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Update the C++ module creation docs to reflect new data type #3774

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Update the C++ module creation docs to reflect new data type #3774

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28 changes: 14 additions & 14 deletions docs/how-tos/create-module.md
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Original file line number Diff line number Diff line change
Expand Up @@ -755,24 +755,24 @@ class MyBase : public Base {
static std::vector<std::string> validate(ResourceConfig cfg);

bool is_moving() override;
void stop(const AttributeMap& extra) override;
void stop(const ProtoStruct& extra) override;
void set_power(const Vector3& linear,
const Vector3& angular,
const AttributeMap& extra) override;
const ProtoStruct& extra) override;

AttributeMap do_command(const AttributeMap& command) override;
std::vector<GeometryConfig> get_geometries(const AttributeMap& extra) override;
Base::properties get_properties(const AttributeMap& extra) override;
ProtoStruct do_command(const ProtoStruct& command) override;
std::vector<GeometryConfig> get_geometries(const ProtoStruct& extra) override;
Base::properties get_properties(const ProtoStruct& extra) override;

void move_straight(int64_t distance_mm, double mm_per_sec, const AttributeMap& extra) override {
void move_straight(int64_t distance_mm, double mm_per_sec, const ProtoStruct& extra) override {
throw std::runtime_error("move_straight unimplemented");
}
void spin(double angle_deg, double degs_per_sec, const AttributeMap& extra) override {
void spin(double angle_deg, double degs_per_sec, const ProtoStruct& extra) override {
throw std::runtime_error("spin unimplemented");
}
void set_velocity(const Vector3& linear,
const Vector3& angular,
const AttributeMap& extra) override {
const ProtoStruct& extra) override {
throw std::runtime_error("set_velocity unimplemented");
}

Expand Down Expand Up @@ -853,7 +853,7 @@ bool MyBase::is_moving() {
return left_->is_moving() || right_->is_moving();
}

void MyBase::stop(const AttributeMap& extra) {
void MyBase::stop(const ProtoStruct& extra) {
std::string err_message;
bool throw_err = false;

Expand All @@ -878,7 +878,7 @@ void MyBase::stop(const AttributeMap& extra) {
}
}

void MyBase::set_power(const Vector3& linear, const Vector3& angular, const AttributeMap& extra) {
void MyBase::set_power(const Vector3& linear, const Vector3& angular, const ProtoStruct& extra) {
// Stop the base if absolute value of linear and angular velocity is less
// than 0.01.
if (abs(linear.y()) < 0.01 && abs(angular.z()) < 0.01) {
Expand All @@ -893,20 +893,20 @@ void MyBase::set_power(const Vector3& linear, const Vector3& angular, const Attr
right_->set_power(((linear.y() + angular.z()) / sum), extra);
}

AttributeMap MyBase::do_command(const AttributeMap& command) {
ProtoStruct MyBase::do_command(const ProtoStruct& command) {
std::cout << "Received DoCommand request for MyBase " << Resource::name() << std::endl;
return command;
}

std::vector<GeometryConfig> MyBase::get_geometries(const AttributeMap& extra) {
std::vector<GeometryConfig> MyBase::get_geometries(const ProtoStruct& extra) {
auto left_geometries = left_->get_geometries(extra);
auto right_geometries = right_->get_geometries(extra);
std::vector<GeometryConfig> geometries(left_geometries);
geometries.insert(geometries.end(), right_geometries.begin(), right_geometries.end());
return geometries;
}

Base::properties MyBase::get_properties(const AttributeMap& extra) {
Base::properties MyBase::get_properties(const ProtoStruct& extra) {
// Return fake properties.
return {2, 4, 8};
}
Expand All @@ -915,7 +915,7 @@ Base::properties MyBase::get_properties(const AttributeMap& extra) {
{{< /expand >}}

When implementing built-in functions from the Viam C++ SDK in your model, be sure your implementation of those functions returns any values designated in the built-in function's return signature, typed correctly.
For example, the `set_power()` implementation in the example code above returns three values of type `Vector3`, `Vector3`, `AttributeMap`, which matches the return values of the built-in `set_power()` function as defined in the Viam C++ SDK in the file [`base.hpp`](https://github.com/viamrobotics/viam-cpp-sdk/blob/main/src/viam/sdk/components/base.hpp).
For example, the `set_power()` implementation in the example code above returns three values of type `Vector3`, `Vector3`, `ProtoStruct`, which matches the return values of the built-in `set_power()` function as defined in the Viam C++ SDK in the file [`base.hpp`](https://github.com/viamrobotics/viam-cpp-sdk/blob/main/src/viam/sdk/components/base.hpp).

For more information on the base component API methods used in these examples, see the following resources:

Expand Down
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