[RSDK-10923] Add IsHoldingSomething to Gripper API #454
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gvaradarajan
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RSDK-10923-is-holding-something
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stuqdog
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Jun 18, 2025
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| Gripper::holding_status MockGripper::is_holding_something(const ProtoStruct&) { | ||
| Gripper::holding_status res; | ||
| res.is_holding_something = false; | ||
| res.meta = {}; | ||
| return res; | ||
| } | ||
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can we set res.meta to the protoStruct that's passed into the function, and then write a test of this method in test_gripper?
acmorrow
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Jun 18, 2025
| @@ -5,6 +5,7 @@ | |||
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| #include <string> | |||
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| #include <viam/sdk/common/proto_convert.hpp> | |||
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You can probably just include proto_value.hpp here.
| /// @brief whether the gripper is holding something (along with other contextual info) | ||
| struct holding_status { | ||
| bool is_holding_something; | ||
| ProtoStruct meta; |
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Do you want to be able to distinguish the case of "no meta was returned" from "meta was returned but it is empty"? If so, consider boost::optional<ProtoStruct> meta.
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| else { | ||
| holding_status.meta = {}; | ||
| } |
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Do you actually need this else?
| holding_status.is_holding_something = response.is_holding_something(); | ||
| if response | ||
| .has_meta() { | ||
| holding_status.meta = from_proto(response.meta()); |
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This file can include the proto_convert.hpp header.
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