gRPC client implementation of a Base component. More...

#include <base_client.hpp>

Inheritance diagram for viam::sdk::impl::BaseClient:

Public Types
using	interface_type = Base

Public Member Functions
	BaseClient (std::string name, std::shared_ptr< grpc::Channel > channel)

void	move_straight (int64_t distance_mm, double mm_per_sec, const ProtoStruct &extra) override
	Move a robot's base in a straight line by a given distance. This method blocks until completed or cancelled.

void	spin (double angle_deg, double degs_per_sec, const ProtoStruct &extra) override
	Spins a robot's base by an given angle, expressed in degrees. This method blocks until completed or cancelled.

void	set_power (const Vector3 &linear, const Vector3 &angular, const ProtoStruct &extra) override
	Sets the linear and angular power of a base -1 -> 1 in terms of power for each direction.

void	set_velocity (const Vector3 &linear, const Vector3 &angular, const ProtoStruct &extra) override
	Set the linear and angular velocity of a base.

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

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

properties	get_properties (const ProtoStruct &extra) override
	Returns physical properties of the base (width, turning radius, wheel circumference)

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

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

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

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

properties	get_properties ()
	Returns physical properties of the base (width, turning radius, wheel circumference)

virtual properties	get_properties (const ProtoStruct &extra)=0
	Returns physical properties of the base (width, turning radius, wheel circumference)

void	move_straight (int64_t distance_mm, double mm_per_sec)
	Move a robot's base in a straight line by a given distance. This method blocks until completed or cancelled.

virtual void	move_straight (int64_t distance_mm, double mm_per_sec, const ProtoStruct &extra)=0
	Move a robot's base in a straight line by a given distance. This method blocks until completed or cancelled.

void	set_power (const Vector3 &linear, const Vector3 &angular)
	Sets the linear and angular power of a base -1 -> 1 in terms of power for each direction.

virtual void	set_power (const Vector3 &linear, const Vector3 &angular, const ProtoStruct &extra)=0
	Sets the linear and angular power of a base -1 -> 1 in terms of power for each direction.

void	set_velocity (const Vector3 &linear, const Vector3 &angular)
	Set the linear and angular velocity of a base.

virtual void	set_velocity (const Vector3 &linear, const Vector3 &angular, const ProtoStruct &extra)=0
	Set the linear and angular velocity of a base.

void	spin (double angle_deg, double degs_per_sec)
	Spins a robot's base by an given angle, expressed in degrees. This method blocks until completed or cancelled.

virtual void	spin (double angle_deg, double degs_per_sec, const ProtoStruct &extra)=0
	Spins a robot's base by an given angle, expressed in degrees. This method blocks until completed or cancelled.

Public Member Functions inherited from viam::sdk::Base
void	move_straight (int64_t distance_mm, double mm_per_sec)
	Move a robot's base in a straight line by a given distance. This method blocks until completed or cancelled.

void	spin (double angle_deg, double degs_per_sec)
	Spins a robot's base by an given angle, expressed in degrees. This method blocks until completed or cancelled.

void	set_power (const Vector3 &linear, const Vector3 &angular)
	Sets the linear and angular power of a base -1 -> 1 in terms of power for each direction.

void	set_velocity (const Vector3 &linear, const Vector3 &angular)
	Set the linear and angular velocity of a base.

properties	get_properties ()
	Returns physical properties of the base (width, turning radius, wheel circumference)

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

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.

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

Additional Inherited Members
Static Public Member Functions inherited from viam::sdk::Stoppable
static void	stop_if_stoppable (const std::shared_ptr< Resource > &resource, const ProtoStruct &extra)
	Stops a Resource if it is Stoppable.

static void	stop_if_stoppable (const std::shared_ptr< Resource > &resource)
	Stops a Resource if it is Stoppable.

Protected Member Functions inherited from viam::sdk::Base
	Base (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

Detailed Description

gRPC client implementation of a Base component.

Member Function Documentation

◆ do_command()

ProtoStruct viam::sdk::impl::BaseClient::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::Base.

◆ get_geometries() [1/3]

std::vector< GeometryConfig > viam::sdk::Base::get_geometries ( )

inline

Returns GeometryConfigs associated with the calling base.

Returns: The requested GeometryConfigs associated with the component.

◆ get_geometries() [2/3]

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

overridevirtual

Returns GeometryConfigs associated with the calling base.

Parameters

extra Any additional arguments to the method.

Returns: The requested GeometryConfigs associated with the component.

Implements viam::sdk::Base.

◆ get_geometries() [3/3]

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

virtual

Returns GeometryConfigs associated with the calling base.

Parameters

extra Any additional arguments to the method.

Returns: The requested GeometryConfigs associated with the component.

Implements viam::sdk::Base.

◆ get_properties() [1/2]

properties viam::sdk::impl::BaseClient::get_properties ( const ProtoStruct & extra )

overridevirtual

Returns physical properties of the base (width, turning radius, wheel circumference)

Parameters

extra Any additional arguments to the method

Implements viam::sdk::Base.

◆ get_properties() [2/2]

virtual properties viam::sdk::Base::get_properties ( const ProtoStruct & extra )

virtual

Returns physical properties of the base (width, turning radius, wheel circumference)

Parameters

extra Any additional arguments to the method

Implements viam::sdk::Base.

◆ is_moving()

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

overridevirtual

Reports if the base is in motion.

Implements viam::sdk::Base.

◆ move_straight() [1/3]

void viam::sdk::Base::move_straight	(	int64_t	distance_mm,
		double	mm_per_sec )

inline

Move a robot's base in a straight line by a given distance. This method blocks until completed or cancelled.

