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blueye.sdk.guestport

guestport

Classes:

  • GenericServo –

    Represents a servo connected to a guest port on the Blueye drone.

  • Gripper –

    Represents a gripper connected to a guest port on the Blueye drone.

  • GuestPortCamera –

    Represents a camera connected to a guest port on the Blueye drone.

  • GuestPortLight –

    Represents a light connected to a guest port on the Blueye drone.

  • Laser –

    Represents a laser connected to a guest port on the Blueye drone.

  • Peripheral –

    Represents a peripheral device connected to a guest port on the Blueye drone.

  • SkidServo –

    Represents the servo on the skid (typically used for multibeams)

Functions:

GenericServo 

GenericServo(
    parent_drone: Drone,
    port_number: GuestPortNumber,
    device: GuestPortDevice,
)

Represents a servo connected to a guest port on the Blueye drone.

Parameters:

Methods:

  • get_angle –

    Get the current angle of the servo.

  • set_angle –

    Set the angle of the servo.

Source code in blueye/sdk/guestport.py 
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def __init__(
    self, parent_drone: "Drone", port_number: bp.GuestPortNumber, device: bp.GuestPortDevice
):
    """Initialize the Servo class.

    Args:
        parent_drone (Drone): The parent drone instance.
        port_number (bp.GuestPortNumber): The guest port number.
        device (bp.GuestPortDevice): The guest port device.
    """

    self.max_angle = 90
    self.min_angle = -90
    Peripheral.__init__(self, parent_drone, port_number, device)

get_angle 

get_angle() -> float | None

Get the current angle of the servo.

Returns:

  • float | None –

    The current angle of the servo in degrees. None if telemetry is not available.

Source code in blueye/sdk/guestport.py 
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def get_angle(self) -> float | None:
    """Get the current angle of the servo.

    Returns:
        The current angle of the servo in degrees. None if telemetry is not available.
    """
    telemetry_msg = self.parent_drone.telemetry.get(bp.GenericServoTel)
    if telemetry_msg is None:
        return None
    else:
        return telemetry_msg.servo.value

set_angle 

set_angle(angle: float) -> None

Set the angle of the servo.

Parameters:

  • angle (float) –

    The angle to set for the servo (-90 to 90 degrees).

Raises:

  • ValueError –

    If the angle is not within the allowed range.

Source code in blueye/sdk/guestport.py 
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def set_angle(self, angle: float) -> None:
    """Set the angle of the servo.

    Args:
        angle (float): The angle to set for the servo (-90 to 90 degrees).

    Raises:
        ValueError: If the angle is not within the allowed range.
    """
    if angle < self.min_angle or angle > self.max_angle:
        raise ValueError(
            f"Angle must be between {self.min_angle} and {self.max_angle} degrees."
        )
    self.parent_drone._ctrl_client.set_generic_servo_angle(angle, self.port_number)

Gripper 

Gripper(
    parent_drone: Drone,
    port_number: GuestPortNumber,
    device: GuestPortDevice,
)

Represents a gripper connected to a guest port on the Blueye drone.

Parameters:

Attributes:

  • grip_velocity (float) –

    Get or set the current grip velocity of the Gripper.

  • rotation_velocity (float) –

    Get or set the current rotation velocity of the Gripper.

Source code in blueye/sdk/guestport.py 
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def __init__(
    self, parent_drone: "Drone", port_number: bp.GuestPortNumber, device: bp.GuestPortDevice
):
    """Initialize the Gripper class.

    Args:
        parent_drone (Drone): The parent drone instance.
        port_number (bp.GuestPortNumber): The guest port number.
        device (bp.GuestPortDevice): The guest port device.
    """
    Peripheral.__init__(self, parent_drone, port_number, device)
    self._grip_velocity = 0
    self._rotation_velocity = 0

grip_velocity property writable 

grip_velocity: float

Get or set the current grip velocity of the Gripper.

Parameters:

  • value (float) –

    The new grip velocity to set. Must be a float between -1.0 and 1.0.

Returns:

  • float –

    The current grip velocity of the Gripper.

Raises:

  • ValueError –

    If the grip velocity is not between -1.0 and 1.0.

rotation_velocity property writable 

rotation_velocity: float

Get or set the current rotation velocity of the Gripper.

Parameters:

  • value (float) –

    The new rotation velocity to set. Must be a float between -1.0 and 1.0.

Returns:

  • float –

    The current rotation velocity of the Gripper.

Raises:

  • ValueError –

    If the rotation velocity is not between -1.0 and 1.0.

