transport

package
v0.0.0-...-e6cdf45 Latest Latest
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This package is not in the latest version of its module.

 Go to latest Published: Jan 22, 2022 License: MIT Imports: 9 Imported by: 0

Documentation

Index

Constants

View Source 
const (
	PacketMotorConfig = iota
	PacketKinematicsConfig
	PacketSetState
	PacketGetState
	PacketGetStateResult
)

Variables

View Source 
var (
	AnyID uint32 = 0xFFFFFFFF
	Magic uint32 = 0xBADAB00A

	BufferSize = maxHeaderSize + 64
)
View Source 
var (
	ErrInvalidLengthTypes        = fmt.Errorf("proto: negative length found during unmarshaling")
	ErrIntOverflowTypes          = fmt.Errorf("proto: integer overflow")
	ErrUnexpectedEndOfGroupTypes = fmt.Errorf("proto: unexpected end of group")
)

Functions

func ReadPackets 

func ReadPackets(ctx context.Context, id uint32, reader io.Reader) <-chan PacketData

Reliable transport Packets always start with header

func ReliableStreamReader 

func ReliableStreamReader(ctx context.Context, id uint32, reader io.Reader, ch chan PacketData)

func WritePacket 

func WritePacket(id, dataType uint32, writer io.Writer, data []byte) error

Types

type DeviceMetadata 

type DeviceMetadata struct {
	ID    uint32   `protobuf:"fixed32,1,opt,name=ID,proto3" json:"ID,omitempty"`
	Name  string   `protobuf:"bytes,2,opt,name=Name,proto3" json:"Name,omitempty"`
	Types []uint32 `protobuf:"varint,3,rep,packed,name=Types,proto3" json:"Types,omitempty"`
}

func (*DeviceMetadata) Descriptor 

func (*DeviceMetadata) Descriptor() ([]byte, []int)

func (*DeviceMetadata) GetID 

func (m *DeviceMetadata) GetID() uint32

func (*DeviceMetadata) GetName 

func (m *DeviceMetadata) GetName() string

func (*DeviceMetadata) GetTypes 

func (m *DeviceMetadata) GetTypes() []uint32

func (*DeviceMetadata) Marshal 

func (m *DeviceMetadata) Marshal() (dAtA []byte, err error)

func (*DeviceMetadata) MarshalTo 

func (m *DeviceMetadata) MarshalTo(dAtA []byte) (int, error)

func (*DeviceMetadata) MarshalToSizedBuffer 

func (m *DeviceMetadata) MarshalToSizedBuffer(dAtA []byte) (int, error)

func (*DeviceMetadata) ProtoMessage 

func (*DeviceMetadata) ProtoMessage()

func (*DeviceMetadata) Reset 

func (m *DeviceMetadata) Reset()

func (*DeviceMetadata) Size 

func (m *DeviceMetadata) Size() (n int)

func (*DeviceMetadata) String 

func (m *DeviceMetadata) String() string

func (*DeviceMetadata) Unmarshal 

func (m *DeviceMetadata) Unmarshal(dAtA []byte) error

func (*DeviceMetadata) XXX_DiscardUnknown 

func (m *DeviceMetadata) XXX_DiscardUnknown()

func (*DeviceMetadata) XXX_Marshal 

func (m *DeviceMetadata) XXX_Marshal(b []byte, deterministic bool) ([]byte, error)

func (*DeviceMetadata) XXX_Merge 

func (m *DeviceMetadata) XXX_Merge(src proto.Message)

func (*DeviceMetadata) XXX_Size 

func (m *DeviceMetadata) XXX_Size() int

func (*DeviceMetadata) XXX_Unmarshal 

func (m *DeviceMetadata) XXX_Unmarshal(b []byte) error

type PacketData 

type PacketData struct {
	Type uint32 `protobuf:"varint,1,opt,name=Type,proto3" json:"Type,omitempty"`
	Data []byte `protobuf:"bytes,2,opt,name=Data,proto3" json:"Data,omitempty"`
}

func ReadPacketFromReliableStream 

func ReadPacketFromReliableStream(ctx context.Context, id uint32, reader io.Reader, inbuf []byte) (buffer []byte, np int, tail PacketData, err error)

