gRPC client implementation of an Arm component. More...

#include <arm_client.hpp>

Inheritance diagram for viam::sdk::impl::ArmClient:

Public Types
using	interface_type = Arm

Public Types inherited from viam::sdk::Arm
enum class	stream_outcome : std::uint8_t { k_completed = 0 , k_halted_by_update_handler }
	How a streamed trajectory execution ended. More...

using	MoveLimit = boost::variant<double, std::vector<double>>
	A movement limit: either a single scalar applied uniformly, or per-joint values.

Public Member Functions
	ArmClient (std::string name, const ViamChannel &channel)

const ViamChannel &	channel () const

pose	get_end_position (const ProtoStruct &extra) override
	Get the current position of the end of the arm.

void	move_to_position (const pose &pose, const ProtoStruct &extra) override
	Move the end of the arm to.

std::vector< double >	get_joint_positions (const ProtoStruct &extra) override
	Lists the joint positions in degrees of every joint on a robot arm.

void	move_to_joint_positions (const std::vector< double > &positions, const ProtoStruct &extra) override
	Move each joint on the arm to the corresponding angle specified in.

void	move_through_joint_positions (const std::vector< std::vector< double > > &positions, const Arm::MoveOptions &options, const ProtoStruct &extra) override
	Move each joint on the arm through the positions specified in.

Arm::stream_outcome	move_through_joint_positions_streamed (const std::function< boost::optional< std::vector< Arm::trajectory_point > >()> &batch_source, const std::function< bool(Arm::trajectory_update)> &update_handler, const ProtoStruct &extra) override

bool	is_moving () override
	Reports if the arm is in motion.

ProtoStruct	get_status () override
	Get the status of the arm.

void	stop (const ProtoStruct &extra) override
	Stops a resource from running.

ProtoStruct	do_command (const ProtoStruct &command) override
	Send/receive arbitrary commands to the resource.

::viam::sdk::KinematicsData	get_kinematics (const ProtoStruct &extra) override
	Get the kinematics data associated with the arm.

std::map< std::string, mesh >	get_3d_models (const ProtoStruct &extra) override
	Returns `3DModel`s associated with the calling arm.

std::vector< GeometryConfig >	get_geometries (const ProtoStruct &extra) override
	Returns `GeometryConfig`s associated with the calling arm.

virtual std::map< std::string, mesh >	get_3d_models (const ProtoStruct &extra)=0
	Returns `3DModel`s associated with the calling arm.

std::map< std::string, mesh >	get_3d_models ()
	Returns `3DModel`s associated with the calling arm.

pose	get_end_position ()
	Get the current position of the end of the arm.

virtual pose	get_end_position (const ProtoStruct &extra)=0
	Get the current position of the end of the arm.

std::vector< GeometryConfig >	get_geometries ()
	Returns `GeometryConfig`s associated with the calling arm.

virtual std::vector< GeometryConfig >	get_geometries (const ProtoStruct &extra)=0
	Returns `GeometryConfig`s associated with the calling arm.

std::vector< double >	get_joint_positions ()
	Lists the joint positions in degrees of every joint on a robot arm.

virtual std::vector< double >	get_joint_positions (const ProtoStruct &extra)=0
	Lists the joint positions in degrees of every joint on a robot arm.

virtual::viam::sdk::KinematicsData	get_kinematics (const ProtoStruct &extra)=0
	Get the kinematics data associated with the arm.

inline ::viam::sdk::KinematicsData	get_kinematics ()
	Get the kinematics data associated with the arm.

void	move_through_joint_positions (const std::vector< std::vector< double > > &positions, const MoveOptions &options)
	Move each joint on the arm through the positions specified in.

virtual void	move_through_joint_positions (const std::vector< std::vector< double > > &positions, const MoveOptions &options, const ProtoStruct &extra)=0
	Move each joint on the arm through the positions specified in.

stream_outcome	move_through_joint_positions_streamed (const std::function< boost::optional< std::vector< trajectory_point > >()> &batch_source, const std::function< bool(trajectory_update)> &update_handler)
	Execute a stream of trajectory points in order.

virtual stream_outcome	move_through_joint_positions_streamed (const std::function< boost::optional< std::vector< trajectory_point > >()> &batch_source, const std::function< bool(trajectory_update)> &update_handler, const ProtoStruct &extra)=0
	Execute a stream of trajectory points in order.

void	move_to_joint_positions (const std::vector< double > &positions)
	Move each joint on the arm to the corresponding angle specified in.

virtual void	move_to_joint_positions (const std::vector< double > &positions, const ProtoStruct &extra)=0
	Move each joint on the arm to the corresponding angle specified in.

void	move_to_position (const pose &pose)
	Move the end of the arm to.

virtual void	move_to_position (const pose &pose, const ProtoStruct &extra)=0
	Move the end of the arm to.

