navigation

package
v0.2.14 Latest Latest
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 Go to latest Published: Jan 26, 2023 License: AGPL-3.0 Imports: 24 Imported by: 1

Documentation

Overview

Package navigation contains a navigation service, along with a gRPC server and client

Package navigation implements the navigation service.

Index

Constants

View Source 
const (
	ModeManual = Mode(iota)
	ModeWaypoint
)

The set of known modes.

View Source 
const (
	// StoreTypeMemory is the constant for the memory store type.
	StoreTypeMemory = "memory"
	// StoreTypeMongoDB is the constant for the mongodb store type.
	StoreTypeMongoDB = "mongodb"
)
View Source 
const SubtypeName = resource.SubtypeName("navigation")

SubtypeName is the name of the type of service.

Variables

View Source 
var (
	MongoDBNavStoreDBName            = "navigation"
	MongoDBNavStoreWaypointsCollName = "waypoints"
)

Database and collection names used by the MongoDBNavigationStore.

View Source 
var Subtype = resource.NewSubtype(
	resource.ResourceNamespaceRDK,
	resource.ResourceTypeService,
	SubtypeName,
)

Subtype is a constant that identifies the navigation service resource subtype.

Functions

func Named added in v0.0.8 

func Named(name string) resource.Name

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

func NewServer 

func NewServer(s subtype.Service) pb.NavigationServiceServer

NewServer constructs a navigation gRPC service server.

func NewUnimplementedInterfaceError added in v0.1.0 

func NewUnimplementedInterfaceError(actual interface{}) error

NewUnimplementedInterfaceError is used when there is a failed interface check.

func WrapWithReconfigurable 

func WrapWithReconfigurable(s interface{}, name resource.Name) (resource.Reconfigurable, error)

WrapWithReconfigurable wraps a navigation service as a Reconfigurable.

Types

type Config 

type Config struct {
	Store              StoreConfig `json:"store"`
	BaseName           string      `json:"base"`
	MovementSensorName string      `json:"movement_sensor"`
	DegPerSecDefault   float64     `json:"degs_per_sec"`
	MMPerSecDefault    float64     `json:"mm_per_sec"`
}

Config describes how to configure the service.

func (*Config) Validate 

func (config *Config) Validate(path string) error

Validate ensures all parts of the config are valid.

type MemoryNavigationStore added in v0.1.0 

type MemoryNavigationStore struct {
	// contains filtered or unexported fields
}

MemoryNavigationStore holds the waypoints for the navigation service.

func NewMemoryNavigationStore added in v0.1.0 

func NewMemoryNavigationStore() *MemoryNavigationStore

NewMemoryNavigationStore returns and empty MemoryNavigationStore.

func (*MemoryNavigationStore) AddWaypoint added in v0.1.0 

func (store *MemoryNavigationStore) AddWaypoint(ctx context.Context, point *geo.Point) (Waypoint, error)

AddWaypoint adds a waypoint to the MemoryNavigationStore.

func (*MemoryNavigationStore) NextWaypoint added in v0.1.0 

func (store *MemoryNavigationStore) NextWaypoint(ctx context.Context) (Waypoint, error)

NextWaypoint gets the next waypoint that has not been visited.

func (*MemoryNavigationStore) RemoveWaypoint added in v0.1.0 

func (store *MemoryNavigationStore) RemoveWaypoint(ctx context.Context, id primitive.ObjectID) error

RemoveWaypoint removes a waypoint from the MemoryNavigationStore.

func (*MemoryNavigationStore) WaypointVisited added in v0.1.0 

func (store *MemoryNavigationStore) WaypointVisited(ctx context.Context, id primitive.ObjectID) error

WaypointVisited sets that a waypoint has been visited.

func (*MemoryNavigationStore) Waypoints added in v0.1.0 

func (store *MemoryNavigationStore) Waypoints(ctx context.Context) ([]Waypoint, error)

Waypoints returns a copy of all of the waypoints in the MemoryNavigationStore.

type Mode 

type Mode uint8

Mode describes what mode to operate the service in.

type MongoDBNavigationStore added in v0.1.0 

type MongoDBNavigationStore struct {
	// contains filtered or unexported fields
}

