generic_client.hpp

Go to the documentation of this file.

 
#pragma once
 
#include <viam/api/component/generic/v1/generic.grpc.pb.h>
 
#include <viam/sdk/components/generic.hpp>
#include <viam/sdk/robot/client.hpp>
#include <viam/sdk/rpc/dial.hpp>
 
namespace viam {
namespace sdk {
namespace impl {
 
class GenericComponentClient : public GenericComponent {
   public:
    using interface_type = GenericComponent;
    GenericComponentClient(std::string name, const ViamChannel& channel);
 
    const ViamChannel& channel() const {
        return *channel_;
    }
    ProtoStruct do_command(const ProtoStruct& command) override;
    ProtoStruct get_status() override;
    std::vector<GeometryConfig> get_geometries(const ProtoStruct& extra) override;
 
   protected:
    // This constructor leaves the `channel_` as a nullptr. This is useful for testing
    // purposes, but renders it unusable for production use. Care should be taken to
    // avoid use of this constructor outside of tests.
    GenericComponentClient(
        std::string name,
        std::unique_ptr<viam::component::generic::v1::GenericService::StubInterface> stub)
        : GenericComponent(std::move(name)), stub_(std::move(stub)) {}
 
   private:
    using StubType = viam::component::generic::v1::GenericService::StubInterface;
    std::unique_ptr<StubType> stub_;
    const ViamChannel* channel_;
};
 
}  // namespace impl
}  // namespace sdk
}  // namespace viam