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

#include <board_client.hpp>

Inheritance diagram for viam::sdk::impl::BoardClient:

Public Types
using	interface_type = Board

Public Types inherited from viam::sdk::Board
enum class	power_mode : uint8_t { normal = 0 , offline_deep = 1 }
	Power mode of the board The effect of these power modes depends on your physical board.

using	analog_value = int32_t
	Represents the raw value received by the registered analog to digital converter (ADC). The range and conversion mechanism to voltage will vary depending on the specific ADC registered to the pin.

using	digital_value = int64_t
	Depending on the type of digital interrupt, this can have different meanings. If a `basic` (default) interrupt is configured, then this is the total interrupt count. If a `servo` interrupt is configured this tracks the pulse width value. Consult Viam's `Board` documentation for more details.

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

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

void	set_gpio (const std::string &pin, bool high, const ProtoStruct &extra) override
	Set the gpio high/low state of the given pin on a board.

bool	get_gpio (const std::string &pin, const ProtoStruct &extra) override
	Gets the high/low state of the given pin on a board.

double	get_pwm_duty_cycle (const std::string &pin, const ProtoStruct &extra) override
	Gets the duty cycle of the given pin on a board.

void	set_pwm_duty_cycle (const std::string &pin, double duty_cycle_pct, const ProtoStruct &extra) override
	Sets the given pin of a board to the given duty cycle.

uint64_t	get_pwm_frequency (const std::string &pin, const ProtoStruct &extra) override
	Gets the PWM frequency of the given pin on a board.

void	set_pwm_frequency (const std::string &pin, uint64_t frequency_hz, const ProtoStruct &extra) override
	Sets the given pin on a board to the given PWM frequency. 0 will use the board's default PWM frequency.

analog_response	read_analog (const std::string &analog_reader_name, const ProtoStruct &extra) override
	Reads off the current value of an analog reader on a board. Consult your ADC's docs or Viam's `Board` docs for more information.

void	write_analog (const std::string &pin, int value, const ProtoStruct &extra) override
	Writes the value to the analog writer of the board.

digital_value	read_digital_interrupt (const std::string &digital_interrupt_name, const ProtoStruct &extra) override
	Returns the current value of the interrupt which is based on the type of interrupt. Consult Viam's `Board` docs for more information.

void	set_power_mode (power_mode power_mode, const ProtoStruct &extra, const boost::optional< std::chrono::microseconds > &duration) override
	Sets the power consumption mode of the board to the requested setting for the given duration.

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

void	stream_ticks (std::vector< std::string > const &digital_interrupt_names, std::function< bool(Tick &&tick)> const &tick_handler, const ProtoStruct &extra) override
	Returns a stream of digital interrupt ticks.

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

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

bool	get_gpio (const std::string &pin)
	Gets the high/low state of the given pin on a board.

virtual bool	get_gpio (const std::string &pin, const ProtoStruct &extra)=0
	Gets the high/low state of the given pin on a board.

double	get_pwm_duty_cycle (const std::string &pin)
	Gets the duty cycle of the given pin on a board.

virtual double	get_pwm_duty_cycle (const std::string &pin, const ProtoStruct &extra)=0
	Gets the duty cycle of the given pin on a board.

uint64_t	get_pwm_frequency (const std::string &pin)
	Gets the PWM frequency of the given pin on a board.

virtual uint64_t	get_pwm_frequency (const std::string &pin, const ProtoStruct &extra)=0
	Gets the PWM frequency of the given pin on a board.

analog_response	read_analog (const std::string &analog_reader_name)
	Reads off the current value of an analog reader on a board. Consult your ADC's docs or Viam's `Board` docs for more information.

virtual analog_response	read_analog (const std::string &analog_reader_name, const ProtoStruct &extra)=0
	Reads off the current value of an analog reader on a board. Consult your ADC's docs or Viam's `Board` docs for more information.

digital_value	read_digital_interrupt (const std::string &digital_interrupt_name)
	Returns the current value of the interrupt which is based on the type of interrupt. Consult Viam's `Board` docs for more information.

virtual digital_value	read_digital_interrupt (const std::string &digital_interrupt_name, const ProtoStruct &extra)=0
	Returns the current value of the interrupt which is based on the type of interrupt. Consult Viam's `Board` docs for more information.

void	set_gpio (const std::string &pin, bool high)
	Set the gpio high/low state of the given pin on a board.

virtual void	set_gpio (const std::string &pin, bool high, const ProtoStruct &extra)=0
	Set the gpio high/low state of the given pin on a board.

void	set_power_mode (power_mode power_mode, const boost::optional< std::chrono::microseconds > &duration={})
	Sets the power consumption mode of the board to the requested setting for the given duration.

