server

Documentation

Index

• func CmdResponseParse(result string, name, uuid string) (bool, error)
• func GenerateMoveCommand(spi *pb.SinglePointInfo) (name, cmd string, uuid string)
• func SubscribeResponseParse(result string) (bool, error)
• type Server
  • func (s *Server) Move(ctx context.Context, in *pb.SinglePointInfo) (*pb.MoveResponse, error)
  • func (s *Server) MoveAndWaitForArrival(ctx context.Context, in *pb.SinglePointInfo) (*pb.MoveAndWaitForArrivalResponse, error)
• type SingleMoveCommandResponse
  • func (smcr *SingleMoveCommandResponse) UnmarshalJSON(strJSON string) (err error)

Functions

func CmdResponseParse

func CmdResponseParse(result string, name, uuid string) (bool, error)

解析命令的响应报文 如果收到的不是所发命令对应的响应报文，且没有出错，返回false，nil 如果是对应的响应报文，且状态正确，返回true，nil 如果出错，返回error

func GenerateMoveCommand

func GenerateMoveCommand(spi *pb.SinglePointInfo) (name, cmd string, uuid string)

func SubscribeResponseParse

func SubscribeResponseParse(result string) (bool, error)

解析命令的响应报文 如果收到的不是callback消息订阅，或者不是robot_status主题，或者运动没有完成，返回false 如果是对应的响应报文，且指示移动命令已完成，返回true 如果出错，由于订阅消息的可重复性，直接忽略，返回false

Types

type Server

type Server struct {
	pb.UnimplementedSinglePointMoveServer
}

func (*Server) Move

func (s *Server) Move(ctx context.Context, in *pb.SinglePointInfo) (*pb.MoveResponse, error)

func (*Server) MoveAndWaitForArrival

func (s *Server) MoveAndWaitForArrival(ctx context.Context, in *pb.SinglePointInfo) (*pb.MoveAndWaitForArrivalResponse, error)

type SingleMoveCommandResponse

type SingleMoveCommandResponse struct {
	common.CommandResponse
	TaskID string `json:"task_id"`
}

func (*SingleMoveCommandResponse) UnmarshalJSON

func (smcr *SingleMoveCommandResponse) UnmarshalJSON(strJSON string) (err error)