protoutils

Documentation

Overview

Package protoutils are a collection of util methods for using proto in rdk

Index

• func ConvertOrientationToProto(o spatialmath.Orientation) *commonpb.Orientation
• func ConvertProtoToOrientation(o *commonpb.Orientation) spatialmath.Orientation
• func ConvertStringMapToAnyPBMap(params map[string]string) (map[string]*anypb.Any, error)
• func ConvertStringToAnyPB(str string) (*anypb.Any, error)
• func ConvertVectorProtoToR3(v *commonpb.Vector3) r3.Vector
• func ConvertVectorR3ToProto(v r3.Vector) *commonpb.Vector3
• func DoFromResourceClient(ctx context.Context, svc ClientDoCommander, name string, ...) (map[string]interface{}, error)
• func DoFromResourceServer(ctx context.Context, res resource.Resource, req *commonpb.DoCommandRequest) (*commonpb.DoCommandResponse, error)
• func MessageToProtoV1(msg interface{}) protov1.Message
• func ReadingGoToProto(readings map[string]interface{}) (map[string]*structpb.Value, error)
• func ReadingProtoToGo(readings map[string]*structpb.Value) (map[string]interface{}, error)
• func ResourceNameFromProto(name *commonpb.ResourceName) resource.Name
• func ResourceNameToProto(name resource.Name) *commonpb.ResourceName
• type ClientDoCommander

Functions

func ConvertOrientationToProto

func ConvertOrientationToProto(o spatialmath.Orientation) *commonpb.Orientation

ConvertOrientationToProto TODO.

func ConvertProtoToOrientation

func ConvertProtoToOrientation(o *commonpb.Orientation) spatialmath.Orientation

ConvertProtoToOrientation TODO.

func ConvertStringMapToAnyPBMap

func ConvertStringMapToAnyPBMap(params map[string]string) (map[string]*anypb.Any, error)

ConvertStringMapToAnyPBMap takes a string map and parses each value to an Any proto type.

func ConvertStringToAnyPB

func ConvertStringToAnyPB(str string) (*anypb.Any, error)

ConvertStringToAnyPB takes a string and parses it to an Any pb type.

func ConvertVectorProtoToR3

func ConvertVectorProtoToR3(v *commonpb.Vector3) r3.Vector

ConvertVectorProtoToR3 TODO.

func ConvertVectorR3ToProto

func ConvertVectorR3ToProto(v r3.Vector) *commonpb.Vector3

ConvertVectorR3ToProto TODO.

func DoFromResourceClient

func DoFromResourceClient(ctx context.Context, svc ClientDoCommander, name string,
	cmd map[string]interface{},
) (map[string]interface{}, error)

DoFromResourceClient is a helper to allow DoCommand() calls from any client.

func DoFromResourceServer

func DoFromResourceServer(
	ctx context.Context,
	res resource.Resource,
	req *commonpb.DoCommandRequest,
) (*commonpb.DoCommandResponse, error)

DoFromResourceServer is a helper to allow DoCommand() calls from any server.

func MessageToProtoV1

func MessageToProtoV1(msg interface{}) protov1.Message

MessageToProtoV1 converts a message to a protov1.Message. It is assumed it is either a proto.Message or a protov1.Message.

func ReadingGoToProto

func ReadingGoToProto(readings map[string]interface{}) (map[string]*structpb.Value, error)

ReadingGoToProto converts go readings to proto readings.

func ReadingProtoToGo

func ReadingProtoToGo(readings map[string]*structpb.Value) (map[string]interface{}, error)

ReadingProtoToGo converts proto readings to go readings.

func ResourceNameFromProto

func ResourceNameFromProto(name *commonpb.ResourceName) resource.Name

ResourceNameFromProto converts a proto ResourceName to its rdk counterpart.

func ResourceNameToProto

func ResourceNameToProto(name resource.Name) *commonpb.ResourceName

ResourceNameToProto converts a resource.Name to its proto counterpart.

Types

type ClientDoCommander

type ClientDoCommander interface {
	// DoCommand sends/receives arbitrary commands
	DoCommand(ctx context.Context, in *commonpb.DoCommandRequest,
		opts ...grpc.CallOption) (*commonpb.DoCommandResponse, error)
}

ClientDoCommander is a gRPC client that allows the execution of DoCommand.