virtual void	set_power_mode (power_mode power_mode, const ProtoStruct &extra, const boost::optional< std::chrono::microseconds > &duration={})=0
	Sets the power consumption mode of the board to the requested setting for the given duration.

void	set_pwm_duty_cycle (const std::string &pin, double duty_cycle_pct)
	Sets the given pin of a board to the given duty cycle.

virtual void	set_pwm_duty_cycle (const std::string &pin, double duty_cycle_pct, const ProtoStruct &extra)=0
	Sets the given pin of a board to the given duty cycle.

void	set_pwm_frequency (const std::string &pin, uint64_t frequency_hz)
	Sets the given pin on a board to the given PWM frequency. 0 will use the board's default PWM frequency.

virtual void	set_pwm_frequency (const std::string &pin, uint64_t frequency_hz, const ProtoStruct &extra)=0
	Sets the given pin on a board to the given PWM frequency. 0 will use the board's default PWM frequency.

void	stream_ticks (std::vector< std::string > const &digital_interrupt_names, std::function< bool(Tick &&tick)> const &tick_handler)
	Returns a stream of digital interrupt ticks.

virtual void	stream_ticks (std::vector< std::string > const &digital_interrupt_names, std::function< bool(Tick &&tick)> const &tick_handler, const ProtoStruct &extra)=0
	Returns a stream of digital interrupt ticks.

void	write_analog (const std::string &pin, int value)
	Writes the value to the analog writer of the board.

virtual void	write_analog (const std::string &pin, int value, const ProtoStruct &extra)=0
	Writes the value to the analog writer of the board.

Public Member Functions inherited from viam::sdk::Board
API	api () const override
	Returns the `API` associated with a particular resource.

bool	get_gpio (const std::string &pin)
	Gets the high/low state of the given pin on a board.

void	set_gpio (const std::string &pin, bool high)
	Set the gpio high/low state of the given pin on a board.

double	get_pwm_duty_cycle (const std::string &pin)
	Gets the duty cycle of the given pin on a board.

void	set_pwm_duty_cycle (const std::string &pin, double duty_cycle_pct)
	Sets the given pin of a board to the given duty cycle.

uint64_t	get_pwm_frequency (const std::string &pin)
	Gets the PWM frequency of the given pin on a board.

void	set_pwm_frequency (const std::string &pin, uint64_t frequency_hz)
	Sets the given pin on a board to the given PWM frequency. 0 will use the board's default PWM frequency.

analog_response	read_analog (const std::string &analog_reader_name)
	Reads off the current value of an analog reader on a board. Consult your ADC's docs or Viam's `Board` docs for more information.

void	write_analog (const std::string &pin, int value)
	Writes the value to the analog writer of the board.

digital_value	read_digital_interrupt (const std::string &digital_interrupt_name)
	Returns the current value of the interrupt which is based on the type of interrupt. Consult Viam's `Board` docs for more information.

void	stream_ticks (std::vector< std::string > const &digital_interrupt_names, std::function< bool(Tick &&tick)> const &tick_handler)
	Returns a stream of digital interrupt ticks.

void	set_power_mode (power_mode power_mode, const boost::optional< std::chrono::microseconds > &duration={})
	Sets the power consumption mode of the board to the requested setting for the given duration.

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

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.

Additional Inherited Members
Protected Member Functions inherited from viam::sdk::Board
	Board (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 Board component.

Member Function Documentation

◆ do_command()

ProtoStruct viam::sdk::impl::BoardClient::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::Board.

◆ get_geometries() [1/3]

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

inline

Returns GeometryConfigs associated with the calling board.

Returns: The requested GeometryConfigs associated with the component.

◆ get_geometries() [2/3]

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

overridevirtual

Returns GeometryConfigs associated with the calling board.

Parameters

extra Any additional arguments to the method.

Returns: The requested GeometryConfigs associated with the component.

Implements viam::sdk::Board.

◆ get_geometries() [3/3]

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

virtual

Returns GeometryConfigs associated with the calling board.

Parameters

extra Any additional arguments to the method.

Returns: The requested GeometryConfigs associated with the component.

Implements viam::sdk::Board.

◆ get_gpio() [1/3]

bool viam::sdk::Board::get_gpio ( const std::string & pin )

inline

Gets the high/low state of the given pin on a board.

Parameters

pin	board pin name

Returns: high/low state of the given pin. High = on, low = off

◆ get_gpio() [2/3]

bool viam::sdk::impl::BoardClient::get_gpio	(	const std::string &	pin,
		const ProtoStruct &	extra )

overridevirtual

Gets the high/low state of the given pin on a board.