Parameters

distance_mm	Desired travel distance in millimeters
mm_per_sec	Desired travel velocity in millimeters/second

◆ move_straight() [2/3]

void viam::sdk::impl::BaseClient::move_straight	(	int64_t	distance_mm,
		double	mm_per_sec,
		const ProtoStruct &	extra )

overridevirtual

Move a robot's base in a straight line by a given distance. This method blocks until completed or cancelled.

Parameters

distance_mm	Desired travel distance in millimeters
mm_per_sec	Desired travel velocity in millimeters/second
extra	Any additional arguments to the method

Implements viam::sdk::Base.

◆ move_straight() [3/3]

virtual void viam::sdk::Base::move_straight	(	int64_t	distance_mm,
		double	mm_per_sec,
		const ProtoStruct &	extra )

virtual

Move a robot's base in a straight line by a given distance. This method blocks until completed or cancelled.

Parameters

distance_mm	Desired travel distance in millimeters
mm_per_sec	Desired travel velocity in millimeters/second
extra	Any additional arguments to the method

Implements viam::sdk::Base.

◆ set_power() [1/3]

void viam::sdk::Base::set_power	(	const Vector3 &	linear,
		const Vector3 &	angular )

inline

Sets the linear and angular power of a base -1 -> 1 in terms of power for each direction.

Parameters

linear	Desired linear power percentage (-1 <= % <= 1) for each direction
angular	Desired angular power percentage (-1 <= % <= 1) for each direction

◆ set_power() [2/3]

void viam::sdk::impl::BaseClient::set_power	(	const Vector3 &	linear,
		const Vector3 &	angular,
		const ProtoStruct &	extra )

overridevirtual

Sets the linear and angular power of a base -1 -> 1 in terms of power for each direction.

Parameters

linear	Desired linear power percentage (-1 <= % <= 1) for each direction
angular	Desired angular power percentage (-1 <= % <= 1) for each direction
extra	Any additional arguments to the method

Implements viam::sdk::Base.

◆ set_power() [3/3]

virtual void viam::sdk::Base::set_power	(	const Vector3 &	linear,
		const Vector3 &	angular,
		const ProtoStruct &	extra )

virtual

Sets the linear and angular power of a base -1 -> 1 in terms of power for each direction.

Parameters

linear	Desired linear power percentage (-1 <= % <= 1) for each direction
angular	Desired angular power percentage (-1 <= % <= 1) for each direction
extra	Any additional arguments to the method

Implements viam::sdk::Base.

◆ set_velocity() [1/3]

void viam::sdk::Base::set_velocity	(	const Vector3 &	linear,
		const Vector3 &	angular )

inline

Set the linear and angular velocity of a base.

Parameters

linear	Desired linear velocity in mm per second for each direction
angular	Desired angular velocity in degrees per second for each direction

◆ set_velocity() [2/3]

void viam::sdk::impl::BaseClient::set_velocity	(	const Vector3 &	linear,
		const Vector3 &	angular,
		const ProtoStruct &	extra )

overridevirtual

Set the linear and angular velocity of a base.

Parameters

linear	Desired linear velocity in mm per second for each direction
angular	Desired angular velocity in degrees per second for each direction
extra	Any additional arguments to the method

Implements viam::sdk::Base.

◆ set_velocity() [3/3]

virtual void viam::sdk::Base::set_velocity	(	const Vector3 &	linear,
		const Vector3 &	angular,
		const ProtoStruct &	extra )

virtual

Set the linear and angular velocity of a base.

Parameters

linear	Desired linear velocity in mm per second for each direction
angular	Desired angular velocity in degrees per second for each direction
extra	Any additional arguments to the method

Implements viam::sdk::Base.

◆ spin() [1/3]

void viam::sdk::Base::spin	(	double	angle_deg,
		double	degs_per_sec )

inline

Spins a robot's base by an given angle, expressed in degrees. This method blocks until completed or cancelled.

Parameters

angle_deg	Desired angle
degs_per_sec	Desired angular velocity

◆ spin() [2/3]

void viam::sdk::impl::BaseClient::spin	(	double	angle_deg,
		double	degs_per_sec,
		const ProtoStruct &	extra )

overridevirtual

Spins a robot's base by an given angle, expressed in degrees. This method blocks until completed or cancelled.

Parameters

angle_deg	Desired angle
degs_per_sec	Desired angular velocity
extra	Any additional arguments to the method

Implements viam::sdk::Base.

◆ spin() [3/3]

virtual void viam::sdk::Base::spin	(	double	angle_deg,
		double	degs_per_sec,
		const ProtoStruct &	extra )

virtual

Spins a robot's base by an given angle, expressed in degrees. This method blocks until completed or cancelled.

Parameters

angle_deg	Desired angle
degs_per_sec	Desired angular velocity
extra	Any additional arguments to the method

Implements viam::sdk::Base.

◆ stop()

void viam::sdk::impl::BaseClient::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/base_client.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ do_command()

◆ get_geometries() [1/3]

◆ get_geometries() [2/3]

◆ get_geometries() [3/3]

◆ get_properties() [1/2]

◆ get_properties() [2/2]

◆ is_moving()

◆ move_straight() [1/3]

◆ move_straight() [2/3]

◆ move_straight() [3/3]

◆ set_power() [1/3]

◆ set_power() [2/3]

◆ set_power() [3/3]

◆ set_velocity() [1/3]

◆ set_velocity() [2/3]

◆ set_velocity() [3/3]

◆ spin() [1/3]

◆ spin() [2/3]

◆ spin() [3/3]

◆ stop()