message(response)
 

viam/components/audio_in/__init__.py

@@ -0,0 +1,24 @@
+from viam.media.audio import AudioCodec
+from viam.proto.common import AudioInfo
+from viam.resource.registry import Registry, ResourceRegistration
+
+from .audio_in import AudioIn
+from .client import AudioInClient
+from .service import AudioInRPCService
+
+AudioResponse = AudioIn.AudioResponse
+
+__all__ = [
+    "AudioIn",
+    "AudioResponse",
+    "AudioInfo",
+    "AudioCodec",
+]
+
+Registry.register_api(
+    ResourceRegistration(
+        AudioIn,
+        AudioInRPCService,
+        lambda name, channel: AudioInClient(name, channel),
+    )
+)

viam/components/audio_in/audio_in.py

@@ -0,0 +1,74 @@
+import abc
+import sys
+from typing import Final, Optional
+
+from viam.proto.common import GetPropertiesResponse
+from viam.proto.component.audioin import GetAudioResponse
+from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT
+from viam.streams import Stream
+
+from ..component_base import ComponentBase
+
+if sys.version_info >= (3, 10):
+    from typing import TypeAlias
+else:
+    from typing_extensions import TypeAlias
+
+
+class AudioIn(ComponentBase):
+    """AudioIn represents a component that can capture audio.
+
+    This acts as an abstract base class for any drivers representing specific
+    audio input implementations. This cannot be used on its own. If the ``__init__()`` function is
+    overridden, it must call the ``super().__init__()`` function.
+    """
+
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
+        RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "audio_in"
+    )
+
+    Properties: "TypeAlias" = GetPropertiesResponse
+    AudioResponse: "TypeAlias" = GetAudioResponse
+    AudioStream = Stream[AudioResponse]
+
+    @abc.abstractmethod
+    async def get_audio(
+        self, codec: str, duration_seconds: float, previous_timestamp_ns: int, *, timeout: Optional[float] = None, **kwargs
+    ) -> AudioStream:
+        """
+        Get a stream of audio from the device
+
+        ::
+
+            my_audio_in = AudioIn.from_robot(robot=machine, name="my_audio_in")
+
+            stream = await my_audio_in.get_audio(
+                codec=AudioCodec.PCM16,
+                duration_seconds=10.0,
+                previous_timestamp_ns=0
+            )
+
+        Args:
+            codec (str): The desired codec of the returned audio data
+            duration_seconds (float): duration of the stream. 0 = indefinite stream
+            previous_timestamp_ns (int): starting timestamp in nanoseconds for recording continuity.
+            Set to 0 to begin recording from the current time.
+        Returns:
+            AudioStream: stream of audio chunks.
+        ...
+        """
+
+    @abc.abstractmethod
+    async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) -> Properties:
+        """
+        Get the audio device's properties
+
+        ::
+
+            my_audio_in = AudioIn.from_robot(robot=machine, name="my_audio_in")
+            properties = await my_audio_in.get_properties()
+
+        Returns:
+            Properties: The properties of the audio in device.
+        ...
+        """

viam/components/audio_in/client.py

@@ -0,0 +1,76 @@
+import uuid
+from typing import Any, Dict, List, Mapping, Optional
+
+from grpclib.client import Channel
+from grpclib.client import Stream as ClientStream
+
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, GetPropertiesRequest
+from viam.proto.component.audioin import AudioInServiceStub, GetAudioRequest, GetAudioResponse
+from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
+from viam.streams import StreamWithIterator
+from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
+
+from .audio_in import AudioIn
+
+
+class AudioInClient(AudioIn, ReconfigurableResourceRPCClientBase):
+    def __init__(self, name: str, channel: Channel) -> None:
+        self.channel = channel
+        self.client = AudioInServiceStub(channel)
+        super().__init__(name)
+
+    async def get_audio(
+        self,
+        codec: str,
+        duration_seconds: float,
+        previous_timestamp_ns: int,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        **kwargs,
+    ):
+        request = GetAudioRequest(
+            name=self.name,
+            codec=codec,
+            duration_seconds=duration_seconds,
+            previous_timestamp_nanoseconds=previous_timestamp_ns,
+            request_id=str(uuid.uuid4()),
+            extra=dict_to_struct(extra),
+        )
+
+        async def read():
+            md = kwargs.get("metadata", self.Metadata()).proto
+            audio_stream: ClientStream[GetAudioRequest, GetAudioResponse]
+            async with self.client.GetAudio.open(metadata=md) as audio_stream:
+                try:
+                    await audio_stream.send_message(request, end=True)
+                    async for response in audio_stream:
+                        yield response
+                except Exception as e:
+                    raise (e)
+
+        return StreamWithIterator(read())
+
+    async def get_properties(
+        self,
+        *,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> AudioIn.Properties:
+        md = kwargs.get("metadata", self.Metadata()).proto
+        return await self.client.GetProperties(GetPropertiesRequest(name=self.name), timeout=timeout, metadata=md)
+
+    async def do_command(
+        self,
+        command: Mapping[str, ValueTypes],
+        *,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> Mapping[str, ValueTypes]:
+        md = kwargs.get("metadata", self.Metadata()).proto
+        request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
+        response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout, metadata=md)
+        return struct_to_dict(response.result)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
+        md = kwargs.get("metadata", self.Metadata())
+        return await get_geometries(self.client, self.name, extra, timeout, md)