Parameters

pin	board pin name
extra	Any additional arguments to the method

Returns: high/low state of the given pin. High = on, low = off

Implements viam::sdk::Board.

◆ get_gpio() [3/3]

virtual bool viam::sdk::Board::get_gpio	(	const std::string &	pin,
		const ProtoStruct &	extra )

virtual

Gets the high/low state of the given pin on a board.

Parameters

pin	board pin name
extra	Any additional arguments to the method

Returns: high/low state of the given pin. High = on, low = off

Implements viam::sdk::Board.

◆ get_pwm_duty_cycle() [1/3]

double viam::sdk::Board::get_pwm_duty_cycle ( const std::string & pin )

inline

Gets the duty cycle of the given pin on a board.

Parameters

pin	board pin name

Returns: duty cycle percentage (0 to 1)

◆ get_pwm_duty_cycle() [2/3]

double viam::sdk::impl::BoardClient::get_pwm_duty_cycle	(	const std::string &	pin,
		const ProtoStruct &	extra )

overridevirtual

Gets the duty cycle of the given pin on a board.

Parameters

pin	board pin name
extra	Any additional arguments to the method

Returns: duty cycle percentage (0 to 1)

Implements viam::sdk::Board.

◆ get_pwm_duty_cycle() [3/3]

virtual double viam::sdk::Board::get_pwm_duty_cycle	(	const std::string &	pin,
		const ProtoStruct &	extra )

virtual

Gets the duty cycle of the given pin on a board.

Parameters

pin	board pin name
extra	Any additional arguments to the method

Returns: duty cycle percentage (0 to 1)

Implements viam::sdk::Board.

◆ get_pwm_frequency() [1/3]

uint64_t viam::sdk::Board::get_pwm_frequency ( const std::string & pin )

inline

Gets the PWM frequency of the given pin on a board.

Parameters

pin	board pin name

◆ get_pwm_frequency() [2/3]

uint64_t viam::sdk::impl::BoardClient::get_pwm_frequency	(	const std::string &	pin,
		const ProtoStruct &	extra )

overridevirtual

Gets the PWM frequency of the given pin on a board.

Parameters

pin	board pin name
extra	Any additional arguments to the method

Implements viam::sdk::Board.

◆ get_pwm_frequency() [3/3]

virtual uint64_t viam::sdk::Board::get_pwm_frequency	(	const std::string &	pin,
		const ProtoStruct &	extra )

virtual

Gets the PWM frequency of the given pin on a board.

Parameters

pin	board pin name
extra	Any additional arguments to the method

Implements viam::sdk::Board.

◆ read_analog() [1/3]

analog_response viam::sdk::Board::read_analog ( const std::string & analog_reader_name )

inline

Reads off the current value of an analog reader on a board. Consult your ADC's docs or Viam's Board docs for more information.

Parameters

analog_reader_name analog reader to read from

◆ read_analog() [2/3]

analog_response viam::sdk::impl::BoardClient::read_analog	(	const std::string &	analog_reader_name,
		const ProtoStruct &	extra )

overridevirtual

Reads off the current value of an analog reader on a board. Consult your ADC's docs or Viam's Board docs for more information.

Parameters

analog_reader_name	analog reader to read from
extra	Any additional arguments to the method

Implements viam::sdk::Board.

◆ read_analog() [3/3]

virtual analog_response viam::sdk::Board::read_analog	(	const std::string &	analog_reader_name,
		const ProtoStruct &	extra )

virtual

Reads off the current value of an analog reader on a board. Consult your ADC's docs or Viam's Board docs for more information.

Parameters

analog_reader_name	analog reader to read from
extra	Any additional arguments to the method

Implements viam::sdk::Board.

◆ read_digital_interrupt() [1/3]

digital_value viam::sdk::Board::read_digital_interrupt ( const std::string & digital_interrupt_name )

inline

Returns the current value of the interrupt which is based on the type of interrupt. Consult Viam's Board docs for more information.

Parameters

digital_interrupt_name digital interrupt to check

◆ read_digital_interrupt() [2/3]

digital_value viam::sdk::impl::BoardClient::read_digital_interrupt	(	const std::string &	digital_interrupt_name,
		const ProtoStruct &	extra )

overridevirtual

Returns the current value of the interrupt which is based on the type of interrupt. Consult Viam's Board docs for more information.

Parameters

digital_interrupt_name	digital interrupt to check
extra	Any additional arguments to the method

Implements viam::sdk::Board.

