cmvr-head-client/generated/servo_service_client.cpp

/*
 * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:31 2026.
 *
 * AUTOGENERATED - DO NOT EDIT
 */


#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
#include "erpc_port.h"
#endif
#include "erpc_codec.hpp"
#include "servo_service_client.hpp"
#include "erpc_manually_constructed.hpp"

#if 11400 != ERPC_VERSION_NUMBER
#error "The generated shim code version is different to the rest of eRPC code."
#endif

using namespace erpc;
using namespace std;
using namespace erpcShim;

//! @brief Function to write struct ServoCmd
static void write_ServoCmd_struct(erpc::Codec * codec, const ServoCmd * data);

//! @brief Function to write struct list_ServoCmd_1_t
static void write_list_ServoCmd_1_t_struct(erpc::Codec * codec, const list_ServoCmd_1_t * data);

//! @brief Function to write struct list_float_1_t
static void write_list_float_1_t_struct(erpc::Codec * codec, const list_float_1_t * data);


// Write struct ServoCmd function implementation
static void write_ServoCmd_struct(erpc::Codec * codec, const ServoCmd * data)
{
    if(NULL == data)
    {
        return;
    }

    {
        uint32_t id_len = strlen((const char*)data->id);

        codec->writeString(id_len, (const char*)data->id);
    }

    codec->write(data->angle_rad);
}

// Write struct list_ServoCmd_1_t function implementation
static void write_list_ServoCmd_1_t_struct(erpc::Codec * codec, const list_ServoCmd_1_t * data)
{
    if(NULL == data)
    {
        return;
    }

    codec->startWriteList(data->elementsCount);
    for (uint32_t listCount = 0U; listCount < data->elementsCount; ++listCount)
    {
        write_ServoCmd_struct(codec, &(data->elements[listCount]));
    }
}

// Write struct list_float_1_t function implementation
static void write_list_float_1_t_struct(erpc::Codec * codec, const list_float_1_t * data)
{
    if(NULL == data)
    {
        return;
    }

    codec->startWriteList(data->elementsCount);
    for (uint32_t listCount = 0U; listCount < data->elementsCount; ++listCount)
    {
        codec->write(data->elements[listCount]);
    }
}




servo_service_client::servo_service_client(ClientManager *manager)
:m_clientManager(manager)
{
}

servo_service_client::~servo_service_client()
{
}

// servo_service interface setConstraints function client shim.
bool servo_service_client::setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad)
{
    erpc_status_t err = kErpcStatus_Success;

    bool result;

#if ERPC_PRE_POST_ACTION
    pre_post_action_cb preCB = m_clientManager->getPreCB();
    if (preCB)
    {
        preCB();
    }
#endif

    // Get a new request.
    RequestContext request = m_clientManager->createRequest(false);

    // Encode the request.
    Codec * codec = request.getCodec();

    if (codec == NULL)
    {
        err = kErpcStatus_MemoryError;
    }
    else
    {
        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_setConstraintsId, request.getSequence());

        {
            uint32_t id_len = strlen((const char*)id);

            codec->writeString(id_len, (const char*)id);
        }

        codec->write(max_velocity_rad);

        codec->write(max_acceleration_rad);

        codec->write(max_jerk_rad);

        // Send message to server
        // Codec status is checked inside this function.
        m_clientManager->performRequest(request);

        codec->read(result);

        err = codec->getStatus();
    }

    // Dispose of the request.
    m_clientManager->releaseRequest(request);

    // Invoke error handler callback function
    m_clientManager->callErrorHandler(err, m_setConstraintsId);

#if ERPC_PRE_POST_ACTION
    pre_post_action_cb postCB = m_clientManager->getPostCB();
    if (postCB)
    {
        postCB();
    }
#endif


    if (err != kErpcStatus_Success)
    {
        result = false;
    }

    return result;
}

// servo_service interface setPositionGain function client shim.
bool servo_service_client::setPositionGain(const char * id, float position_gain)
{
    erpc_status_t err = kErpcStatus_Success;

    bool result;

#if ERPC_PRE_POST_ACTION
    pre_post_action_cb preCB = m_clientManager->getPreCB();
    if (preCB)
    {
        preCB();
    }
#endif

    // Get a new request.
    RequestContext request = m_clientManager->createRequest(false);

    // Encode the request.
    Codec * codec = request.getCodec();

    if (codec == NULL)
    {
        err = kErpcStatus_MemoryError;
    }
    else
    {
        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_setPositionGainId, request.getSequence());

        {
            uint32_t id_len = strlen((const char*)id);

            codec->writeString(id_len, (const char*)id);
        }

        codec->write(position_gain);

        // Send message to server
        // Codec status is checked inside this function.
        m_clientManager->performRequest(request);

        codec->read(result);

        err = codec->getStatus();
    }

    // Dispose of the request.
    m_clientManager->releaseRequest(request);

    // Invoke error handler callback function
    m_clientManager->callErrorHandler(err, m_setPositionGainId);

#if ERPC_PRE_POST_ACTION
    pre_post_action_cb postCB = m_clientManager->getPostCB();
    if (postCB)
    {
        postCB();
    }
#endif


    if (err != kErpcStatus_Success)
    {
        result = false;
    }

    return result;
}

// servo_service interface setMode function client shim.
bool servo_service_client::setMode(RpcMotionMode mode)
{
    erpc_status_t err = kErpcStatus_Success;

    bool result;

