servo.hpp

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#pragma once
 
#include <viam/api/component/servo/v1/servo.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 Servo : public Component, public Stoppable {
   public:
    typedef uint32_t position;
 
    API api() const override;
 
    static position from_proto(const viam::component::servo::v1::GetPositionResponse& proto);
 
    inline void move(uint32_t angle_deg) {
        return move(angle_deg, {});
    }
 
    virtual void move(uint32_t angle_deg, const AttributeMap& extra) = 0;
 
    inline position get_position() {
        return get_position({});
    }
 
    virtual position get_position(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;
 
   protected:
    explicit Servo(std::string name) : Component(std::move(name)){};
};
 
template <>
struct API::traits<Servo> {
    static API api();
};
 
}  // namespace sdk
}  // namespace viam