MongoDBNavigationStore holds the mongodb client and waypoints collection.

func NewMongoDBNavigationStore added in v0.1.0 

func NewMongoDBNavigationStore(ctx context.Context, config map[string]interface{}) (*MongoDBNavigationStore, error)

NewMongoDBNavigationStore creates a new navigation store using MongoDB.

func (*MongoDBNavigationStore) AddWaypoint added in v0.1.0 

func (store *MongoDBNavigationStore) AddWaypoint(ctx context.Context, point *geo.Point) (Waypoint, error)

AddWaypoint adds a waypoint to the MongoDBNavigationStore.

func (*MongoDBNavigationStore) Close added in v0.1.0 

func (store *MongoDBNavigationStore) Close(ctx context.Context) error

Close closes the connection with the mongodb client.

func (*MongoDBNavigationStore) NextWaypoint added in v0.1.0 

func (store *MongoDBNavigationStore) NextWaypoint(ctx context.Context) (Waypoint, error)

NextWaypoint gets the next waypoint that has not been visited.

func (*MongoDBNavigationStore) RemoveWaypoint added in v0.1.0 

func (store *MongoDBNavigationStore) RemoveWaypoint(ctx context.Context, id primitive.ObjectID) error

RemoveWaypoint removes a waypoint from the MongoDBNavigationStore.

func (*MongoDBNavigationStore) WaypointVisited added in v0.1.0 

func (store *MongoDBNavigationStore) WaypointVisited(ctx context.Context, id primitive.ObjectID) error

WaypointVisited sets that a waypoint has been visited.

func (*MongoDBNavigationStore) Waypoints added in v0.1.0 

func (store *MongoDBNavigationStore) Waypoints(ctx context.Context) ([]Waypoint, error)

Waypoints returns a copy of all the waypoints in the MongoDBNavigationStore. 

type NavStore interface {
	Waypoints(ctx context.Context) ([]Waypoint, error)
	AddWaypoint(ctx context.Context, point *geo.Point) (Waypoint, error)
	RemoveWaypoint(ctx context.Context, id primitive.ObjectID) error
	NextWaypoint(ctx context.Context) (Waypoint, error)
	WaypointVisited(ctx context.Context, id primitive.ObjectID) error
}

NavStore handles the waypoints for a navigation service.

type Service 

type Service interface {
	Mode(ctx context.Context, extra map[string]interface{}) (Mode, error)
	SetMode(ctx context.Context, mode Mode, extra map[string]interface{}) error

	Location(ctx context.Context, extra map[string]interface{}) (*geo.Point, error)

	// Waypoint
	Waypoints(ctx context.Context, extra map[string]interface{}) ([]Waypoint, error)
	AddWaypoint(ctx context.Context, point *geo.Point, extra map[string]interface{}) error
	RemoveWaypoint(ctx context.Context, id primitive.ObjectID, extra map[string]interface{}) error
}

A Service controls the navigation for a robot.

func FromRobot added in v0.2.8 

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

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

func NewClientFromConn 

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

NewClientFromConn constructs a new Client from connection passed in.

type StoreConfig 

type StoreConfig struct {
	Type   storeType              `json:"type"`
	Config map[string]interface{} `json:"config"`
}

StoreConfig describes how to configure data storage.

func (*StoreConfig) Validate 

func (config *StoreConfig) Validate(path string) error

Validate ensures all parts of the config are valid.

type Waypoint 

type Waypoint struct {
	ID      primitive.ObjectID `bson:"_id"`
	Visited bool               `bson:"visited"`
	Order   int                `bson:"order"`
	Lat     float64            `bson:"latitude"`
	Long    float64            `bson:"longitude"`
}

A Waypoint designates a location within a path to navigate to.

func (*Waypoint) ToPoint 

func (wp *Waypoint) ToPoint() *geo.Point

ToPoint converts the waypoint to a geo.Point.

Source Files

View all Source files

Directories

Path Synopsis
Package builtin contains the default navigation service, along with a gRPC server and client
 Package builtin contains the default navigation service, along with a gRPC server and client
Package register registers all relevant navigation models and also subtype specific functions
 Package register registers all relevant navigation models and also subtype specific functions

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