◆ read_digital_interrupt() [3/3]

virtual digital_value viam::sdk::Board::read_digital_interrupt	(	const std::string &	digital_interrupt_name,
		const ProtoStruct &	extra )

virtual

Returns the current value of the interrupt which is based on the type of interrupt. Consult Viam's Board docs for more information.

Parameters

digital_interrupt_name	digital interrupt to check
extra	Any additional arguments to the method

Implements viam::sdk::Board.

◆ set_gpio() [1/3]

void viam::sdk::Board::set_gpio	(	const std::string &	pin,
		bool	high )

inline

Set the gpio high/low state of the given pin on a board.

Parameters

high	true if the pin should be set to high (on) or false if it should be low (off)

◆ set_gpio() [2/3]

void viam::sdk::impl::BoardClient::set_gpio	(	const std::string &	pin,
		bool	high,
		const ProtoStruct &	extra )

overridevirtual

Set the gpio high/low state of the given pin on a board.

Parameters

high	true if the pin should be set to high (on) or false if it should be low (off)
extra	Any additional arguments to the method

Implements viam::sdk::Board.

◆ set_gpio() [3/3]

virtual void viam::sdk::Board::set_gpio	(	const std::string &	pin,
		bool	high,
		const ProtoStruct &	extra )

virtual

Set the gpio high/low state of the given pin on a board.

Parameters

high	true if the pin should be set to high (on) or false if it should be low (off)
extra	Any additional arguments to the method

Implements viam::sdk::Board.

◆ set_power_mode() [1/3]

void viam::sdk::Board::set_power_mode	(	power_mode	power_mode,
		const boost::optional< std::chrono::microseconds > &	duration = {} )

inline

Sets the power consumption mode of the board to the requested setting for the given duration.

Parameters

power_mode	Requested power mode
duration	Requested duration to stay in `power_mode` (in microseconds)

◆ set_power_mode() [2/3]

void viam::sdk::impl::BoardClient::set_power_mode	(	power_mode	power_mode,
		const ProtoStruct &	extra,
		const boost::optional< std::chrono::microseconds > &	duration )

overridevirtual

Sets the power consumption mode of the board to the requested setting for the given duration.

Parameters

power_mode	Requested power mode
extra	Any additional arguments to the method
duration	Requested duration to stay in `power_mode` (in microseconds)

Implements viam::sdk::Board.

◆ set_power_mode() [3/3]

virtual void viam::sdk::Board::set_power_mode	(	power_mode	power_mode,
		const ProtoStruct &	extra,
		const boost::optional< std::chrono::microseconds > &	duration = {} )

virtual

Sets the power consumption mode of the board to the requested setting for the given duration.

Parameters

power_mode	Requested power mode
extra	Any additional arguments to the method
duration	Requested duration to stay in `power_mode` (in microseconds)

Implements viam::sdk::Board.

◆ set_pwm_duty_cycle() [1/3]

void viam::sdk::Board::set_pwm_duty_cycle	(	const std::string &	pin,
		double	duty_cycle_pct )

inline

Sets the given pin of a board to the given duty cycle.

Parameters

pin	board pin name
duty_cycle_pct	duty cycle percentage 0 to 1

◆ set_pwm_duty_cycle() [2/3]

void viam::sdk::impl::BoardClient::set_pwm_duty_cycle	(	const std::string &	pin,
		double	duty_cycle_pct,
		const ProtoStruct &	extra )

overridevirtual

Sets the given pin of a board to the given duty cycle.

Parameters

pin	board pin name
duty_cycle_pct	duty cycle percentage 0 to 1
extra	Any additional arguments to the method

Implements viam::sdk::Board.

◆ set_pwm_duty_cycle() [3/3]

virtual void viam::sdk::Board::set_pwm_duty_cycle	(	const std::string &	pin,
		double	duty_cycle_pct,
		const ProtoStruct &	extra )

virtual

Sets the given pin of a board to the given duty cycle.

Parameters

pin	board pin name
duty_cycle_pct	duty cycle percentage 0 to 1
extra	Any additional arguments to the method

Implements viam::sdk::Board.

◆ set_pwm_frequency() [1/3]

void viam::sdk::Board::set_pwm_frequency	(	const std::string &	pin,
		uint64_t	frequency_hz )

inline

Sets the given pin on a board to the given PWM frequency. 0 will use the board's default PWM frequency.

Parameters

pin	board pin name
frequency_hz	frequency in hz (0 = use board default frequency)

◆ set_pwm_frequency() [2/3]

void viam::sdk::impl::BoardClient::set_pwm_frequency	(	const std::string &	pin,
		uint64_t	frequency_hz,
		const ProtoStruct &	extra )

overridevirtual

Sets the given pin on a board to the given PWM frequency. 0 will use the board's default PWM frequency.

