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

#include <servo_client.hpp>

Inheritance diagram for viam::sdk::impl::ServoClient:

Public Types
using	interface_type = Servo

using	StubType = viam::component::servo::v1::ServoService::StubInterface

Public Types inherited from viam::sdk::Servo
typedef uint32_t	position

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

void	move (uint32_t angle_deg, const AttributeMap &extra) override
	Move the servo to the provided angle.

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

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

bool	is_moving () override
	Reports if a component is in motion.

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

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 servo.

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

position	get_position ()
	Get the current angle (degrees) of the servo.

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

void	move (uint32_t angle_deg)
	Move the servo to the provided angle.

virtual void	move (uint32_t angle_deg, const AttributeMap &extra)=0
	Move the servo to the provided angle.

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

void	move (uint32_t angle_deg)
	Move the servo to the provided angle.

position	get_position ()
	Get the current angle (degrees) of the servo.

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

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.

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

Public Attributes
std::unique_ptr< StubType >	stub_

std::shared_ptr< grpc::Channel >	channel_

Additional Inherited Members
Static Public Member Functions inherited from viam::sdk::Servo
static position	from_proto (const viam::component::servo::v1::GetPositionResponse &proto)
	Creates a `position` struct from its proto representation.

Static Public Member Functions inherited from viam::sdk::Stoppable
static void	stop_if_stoppable (const std::shared_ptr< Resource > &resource, const AttributeMap &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::Servo
	Servo (std::string name)

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

Detailed Description

gRPC client implementation of a Servo component.

Member Function Documentation

◆ do_command()

AttributeMap viam::sdk::impl::ServoClient::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::Servo.

◆ get_geometries() [1/3]

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

inline

Returns GeometryConfigs associated with the calling servo.

Returns: The requested GeometryConfigs associated with the component.

◆ get_geometries() [2/3]

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

overridevirtual

Returns GeometryConfigs associated with the calling servo.

Parameters

extra Any additional arguments to the method.

Returns: The requested GeometryConfigs associated with the component.

Implements viam::sdk::Servo.

◆ get_geometries() [3/3]

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

virtual

Returns GeometryConfigs associated with the calling servo.

Parameters

extra Any additional arguments to the method.

Returns: The requested GeometryConfigs associated with the component.

Implements viam::sdk::Servo.

◆ get_position() [1/3]

position viam::sdk::Servo::get_position ( )

inline

Get the current angle (degrees) of the servo.

Exceptions

`Exception` if position reporting is not supported

◆ get_position() [2/3]

position viam::sdk::impl::ServoClient::get_position ( const AttributeMap & extra )

overridevirtual

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

Parameters

extra Any additional arguments to the method

Exceptions

`Exception` if position reporting is not supported

Implements viam::sdk::Servo.

◆ get_position() [3/3]

virtual position viam::sdk::Servo::get_position ( const AttributeMap & extra )

virtual

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

Parameters

extra Any additional arguments to the method

Exceptions

`Exception` if position reporting is not supported

Implements viam::sdk::Servo.

◆ is_moving()

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

overridevirtual

Reports if a component is in motion.

Implements viam::sdk::Servo.

◆ move() [1/3]

void viam::sdk::Servo::move ( uint32_t angle_deg )

inline

Move the servo to the provided angle.

Parameters

angle_deg The desired angle of the servo in degrees.

◆ move() [2/3]

void viam::sdk::impl::ServoClient::move	(	uint32_t	angle_deg,
		const AttributeMap &	extra )

overridevirtual

Move the servo to the provided angle.

Parameters

angle_deg	The desired angle of the servo in degrees.
extra	Any additional arguments to the method.

Implements viam::sdk::Servo.

◆ move() [3/3]

virtual void viam::sdk::Servo::move	(	uint32_t	angle_deg,
		const AttributeMap &	extra )

virtual

Move the servo to the provided angle.

Parameters

angle_deg	The desired angle of the servo in degrees.
extra	Any additional arguments to the method.

Implements viam::sdk::Servo.

◆ stop()

void viam::sdk::impl::ServoClient::stop ( const AttributeMap & 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/servo_client.hpp

Public Types

Public Member Functions

Public Attributes

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]

◆ is_moving()

◆ move() [1/3]

◆ move() [2/3]

◆ move() [3/3]

◆ stop()