viam::sdk::impl::ServoClient Class Reference

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 ProtoStruct &extra) override
	Move the servo to the provided angle.
position	get_position (const ProtoStruct &extra) override
	Reports the position of the robot's servo relative to its zero position.
void	stop (const ProtoStruct &extra) override
	Stops a resource from running.
bool	is_moving () override
	Reports if a component is in motion.
std::vector< GeometryConfig >	get_geometries (const ProtoStruct &extra) override
	Returns GeometryConfigs associated with the calling servo.
ProtoStruct	do_command (const ProtoStruct &command) override
	Send/receive arbitrary commands to the resource.
std::vector< GeometryConfig >	get_geometries ()
	Returns GeometryConfigs associated with the calling servo.
virtual std::vector< GeometryConfig >	get_geometries (const ProtoStruct &extra)=0
	Returns GeometryConfigs associated with the calling servo.
position	get_position ()
	Get the current angle (degrees) of the servo.
virtual position	get_position (const ProtoStruct &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 ProtoStruct &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 GeometryConfigs associated with the calling servo.
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.

Public Attributes
std::unique_ptr< StubType >	stub_
std::shared_ptr< grpc::Channel >	channel_

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::Servo
	Servo (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 Servo component.

Member Function Documentation

do_command()

ProtoStruct viam::sdk::impl::ServoClient::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::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 ProtoStruct & 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 ProtoStruct & 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 ProtoStruct & 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 ProtoStruct & 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 ProtoStruct & 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 ProtoStruct & 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 ProtoStruct & extra )

overridevirtual

Stops a resource from running.

Parameters

extra

Extra arguments to pass to the resource's stop method.

Implements viam::sdk::Stoppable.

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

• src/viam/sdk/components/private/servo_client.hpp