GuestPortCamera 

GuestPortCamera(
    parent_drone: Drone,
    port_number: GuestPortNumber,
    device: GuestPortDevice,
)

Represents a camera connected to a guest port on the Blueye drone.

Parameters:

Methods:

  • take_picture –

    Take a still picture and store it locally on the drone.

Attributes:

  • bitrate (int) –

    Set or get the video stream bitrate.

  • bitrate_still_picture (int) –

    Set or get the bitrate for the still picture stream.

  • exposure (int) –

    Set or get the camera exposure.

  • framerate (int) –

    Set or get the camera frame rate.

  • hue (int) –

    Set or get the camera hue.

  • is_recording (Optional[bool]) –

    Get or set the camera recording state.

  • record_time (Optional[int]) –

    Get the duration of the current camera recording.

  • resolution (int) –

    Set or get the camera resolution.

  • whitebalance (int) –

    Set or get the camera white balance.

Source code in blueye/sdk/guestport.py 
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def __init__(
    self, parent_drone: "Drone", port_number: bp.GuestPortNumber, device: bp.GuestPortDevice
):
    """Initialize the GuestPortCamera class.

    Args:
        parent_drone (Drone): The parent drone instance.
        port_number (bp.GuestPortNumber): The guest port number.
        device (bp.GuestPortDevice): The guest port device.
    """
    Camera.__init__(self, parent_drone, is_guestport_camera=True)
    Peripheral.__init__(self, parent_drone, port_number, device)

bitrate property writable 

bitrate: int

Set or get the video stream bitrate.

Parameters:

  • bitrate (int) –

    Set the video stream bitrate in bits, valid values are in range (1 000 000 .. 16 000 000).

Returns:

  • int –

    The H264 video stream bitrate.

bitrate_still_picture property writable 

bitrate_still_picture: int

Set or get the bitrate for the still picture stream.

Parameters:

  • bitrate (int) –

    Set the still picture stream bitrate in bits, valid values are in range (1 000 000 .. 300 000 000). Default value is 100 000 000.

Returns:

  • int –

    The still picture stream bitrate.

exposure property writable 

exposure: int

Set or get the camera exposure.

Parameters:

  • exposure (int) –

    Set the camera exposure time. Unit is thousandths of a second, ie. 5 = 5s/1000. Valid values are in the range (1 .. 5000) or -1 for auto exposure.

Returns:

  • int –

    The camera exposure.

framerate property writable 

framerate: int

Set or get the camera frame rate.

Parameters:

  • framerate (int) –

    Set the camera frame rate in frames per second. Valid values are 25 or 30.

Returns:

  • int –

    The camera frame rate.

hue property writable 

hue: int

Set or get the camera hue.

Parameters:

  • hue (int) –

    Set the camera hue. Valid values are in the range (-40..40).

Returns:

  • int –

    The camera hue.

is_recording property writable 

is_recording: Optional[bool]

Get or set the camera recording state.

Parameters:

  • start_recording (bool) –

    Set to True to start a recording, set to False to stop the current recording.

Returns:

  • Optional[bool] –

    True if the camera is currently recording, False if not. Returns None if the SDK hasn't received a RecordState telemetry message.

Warns:

  • RuntimeWarning –

    If no recording state telemetry data is received.

record_time property 

record_time: Optional[int]

Get the duration of the current camera recording.

Returns:

  • Optional[int] –

    The length in seconds of the current recording, -1 if the camera is not currently recording. Returns None if the SDK hasn't received a RecordState telemetry message.

resolution property writable 

resolution: int

Set or get the camera resolution.

Parameters:

  • resolution (int) –

    Set the camera in vertical pixels. Valid values are 720 or 1080.

Returns:

  • int –

    The camera resolution.

whitebalance property writable 

whitebalance: int

Set or get the camera white balance.

Parameters:

  • white_balance (int) –

    Set the camera white balance. Valid values are in the range (2800..9300) or -1 for auto white balance.

Returns:

  • int –

    The camera white balance.

take_picture 

take_picture()

Take a still picture and store it locally on the drone.

These pictures can be downloaded with the Blueye App, or by any WebDAV compatible client.

Source code in blueye/sdk/camera.py 
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def take_picture(self):
    """Take a still picture and store it locally on the drone.

    These pictures can be downloaded with the Blueye App, or by any WebDAV compatible client.
    """
    self._parent_drone._ctrl_client.take_still_picture()

GuestPortLight 

GuestPortLight(
    parent_drone: Drone,
    port_number: GuestPortNumber,
    device: GuestPortDevice,
)

Represents a light connected to a guest port on the Blueye drone.

