gantry_client.hpp

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#pragma once
 
#include <viam/api/component/gantry/v1/gantry.grpc.pb.h>
 
#include <viam/sdk/components/gantry.hpp>
#include <viam/sdk/rpc/dial.hpp>
 
namespace viam {
namespace sdk {
namespace impl {
 
class GantryClient : public Gantry {
   public:
    using interface_type = Gantry;
    GantryClient(std::string name, const ViamChannel& channel);
 
    const ViamChannel& channel() const {
        return *channel_;
    }
 
    std::vector<double> get_position(const ProtoStruct& extra) override;
    void move_to_position(const std::vector<movement_coordinate>& coordinates,
                          const ProtoStruct& extra) override;
    bool home(const ProtoStruct& extra) override;
    std::vector<double> get_lengths(const ProtoStruct& extra) override;
    bool is_moving() override;
    void stop(const ProtoStruct& extra) override;
    ProtoStruct do_command(const ProtoStruct& command) override;
    std::vector<GeometryConfig> get_geometries(const ProtoStruct& extra) override;
 
    using Gantry::get_geometries;
    using Gantry::get_lengths;
    using Gantry::get_position;
    using Gantry::home;
    using Gantry::move_to_position;
    using Gantry::stop;
 
   private:
    using StubType = viam::component::gantry::v1::GantryService::StubInterface;
    std::unique_ptr<StubType> stub_;
    const ViamChannel* channel_;
};
 
}  // namespace impl
}  // namespace sdk
}  // namespace viam