blueye.sdk.guestport

guestport

Classes:

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.

Functions:

device_to_peripheral –

Convert a device to its corresponding peripheral class.

Gripper

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

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

Parameters:

parent_drone (Drone) –

The parent drone instance.
port_number (GuestPortNumber) –

The guest port number.
device (GuestPortDevice) –

The guest port device.

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

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:

parent_drone (Drone) –

The parent drone instance.
port_number (GuestPortNumber) –

The guest port number.
device (GuestPortDevice) –

The guest port device.

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

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

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:

parent_drone (Drone) –

The parent drone instance.
port_number (GuestPortNumber) –

The guest port number.
device (GuestPortDevice) –

The guest port device.

Methods:

get_intensity –

Get the intensity of the guest port light.
set_intensity –

Set the intensity of the guest port light.

Source code in blueye/sdk/guestport.py

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

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

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:

parent_drone (Drone) –

The parent drone instance.
port_number (GuestPortNumber) –

The guest port number.
device (GuestPortDevice) –

The guest port device.

Methods:

get_intensity –

Get the current intensity of the laser.
set_intensity –

Set the intensity of the laser.

Source code in blueye/sdk/guestport.py

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

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

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:

parent_drone (Drone) –

The parent drone instance.
port_number (GuestPortNumber) –

The guest port number.
device (GuestPortDevice) –

The guest port device.

Source code in blueye/sdk/guestport.py

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}"
            )

device_to_peripheral

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

Convert a device to its corresponding peripheral class.

Parameters:

parent_drone (Drone) –

The parent drone instance.
port_number (GuestPortNumber) –

The guest port number.
device (GuestPortDevice) –

The guest port device.

Returns:

Peripheral –

The corresponding peripheral class instance.

Source code in blueye/sdk/guestport.py

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)
    else:
        peripheral = Peripheral(parent_drone, port_number, device)
    return peripheral

blueye.sdk.guestport

guestport

Gripper

grip_velocity property writable

rotation_velocity property writable

GuestPortCamera

bitrate property writable

bitrate_still_picture property writable

exposure property writable

framerate property writable

hue property writable

is_recording property writable

record_time property

resolution property writable

whitebalance property writable

take_picture

GuestPortLight

get_intensity

set_intensity

Laser

get_intensity

set_intensity

Peripheral

device_to_peripheral

grip_velocity `property` `writable`

rotation_velocity `property` `writable`

bitrate `property` `writable`

bitrate_still_picture `property` `writable`

exposure `property` `writable`

framerate `property` `writable`

hue `property` `writable`

is_recording `property` `writable`

record_time `property`

resolution `property` `writable`

whitebalance `property` `writable`