func (*PacketData) Descriptor 

func (*PacketData) Descriptor() ([]byte, []int)

func (*PacketData) GetData 

func (m *PacketData) GetData() []byte

func (*PacketData) GetType 

func (m *PacketData) GetType() uint32

func (*PacketData) Marshal 

func (m *PacketData) Marshal() (dAtA []byte, err error)

func (*PacketData) MarshalTo 

func (m *PacketData) MarshalTo(dAtA []byte) (int, error)

func (*PacketData) MarshalToSizedBuffer 

func (m *PacketData) MarshalToSizedBuffer(dAtA []byte) (int, error)

func (*PacketData) ProtoMessage 

func (*PacketData) ProtoMessage()

func (*PacketData) Reset 

func (m *PacketData) Reset()

func (*PacketData) Size 

func (m *PacketData) Size() (n int)

func (*PacketData) String 

func (m *PacketData) String() string

func (*PacketData) Unmarshal 

func (m *PacketData) Unmarshal(dAtA []byte) error

func (*PacketData) XXX_DiscardUnknown 

func (m *PacketData) XXX_DiscardUnknown()

func (*PacketData) XXX_Marshal 

func (m *PacketData) XXX_Marshal(b []byte, deterministic bool) ([]byte, error)

func (*PacketData) XXX_Merge 

func (m *PacketData) XXX_Merge(src proto.Message)

func (*PacketData) XXX_Size 

func (m *PacketData) XXX_Size() int

func (*PacketData) XXX_Unmarshal 

func (m *PacketData) XXX_Unmarshal(b []byte) error

type PacketHeader 

type PacketHeader struct {
	Magic    uint32 `protobuf:"fixed32,1,opt,name=Magic,proto3" json:"Magic,omitempty"`
	ID       uint32 `protobuf:"varint,2,opt,name=ID,proto3" json:"ID,omitempty"`
	TailSize uint32 `protobuf:"varint,3,opt,name=TailSize,proto3" json:"TailSize,omitempty"`
	CRC      uint32 `protobuf:"varint,4,opt,name=CRC,proto3" json:"CRC,omitempty"`
}

func (*PacketHeader) Descriptor 

func (*PacketHeader) Descriptor() ([]byte, []int)

func (*PacketHeader) GetCRC 

func (m *PacketHeader) GetCRC() uint32

func (*PacketHeader) GetID 

func (m *PacketHeader) GetID() uint32

func (*PacketHeader) GetMagic 

func (m *PacketHeader) GetMagic() uint32

func (*PacketHeader) GetTailSize 

func (m *PacketHeader) GetTailSize() uint32

func (*PacketHeader) Marshal 

func (m *PacketHeader) Marshal() (dAtA []byte, err error)

func (*PacketHeader) MarshalTo 

func (m *PacketHeader) MarshalTo(dAtA []byte) (int, error)

func (*PacketHeader) MarshalToSizedBuffer 

func (m *PacketHeader) MarshalToSizedBuffer(dAtA []byte) (int, error)

func (*PacketHeader) ProtoMessage 

func (*PacketHeader) ProtoMessage()

func (*PacketHeader) Reset 

func (m *PacketHeader) Reset()

func (*PacketHeader) Size 

func (m *PacketHeader) Size() (n int)

func (*PacketHeader) String 

func (m *PacketHeader) String() string

func (*PacketHeader) Unmarshal 

func (m *PacketHeader) Unmarshal(dAtA []byte) error

func (*PacketHeader) XXX_DiscardUnknown 

func (m *PacketHeader) XXX_DiscardUnknown()

func (*PacketHeader) XXX_Marshal 

func (m *PacketHeader) XXX_Marshal(b []byte, deterministic bool) ([]byte, error)

func (*PacketHeader) XXX_Merge 

func (m *PacketHeader) XXX_Merge(src proto.Message)

func (*PacketHeader) XXX_Size 

func (m *PacketHeader) XXX_Size() int

func (*PacketHeader) XXX_Unmarshal 

func (m *PacketHeader) XXX_Unmarshal(b []byte) error

Source Files

View all Source files

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