servo_client.hpp

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#pragma once
 
#include <grpcpp/channel.h>
 
#include <viam/api/component/servo/v1/servo.grpc.pb.h>
 
#include <viam/sdk/components/private/servo_server.hpp>
#include <viam/sdk/components/servo.hpp>
#include <viam/sdk/config/resource.hpp>
#include <viam/sdk/robot/client.hpp>
 
namespace viam {
namespace sdk {
namespace impl {
 
class ServoClient : public Servo {
   public:
    using interface_type = Servo;
    ServoClient(std::string name, std::shared_ptr<grpc::Channel> channel);
    void move(uint32_t angle_deg, const AttributeMap& extra) override;
    position get_position(const AttributeMap& extra) override;
    void stop(const AttributeMap& extra) override;
    bool is_moving() override;
    std::vector<GeometryConfig> get_geometries(const AttributeMap& extra) override;
    AttributeMap do_command(const AttributeMap& command) override;
 
    using Servo::get_geometries;
    using Servo::get_position;
    using Servo::move;
    using Servo::stop;
 
    using StubType = viam::component::servo::v1::ServoService::StubInterface;
    std::unique_ptr<StubType> stub_;
    std::shared_ptr<grpc::Channel> channel_;
};
 
}  // namespace impl
}  // namespace sdk
}  // namespace viam