Parameters:

Methods:

Source code in blueye/sdk/guestport.py 
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def __init__(
    self, parent_drone: "Drone", port_number: bp.GuestPortNumber, device: bp.GuestPortDevice
):
    """Initialize the GuestPortLight class.

    Args:
        parent_drone (Drone): The parent drone instance.
        port_number (bp.GuestPortNumber): The guest port number.
        device (bp.GuestPortDevice): The guest port device.
    """
    Peripheral.__init__(self, parent_drone, port_number, device)

get_intensity 

get_intensity() -> Optional[float]

Get the intensity of the guest port light.

Returns:

  • Optional[float] –

    The intensity of the light (0..1).

Source code in blueye/sdk/guestport.py 
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def get_intensity(self) -> Optional[float]:
    """Get the intensity of the guest port light.

    Returns:
        The intensity of the light (0..1).
    """
    return self.parent_drone.telemetry.get(bp.GuestPortLightsTel).lights.value

set_intensity 

set_intensity(intensity: float)

Set the intensity of the guest port light.

Parameters:

  • intensity (float) –

    The intensity of the light (0..1).

Source code in blueye/sdk/guestport.py 
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def set_intensity(self, intensity: float):
    """Set the intensity of the guest port light.

    Args:
        intensity (float): The intensity of the light (0..1).
    """
    self.parent_drone._ctrl_client.set_guest_port_lights(intensity)

Laser 

Laser(
    parent_drone: Drone,
    port_number: GuestPortNumber,
    device: GuestPortDevice,
)

Represents a laser connected to a guest port on the Blueye drone.

Parameters:

Methods:

Source code in blueye/sdk/guestport.py 
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def __init__(
    self, parent_drone: "Drone", port_number: bp.GuestPortNumber, device: bp.GuestPortDevice
):
    """Initialize the Laser class.

    Args:
        parent_drone (Drone): The parent drone instance.
        port_number (bp.GuestPortNumber): The guest port number.
        device (bp.GuestPortDevice): The guest port device.
    """
    Peripheral.__init__(self, parent_drone, port_number, device)

get_intensity 

get_intensity() -> Optional[float]

Get the current intensity of the laser.

Returns:

  • Optional[float] –

    The current intensity of the laser.

Source code in blueye/sdk/guestport.py 
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def get_intensity(self) -> Optional[float]:
    """Get the current intensity of the laser.

    Returns:
        The current intensity of the laser.
    """
    telemetry_msg = self.parent_drone.telemetry.get(bp.LaserTel)
    if telemetry_msg is None:
        return None
    else:
        return telemetry_msg.laser.value

set_intensity 

set_intensity(intensity: float)

Set the intensity of the laser.

If the laser does not support dimming but only on and off, a value of 0 turns the laser off, and any value above 0 turns the laser on.

Parameters:

  • intensity (float) –

    The intensity of the laser (0..1).

Raises:

  • ValueError –

    If the intensity is not between 0 and 1.

Source code in blueye/sdk/guestport.py 
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def set_intensity(self, intensity: float):
    """Set the intensity of the laser.

    If the laser does not support dimming but only on and off, a value of 0 turns the laser off,
    and any value above 0 turns the laser on.

    Args:
        intensity (float): The intensity of the laser (0..1).

    Raises:
        ValueError: If the intensity is not between 0 and 1.
    """
    if intensity < 0 or intensity > 1:
        raise ValueError("Laser intensity must be between 0 and 1.")
    self.parent_drone._ctrl_client.set_laser_intensity(intensity)

Peripheral 

Peripheral(
    parent_drone: Drone,
    port_number: GuestPortNumber,
    device: GuestPortDevice,
)

Represents a peripheral device connected to a guest port on the Blueye drone.

Parameters:

Source code in blueye/sdk/guestport.py 
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def __init__(
    self, parent_drone: "Drone", port_number: bp.GuestPortNumber, device: bp.GuestPortDevice
):
    """Initialize the Peripheral class.

    Args:
        parent_drone (Drone): The parent drone instance.
        port_number (bp.GuestPortNumber): The guest port number.
        device (bp.GuestPortDevice): The guest port device.
    """
    self.parent_drone = parent_drone
    self.port_number: bp.GuestPortNumber = port_number
    self.name: str = device.name
    self.manufacturer: str = device.manufacturer
    self.serial_number: str = device.serial_number
    self.depth_rating: float = device.depth_rating
    self.required_blunux_version: str = device.required_blunux_version
    self.device_id: bp.GuestPortDeviceID = device.device_id
    if self.required_blunux_version != "":
        if version.parse(self.required_blunux_version) > version.parse(
            parent_drone.software_version_short
        ):
            logger.warning(
                f"Peripheral {self.name} requires Blunux version "
                f"{self.required_blunux_version}, but the drone is running "
                f"{parent_drone.software_version_short}"
            )

SkidServo 

SkidServo(
    parent_drone: Drone,
    port_number: GuestPortNumber,
    device: GuestPortDevice,
)

Represents the servo on the skid (typically used for multibeams)

Parameters:

Methods:

  • get_angle –

    Get the current angle of the skid servo.

