motion_client.hpp

 
#pragma once
 
#include <viam/api/service/motion/v1/motion.grpc.pb.h>
 
#include <viam/sdk/rpc/dial.hpp>
#include <viam/sdk/services/motion.hpp>
 
namespace viam {
namespace sdk {
namespace impl {
 
class MotionClient : public Motion {
   public:
    using interface_type = Motion;
    MotionClient(std::string name, const ViamChannel& channel);
 
    const ViamChannel& channel() const {
        return *channel_;
    }
 
    bool move(const pose_in_frame& destination,
              const std::string& component_name,
              const std::shared_ptr<WorldState>& world_state,
              const std::shared_ptr<constraints>& constraints,
              const ProtoStruct& extra) override;
 
    std::string move_on_map(const pose& destination,
                            const std::string& component_name,
                            const std::string& slam_name,
                            const std::shared_ptr<motion_configuration>& motion_configuration,
                            const std::vector<GeometryConfig>& obstacles,
                            const ProtoStruct& extra) override;
 
    std::string move_on_globe(const geo_point& destination,
                              const boost::optional<double>& heading,
                              const std::string& component_name,
                              const std::string& movement_sensor_name,
                              const std::vector<geo_geometry>& obstacles,
                              const std::shared_ptr<motion_configuration>& motion_configuration,
                              const std::vector<geo_geometry>& bounding_regions,
                              const ProtoStruct& extra) override;
 
    pose_in_frame get_pose(const std::string& component_name,
                           const std::string& destination_frame,
                           const std::vector<WorldState::transform>& supplemental_transforms,
                           const ProtoStruct& extra) override;
 
    void stop_plan(const std::string& component_name, const ProtoStruct& extra) override;
 
    Motion::plan_with_status get_latest_plan(const std::string& component_name,
                                             const ProtoStruct& extra) override;
 
    std::pair<Motion::plan_with_status, std::vector<Motion::plan_with_status>>
 
    get_latest_plan_with_replan_history(const std::string& component_name,
                                        const ProtoStruct& extra) override;
 
    Motion::plan_with_status get_plan(const std::string& component_name,
                                      const std::string& execution_id,
                                      const ProtoStruct& extra) override;
 
    std::pair<Motion::plan_with_status, std::vector<Motion::plan_with_status>>
    get_plan_with_replan_history(const std::string& component_name,
                                 const std::string& execution_id,
                                 const ProtoStruct& extra) override;
 
    std::vector<Motion::plan_status_with_id> list_active_plan_statuses(
        const ProtoStruct& extra) override;
 
    std::vector<Motion::plan_status_with_id> list_plan_statuses(const ProtoStruct& extra) override;
 
    ProtoStruct do_command(const ProtoStruct& command) override;
 
    // the `extra` param is frequently unnecessary but needs to be supported. Ideally, we'd
    // like to live in a world where implementers of derived classes don't need to go out of
    // their way to support two versions of a method (an `extra` version and a non-`extra`
    // version), and users don't need to pass an unnecessary parameters to all method calls.
    //
    // To do this, we define in the parent resource class a non-virtual version of the methods
    // that calls the virtual method and passes a `nullptr` by default in place of the `extra`
    // param. In order to access these versions of the methods within the client code, however,
    // we need to include these `using` lines.
    using Motion::get_latest_plan;
    using Motion::get_latest_plan_with_replan_history;
    using Motion::get_plan;
    using Motion::get_plan_with_replan_history;
    using Motion::get_pose;
    using Motion::list_active_plan_statuses;
    using Motion::list_plan_statuses;
    using Motion::move;
    using Motion::move_on_globe;
    using Motion::move_on_map;
    using Motion::stop_plan;
 
   private:
    using StubType = service::motion::v1::MotionService::StubInterface;
    std::vector<Motion::plan_status_with_id> list_plan_statuses_(bool only_active_plans,
                                                                 const ProtoStruct& extra);
    std::pair<Motion::plan_with_status, std::vector<Motion::plan_with_status>> get_plan_(
        const std::string& component_name,
        boost::optional<std::string> execution_id,
        bool last_plan_only,
        const ProtoStruct& extra);
    std::unique_ptr<StubType> stub_;
    const ViamChannel* channel_;
};
 
}  // namespace impl
}  // namespace sdk
}  // namespace viam