Public Member Functions inherited from viam::sdk::Arm
pose	get_end_position ()
	Get the current position of the end of the arm.

void	move_to_position (const pose &pose)
	Move the end of the arm to.

std::vector< double >	get_joint_positions ()
	Lists the joint positions in degrees of every joint on a robot arm.

void	move_to_joint_positions (const std::vector< double > &positions)
	Move each joint on the arm to the corresponding angle specified in.

void	move_through_joint_positions (const std::vector< std::vector< double > > &positions, const MoveOptions &options)
	Move each joint on the arm through the positions specified in.

stream_outcome	move_through_joint_positions_streamed (const std::function< boost::optional< std::vector< trajectory_point > >()> &batch_source, const std::function< bool(trajectory_update)> &update_handler)
	Execute a stream of trajectory points in order.

inline ::viam::sdk::KinematicsData	get_kinematics ()
	Get the kinematics data associated with the arm.

std::map< std::string, mesh >	get_3d_models ()
	Returns `3DModel`s associated with the calling arm.

std::vector< GeometryConfig >	get_geometries ()
	Returns `GeometryConfig`s associated with the calling arm.

API	api () const override
	Returns the `API` associated with a particular resource.

Public Member Functions inherited from viam::sdk::Component
Name	get_resource_name () const override
	Returns the `Name` for a particular resource.

Public Member Functions inherited from viam::sdk::Resource
	Resource (std::string name)

virtual std::string	name () const
	Return the resource's name.

void	set_log_level (log_level) const
	Set the log level for log messages originating from this Resource.

Public Member Functions inherited from viam::sdk::Stoppable
void	stop ()
	Stops a resource from running.

Additional Inherited Members
Protected Member Functions inherited from viam::sdk::Arm
	Arm (std::string name)

Protected Member Functions inherited from viam::sdk::Component
	Component (std::string name)

Protected Member Functions inherited from viam::sdk::Resource
Name	get_resource_name (const std::string &type) const

Protected Attributes inherited from viam::sdk::Resource
LogSource	logger_

Detailed Description

gRPC client implementation of an Arm component.

Member Function Documentation

◆ do_command()

ProtoStruct viam::sdk::impl::ArmClient::do_command ( const ProtoStruct & command )

overridevirtual

Send/receive arbitrary commands to the resource.

Parameters

Command the command to execute.

Returns: The result of the executed command.

Implements viam::sdk::Arm.

◆ get_3d_models() [1/3]

std::map< std::string, mesh > viam::sdk::Arm::get_3d_models ( )

inline

Returns 3DModels associated with the calling arm.

Returns: A map of 3DModels associated with the calling arm

◆ get_3d_models() [2/3]

std::map< std::string, mesh > viam::sdk::impl::ArmClient::get_3d_models ( const ProtoStruct & extra )

overridevirtual

Returns 3DModels associated with the calling arm.

Parameters

extra Any additional arguments to the method

Returns: A map of 3DModels associated with the calling arm

Implements viam::sdk::Arm.

◆ get_3d_models() [3/3]

virtual std::map< std::string, mesh > viam::sdk::Arm::get_3d_models ( const ProtoStruct & extra )

virtual

Returns 3DModels associated with the calling arm.

Parameters

extra Any additional arguments to the method

Returns: A map of 3DModels associated with the calling arm

Implements viam::sdk::Arm.

◆ get_end_position() [1/3]

pose viam::sdk::Arm::get_end_position ( )

inline

Get the current position of the end of the arm.

Returns: The pose representing the end position of the arm.

◆ get_end_position() [2/3]

pose viam::sdk::impl::ArmClient::get_end_position ( const ProtoStruct & extra )

overridevirtual

Get the current position of the end of the arm.

Parameters

extra Any additional arguments to the method.

Returns: The pose representing the end position of the arm.

Implements viam::sdk::Arm.

◆ get_end_position() [3/3]

virtual pose viam::sdk::Arm::get_end_position ( const ProtoStruct & extra )

virtual

Get the current position of the end of the arm.

Parameters

extra Any additional arguments to the method.

Returns: The pose representing the end position of the arm.

Implements viam::sdk::Arm.

◆ get_geometries() [1/2]

std::vector< GeometryConfig > viam::sdk::impl::ArmClient::get_geometries ( const ProtoStruct & extra )

overridevirtual

Returns GeometryConfigs associated with the calling arm.

Parameters

extra Any additional arguments to the method

Implements viam::sdk::Arm.

