first pass at adding new arm endpoint

Author: raybjork

src/viam/sdk/components/arm.cpp

@@ -27,5 +27,6 @@ Arm::KinematicsData Arm::from_proto(const viam::common::v1::GetKinematicsRespons
 
 Arm::Arm(std::string name) : Component(std::move(name)) {}
 
+
 }  // namespace sdk
 }  // namespace viam

src/viam/sdk/components/arm.hpp

@@ -103,6 +103,20 @@ class Arm : public Component, public Stoppable {
     virtual void move_to_joint_positions(const std::vector<double>& positions,
                                          const ProtoStruct& extra) = 0;
 
+    /// @brief Move each joint on the arm through the positions specified in @param positions
+    /// @param options optional specifications to be obeyed during the motion.
+    inline void move_through_joint_positions(const std::vector<std::vector<double>>& positions, 
+                                             const component::arm::v1::MoveOptions& options) {
+        return move_through_joint_positions(positions, options, {});
+    }
+
+    /// @brief Move each joint on the arm through the positions specified in @param positions
+    /// @param options optional specifications to be obeyed during the motion.
+    /// @param extra Any additional arguments to the method.
+    virtual void move_through_joint_positions(const std::vector<std::vector<double>>& positions,
+                                              const component::arm::v1::MoveOptions& options, 
+                                              const ProtoStruct& extra) = 0;
+
     /// @brief Reports if the arm is in motion.
     virtual bool is_moving() = 0;
 

src/viam/sdk/components/private/arm_client.cpp

@@ -46,6 +46,18 @@ void ArmClient::move_to_joint_positions(const std::vector<double>& positions,
         .invoke();
 }
 
+void ArmClient::move_through_joint_positions(const std::vector<std::vector<double>>& positions,
+                                             const component::arm::v1::MoveOptions& options, 
+                                             const ProtoStruct& extra) {
+    return make_client_helper(this, *stub_, &StubType::MoveThroughJointPositions)
+        .with(extra,
+                // TODO: dont understand how to write this part
+              [&](auto& request) {
+                  *(request.mutable_positions()->mutable_values()) = {};
+              })
+        .invoke();
+}
+
 bool ArmClient::is_moving() {
     return make_client_helper(this, *stub_, &StubType::IsMoving).invoke([](auto& response) {
         return response.is_moving();

src/viam/sdk/components/private/arm_client.hpp

@@ -26,6 +26,9 @@ class ArmClient : public Arm {
     std::vector<double> get_joint_positions(const ProtoStruct& extra) override;
     void move_to_joint_positions(const std::vector<double>& positions,
                                  const ProtoStruct& extra) override;
+    void move_through_joint_positions(const std::vector<std::vector<double>>& positions,
+                                      const component::arm::v1::MoveOptions& options, 
+                                      const ProtoStruct& extra) override;
     bool is_moving() override;
     void stop(const ProtoStruct& extra) override;
     ProtoStruct do_command(const ProtoStruct& command) override;
@@ -39,6 +42,7 @@ class ArmClient : public Arm {
     using Arm::get_joint_positions;
     using Arm::get_kinematics;
     using Arm::move_to_joint_positions;
+    using Arm::move_through_joint_positions;
     using Arm::move_to_position;
     using Arm::stop;
 

src/viam/sdk/components/private/arm_server.cpp

@@ -53,6 +53,20 @@ ::grpc::Status ArmServer::MoveToJointPositions(
     });
 }
 
+::grpc::Status ArmServer::MoveThroughJointPositions(
+    ::grpc::ServerContext*,
+    const ::viam::component::arm::v1::MoveThroughJointPositionsRequest* request,
+    ::viam::component::arm::v1::MoveThroughJointPositionsResponse*) noexcept {
+    std::vector<std::vector<double>> positions;
+    for (int i = 0; i < request->positions_size(); i++) {
+        positions.push_back({request->positions(i).values().begin(), request->positions(i).values().end()});
+    }
+    return make_service_helper<Arm>(
+        "ArmServer::MoveThroughJointPositions", this, request) ([&](auto& helper, auto& arm) { 
+        arm->move_through_joint_positions(positions, request->options(), helper.getExtra()); 
+    });
+}
+
 ::grpc::Status ArmServer::Stop(::grpc::ServerContext*,
                                const ::viam::component::arm::v1::StopRequest* request,
                                ::viam::component::arm::v1::StopResponse*) noexcept {

src/viam/sdk/components/private/arm_server.hpp

@@ -44,6 +44,11 @@ class ArmServer : public ResourceServer, public viam::component::arm::v1::ArmSer
         const ::viam::component::arm::v1::MoveToJointPositionsRequest* request,
         ::viam::component::arm::v1::MoveToJointPositionsResponse* response) noexcept override;
 
+    ::grpc::Status MoveThroughJointPositions(
+        ::grpc::ServerContext* context,
+        const ::viam::component::arm::v1::MoveThroughJointPositionsRequest* request,
+        ::viam::component::arm::v1::MoveThroughJointPositionsResponse* response) noexcept override;  
+
     ::grpc::Status Stop(::grpc::ServerContext* context,
                         const ::viam::component::arm::v1::StopRequest* request,
                         ::viam::component::arm::v1::StopResponse* response) noexcept override;