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	frame_system_config

struct	operation

Public Types
enum class	status : uint8_t { k_initializing , k_running , k_unspecified }
	the current status of the robot

Public Member Functions
	RobotClient (ViamChannel channel)

void	refresh ()
	Call out to the robot to see if there are any new resources that need to be registered. Compares the currently registered resources to the ones from the robot, seeing if any updates have been made. If so, they are registered and updated in ResourceManager. This method can be called manually, or it will be called periodically and automatically if a positive refresh_interval is passed in the Options of the named constructors.

void	close ()
	Disconnect this robot client from any robot to which it is connected. After calling this method it is no longer valid to call any methods which communicate with the robot.

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.

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.

status	get_machine_status () const
	gets the current status of the machine

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 (ViamChannel channel, const Options &options)
	Creates a robot client connected to the provided channel.

Friends
class	ModuleService

struct	impl::LogBackend

std::ostream &	operator<< (std::ostream &os, const status &v)

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(...)

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.

◆ 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	(	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.

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

src/viam/sdk/robot/client.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Member Function Documentation

◆ at_address()

◆ at_local_socket()

◆ block_for_operation()

◆ cancel_operation()

◆ get_frame_system_config()

◆ get_operations()

◆ resource_by_name() [1/2]

◆ resource_by_name() [2/2]

◆ stop_all()

◆ transform_pose()

◆ with_channel()