Documentation ¶
Overview ¶
Package gantry contains a gRPC based gantry client.
Package gantry contains a gRPC based gantry service server.
Index ¶
- Constants
- Variables
- func CreateStatus(ctx context.Context, resource interface{}) (*pb.Status, error)
- func DependencyTypeError(name string, actual interface{}) error
- func Named(name string) resource.Name
- func NamesFromRobot(r robot.Robot) []string
- func NewServer(s subtype.Service) pb.GantryServiceServer
- func NewUnimplementedInterfaceError(actual interface{}) error
- func NewUnimplementedLocalInterfaceError(actual interface{}) error
- func WrapWithReconfigurable(r interface{}, name resource.Name) (resource.Reconfigurable, error)
- type Gantry
- type Lengths
- type LocalGantry
- type Position
Constants ¶
const SubtypeName = resource.SubtypeName("gantry")
SubtypeName is a constant that identifies the component resource subtype string "gantry".
Variables ¶
var Subtype = resource.NewSubtype( resource.ResourceNamespaceRDK, resource.ResourceTypeComponent, SubtypeName, )
Subtype is a constant that identifies the component resource subtype.
Functions ¶
func CreateStatus ¶
CreateStatus creates a status from the gantry.
func DependencyTypeError ¶
DependencyTypeError is used when a resource doesn't implement the expected interface.
func NamesFromRobot ¶
NamesFromRobot is a helper for getting all gantry names from the given Robot.
func NewServer ¶
func NewServer(s subtype.Service) pb.GantryServiceServer
NewServer constructs an gantry gRPC service server.
func NewUnimplementedInterfaceError ¶
func NewUnimplementedInterfaceError(actual interface{}) error
NewUnimplementedInterfaceError is used when there is a failed interface check.
func NewUnimplementedLocalInterfaceError ¶
func NewUnimplementedLocalInterfaceError(actual interface{}) error
NewUnimplementedLocalInterfaceError is used when there is a failed interface check.
func WrapWithReconfigurable ¶
func WrapWithReconfigurable(r interface{}, name resource.Name) (resource.Reconfigurable, error)
WrapWithReconfigurable wraps a gantry or localGantry with a reconfigurable and locking interface.
Types ¶
type Gantry ¶
type Gantry interface { // Position returns the position in meters Position(ctx context.Context, extra map[string]interface{}) ([]float64, error) // MoveToPosition is in meters // The worldState argument should be treated as optional by all implementing drivers // This will block until done or a new operation cancels this one MoveToPosition(ctx context.Context, positionsMm []float64, worldState *referenceframe.WorldState, extra map[string]interface{}) error // Lengths is the length of gantries in meters Lengths(ctx context.Context, extra map[string]interface{}) ([]float64, error) // Stop stops the gantry. It is assumed the gantry stops immediately. Stop(ctx context.Context, extra map[string]interface{}) error generic.Generic referenceframe.ModelFramer referenceframe.InputEnabled }
Gantry is used for controlling gantries of N axis.
func FromDependencies ¶
func FromDependencies(deps registry.Dependencies, name string) (Gantry, error)
FromDependencies is a helper for getting the named gantry from a collection of dependencies.
func NewClientFromConn ¶
func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Gantry
NewClientFromConn constructs a new Client from connection passed in.
type LocalGantry ¶
type LocalGantry interface { Gantry resource.MovingCheckable }
A LocalGantry represents a Gantry that can report whether it is moving or not.
Directories ¶
Path | Synopsis |
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Package fake implements a fake gantry.
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Package fake implements a fake gantry. |
Package multiaxis implements a multi-axis gantry.
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Package multiaxis implements a multi-axis gantry. |
Package oneaxis implements a one-axis gantry.
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Package oneaxis implements a one-axis gantry. |
Package register registers all relevant gantries
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Package register registers all relevant gantries |