gRPC client for a robot, to be used for all interactions with a robot. There are two ways to instantiate a robot: More...

#include "robot/client.hpp"

Classes
struct	discovery

struct	discovery_query

struct	frame_system_config

struct	operation

struct	status

Public Member Functions
void	refresh ()

void	close ()

	RobotClient (std::shared_ptr< ViamChannel > channel)

std::vector< Name >	resource_names () const

std::shared_ptr< Resource >	resource_by_name (const Name &name)
	Lookup and return a `shared_ptr` to a resource.

template<typename T >
std::shared_ptr< T >	resource_by_name (std::string name)
	Lookup and return a `shared_ptr` to a resource of the requested type.

std::vector< frame_system_config >	get_frame_system_config (const std::vector< WorldState::transform > &additional_transforms={})
	Get the configuration of the frame system of the given robot.

std::vector< operation >	get_operations ()
	Get the list of operations currently running on a robot.

std::vector< status >	get_status (std::vector< Name > &components)
	Get the status of the requested robot components.

std::vector< status >	get_status ()
	Get the status of all robot components.

std::vector< discovery >	discover_components (const std::vector< discovery_query > &queries)

pose_in_frame	transform_pose (const pose_in_frame &query, std::string destination, const std::vector< WorldState::transform > &additional_transforms={})
	Transform a given `Pose` to a new specified destination which is a reference frame.

void	block_for_operation (std::string id)
	Blocks on the specified operation of the robot, returning when it is complete.

void	stop_all ()
	Cancel all operations for the robot and stop all actuators and movement.

void	stop_all (const std::unordered_map< Name, ProtoStruct > &extra)
	Cancel all operations for the robot and stop all actuators and movement.

void	cancel_operation (std::string id)
	Cancel a specified operation on the robot.

Static Public Member Functions
static std::shared_ptr< RobotClient >	at_address (const std::string &address, const Options &options)
	Create a robot client connected to the robot at the provided address.

static std::shared_ptr< RobotClient >	at_local_socket (const std::string &address, const Options &options)
	Creates a robot client connected to the robot at the provided local socket.

static std::shared_ptr< RobotClient >	with_channel (std::shared_ptr< ViamChannel > channel, const Options &options)
	Creates a robot client connected to the provided channel.

Detailed Description

gRPC client for a robot, to be used for all interactions with a robot. There are two ways to instantiate a robot:

RobotClient::at_address(...)
RobotClient::with_channel(...)

You must close() a robot when finished with it in order to release its resources. Robots creates via at_address will automatically close, but robots created via with_channel require a user call to close().

Member Function Documentation

◆ at_address()

static std::shared_ptr< RobotClient > viam::sdk::RobotClient::at_address	(	const std::string &	address,
		const Options &	options )

static

Create a robot client connected to the robot at the provided address.

Parameters

address	The address of the robot (IP address, URI, URL, etc.)
options	Options for connecting and refreshing.

◆ at_local_socket()

static std::shared_ptr< RobotClient > viam::sdk::RobotClient::at_local_socket	(	const std::string &	address,
		const Options &	options )

static

Creates a robot client connected to the robot at the provided local socket.

Parameters

address	The local socket of the robot (a .sock file, etc.).
options	Options for connecting and refreshing. Creates a direct connection to the robot using the `unix://` scheme. Only useful for connecting to robots across Unix sockets.

◆ block_for_operation()

void viam::sdk::RobotClient::block_for_operation ( std::string id )

Blocks on the specified operation of the robot, returning when it is complete.

Parameters

id	The ID of the operation to block on.

◆ cancel_operation()

void viam::sdk::RobotClient::cancel_operation ( std::string id )

Cancel a specified operation on the robot.

Parameters

id	The ID of the operation to cancel.

◆ get_frame_system_config()

std::vector< frame_system_config > viam::sdk::RobotClient::get_frame_system_config ( const std::vector< WorldState::transform > & additional_transforms = {} )

Get the configuration of the frame system of the given robot.

Returns: The configuration of the calling robot's frame system.

◆ get_operations()

std::vector< operation > viam::sdk::RobotClient::get_operations ( )

Get the list of operations currently running on a robot.

Returns: The list of operations currently running on the calling robot.

◆ get_status() [1/2]

std::vector< status > viam::sdk::RobotClient::get_status ( )

Get the status of all robot components.

Returns: A list of statuses.

◆ get_status() [2/2]

std::vector< status > viam::sdk::RobotClient::get_status ( std::vector< Name > & components )

Get the status of the requested robot components.

Parameters

components A list of the specific components for which status is desired.

Returns: A list of statuses.

◆ resource_by_name() [1/2]

std::shared_ptr< Resource > viam::sdk::RobotClient::resource_by_name ( const Name & name )

Lookup and return a shared_ptr to a resource.

Parameters

name	The `Name` of the resource.

Exceptions

`Exception` if the requested resource doesn't exist or is the wrong type.

Returns: a shared_ptr to the requested resource as an uncasted Resource.

This method should not be called directly except in specific cases. The type-annotated resource_by_name<T>(name) overload is the preferred method for obtaining resources.

Because the return type here is a Resource, the user will need to manually cast to the desired type.

◆ resource_by_name() [2/2]

template<typename T >

std::shared_ptr< T > viam::sdk::RobotClient::resource_by_name ( std::string name )

inline

Lookup and return a shared_ptr to a resource of the requested type.

Parameters

name	The ordinary name of the resource.

Exceptions

`Exception` if the requested resource doesn't exist or is the wrong type.

Returns: a shared_ptr to the requested resource.

◆ stop_all()

void viam::sdk::RobotClient::stop_all ( const std::unordered_map< Name, ProtoStruct > & extra )

Cancel all operations for the robot and stop all actuators and movement.

Parameters

extra Any extra params to pass to resources' stop methods, keyed by Name.

◆ transform_pose()

pose_in_frame viam::sdk::RobotClient::transform_pose	(	const pose_in_frame &	query,
		std::string	destination,
		const std::vector< WorldState::transform > &	additional_transforms = {} )

Transform a given Pose to a new specified destination which is a reference frame.

Parameters

query	The pose that should be transformed.
destination	The name of the reference frame to transform the given pose to.

Returns: the pose_in_frame of the transformed pose.

◆ with_channel()

static std::shared_ptr< RobotClient > viam::sdk::RobotClient::with_channel	(	std::shared_ptr< ViamChannel >	channel,
		const Options &	options )

static

Creates a robot client connected to the provided channel.

Parameters

channel	The channel to connect with.
options	Options for connecting and refreshing. Connects directly to a pre-existing channel. A robot created this way must be `close()`d manually.

The documentation for this class was generated from the following file:

src/viam/sdk/robot/client.hpp

Classes

Public Member Functions

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ at_address()

◆ at_local_socket()

◆ block_for_operation()

◆ cancel_operation()

◆ get_frame_system_config()

◆ get_operations()

◆ get_status() [1/2]

◆ get_status() [2/2]

◆ resource_by_name() [1/2]

◆ resource_by_name() [2/2]

◆ stop_all()

◆ transform_pose()

◆ with_channel()