gripper

Documentation

Overview

Package gripper contains a gRPC based gripper client.

Package gripper defines a robotic gripper.

Package gripper contains a gRPC based gripper service server.

Index

• Constants
• Variables
• func CreateStatus(ctx context.Context, resource interface{}) (*commonpb.ActuatorStatus, error)
• func Named(name string) resource.Name
• func NamesFromRobot(r robot.Robot) []string
• func NewServer(s subtype.Service) pb.GripperServiceServer
• func WrapWithReconfigurable(r interface{}) (resource.Reconfigurable, error)
• type Gripper
  • func FromRobot(r robot.Robot, name string) (Gripper, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Gripper
• type LocalGripper

Constants

const SubtypeName = resource.SubtypeName("gripper")

SubtypeName is a constant that identifies the component resource subtype string.

Variables

var (

	// ErrStopUnimplemented is used for when Stop() is unimplemented.
	ErrStopUnimplemented = errors.New("Stop() unimplemented")
)

var Subtype = resource.NewSubtype(
	resource.ResourceNamespaceRDK,
	resource.ResourceTypeComponent,
	SubtypeName,
)

Subtype is a constant that identifies the component resource subtype.

Functions

func CreateStatus

func CreateStatus(ctx context.Context, resource interface{}) (*commonpb.ActuatorStatus, error)

CreateStatus creates a status from the gripper.

func Named

func Named(name string) resource.Name

Named is a helper for getting the named grippers's typed resource name.

func NamesFromRobot

func NamesFromRobot(r robot.Robot) []string

NamesFromRobot is a helper for getting all gripper names from the given Robot.

func NewServer

func NewServer(s subtype.Service) pb.GripperServiceServer

NewServer constructs an gripper gRPC service server.

func WrapWithReconfigurable

func WrapWithReconfigurable(r interface{}) (resource.Reconfigurable, error)

WrapWithReconfigurable wraps a gripper with a reconfigurable and locking interface.

Types

type Gripper

type Gripper interface {
	// Open opens the gripper.
	// This will block until done or a new operation cancels this one
	Open(ctx context.Context) error

	// Grab makes the gripper grab.
	// returns true if we grabbed something.
	// This will block until done or a new operation cancels this one
	Grab(ctx context.Context) (bool, error)

	// Stop stops the gripper. It is assumed the gripper stops immediately.
	Stop(ctx context.Context) error

	generic.Generic
	referenceframe.ModelFramer
}

A Gripper represents a physical robotic gripper.

func FromRobot

func FromRobot(r robot.Robot, name string) (Gripper, error)

FromRobot is a helper for getting the named Gripper from the given Robot.

func NewClientFromConn

func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Gripper

NewClientFromConn constructs a new Client from connection passed in.

type LocalGripper

type LocalGripper interface {
	Gripper

	resource.MovingCheckable
}

A LocalGripper represents a Gripper that can report whether it is moving or not.