def acquire_plugin_data(self, acquisition_requests, action_id, data_identifiers=None,
metadata=None, **kwargs):
"""Trigger a data acquisition to save data and metadata to the data acquisition store service.
Args:
acquisition_requests (bosdyn.api.AcquisitionRequestList): The different image sources and
data sources to capture from and save to the data acquisition store service with
the same timestamp.
action_id (bosdyn.api.CaptureActionId): The unique action that all data should be saved
with.
data_identifiers (bosdyn.api.DataIdentifier) : List of data identifiers to associate with
metadata.
metadata (bosdyn.api.Metadata | dict): The JSON structured metadata to be associated with
the data returned by the DataAcquisitionService when logged in the data acquisition
store service.
Raises:
RpcError: Problem communicating with the robot.
Returns:
If the RPC is successful, then it will return the acquire data response, which can be
used to check the status of the acquisition and get feedback.
"""
metadata_proto = metadata_to_proto(metadata)
request = data_acquisition.AcquirePluginDataRequest(
metadata=metadata_proto, acquisition_requests=acquisition_requests,
data_id=data_identifiers, action_id=action_id)
return self.call(self._stub.AcquirePluginData, request,
error_from_response=acquire_data_error, **kwargs)
def acquire_plugin_data_async(self, acquisition_requests, action_id, data_identifiers=None,
metadata=None, **kwargs):
"""Async version of the acquire_plugin_data() RPC."""
metadata_proto = metadata_to_proto(metadata)
request = data_acquisition.AcquirePluginDataRequest(
metadata=metadata_proto, acquisition_requests=acquisition_requests,
data_id=data_identifiers, action_id=action_id)
return self.call_async(self._stub.AcquirePluginData, request,
error_from_response=acquire_data_error, **kwargs)
def make_single_request(action_name):
request = data_acquisition_pb2.AcquirePluginDataRequest()
request.action_id.group_name = 'test_group'
request.action_id.action_name = action_name
request.acquisition_requests.data_captures.add().name = 'test'
return request