unitybridge

README

unitybridge

This is a high level API for the Robomaster Unity Bridge. It takes care of correctly initializing it and also exposes the key based interface to callers (keys can be read written and executed and those allow controlling the robot). It also exposes a per-event callback system so changes to keys can be monitored.

After this, most of the work is figuring out what each key does and when they should be used.

Documentation

Index

• type UnityBridge
  • func Get(wu wrapper.UnityBridge, unityBridgeDebug bool, l *logger.Logger) UnityBridge

Types

type UnityBridge

type UnityBridge interface {
	// Start configures and starts the Unity Bridge.
	Start() error

	// AddKeyListener adds a listener for events on the given key. If
	// immediate is true, the callback will be called immediatelly with any
	// cached value associated with the key. Returns a token that can be used
	// to remove the listener later.
	AddKeyListener(k *key.Key, c result.Callback,
		immediate bool) (token.Token, error)

	// RemoveKeyListener removes the listener associated with the given token
	// for events on the given key.
	RemoveKeyListener(key *key.Key, token token.Token) error

	// GetKeyValue returns the Unity Bridge value associated with the given
	// key.
	GetKeyValue(k *key.Key, c result.Callback) error

	// GetKeyValueSync returns the Unity Bridge value associated with the given
	// key. This is a synchronous version of GetKeyValue..
	GetKeyValueSync(k *key.Key, useCache bool) (*result.Result, error)

	// GetCachedKeyValue returns the Unity Bridge cached value associated
	// with the given key.
	GetCachedKeyValue(k *key.Key) (*result.Result, error)

	// SetKeyValue sets the Unity Bridge value associated with the given key.
	SetKeyValue(k *key.Key, value any, c result.Callback) error

	// SetKeyValueSync sets the Unity Bridge value associated with the given
	// key. This is a synchronous version of SetKeyValue.
	SetKeyValueSync(k *key.Key, value any) error

	// PerformActionForKey performs the Unity Bridge action associated with the
	// given key with the given value as parameter.
	PerformActionForKey(k *key.Key, value any, c result.Callback) error

	// PerformActionForKeySync performs the Unity Bridge action associated with
	// the given key with the given value as parameter. This is a synchronous
	// version of PerformActionForKey.
	PerformActionForKeySync(k *key.Key, value any) error

	// DirectSendKeyValue sends the given value to the Unity Bridge for the
	// given key. This is a low level function that should be used with care.
	DirectSendKeyValue(k *key.Key, value uint64) error

	// SendEvent sends the given event to the Unity Bridge. This is a low level
	// function that should be used with care.
	SendEvent(ev *event.Event) error

	// DirectSendKeyValue sends the given event associated with the given string
	// data to the Unity Bridge. This is a low level function that should be
	// used with care.
	SendEventWithString(ev *event.Event, data string) error

	// SendEventWithUint64 sends the given event associated with the given
	// uint64 data to the Unity Bridge. This is a low level function that should
	// be used with care.
	SendEventWithUint64(ev *event.Event, data uint64) error

	// AddEventTypeListener adds a listener for events of the given type. Returns
	// a token that can be used to remove the listener later.
	AddEventTypeListener(t event.Type,
		c event.TypeCallback) (token.Token, error)

	// RemoveEventTypeListener removes the listener associated with the given
	// token for events of the given type.
	RemoveEventTypeListener(t event.Type, token token.Token) error

	// Stop cleans up and stops the Unity Bridge.
	Stop() error
}

UnityBridge is the high level Unity Bridge API. It allows controling a Robomaster (S1 and EP) robot and also the underlying Unity bridge itself.

func Get

func Get(wu wrapper.UnityBridge, unityBridgeDebug bool,
	l *logger.Logger) UnityBridge

Get returns an instance of the high level Unity Bridge API using the given low-level Unity Bridge library wrapper (mostly so irt can be mocked for tests).