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

#include <motor_client.hpp>

Inheritance diagram for viam::sdk::impl::MotorClient:

Public Types
using	interface_type = Motor

Public Types inherited from viam::sdk::Motor
typedef double	position

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

void	set_power (double power_pct, const ProtoStruct &extra) override
	Sets the percentage of the motor's total power that should be employed.

void	go_for (double rpm, double revolutions, const ProtoStruct &extra) override
	Instructs the motor to turn at a specified speed, which is expressed in RPM, for a specified number of rotations relative to its starting position.

void	go_to (double rpm, double position_revolutions, const ProtoStruct &extra) override
	Move the motor to a specific position that is relative to its home position at a specified speed which is expressed in RPM.

void	set_rpm (double rpm, const ProtoStruct &extra) override
	Move the motor indefinitely at a specified speed which is expressed in RPM.

void	reset_zero_position (double offset, const ProtoStruct &extra) override
	Sets the current position of the motor as the new zero position.

position	get_position (const ProtoStruct &extra) override
	Reports the position of the robot's motor relative to its zero position.

properties	get_properties (const ProtoStruct &extra) override
	Returns the properties of the motor which comprises the booleans indicating.

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

power_status	get_power_status (const ProtoStruct &extra) override

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

bool	is_moving () override
	Reports if a component 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 motor.

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

position	get_position ()
	Reports the position of the robot's motor relative to its zero position.

virtual position	get_position (const ProtoStruct &extra)=0
	Reports the position of the robot's motor relative to its zero position.

power_status	get_power_status ()

virtual power_status	get_power_status (const ProtoStruct &extra)=0

properties	get_properties ()
	Returns the properties of the motor which comprises the booleans indicating which optional features the robot's motor supports.

virtual properties	get_properties (const ProtoStruct &extra)=0
	Returns the properties of the motor which comprises the booleans indicating.

void	go_for (double rpm, double revolutions)
	Instructs the motor to turn at a specified speed, which is expressed in RPM, for a specified number of rotations relative to its starting position.

virtual void	go_for (double rpm, double revolutions, const ProtoStruct &extra)=0
	Instructs the motor to turn at a specified speed, which is expressed in RPM, for a specified number of rotations relative to its starting position.

void	go_to (double rpm, double position_revolutions)
	Move the motor to a specific position that is relative to its home position at a specified speed which is expressed in RPM.

virtual void	go_to (double rpm, double position_revolutions, const ProtoStruct &extra)=0
	Move the motor to a specific position that is relative to its home position at a specified speed which is expressed in RPM.

void	reset_zero_position (double offset)
	Sets the current position of the motor as the new zero position.

virtual void	reset_zero_position (double offset, const ProtoStruct &extra)=0
	Sets the current position of the motor as the new zero position.

void	set_power (double power_pct)
	Sets the percentage of the motor's total power that should be employed.

virtual void	set_power (double power_pct, const ProtoStruct &extra)=0
	Sets the percentage of the motor's total power that should be employed.

void	set_rpm (double rpm)
	Move the motor indefinitely at a specified speed which is expressed in RPM.

virtual void	set_rpm (double rpm, const ProtoStruct &extra)=0
	Move the motor indefinitely at a specified speed which is expressed in RPM.

Public Member Functions inherited from viam::sdk::Motor
void	set_power (double power_pct)
	Sets the percentage of the motor's total power that should be employed.

void	go_for (double rpm, double revolutions)
	Instructs the motor to turn at a specified speed, which is expressed in RPM, for a specified number of rotations relative to its starting position.

void	go_to (double rpm, double position_revolutions)
	Move the motor to a specific position that is relative to its home position at a specified speed which is expressed in RPM.

void	set_rpm (double rpm)
	Move the motor indefinitely at a specified speed which is expressed in RPM.

void	reset_zero_position (double offset)
	Sets the current position of the motor as the new zero position.

position	get_position ()
	Reports the position of the robot's motor relative to its zero position.

properties	get_properties ()
	Returns the properties of the motor which comprises the booleans indicating which optional features the robot's motor supports.

power_status	get_power_status ()

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

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::Motor
	Motor (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 a Motor component.

Member Function Documentation

◆ do_command()

ProtoStruct viam::sdk::impl::MotorClient::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::Motor.

◆ get_geometries() [1/3]

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

inline

Returns GeometryConfigs associated with the calling motor.

Returns: The requested GeometryConfigs associated with the component.

◆ get_geometries() [2/3]

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

overridevirtual

Returns GeometryConfigs associated with the calling motor.

Parameters

extra Any additional arguments to the method.

Returns: The requested GeometryConfigs associated with the component.

Implements viam::sdk::Motor.

◆ get_geometries() [3/3]

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

virtual

Returns GeometryConfigs associated with the calling motor.

Parameters

extra Any additional arguments to the method.

