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Audio out API

The audio out API supports the following methods:

Method Name	Description
`Play`	Play the given audio data.
`GetProperties`	Get the audio device’s properties.
`GetGeometries`	Get all the geometries associated with the audio out component in its current configuration, in the frame of the audio out 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 out component.
`Close`	Safely shut down the resource and prevent further use.

API

Play

Play the given audio data.

Parameters:

data (bytes) (required): audio bytes to play.
info (viam.components.audio_out.audio_out.AudioInfo) (optional): (optional) information about the audio data such as codec, sample rate, and channel count.
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:

None.

Example:

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)

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.
data ([]byte)
info (*utils.AudioInfo)
extra (map[string]interface{}): Extra options to pass to the underlying RPC call.

Returns:

(error): An error, if one occurred.

For more information, see the Go SDK Docs.

Parameters:

audioData (Uint8Array) (required): The audio data to play.
audioInfo (AudioInfo) (optional): Information about the audio format (optional, required for raw pcm data).
extra (None) (optional)
callOptions (CallOptions) (optional)

Returns:

(Promise)

Example:

const audioOut = new VIAM.AudioOutClient(machine, 'my_audio_out');
const audioData = new Uint8Array([...]); // Your audio data
const audioInfo = { codec: 'pcm16', sampleRateHz: 48000, numChannels: 2 };
await audioOut.play(audioData, audioInfo);

For more information, see the TypeScript SDK Docs.

Parameters:

audioData Uint8List (optional)
audioInfo AudioInfo (optional)
extra Map<String, dynamic>? (optional)

Returns:

Future<PlayResponse>

For more information, see the Flutter SDK Docs.

GetProperties

Get the audio device’s properties.

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:

(viam.components.audio_out.audio_out.AudioOut.Properties): : The properties of the audio output device.

Example:

my_audio_out = AudioOut.from_robot(robot=machine, name="my_audio_out")
properties = await my_audio_out.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 audioOut = new VIAM.AudioOutClient(machine, 'my_audio_out');
const properties = await audioOut.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 out component in its current configuration, in the frame of the audio out 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_out = AudioOut.from_robot(robot=machine, name="my_audio_out")
geometries = await my_audio_out.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_out = AudioOut.from_robot(robot=machine, name="my_audio_out")
command = {"cmd": "test", "data1": 500}
result = await my_audio_out.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:

myAudioOut, err := audio_out.FromProvider(machine, "my_audio_out")

command := map[string]interface{}{"cmd": "test", "data1": 500}
result, err := myAudioOut.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 out component.

Parameters:

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

Returns:

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

Example:

my_audio_out_name = AudioOut.get_resource_name("my_audio_out")

For more information, see the Python SDK Docs.

Parameters:

None.

Returns:

(Name)

Example:

myAudioOut, err := audioout.FromProvider(machine, "my_audio_out")

err = myAudioOut.Name()

For more information, see the Go SDK Docs.

Parameters:

None.

Returns:

(string): The name of the resource.

Example:

audio_out.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_out = AudioOut.from_robot(robot=machine, name="my_audio_out")
await my_audio_out.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:

myAudioOut, err := audioout.FromProvider(machine, "my_audio_out")

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

For more information, see the Go SDK Docs.

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