#if ERPC_PRE_POST_ACTION
    pre_post_action_cb preCB = m_clientManager->getPreCB();
    if (preCB)
    {
        preCB();
    }
#endif

    // Get a new request.
    RequestContext request = m_clientManager->createRequest(false);

    // Encode the request.
    Codec * codec = request.getCodec();

    if (codec == NULL)
    {
        err = kErpcStatus_MemoryError;
    }
    else
    {
        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_setModeId, request.getSequence());

        codec->write(static_cast<int32_t>(mode));

        // Send message to server
        // Codec status is checked inside this function.
        m_clientManager->performRequest(request);

        codec->read(result);

        err = codec->getStatus();
    }

    // Dispose of the request.
    m_clientManager->releaseRequest(request);

    // Invoke error handler callback function
    m_clientManager->callErrorHandler(err, m_setModeId);

#if ERPC_PRE_POST_ACTION
    pre_post_action_cb postCB = m_clientManager->getPostCB();
    if (postCB)
    {
        postCB();
    }
#endif


    if (err != kErpcStatus_Success)
    {
        result = false;
    }

    return result;
}

// servo_service interface setUpdatePeriodMs function client shim.
bool servo_service_client::setUpdatePeriodMs(uint32_t ms)
{
    erpc_status_t err = kErpcStatus_Success;

    bool result;

#if ERPC_PRE_POST_ACTION
    pre_post_action_cb preCB = m_clientManager->getPreCB();
    if (preCB)
    {
        preCB();
    }
#endif

    // Get a new request.
    RequestContext request = m_clientManager->createRequest(false);

    // Encode the request.
    Codec * codec = request.getCodec();

    if (codec == NULL)
    {
        err = kErpcStatus_MemoryError;
    }
    else
    {
        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_setUpdatePeriodMsId, request.getSequence());

        codec->write(ms);

        // Send message to server
        // Codec status is checked inside this function.
        m_clientManager->performRequest(request);

        codec->read(result);

        err = codec->getStatus();
    }

    // Dispose of the request.
    m_clientManager->releaseRequest(request);

    // Invoke error handler callback function
    m_clientManager->callErrorHandler(err, m_setUpdatePeriodMsId);

#if ERPC_PRE_POST_ACTION
    pre_post_action_cb postCB = m_clientManager->getPostCB();
    if (postCB)
    {
        postCB();
    }
#endif


    if (err != kErpcStatus_Success)
    {
        result = false;
    }

    return result;
}

// servo_service interface move function client shim.
int32_t servo_service_client::move(const list_ServoCmd_1_t * cmds)
{
    erpc_status_t err = kErpcStatus_Success;

    int32_t result;

#if ERPC_PRE_POST_ACTION
    pre_post_action_cb preCB = m_clientManager->getPreCB();
    if (preCB)
    {
        preCB();
    }
#endif

    // Get a new request.
    RequestContext request = m_clientManager->createRequest(false);

    // Encode the request.
    Codec * codec = request.getCodec();

    if (codec == NULL)
    {
        err = kErpcStatus_MemoryError;
    }
    else
    {
        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_moveId, request.getSequence());

        write_list_ServoCmd_1_t_struct(codec, cmds);

        // Send message to server
        // Codec status is checked inside this function.
        m_clientManager->performRequest(request);

        codec->read(result);

        err = codec->getStatus();
    }

    // Dispose of the request.
    m_clientManager->releaseRequest(request);

    // Invoke error handler callback function
    m_clientManager->callErrorHandler(err, m_moveId);

#if ERPC_PRE_POST_ACTION
    pre_post_action_cb postCB = m_clientManager->getPostCB();
    if (postCB)
    {
        postCB();
    }
#endif


    if (err != kErpcStatus_Success)
    {
        result = -1;
    }

    return result;
}

// servo_service interface moveJ function client shim.
int32_t servo_service_client::moveJ(const list_float_1_t * angles_rad)
{
    erpc_status_t err = kErpcStatus_Success;

    int32_t result;

#if ERPC_PRE_POST_ACTION
    pre_post_action_cb preCB = m_clientManager->getPreCB();
    if (preCB)
    {
        preCB();
    }
#endif

    // Get a new request.
    RequestContext request = m_clientManager->createRequest(false);

    // Encode the request.
    Codec * codec = request.getCodec();

    if (codec == NULL)
    {
        err = kErpcStatus_MemoryError;
    }
    else
    {
        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_moveJId, request.getSequence());

        write_list_float_1_t_struct(codec, angles_rad);

        // Send message to server
        // Codec status is checked inside this function.
        m_clientManager->performRequest(request);

        codec->read(result);

        err = codec->getStatus();
    }

    // Dispose of the request.
    m_clientManager->releaseRequest(request);

    // Invoke error handler callback function
    m_clientManager->callErrorHandler(err, m_moveJId);

#if ERPC_PRE_POST_ACTION
    pre_post_action_cb postCB = m_clientManager->getPostCB();
    if (postCB)
    {
        postCB();
    }
#endif


    if (err != kErpcStatus_Success)
    {
        result = -1;
    }

    return result;
}