Returns: The requested GeometryConfigs associated with the component.

Implements viam::sdk::Motor.

◆ get_position() [1/3]

position viam::sdk::Motor::get_position ( )

inline

Reports the position of the robot's motor relative to its zero position.

Exceptions

`Exception` if position reporting is not supported

◆ get_position() [2/3]

position viam::sdk::impl::MotorClient::get_position ( const ProtoStruct & extra )

overridevirtual

Reports the position of the robot's motor relative to its zero position.

Parameters

extra Any additional arguments to the method

Exceptions

`Exception` if position reporting is not supported

Implements viam::sdk::Motor.

◆ get_position() [3/3]

virtual position viam::sdk::Motor::get_position ( const ProtoStruct & extra )

virtual

Reports the position of the robot's motor relative to its zero position.

Parameters

extra Any additional arguments to the method

Exceptions

`Exception` if position reporting is not supported

Implements viam::sdk::Motor.

◆ get_power_status() [1/3]

power_status viam::sdk::Motor::get_power_status ( )

inline

Returns: The motor's current power_status

◆ get_power_status() [2/3]

power_status viam::sdk::impl::MotorClient::get_power_status ( const ProtoStruct & extra )

overridevirtual

Returns: The motor's current power_status

Parameters

extra Any additional arguments to the method

Implements viam::sdk::Motor.

◆ get_power_status() [3/3]

virtual power_status viam::sdk::Motor::get_power_status ( const ProtoStruct & extra )

virtual

Returns: The motor's current power_status

Parameters

extra Any additional arguments to the method

Implements viam::sdk::Motor.

◆ get_properties() [1/2]

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

overridevirtual

Returns the properties of the motor which comprises the booleans indicating.

Parameters

extra Any additional arguments to the method which optional features the robot's motor supports

Implements viam::sdk::Motor.

◆ get_properties() [2/2]

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

virtual

Returns the properties of the motor which comprises the booleans indicating.

Parameters

extra Any additional arguments to the method which optional features the robot's motor supports

Implements viam::sdk::Motor.

◆ go_for() [1/3]

void viam::sdk::Motor::go_for	(	double	rpm,
		double	revolutions )

inline

Instructs the motor to turn at a specified speed, which is expressed in RPM, for a specified number of rotations relative to its starting position.

Parameters

rpm	Speed of motor travel in rotations per minute
revolutions	Number of revolutions relative to motor's start position. If `revolutions` == 0, this will run the motor at `rpm` indefinetely. If `revolutions` != 0, this will block until the number of revolutions has been completed or another operation comes in.

Exceptions

`Exception` if position reporting is not supported

◆ go_for() [2/3]

void viam::sdk::impl::MotorClient::go_for	(	double	rpm,
		double	revolutions,
		const ProtoStruct &	extra )

overridevirtual

Instructs the motor to turn at a specified speed, which is expressed in RPM, for a specified number of rotations relative to its starting position.

Parameters

rpm	Speed of motor travel in rotations per minute
revolutions	Number of revolutions relative to motor's start position. If `revolutions` == 0, this will run the motor at `rpm` indefinetely. If `revolutions` != 0, this will block until the number of revolutions has been completed or another operation comes in.
extra	Any additional arguments to the method.

Exceptions

`Exception` if position reporting is not supported

Implements viam::sdk::Motor.

◆ go_for() [3/3]

virtual void viam::sdk::Motor::go_for	(	double	rpm,
		double	revolutions,
		const ProtoStruct &	extra )

virtual

Instructs the motor to turn at a specified speed, which is expressed in RPM, for a specified number of rotations relative to its starting position.

Parameters

rpm	Speed of motor travel in rotations per minute
revolutions	Number of revolutions relative to motor's start position. If `revolutions` == 0, this will run the motor at `rpm` indefinetely. If `revolutions` != 0, this will block until the number of revolutions has been completed or another operation comes in.
extra	Any additional arguments to the method.

Exceptions

`Exception` if position reporting is not supported

Implements viam::sdk::Motor.

◆ go_to() [1/3]

void viam::sdk::Motor::go_to	(	double	rpm,
		double	position_revolutions )

inline

Move the motor to a specific position that is relative to its home position at a specified speed which is expressed in RPM.

Parameters

rpm	Speed of motor travel in rotations per minute
position_revolutions	Number of revolutions relative to motor's home home/zero

Exceptions

`Exception` if position reporting is not supported

◆ go_to() [2/3]

void viam::sdk::impl::MotorClient::go_to	(	double	rpm,
		double	position_revolutions,
		const ProtoStruct &	extra )

overridevirtual

Move the motor to a specific position that is relative to its home position at a specified speed which is expressed in RPM.

Parameters

rpm	Speed of motor travel in rotations per minute
position_revolutions	Number of revolutions relative to motor's home home/zero
extra	Any additional arguments to the method.

