motor.hpp

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#pragma once
 
#include <string>
 
#include <viam/api/component/motor/v1/motor.pb.h>
 
#include <viam/sdk/common/proto_type.hpp>
#include <viam/sdk/common/utils.hpp>
#include <viam/sdk/config/resource.hpp>
#include <viam/sdk/resource/stoppable.hpp>
 
namespace viam {
namespace sdk {
 
class Motor : public Component, public Stoppable {
   public:
    typedef double position;
 
    struct power_status {
        bool is_on;
        double power_pct;
    };
 
    struct properties {
        bool position_reporting;
    };
 
    static position from_proto(const viam::component::motor::v1::GetPositionResponse& proto);
 
    static power_status from_proto(const viam::component::motor::v1::IsPoweredResponse& proto);
 
    static properties from_proto(const viam::component::motor::v1::GetPropertiesResponse& proto);
 
    static viam::component::motor::v1::GetPositionResponse to_proto(const position& position);
 
    static viam::component::motor::v1::IsPoweredResponse to_proto(const power_status& power_status);
 
    static viam::component::motor::v1::GetPropertiesResponse to_proto(const properties& properties);
 
    inline void set_power(double power_pct) {
        return set_power(power_pct, {});
    }
 
    virtual void set_power(double power_pct, const AttributeMap& extra) = 0;
 
    inline void go_for(double rpm, double revolutions) {
        return go_for(rpm, revolutions, {});
    }
 
    virtual void go_for(double rpm, double revolutions, const AttributeMap& extra) = 0;
 
    inline void go_to(double rpm, double position_revolutions) {
        return go_to(rpm, position_revolutions, {});
    }
 
    virtual void go_to(double rpm, double position_revolutions, const AttributeMap& extra) = 0;
 
    inline void set_rpm(double rpm) {
        return set_rpm(rpm, {});
    }
 
    virtual void set_rpm(double rpm, const AttributeMap& extra) = 0;
 
    inline void reset_zero_position(double offset) {
        return reset_zero_position(offset, {});
    }
 
    virtual void reset_zero_position(double offset, const AttributeMap& extra) = 0;
 
    inline position get_position() {
        return get_position({});
    }
 
    virtual position get_position(const AttributeMap& extra) = 0;
 
    inline properties get_properties() {
        return get_properties({});
    }
 
    virtual properties get_properties(const AttributeMap& extra) = 0;
 
    inline power_status get_power_status() {
        return get_power_status({});
    }
 
    virtual power_status get_power_status(const AttributeMap& extra) = 0;
 
    virtual bool is_moving() = 0;
 
    virtual AttributeMap do_command(const AttributeMap& command) = 0;
 
    inline std::vector<GeometryConfig> get_geometries() {
        return get_geometries({});
    }
 
    virtual std::vector<GeometryConfig> get_geometries(const AttributeMap& extra) = 0;
 
    API api() const override;
 
   protected:
    explicit Motor(std::string name);
};
 
template <>
struct API::traits<Motor> {
    static API api();
};
 
bool operator==(const Motor::power_status& lhs, const Motor::power_status& rhs);
bool operator==(const Motor::properties& lhs, const Motor::properties& rhs);
 
}  // namespace sdk
}  // namespace viam