◆ get_geometries() [2/2]

virtual std::vector< GeometryConfig > viam::sdk::Arm::get_geometries ( const ProtoStruct & extra )

virtual

Returns GeometryConfigs associated with the calling arm.

Parameters

extra Any additional arguments to the method

Implements viam::sdk::Arm.

◆ get_joint_positions() [1/2]

std::vector< double > viam::sdk::impl::ArmClient::get_joint_positions ( const ProtoStruct & extra )

overridevirtual

Lists the joint positions in degrees of every joint on a robot arm.

Parameters

extra Any additional arguments to the method.

Implements viam::sdk::Arm.

◆ get_joint_positions() [2/2]

virtual std::vector< double > viam::sdk::Arm::get_joint_positions ( const ProtoStruct & extra )

virtual

Lists the joint positions in degrees of every joint on a robot arm.

Parameters

extra Any additional arguments to the method.

Implements viam::sdk::Arm.

◆ get_kinematics() [1/3]

inline ::viam::sdk::KinematicsData viam::sdk::Arm::get_kinematics ( )

inline

Get the kinematics data associated with the arm.

Returns: A variant of kinematics data, with the type indicating the format of the data.

◆ get_kinematics() [2/3]

::viam::sdk::KinematicsData viam::sdk::impl::ArmClient::get_kinematics ( const ProtoStruct & extra )

overridevirtual

Get the kinematics data associated with the arm.

Parameters

extra Any additional arguments to the method.

Returns: A variant of kinematics data; URDF variants may include meshes by filepath.

Implements viam::sdk::Arm.

◆ get_kinematics() [3/3]

virtual::viam::sdk::KinematicsData viam::sdk::Arm::get_kinematics ( const ProtoStruct & extra )

virtual

Get the kinematics data associated with the arm.

Parameters

extra Any additional arguments to the method.

Returns: A variant of kinematics data; URDF variants may include meshes by filepath.

Implements viam::sdk::Arm.

◆ get_status()

ProtoStruct viam::sdk::impl::ArmClient::get_status ( )

overridevirtual

Get the status of the arm.

Returns: A ProtoStruct containing the status of the arm.

Implements viam::sdk::Arm.

◆ is_moving()

bool viam::sdk::impl::ArmClient::is_moving ( )

overridevirtual

Reports if the arm is in motion.

Implements viam::sdk::Arm.

◆ move_through_joint_positions() [1/3]

void viam::sdk::impl::ArmClient::move_through_joint_positions	(	const std::vector< std::vector< double > > &	positions,
		const Arm::MoveOptions &	options,
		const ProtoStruct &	extra )

overridevirtual

Move each joint on the arm through the positions specified in.

Parameters

positions
options	optional specifications to be obeyed during the motion.
extra	Any additional arguments to the method.

Implements viam::sdk::Arm.

◆ move_through_joint_positions() [2/3]

void viam::sdk::Arm::move_through_joint_positions	(	const std::vector< std::vector< double > > &	positions,
		const MoveOptions &	options )

inline

Move each joint on the arm through the positions specified in.

Parameters

positions
options	optional specifications to be obeyed during the motion. TODO consider replacing vector vector with xtensor array, and also if it may be possible to specify or constrain dimensionality of the array in advance.

◆ move_through_joint_positions() [3/3]

virtual void viam::sdk::Arm::move_through_joint_positions	(	const std::vector< std::vector< double > > &	positions,
		const MoveOptions &	options,
		const ProtoStruct &	extra )

virtual

Move each joint on the arm through the positions specified in.

Parameters

positions
options	optional specifications to be obeyed during the motion.
extra	Any additional arguments to the method.

Implements viam::sdk::Arm.

◆ move_through_joint_positions_streamed() [1/2]

stream_outcome viam::sdk::Arm::move_through_joint_positions_streamed	(	const std::function< boost::optional< std::vector< trajectory_point > >()> &	batch_source,
		const std::function< bool(trajectory_update)> &	update_handler )

inline

Execute a stream of trajectory points in order.

Parameters

batch_source	Pull-source for the next batch of waypoints.
update_handler	Handler invoked for each update the implementation emits.

Returns: How the stream ended.

◆ move_through_joint_positions_streamed() [2/2]

virtual stream_outcome viam::sdk::Arm::move_through_joint_positions_streamed	(	const std::function< boost::optional< std::vector< trajectory_point > >()> &	batch_source,
		const std::function< bool(trajectory_update)> &	update_handler,
		const ProtoStruct &	extra )

virtual

Execute a stream of trajectory points in order.

This is the streamed analogue of move_through_joint_positions. It is implemented on both sides of the RPC: an arm driver implements it to execute a trajectory, and the SDK arm client implements it to forward the call to a remote arm. Both sides must follow the contract below.

