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Audio in API

The audio in API supports the following methods:

Method Name	Description
`GetAudio`	Get a stream of audio from the device.
`GetProperties`	Get the audio device’s properties.
`GetGeometries`	Get all the geometries associated with the audio in component in its current configuration, in the frame of the audio in component.
`Reconfigure`	Reconfigure this resource.
`DoCommand`	Execute model-specific commands that are not otherwise defined by the component API.
`GetResourceName`	Get the `ResourceName` for this audio in component.
`Close`	Safely shut down the resource and prevent further use.

API

GetAudio

Get a stream of audio from the device.

Parameters:

codec (str) (required): The desired codec of the returned audio data.
duration_seconds (float) (required): duration of the stream. 0 = indefinite stream.
previous_timestamp_ns (int) (required): starting timestamp in nanoseconds for recording continuity.
extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.

Returns:

None.

Example:

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
)

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
codec (string)
durationSeconds (float32)
previousTimestampNs (int64)
extra (map[string]interface{}): Extra options to pass to the underlying RPC call.

Returns:

chan (*AudioChunk)
(error): An error, if one occurred.

For more information, see the Go SDK Docs.

Parameters:

codec (string) (required)
durationSeconds (number) (required)
previousTimestamp (bigint) (optional)
extra (None) (optional)
callOptions (CallOptions) (optional)

Returns:

(AsyncIterable<AudioChunk>)

Example:

const audioIn = new VIAM.AudioInClient(machine, 'my_audio_in');
const stream = audioIn.getAudio(VIAM.AudioCodec.PCM16, 3, 0n, {});

For more information, see the TypeScript SDK Docs.

Parameters:

codec String (optional)
durationSeconds double? (optional)
previousTimestampNanoseconds Int64? (optional)
extra Map<String, dynamic>? (optional)

Returns:

Stream<GetAudioResponse>

For more information, see the Flutter SDK Docs.

GetProperties

Get the audio device’s properties.

Parameters:

timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

(viam.components.audio_in.audio_in.AudioIn.Properties): : The properties of the audio in device.

Example:

my_audio_in = AudioIn.from_robot(robot=machine, name="my_audio_in")
properties = await my_audio_in.get_properties()

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
extra (map[string]interface{}): Extra options to pass to the underlying RPC call.

Returns:

(utils.Properties)
(error): An error, if one occurred.

For more information, see the Go SDK Docs.

Parameters:

extra (None) (optional)
callOptions (CallOptions) (optional)

Returns:

(Promise< { numChannels: number; sampleRateHz: number; supportedCodecs: string[] }, >)

Example:

const audioIn = new VIAM.AudioInClient(machine, 'my_audio_in');
const properties = await audioIn.getProperties();

For more information, see the TypeScript SDK Docs.

Parameters:

extra Map<String, dynamic>? (optional)

Returns:

Future<GetPropertiesResponse>

For more information, see the Flutter SDK Docs.

GetGeometries

Get all the geometries associated with the audio in component in its current configuration, in the frame of the audio in component. The motion and navigation services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning.

Python

Parameters:

extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

(List[viam.proto.common.Geometry]): : The geometries associated with the Component.

Example:

my_audio_in = AudioIn.from_robot(robot=machine, name="my_audio_in")
geometries = await my_audio_in.get_geometries()

if geometries:
    # Get the center of the first geometry
    print(f"Pose of the first geometry's centerpoint: {geometries[0].center}")

For more information, see the Python SDK Docs.

Reconfigure

Reconfigure this resource. Reconfigure must reconfigure the resource atomically and in place.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
deps (Dependencies): The resource dependencies.
conf (Config): The resource configuration.

Returns:

(error): An error, if one occurred.

For more information, see the Go SDK Docs.

DoCommand

Execute model-specific commands that are not otherwise defined by the component API. Most models do not implement DoCommand. Any available model-specific commands should be covered in the model’s documentation. If you are implementing your own arm and want to add features that have no corresponding built-in API method, you can implement them with DoCommand.

Parameters:

command (Mapping[str, ValueTypes]) (required): The command to execute.
timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

(Mapping[str, viam.utils.ValueTypes]): : Result of the executed command.

Raises:

(NotImplementedError): Raised if the Resource does not support arbitrary commands.

Example:

my_audio_in = AudioIn.from_robot(robot=machine, name="my_audio_in")
command = {"cmd": "test", "data1": 500}
result = await my_audio_in.do_command(command)

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
cmd (map[string]interface{}): The command to execute.

Returns:

(map[string]interface{}): The command response.
(error): An error, if one occurred.

Example:

myAudioIn, err := audio_in.FromProvider(machine, "my_audio_in")

command := map[string]interface{}{"cmd": "test", "data1": 500}
result, err := myAudioIn.DoCommand(context.Background(), command)

For more information, see the Go SDK Docs.

Parameters:

command (Struct) (required): The command to execute. Accepts either a Struct or a plain object, which will be converted automatically.
callOptions (CallOptions) (optional)

Returns:

(Promise<JsonValue>)

Example:

// Plain object (recommended)
const result = await resource.doCommand({
  myCommand: { key: 'value' },
});

// Struct (still supported)
import { Struct } from '@viamrobotics/sdk';

const result = await resource.doCommand(
  Struct.fromJson({ myCommand: { key: 'value' } })
);

For more information, see the TypeScript SDK Docs.

Parameters:

command Map<String, dynamic> (required)

Returns:

Future<Map<String, dynamic>>

Example:

// Example using doCommand with an arm component
const command = {'cmd': 'test', 'data1': 500};
var result = myArm.doCommand(command);

For more information, see the Flutter SDK Docs.

GetResourceName

Get the ResourceName for this audio in component.

Parameters:

name (str) (required): The name of the Resource.

Returns:

(viam.proto.common.ResourceName): : The ResourceName of this Resource.

Example:

my_audio_in_name = AudioIn.get_resource_name("my_audio_in")

For more information, see the Python SDK Docs.

Parameters:

None.

Returns:

(Name)

Example:

myAudioIn, err := audioin.FromProvider(machine, "my_audio_in")

err = myAudioIn.Name()

For more information, see the Go SDK Docs.

Parameters:

None.

Returns:

(string): The name of the resource.

Example:

audio_in.name

For more information, see the TypeScript SDK Docs.

Close

Safely shut down the resource and prevent further use.

Python
Go

Parameters:

None.

Returns:

None.

Example:

my_audio_in = AudioIn.from_robot(robot=machine, name="my_audio_in")
await my_audio_in.close()

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.

Returns:

(error): An error, if one occurred.

Example:

myAudioIn, err := audioin.FromProvider(machine, "my_audio_in")

err = myAudioIn.Close(context.Background())

For more information, see the Go SDK Docs.

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