Exceptions

`Exception` if position reporting is not supported

Implements viam::sdk::Motor.

◆ go_to() [3/3]

virtual void viam::sdk::Motor::go_to	(	double	rpm,
		double	position_revolutions,
		const ProtoStruct &	extra )

virtual

Move the motor to a specific position that is relative to its home position at a specified speed which is expressed in RPM.

Parameters

rpm	Speed of motor travel in rotations per minute
position_revolutions	Number of revolutions relative to motor's home home/zero
extra	Any additional arguments to the method.

Exceptions

`Exception` if position reporting is not supported

Implements viam::sdk::Motor.

◆ is_moving()

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

overridevirtual

Reports if a component is in motion.

Implements viam::sdk::Motor.

◆ reset_zero_position() [1/3]

void viam::sdk::Motor::reset_zero_position ( double offset )

inline

Sets the current position of the motor as the new zero position.

Parameters

offset Motor position

Exceptions

`Exception` if position reporting is not supported

◆ reset_zero_position() [2/3]

void viam::sdk::impl::MotorClient::reset_zero_position	(	double	offset,
		const ProtoStruct &	extra )

overridevirtual

Sets the current position of the motor as the new zero position.

Parameters

offset	Motor position
extra	Any additional arguments to the method

Exceptions

`Exception` if position reporting is not supported

Implements viam::sdk::Motor.

◆ reset_zero_position() [3/3]

virtual void viam::sdk::Motor::reset_zero_position	(	double	offset,
		const ProtoStruct &	extra )

virtual

Sets the current position of the motor as the new zero position.

Parameters

offset	Motor position
extra	Any additional arguments to the method

Exceptions

`Exception` if position reporting is not supported

Implements viam::sdk::Motor.

◆ set_power() [1/3]

void viam::sdk::Motor::set_power ( double power_pct )

inline

Sets the percentage of the motor's total power that should be employed.

Parameters

power_pct Percentage of motor's power, between -1 and 1, where negative values indicate a backwards direction and positive values, a forward direction.

◆ set_power() [2/3]

void viam::sdk::impl::MotorClient::set_power	(	double	power_pct,
		const ProtoStruct &	extra )

overridevirtual

Sets the percentage of the motor's total power that should be employed.

Parameters

power_pct	Percentage of motor's power, between -1 and 1, where negative values indicate a backwards direction and positive values, a forward direction.
extra	Any additional arguments to the method.

Implements viam::sdk::Motor.

◆ set_power() [3/3]

virtual void viam::sdk::Motor::set_power	(	double	power_pct,
		const ProtoStruct &	extra )

virtual

Sets the percentage of the motor's total power that should be employed.

Parameters

power_pct	Percentage of motor's power, between -1 and 1, where negative values indicate a backwards direction and positive values, a forward direction.
extra	Any additional arguments to the method.

Implements viam::sdk::Motor.

◆ set_rpm() [1/3]

void viam::sdk::Motor::set_rpm ( double rpm )

inline

Move the motor indefinitely at a specified speed which is expressed in RPM.

Parameters

rpm	Speed of motor travel in rotations per minute

Exceptions

`Exception` if position reporting is not supported

◆ set_rpm() [2/3]

void viam::sdk::impl::MotorClient::set_rpm	(	double	rpm,
		const ProtoStruct &	extra )

overridevirtual

Move the motor indefinitely at a specified speed which is expressed in RPM.

Parameters

rpm	Speed of motor travel in rotations per minute
extra	Any additional arguments to the method.

Exceptions

`Exception` if position reporting is not supported

Implements viam::sdk::Motor.

◆ set_rpm() [3/3]

virtual void viam::sdk::Motor::set_rpm	(	double	rpm,
		const ProtoStruct &	extra )

virtual

Move the motor indefinitely at a specified speed which is expressed in RPM.

Parameters

rpm	Speed of motor travel in rotations per minute
extra	Any additional arguments to the method.

Exceptions

`Exception` if position reporting is not supported

Implements viam::sdk::Motor.

◆ stop()

void viam::sdk::impl::MotorClient::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/motor_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_power_status() [1/3]

◆ get_power_status() [2/3]

◆ get_power_status() [3/3]

◆ get_properties() [1/2]

◆ get_properties() [2/2]

◆ go_for() [1/3]

◆ go_for() [2/3]

◆ go_for() [3/3]

◆ go_to() [1/3]

◆ go_to() [2/3]

◆ go_to() [3/3]

◆ is_moving()

◆ reset_zero_position() [1/3]

◆ reset_zero_position() [2/3]

◆ reset_zero_position() [3/3]

◆ set_power() [1/3]

◆ set_power() [2/3]

◆ set_power() [3/3]

◆ set_rpm() [1/3]

◆ set_rpm() [2/3]

◆ set_rpm() [3/3]

◆ stop()