gantry.hpp

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#pragma once
 
#include <viam/sdk/common/kinematics.hpp>
#include <viam/sdk/resource/stoppable.hpp>
 
namespace viam {
namespace sdk {
 
 
class Gantry : public Component, public Stoppable {
   public:
    struct movement_coordinate {
        double position_mm;
 
        double speed_mm_per_sec;
    };
 
    inline std::vector<double> get_position() {
        return get_position({});
    }
 
    virtual std::vector<double> get_position(const ProtoStruct& extra) = 0;
 
    inline void move_to_position(const std::vector<movement_coordinate>& coordinates) {
        move_to_position(coordinates, {});
    }
 
    virtual void move_to_position(const std::vector<movement_coordinate>& coordinates,
                                  const ProtoStruct& extra) = 0;
 
    inline bool home() {
        return home({});
    }
 
    virtual bool home(const ProtoStruct& extra) = 0;
 
    inline std::vector<double> get_lengths() {
        return get_lengths({});
    }
 
    virtual std::vector<double> get_lengths(const ProtoStruct& extra) = 0;
 
    virtual bool is_moving() = 0;
 
    virtual ProtoStruct do_command(const ProtoStruct& command) = 0;
 
    inline std::vector<GeometryConfig> get_geometries() {
        return get_geometries({});
    }
 
    virtual std::vector<GeometryConfig> get_geometries(const ProtoStruct& extra) = 0;
 
    virtual ::viam::sdk::KinematicsData get_kinematics(const ProtoStruct& extra) = 0;
 
    inline ::viam::sdk::KinematicsData get_kinematics() {
        return get_kinematics({});
    }
 
    API api() const override;
 
   protected:
    using Component::Component;
};
 
template <>
struct API::traits<Gantry> {
    static API api();
};
 
}  // namespace sdk
}  // namespace viam