viam/components/audio_in/service.py

@@ -0,0 +1,83 @@
+from grpclib.server import Stream
+from h2.exceptions import StreamClosedError
+
+from viam.logging import getLogger
+from viam.proto.common import (
+    DoCommandRequest,
+    DoCommandResponse,
+    GetGeometriesRequest,
+    GetGeometriesResponse,
+    GetPropertiesRequest,
+    GetPropertiesResponse,
+)
+from viam.proto.component.audioin import AudioInServiceBase, GetAudioRequest, GetAudioResponse
+from viam.resource.rpc_service_base import ResourceRPCServiceBase
+from viam.utils import dict_to_struct, struct_to_dict
+
+from .audio_in import AudioIn
+
+LOGGER = getLogger(__name__)
+
+
+class AudioInRPCService(AudioInServiceBase, ResourceRPCServiceBase[AudioIn]):
+    """
+    gRPC Service for a generic audio in.
+    """
+
+    RESOURCE_TYPE = AudioIn
+
+    async def GetAudio(self, stream: Stream[GetAudioRequest, GetAudioResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        audio_in = self.get_resource(name)
+        audio_stream = await audio_in.get_audio(
+            codec=request.codec,
+            duration_seconds=request.duration_seconds,
+            previous_timestamp_ns=request.previous_timestamp_nanoseconds,
+            metadata=stream.metadata,
+        )
+        async for response in audio_stream:
+            try:
+                response.request_id = request.request_id
+                await stream.send_message(response)
+            except StreamClosedError:
+                return
+            except Exception as e:
+                LOGGER.error(e)
+                return
+
+    async def GetProperties(self, stream: Stream[GetPropertiesRequest, GetPropertiesResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        audio_in = self.get_resource(name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        properties = await audio_in.get_properties(
+            timeout=timeout,
+            metadata=stream.metadata,
+        )
+        await stream.send_message(properties)
+
+    async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        name = request.name
+        audio_in = self.get_resource(name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        result = await audio_in.do_command(
+            command=struct_to_dict(request.command),
+            timeout=timeout,
+            metadata=stream.metadata,
+        )
+        response = DoCommandResponse(result=dict_to_struct(result))
+        await stream.send_message(response)
+
+    async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        arm = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await arm.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)

viam/components/audio_input/__init__.py

@@ -9,7 +9,7 @@ __all__ = [
 ]
 
 
-Registry.register_subtype(
+Registry.register_api(
     ResourceRegistration(
         AudioInput,
         AudioInputRPCService,

viam/components/audio_input/audio_input.py

@@ -8,21 +8,22 @@ from typing_extensions import Self
 
 from viam.media.audio import Audio, AudioStream
 from viam.proto.component.audioinput import PropertiesResponse
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
+from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT
 from viam.streams import StreamSource
 
 from ..component_base import ComponentBase
 
 
 class AudioInput(ComponentBase, StreamSource[Audio]):
-    """AudioInput represents a component that can capture audio.
+    """DEPRECATED: AudioInput is deprecated, use AudioIn instead
+    AudioInput represents a component that can capture audio.
 
     This acts as an abstract base class for any drivers representing specific
     audio input implementations. This cannot be used on its own. If the ``__init__()`` function is
     overridden, it must call the ``super().__init__()`` function.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "audio_input"
     )
 

viam/components/audio_input/client.py

@@ -1,3 +1,4 @@
+import warnings
 from typing import Any, AsyncIterator, Dict, List, Mapping, Optional, Union
 
 from grpclib.client import Channel
@@ -21,17 +22,24 @@ from .audio_input import AudioInput
 
 class AudioInputClient(AudioInput, ReconfigurableResourceRPCClientBase):
     """
+    DEPRECATED: AudioInput is deprecated, use AudioIn instead.
     gRPC client for the AudioInput component.
     """
 
     def __init__(self, name: str, channel: Channel):
+        warnings.warn(
+            "AudioInputClient is deprecated and will be removed in a future release. " "Use AudioIn instead.",
+            DeprecationWarning,
+            stacklevel=2,
+        )
         self.channel = channel
         self.client = AudioInputServiceStub(channel)
         super().__init__(name)
 