An implementation pulls the trajectory from batch_source and reports progress through update_handler until the stream is exhausted, it is asked to stop, or it faults. A fault is reported by throwing: a server-side implementation has its exception converted to a terminal gRPC status delivered to the remote caller, and a client-side implementation rethrows to its caller. An exception thrown out of update_handler is propagated the same way rather than swallowed, so neither callback is required to be noexcept.

Threading: because the stream is bidirectional, an implementation is permitted to invoke the two callbacks from different threads and to run them concurrently with each other. A caller must therefore not assume the callbacks are serialized against one another or pinned to a single thread, and must synchronize any mutable state it shares between them. A given callback is never invoked concurrently with itself.

Parameters

batch_source	Pull-source for the trajectory. Call it to obtain the next batch of waypoints; it yields `boost::none` once no more points are coming, after which the implementation should finish executing what it already has and return. Points arrive grouped into the batches the sender chose; an implementation that wants per-point handling iterates within each batch. Note that for servers, a disengaged return is ambiguous between end-of-stream and cancellation. Arm implementors are expected to explicitly check for cancellation.
update_handler	Sink for execution updates. Call it with each `trajectory_update` to report progress; it returns `true` to keep going and `false` to ask that the stream stop early, in which case the implementation should stop executing and return `stream_outcome::k_halted_by_update_handler`.
extra	Any additional arguments to the method.

Returns: stream_outcome::k_completed if the trajectory ran to its natural end, or stream_outcome::k_halted_by_update_handler if update_handler asked it to stop.

Implements viam::sdk::Arm.

◆ move_to_joint_positions() [1/3]

void viam::sdk::Arm::move_to_joint_positions ( const std::vector< double > & positions )

inline

Move each joint on the arm to the corresponding angle specified in.

Parameters

positions

◆ move_to_joint_positions() [2/3]

void viam::sdk::impl::ArmClient::move_to_joint_positions	(	const std::vector< double > &	positions,
		const ProtoStruct &	extra )

overridevirtual

Move each joint on the arm to the corresponding angle specified in.

Parameters

positions
extra	Any additional arguments to the method.

Implements viam::sdk::Arm.

◆ move_to_joint_positions() [3/3]

virtual void viam::sdk::Arm::move_to_joint_positions	(	const std::vector< double > &	positions,
		const ProtoStruct &	extra )

virtual

Move each joint on the arm to the corresponding angle specified in.

Parameters

positions
extra	Any additional arguments to the method.

Implements viam::sdk::Arm.

◆ move_to_position() [1/3]

void viam::sdk::Arm::move_to_position ( const pose & pose )

inline

Move the end of the arm to.

Parameters

pose.

◆ move_to_position() [2/3]

void viam::sdk::impl::ArmClient::move_to_position	(	const pose &	pose,
		const ProtoStruct &	extra )

overridevirtual

Move the end of the arm to.

Parameters

pose.
pose	The destination pose for the arm.
extra	Any additional arguments to the method.

Implements viam::sdk::Arm.

◆ move_to_position() [3/3]

virtual void viam::sdk::Arm::move_to_position	(	const pose &	pose,
		const ProtoStruct &	extra )

virtual

Move the end of the arm to.

Parameters

pose.
pose	The destination pose for the arm.
extra	Any additional arguments to the method.

Implements viam::sdk::Arm.

◆ stop()

void viam::sdk::impl::ArmClient::stop ( const ProtoStruct & extra )

overridevirtual

Stops a resource from running.

Parameters

extra Extra arguments to pass to the resource's stop method.

Implements viam::sdk::Stoppable.

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

src/viam/sdk/components/private/arm_client.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ do_command()

◆ get_3d_models() [1/3]

◆ get_3d_models() [2/3]

◆ get_3d_models() [3/3]

◆ get_end_position() [1/3]

◆ get_end_position() [2/3]

◆ get_end_position() [3/3]

◆ get_geometries() [1/2]

◆ get_geometries() [2/2]

◆ get_joint_positions() [1/2]

◆ get_joint_positions() [2/2]

◆ get_kinematics() [1/3]

◆ get_kinematics() [2/3]

◆ get_kinematics() [3/3]

◆ get_status()

◆ is_moving()

◆ move_through_joint_positions() [1/3]

◆ move_through_joint_positions() [2/3]

◆ move_through_joint_positions() [3/3]

◆ move_through_joint_positions_streamed() [1/2]

◆ move_through_joint_positions_streamed() [2/2]

◆ move_to_joint_positions() [1/3]

◆ move_to_joint_positions() [2/3]

◆ move_to_joint_positions() [3/3]

◆ move_to_position() [1/3]

◆ move_to_position() [2/3]

◆ move_to_position() [3/3]

◆ stop()