Parameters

pin	board pin name
frequency_hz	frequency in hz (0 = use board default frequency)
extra	Any additional arguments to the method

Implements viam::sdk::Board.

◆ set_pwm_frequency() [3/3]

virtual void viam::sdk::Board::set_pwm_frequency	(	const std::string &	pin,
		uint64_t	frequency_hz,
		const ProtoStruct &	extra )

virtual

Sets the given pin on a board to the given PWM frequency. 0 will use the board's default PWM frequency.

Parameters

pin	board pin name
frequency_hz	frequency in hz (0 = use board default frequency)
extra	Any additional arguments to the method

Implements viam::sdk::Board.

◆ stream_ticks() [1/3]

void viam::sdk::Board::stream_ticks	(	std::vector< std::string > const &	digital_interrupt_names,
		std::function< bool(Tick &&tick)> const &	tick_handler )

inline

Returns a stream of digital interrupt ticks.

Parameters

digital_interrupt_names	digital interrupts to stream
tick_handler	callback function to call when a tick occurs. This should return true to keep streaming ticks and false to indicate that the stream of ticks should terminate. The callback function should not be blocking.

◆ stream_ticks() [2/3]

void viam::sdk::impl::BoardClient::stream_ticks	(	std::vector< std::string > const &	digital_interrupt_names,
		std::function< bool(Tick &&tick)> const &	tick_handler,
		const ProtoStruct &	extra )

overridevirtual

Returns a stream of digital interrupt ticks.

Parameters

digital_interrupt_names	digital interrupts to stream
tick_handler	callback function to call when a tick occurs.
extra	Any additional arguments to the method

Implements viam::sdk::Board.

◆ stream_ticks() [3/3]

virtual void viam::sdk::Board::stream_ticks	(	std::vector< std::string > const &	digital_interrupt_names,
		std::function< bool(Tick &&tick)> const &	tick_handler,
		const ProtoStruct &	extra )

virtual

Returns a stream of digital interrupt ticks.

Parameters

digital_interrupt_names	digital interrupts to stream
tick_handler	callback function to call when a tick occurs.
extra	Any additional arguments to the method

Implements viam::sdk::Board.

◆ write_analog() [1/3]

void viam::sdk::Board::write_analog	(	const std::string &	pin,
		int	value )

inline

Writes the value to the analog writer of the board.

Parameters

pin	the pin to write to
value	the value to set the pin to

◆ write_analog() [2/3]

void viam::sdk::impl::BoardClient::write_analog	(	const std::string &	pin,
		int	value,
		const ProtoStruct &	extra )

overridevirtual

Writes the value to the analog writer of the board.

Parameters

pin	the pin to write to
value	the value to set the pin to
extra	any additional arguments to the method

Implements viam::sdk::Board.

◆ write_analog() [3/3]

virtual void viam::sdk::Board::write_analog	(	const std::string &	pin,
		int	value,
		const ProtoStruct &	extra )

virtual

Writes the value to the analog writer of the board.

Parameters

pin	the pin to write to
value	the value to set the pin to
extra	any additional arguments to the method

Implements viam::sdk::Board.

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

src/viam/sdk/components/private/board_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_gpio() [1/3]

◆ get_gpio() [2/3]

◆ get_gpio() [3/3]

◆ get_pwm_duty_cycle() [1/3]

◆ get_pwm_duty_cycle() [2/3]

◆ get_pwm_duty_cycle() [3/3]

◆ get_pwm_frequency() [1/3]

◆ get_pwm_frequency() [2/3]

◆ get_pwm_frequency() [3/3]

◆ read_analog() [1/3]

◆ read_analog() [2/3]

◆ read_analog() [3/3]

◆ read_digital_interrupt() [1/3]

◆ read_digital_interrupt() [2/3]

◆ read_digital_interrupt() [3/3]

◆ set_gpio() [1/3]

◆ set_gpio() [2/3]

◆ set_gpio() [3/3]

◆ set_power_mode() [1/3]

◆ set_power_mode() [2/3]

◆ set_power_mode() [3/3]

◆ set_pwm_duty_cycle() [1/3]

◆ set_pwm_duty_cycle() [2/3]

◆ set_pwm_duty_cycle() [3/3]

◆ set_pwm_frequency() [1/3]

◆ set_pwm_frequency() [2/3]

◆ set_pwm_frequency() [3/3]

◆ stream_ticks() [1/3]

◆ stream_ticks() [2/3]

◆ stream_ticks() [3/3]

◆ write_analog() [1/3]

◆ write_analog() [2/3]

◆ write_analog() [3/3]