  • set_angle –

    Set the angle of the skid servo.

Source code in blueye/sdk/guestport.py 
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def __init__(
    self, parent_drone: "Drone", port_number: bp.GuestPortNumber, device: bp.GuestPortDevice
):
    """Initialize the SkidServo class.

    Args:
        parent_drone (Drone): The parent drone instance.
        port_number (bp.GuestPortNumber): The guest port number.
        device (bp.GuestPortDevice): The guest port device.
    """
    self.max_angle = 28
    self.min_angle = -28
    Peripheral.__init__(self, parent_drone, port_number, device)

get_angle 

get_angle() -> float | None

Get the current angle of the skid servo.

Returns:

  • float | None –

    The current angle of the skid servo in degrees. None if telemetry is not available.

Source code in blueye/sdk/guestport.py 
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def get_angle(self) -> float | None:
    """Get the current angle of the skid servo.

    Returns:
        The current angle of the skid servo in degrees. None if telemetry is not available.
    """
    telemetry_msg = self.parent_drone.telemetry.get(bp.MultibeamServoTel)
    if telemetry_msg is None:
        return None
    else:
        return telemetry_msg.servo.angle

set_angle 

set_angle(angle: float) -> None

Set the angle of the skid servo.

Parameters:

  • angle (float) –

    The angle to set for the servo (-28 to 28 degrees).

Raises:

  • ValueError –

    If the angle is not within the allowed range.

Source code in blueye/sdk/guestport.py 
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def set_angle(self, angle: float) -> None:
    """Set the angle of the skid servo.

    Args:
        angle (float): The angle to set for the servo (-28 to 28 degrees).

    Raises:
        ValueError: If the angle is not within the allowed range.
    """
    if angle < self.min_angle or angle > self.max_angle:
        raise ValueError(
            f"Angle must be between {self.min_angle} and {self.max_angle} degrees."
        )
    self.parent_drone._ctrl_client.set_multibeam_servo_angle(angle)

device_to_peripheral 

device_to_peripheral(
    parent_drone: Drone,
    port_number: GuestPortNumber,
    device: GuestPortDevice,
) -> Peripheral

Convert a device to its corresponding peripheral class.

Parameters:

Returns:

  • Peripheral –

    The corresponding peripheral class instance.

Source code in blueye/sdk/guestport.py 
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def device_to_peripheral(
    parent_drone: "Drone", port_number: bp.GuestPortNumber, device: bp.GuestPortDevice
) -> Peripheral:
    """Convert a device to its corresponding peripheral class.

    Args:
        parent_drone (Drone): The parent drone instance.
        port_number (bp.GuestPortNumber): The guest port number.
        device (bp.GuestPortDevice): The guest port device.

    Returns:
        The corresponding peripheral class instance.
    """
    logger.debug(f"Found a {device.name} at port {port_number}")
    if device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUEYE_CAM:
        peripheral = GuestPortCamera(parent_drone, port_number, device)
    elif (
        device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUEYE_LIGHT
        or device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUEYE_LIGHT_PAIR
        or device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_LUMEN
    ):
        peripheral = GuestPortLight(parent_drone, port_number, device)
    elif (
        device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_NEWTON
        or device.device_id
        == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_DETACHABLE_NEWTON
        or device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUEPRINT_LAB_REACH_ALPHA
    ):
        peripheral = Gripper(parent_drone, port_number, device)
    elif (
        device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_LASER_TOOLS_SEA_BEAM
        or device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_SPOT_X_LASER_SCALERS
    ):
        peripheral = Laser(parent_drone, port_number, device)
    elif device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUEYE_GENERIC_SERVO:
        peripheral = GenericServo(parent_drone, port_number, device)
    elif device.device_id == bp.GuestPortDeviceID.GUEST_PORT_DEVICE_ID_BLUEYE_MULTIBEAM_SERVO:
        peripheral = SkidServo(parent_drone, port_number, device)
    else:
        peripheral = Peripheral(parent_drone, port_number, device)
    return peripheral