gripper_client.hpp

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#pragma once
 
#include <memory>
 
#include <viam/api/component/gripper/v1/gripper.grpc.pb.h>
 
#include <viam/sdk/components/gripper.hpp>
#include <viam/sdk/rpc/dial.hpp>
 
namespace viam {
namespace sdk {
namespace impl {
 
class GripperClient : public Gripper {
   public:
    using interface_type = Gripper;
    GripperClient(std::string name, const ViamChannel& channel);
 
    const ViamChannel& channel() const {
        return *channel_;
    }
 
    void open(const ProtoStruct& extra) override;
 
    bool grab(const ProtoStruct& extra) override;
 
    Gripper::holding_status is_holding_something(const ProtoStruct& extra) override;
 
    void stop(const ProtoStruct& extra) override;
 
    bool is_moving() override;
 
    ProtoStruct do_command(const ProtoStruct& command) override;
 
    std::vector<GeometryConfig> get_geometries(const ProtoStruct& extra) override;
 
    using Gripper::get_geometries;
    using Gripper::grab;
    using Gripper::is_holding_something;
    using Gripper::open;
    using Gripper::stop;
 
   private:
    using StubType = viam::component::gripper::v1::GripperService::StubInterface;
    std::unique_ptr<StubType> stub_;
    const ViamChannel* channel_;
};
 
}  // namespace impl
}  // namespace sdk
}  // namespace viam