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54 changes: 54 additions & 0 deletions
54
cpp/bosdyn/client/error_codes/joint_control_stream_error_code.cpp
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| /** | ||
| * Copyright (c) 2023 Boston Dynamics, Inc. All rights reserved. | ||
| * | ||
| * Downloading, reproducing, distributing or otherwise using the SDK Software | ||
| * is subject to the terms and conditions of the Boston Dynamics Software | ||
| * Development Kit License (20191101-BDSDK-SL). | ||
| */ | ||
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| #include "bosdyn/client/error_codes/joint_control_stream_error_code.h" | ||
| #include "bosdyn/client/error_codes/error_type_condition.h" | ||
| #include "bosdyn/client/error_codes/sdk_error_code.h" | ||
| #include "bosdyn/common/success_condition.h" | ||
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| namespace { // anonymous namespace | ||
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| struct JointControlStreamErrorCodeCategory : std::error_category { | ||
| const char* name() const noexcept override; | ||
| std::string message(int ev) const override; | ||
| bool equivalent(int valcode, const std::error_condition& cond) const noexcept override; | ||
| }; | ||
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| bool JointControlStreamErrorCodeCategory::equivalent( | ||
| int valcode, const std::error_condition& cond) const noexcept { | ||
| if (cond == SuccessCondition::Success) return (valcode == 0); | ||
| if (cond == ErrorTypeCondition::SDKError) return true; | ||
| return false; | ||
| } | ||
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| const char* JointControlStreamErrorCodeCategory::name() const noexcept { | ||
| return "JointControlStreamErrorCode"; | ||
| } | ||
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| std::string JointControlStreamErrorCodeCategory::message(int value) const { | ||
| switch (static_cast<JointControlStreamErrorCode>(value)) { | ||
| case JointControlStreamErrorCode::Success: | ||
| return "Success"; | ||
| case JointControlStreamErrorCode::RequestWriterFailed: | ||
| return "Getting request writer failed"; | ||
| case JointControlStreamErrorCode::ResponseReaderFailed: | ||
| return "Getting response reader failed"; | ||
| case JointControlStreamErrorCode::StreamingFailed: | ||
| return "Streaming for joint control failed"; | ||
| } | ||
| return "(JointControlStreamErrorCode: unrecognized error)"; | ||
| } | ||
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| const JointControlStreamErrorCodeCategory JointControlStreamErrorCodeCategory_category{}; | ||
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| } // anonymous namespace | ||
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| std::error_code make_error_code(JointControlStreamErrorCode value) { | ||
| return {static_cast<int>(value), JointControlStreamErrorCodeCategory_category}; | ||
| } |
32 changes: 32 additions & 0 deletions
32
cpp/bosdyn/client/error_codes/joint_control_stream_error_code.h
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| /** | ||
| * Copyright (c) 2023 Boston Dynamics, Inc. All rights reserved. | ||
| * | ||
| * Downloading, reproducing, distributing or otherwise using the SDK Software | ||
| * is subject to the terms and conditions of the Boston Dynamics Software | ||
| * Development Kit License (20191101-BDSDK-SL). | ||
| */ | ||
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| #pragma once | ||
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| #include <system_error> | ||
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| // Need to be more specific or removed when streaming client is changed to use general form as we | ||
| // did in other clients. | ||
| enum class JointControlStreamErrorCode { | ||
| // Success | ||
| Success = 0, | ||
| // Getting request_writer failed | ||
| RequestWriterFailed = 1, | ||
| // Getting response reader failed | ||
| ResponseReaderFailed = 2, | ||
| // Streaming for joint control failed | ||
| StreamingFailed = 3, | ||
| }; | ||
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| namespace std { | ||
| template <> | ||
| struct is_error_code_enum<JointControlStreamErrorCode> : true_type {}; | ||
| } // namespace std | ||
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| std::error_code make_error_code(JointControlStreamErrorCode); |
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48 changes: 48 additions & 0 deletions
48
cpp/bosdyn/client/robot_command/robot_command_streaming_client.cpp
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| @@ -0,0 +1,48 @@ | ||
| /** | ||
| * Copyright (c) 2023 Boston Dynamics, Inc. All rights reserved. | ||
| * | ||
| * Downloading, reproducing, distributing or otherwise using the SDK Software | ||
| * is subject to the terms and conditions of the Boston Dynamics Software | ||
| * Development Kit License (20191101-BDSDK-SL). | ||
| */ | ||
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| #include "robot_command_streaming_client.h" | ||
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| namespace bosdyn { | ||
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| namespace client { | ||
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| const char* RobotCommandStreamingClient::s_default_service_name = "robot-command-streaming"; | ||
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| const char* RobotCommandStreamingClient::s_service_type = "bosdyn.api.RobotCommandStreamingService"; | ||
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| JointControlStreamResultType RobotCommandStreamingClient::JointControlStream( | ||
| const ::bosdyn::api::JointControlStreamRequest& request) { | ||
| if (!m_request_writer) { | ||
| m_request_writer = m_stub->JointControlStream(&m_context, &m_response); | ||
| if (!m_request_writer) { | ||
| return {::bosdyn::common::Status(JointControlStreamErrorCode::RequestWriterFailed), | ||
| std::move(m_response)}; | ||
| } | ||
| } | ||
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| if (!m_request_writer->Write(request)) { | ||
| return {::bosdyn::common::Status(JointControlStreamErrorCode::StreamingFailed), | ||
| std::move(m_response)}; | ||
| } | ||
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| return {::bosdyn::common::Status(JointControlStreamErrorCode::Success)}; | ||
| } | ||
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| ServiceClient::QualityOfService RobotCommandStreamingClient::GetQualityOfService() const { | ||
| return QualityOfService::NORMAL; | ||
| } | ||
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| void RobotCommandStreamingClient::SetComms(const std::shared_ptr<grpc::ChannelInterface>& channel) { | ||
| m_stub.reset(new ::bosdyn::api::RobotCommandStreamingService::Stub(channel)); | ||
| } | ||
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| } // namespace client | ||
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| } // namespace bosdyn |
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