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

#include <encoder_client.hpp>

Inheritance diagram for viam::sdk::impl::EncoderClient:

Public Types
using	interface_type = Encoder

Public Types inherited from viam::sdk::Encoder
enum class	position_type : uint8_t { unspecified = 0 , ticks_count = 1 , angle_degrees = 2 }

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

position	get_position (const AttributeMap &extra, position_type position_type) override
	Returns position of the encoder which can either be ticks since last zeroing for an incremental encoder or degrees for an absolute encoder.

void	reset_position (const AttributeMap &extra) override
	Reset the value of the position.

properties	get_properties (const AttributeMap &extra) override
	Returns a list of all the position_types that are supported by the encoder.

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

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

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

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

position	get_position (position_type position_type=position_type::unspecified)
	Returns position of the encoder which can either be ticks since last zeroing for an incremental encoder or degrees for an absolute encoder.

virtual position	get_position (const AttributeMap &extra, position_type position_type=position_type::unspecified)=0
	Returns position of the encoder which can either be ticks since last zeroing for an incremental encoder or degrees for an absolute encoder.

properties	get_properties ()
	Returns a list of all the position_types that are supported by the encoder.

virtual properties	get_properties (const AttributeMap &extra)=0
	Returns a list of all the position_types that are supported by the encoder.

void	reset_position ()
	Reset the value of the position.

virtual void	reset_position (const AttributeMap &extra)=0
	Reset the value of the position.

Public Member Functions inherited from viam::sdk::Encoder
position	get_position (position_type position_type=position_type::unspecified)
	Returns position of the encoder which can either be ticks since last zeroing for an incremental encoder or degrees for an absolute encoder.

void	reset_position ()
	Reset the value of the position.

properties	get_properties ()
	Returns a list of all the position_types that are supported by the encoder.

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

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

Public Member Functions inherited from viam::sdk::Component
viam::common::v1::ResourceName	get_resource_name (std::string name) const override
	Returns a `ResourceName` for a particular resource name.

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
Static Public Member Functions inherited from viam::sdk::Encoder
static position_type	from_proto (viam::component::encoder::v1::PositionType proto)
	Creates a `position_type` struct from its proto representation.

static position	from_proto (const viam::component::encoder::v1::GetPositionResponse &proto)
	Creates a `position` struct from its proto representation.

static properties	from_proto (const viam::component::encoder::v1::GetPropertiesResponse &proto)
	Creates a `properties` struct from its proto representation.

static viam::component::encoder::v1::PositionType	to_proto (position_type position_type)
	Converts a `position_type` struct to its proto representation.

static viam::component::encoder::v1::GetPositionResponse	to_proto (const position &position)
	Converts a `position` struct to its proto representation.

static viam::component::encoder::v1::GetPropertiesResponse	to_proto (const properties &properties)
	Converts a `properties` struct to its proto representation.

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

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

Detailed Description

gRPC client implementation of a Encoder component.

Member Function Documentation

◆ do_command()

AttributeMap viam::sdk::impl::EncoderClient::do_command ( const AttributeMap & 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::Encoder.

◆ get_geometries() [1/3]

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

inline

Returns GeometryConfigs associated with the calling encoder.

Returns: The requested GeometryConfigs associated with the component.

◆ get_geometries() [2/3]

std::vector< GeometryConfig > viam::sdk::impl::EncoderClient::get_geometries ( const AttributeMap & extra )

overridevirtual

Returns GeometryConfigs associated with the calling encoder.

Parameters

extra Any additional arguments to the method.

Returns: The requested GeometryConfigs associated with the component.

Implements viam::sdk::Encoder.

◆ get_geometries() [3/3]

virtual std::vector< GeometryConfig > viam::sdk::Encoder::get_geometries ( const AttributeMap & extra )

virtual

Returns GeometryConfigs associated with the calling encoder.

Parameters

extra Any additional arguments to the method.

Returns: The requested GeometryConfigs associated with the component.

Implements viam::sdk::Encoder.

◆ get_position() [1/3]

position viam::sdk::impl::EncoderClient::get_position	(	const AttributeMap &	extra,
		position_type	position_type )

overridevirtual

Returns position of the encoder which can either be ticks since last zeroing for an incremental encoder or degrees for an absolute encoder.

Parameters

extra	Any additional arguments to the method.
position_type	The type of position you are requesting. If the driver does not implement the requested type, this call will return an error. If position type is `unspecified`, the response will return a default according to the driver.

Implements viam::sdk::Encoder.

◆ get_position() [2/3]

virtual position viam::sdk::Encoder::get_position	(	const AttributeMap &	extra,
		position_type	position_type = position_type::unspecified )

virtual

Returns position of the encoder which can either be ticks since last zeroing for an incremental encoder or degrees for an absolute encoder.

Parameters

extra	Any additional arguments to the method.
position_type	The type of position you are requesting. If the driver does not implement the requested type, this call will return an error. If position type is `unspecified`, the response will return a default according to the driver.

Implements viam::sdk::Encoder.

◆ get_position() [3/3]

position viam::sdk::Encoder::get_position ( position_type position_type = position_type::unspecified )

inline

Returns position of the encoder which can either be ticks since last zeroing for an incremental encoder or degrees for an absolute encoder.

Parameters

position_type The type of position you are requesting. If the driver does not implement the requested type, this call will return an error. If position type is unspecified, the response will return a default according to the driver.

◆ get_properties() [1/2]

properties viam::sdk::impl::EncoderClient::get_properties ( const AttributeMap & extra )

overridevirtual

Returns a list of all the position_types that are supported by the encoder.

Parameters

extra Any additional arguments to the method.

Implements viam::sdk::Encoder.

◆ get_properties() [2/2]

virtual properties viam::sdk::Encoder::get_properties ( const AttributeMap & extra )

virtual

Returns a list of all the position_types that are supported by the encoder.

Parameters

extra Any additional arguments to the method.

Implements viam::sdk::Encoder.

◆ reset_position() [1/2]

void viam::sdk::impl::EncoderClient::reset_position ( const AttributeMap & extra )

overridevirtual

Reset the value of the position.

Parameters

extra Any additional arguments to the method.

Implements viam::sdk::Encoder.

◆ reset_position() [2/2]

virtual void viam::sdk::Encoder::reset_position ( const AttributeMap & extra )

virtual

Reset the value of the position.

Parameters

extra Any additional arguments to the method.

Implements viam::sdk::Encoder.

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

src/viam/sdk/components/private/encoder_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_position() [1/3]

◆ get_position() [2/3]

◆ get_position() [3/3]

◆ get_properties() [1/2]

◆ get_properties() [2/2]

◆ reset_position() [1/2]

◆ reset_position() [2/2]