-    async def stream(self, *, timeout: Optional[float] = None, **__) -> Stream[Audio]:
+    async def stream(self, *, timeout: Optional[float] = None, **kwargs) -> Stream[Audio]:
         async def read() -> AsyncIterator[Audio]:
-            async with self.client.Chunks.open(timeout=timeout) as chunks_stream:
+            md = kwargs.get("metadata", self.Metadata()).proto
+            async with self.client.Chunks.open(timeout=timeout, metadata=md) as chunks_stream:
                 await chunks_stream.send_message(
                     ChunksRequest(name=self.name, sample_format=SampleFormat.SAMPLE_FORMAT_FLOAT32_INTERLEAVED), end=True
                 )
@@ -52,15 +60,18 @@ class AudioInputClient(AudioInput, ReconfigurableResourceRPCClientBase):
 
         return StreamWithIterator(read())
 
-    async def get_properties(self, *, timeout: Optional[float] = None, **__) -> AudioInput.Properties:
+    async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) -> AudioInput.Properties:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = PropertiesRequest(name=self.name)
-        response: PropertiesResponse = await self.client.Properties(request, timeout=timeout)
+        response: PropertiesResponse = await self.client.Properties(request, timeout=timeout, metadata=md)
         return AudioInput.Properties.from_proto(response)
 
-    async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **__) -> Mapping[str, ValueTypes]:
+    async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
-        response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
+        response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout, metadata=md)
         return struct_to_dict(response.result)
 
-    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
-        return await get_geometries(self.client, self.name, extra, timeout)
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
+        md = kwargs.get("metadata", self.Metadata())
+        return await get_geometries(self.client, self.name, extra, timeout, md)

viam/components/audio_input/service.py

@@ -1,3 +1,4 @@
+import warnings
 import wave
 from datetime import timedelta
 from io import BytesIO
@@ -25,9 +26,18 @@ from .audio_input import AudioInput
 
 class AudioInputRPCService(AudioInputServiceBase, ResourceRPCServiceBase[AudioInput]):
     """
+    DEPRECATED: AudioInput is deprecated, use AudioIn instead.
     gRPC Service for a generic AudioInput
     """
 
+    def __init__(self, *args, **kwargs):
+        warnings.warn(
+            "AudioInput is deprecated and will be removed in a future release. " "Use AudioIn instead.",
+            DeprecationWarning,
+            stacklevel=2,
+        )
+        super().__init__(*args, **kwargs)
+
     RESOURCE_TYPE = AudioInput
 
     async def Chunks(self, stream: Stream[ChunksRequest, ChunksResponse]) -> None:

viam/components/audio_out/__init__.py

@@ -0,0 +1,21 @@
+from viam.media.audio import AudioCodec
+from viam.proto.common import AudioInfo
+from viam.resource.registry import Registry, ResourceRegistration
+
+from .audio_out import AudioOut
+from .client import AudioOutClient
+from .service import AudioOutRPCService
+
+__all__ = [
+    "AudioOut",
+    "AudioInfo",
+    "AudioCodec",
+]
+
+Registry.register_api(
+    ResourceRegistration(
+        AudioOut,
+        AudioOutRPCService,
+        lambda name, channel: AudioOutClient(name, channel),
+    )
+)

viam/components/audio_out/audio_out.py

@@ -0,0 +1,72 @@
+import abc
+import sys
+from typing import Any, Dict, Final, Optional
+
+from viam.proto.common import GetPropertiesResponse
+from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT
+
+from ..component_base import ComponentBase
+from . import AudioInfo
+
+if sys.version_info >= (3, 10):
+    from typing import TypeAlias
+else:
+    from typing_extensions import TypeAlias
+
+
+class AudioOut(ComponentBase):
+    """AudioOut represents a component that can play audio.
+
+    This acts as an abstract base class for any drivers representing specific
+    audio output implementations. This cannot be used on its own. If the ``__init__()`` function is
+    overridden, it must call the ``super().__init__()`` function.
+    """
+
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
+        RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "audio_out"
+    )
+
+    Properties: "TypeAlias" = GetPropertiesResponse
+
+    @abc.abstractmethod
+    async def play(
+        self,
+        data: bytes,
+        info: Optional[AudioInfo] = None,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> None:
+        """
+        Play the given audio data.
+
+        ::
+
+            my_audio_out = AudioOut.from_robot(robot=machine, name="my_audio_out")
+
+            # With audio info
+            audio_info = AudioInfo(codec=AudioCodec.PCM16, sample_rate_hz=44100, num_channels=2)
+            await my_audio_out.play(audio_data, audio_info)
+
+            # Without audio info (when codec encodes information within audio_data)
+            await my_audio_out.play(audio_data)
+
+        Args:
+            data: audio bytes to play
+            info: (optional) information about the audio data such as codec, sample rate, and channel count
+        """
+
+    @abc.abstractmethod
+    async def get_properties(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> Properties:
+        """
+        Get the audio output device's properties.
+
+        ::
+
+            my_audio_out = AudioOut.from_robot(robot=machine, name="my_audio_out")
+            properties = await my_audio_out.get_properties()
+
+        Returns:
+            Properties: The properties of the audio output device
+        """