client

Documentation

Overview

Package client contains a gRPC based robot.Robot client.

Index

• Variables
• func ExtractDialOptions(opts ...RobotClientOption) []rpc.DialOption
• type RobotClient
  • func New(ctx context.Context, address string, logger golog.Logger, ...) (*RobotClient, error)
  • func (rc *RobotClient) Changed() <-chan bool
  • func (rc *RobotClient) Close(ctx context.Context) error
  • func (rc *RobotClient) Connected() bool
  • func (rc *RobotClient) DiscoverComponents(ctx context.Context, qs []discovery.Query) ([]discovery.Discovery, error)
  • func (rc *RobotClient) FrameSystemConfig(ctx context.Context, additionalTransforms []*commonpb.Transform) (framesystemparts.Parts, error)
  • func (rc *RobotClient) Logger() golog.Logger
  • func (rc *RobotClient) OperationManager() *operation.Manager
  • func (rc *RobotClient) ProcessManager() pexec.ProcessManager
  • func (rc *RobotClient) Refresh(ctx context.Context) (err error)
  • func (rc *RobotClient) RefreshEvery(ctx context.Context, every time.Duration)
  • func (rc *RobotClient) RemoteByName(name string) (robot.Robot, bool)
  • func (rc *RobotClient) RemoteNames() []string
  • func (rc *RobotClient) ResourceByName(name resource.Name) (interface{}, error)
  • func (rc *RobotClient) ResourceNames() []resource.Name
  • func (rc *RobotClient) ResourceRPCSubtypes() []resource.RPCSubtype
  • func (rc *RobotClient) SetParentNotifier(f func())
  • func (rc *RobotClient) Status(ctx context.Context, resourceNames []resource.Name) ([]robot.Status, error)
  • func (rc *RobotClient) StopAll(ctx context.Context, extra map[resource.Name]map[string]interface{}) error
  • func (rc *RobotClient) TransformPose(ctx context.Context, query *referenceframe.PoseInFrame, destination string, ...) (*referenceframe.PoseInFrame, error)
• type RobotClientOption
  • func WithCheckConnectedEvery(checkConnectedEvery time.Duration) RobotClientOption
  • func WithDialOptions(opts ...rpc.DialOption) RobotClientOption
  • func WithReconnectEvery(reconnectEvery time.Duration) RobotClientOption
  • func WithRefreshEvery(refreshEvery time.Duration) RobotClientOption

Variables

var (
	// ErrMissingClientRegistration is used when there is no resource client registered for the subtype.
	ErrMissingClientRegistration = errors.New("resource client registration doesn't exist")
)

Functions

func ExtractDialOptions

func ExtractDialOptions(opts ...RobotClientOption) []rpc.DialOption

ExtractDialOptions extracts RPC dial options from the given options, if any exist.

Types

type RobotClient

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

RobotClient satisfies the robot.Robot interface through a gRPC based client conforming to the robot.proto contract.

func New

func New(ctx context.Context, address string, logger golog.Logger, opts ...RobotClientOption) (*RobotClient, error)

New constructs a new RobotClient that is served at the given address. The given context can be used to cancel the operation.

func (*RobotClient) Changed

func (rc *RobotClient) Changed() <-chan bool

Changed watches for whether the remote has changed.

func (*RobotClient) Close

func (rc *RobotClient) Close(ctx context.Context) error

Close cleanly closes the underlying connections and stops the refresh goroutine if it is running.

func (*RobotClient) Connected

func (rc *RobotClient) Connected() bool

Connected exposes whether a robot client is connected to the remote.

func (*RobotClient) DiscoverComponents

func (rc *RobotClient) DiscoverComponents(ctx context.Context, qs []discovery.Query) ([]discovery.Discovery, error)

DiscoverComponents takes a list of discovery queries and returns corresponding component configurations.

func (*RobotClient) FrameSystemConfig

func (rc *RobotClient) FrameSystemConfig(ctx context.Context, additionalTransforms []*commonpb.Transform) (framesystemparts.Parts, error)

FrameSystemConfig returns the info of each individual part that makes up the frame system.

func (*RobotClient) Logger

func (rc *RobotClient) Logger() golog.Logger

Logger returns the logger being used for this robot.

func (*RobotClient) OperationManager

func (rc *RobotClient) OperationManager() *operation.Manager

OperationManager returns nil.

func (*RobotClient) ProcessManager

func (rc *RobotClient) ProcessManager() pexec.ProcessManager

ProcessManager returns a useless process manager for the sake of satisfying the robot.Robot interface. Maybe it should not be part of the interface!

func (*RobotClient) Refresh

func (rc *RobotClient) Refresh(ctx context.Context) (err error)

Refresh manually updates the underlying parts of the robot based on its metadata response.

func (*RobotClient) RefreshEvery

func (rc *RobotClient) RefreshEvery(ctx context.Context, every time.Duration)

RefreshEvery refreshes the robot on the interval given by every until the given context is done.

func (*RobotClient) RemoteByName

func (rc *RobotClient) RemoteByName(name string) (robot.Robot, bool)

RemoteByName returns a remote robot by name. It is assumed to exist on the other end. Right now this method is unimplemented.

func (*RobotClient) RemoteNames

func (rc *RobotClient) RemoteNames() []string

RemoteNames returns the names of all known remotes.

func (*RobotClient) ResourceByName

func (rc *RobotClient) ResourceByName(name resource.Name) (interface{}, error)

ResourceByName returns resource by name.

func (*RobotClient) ResourceNames

func (rc *RobotClient) ResourceNames() []resource.Name

ResourceNames returns all resource names.

func (*RobotClient) ResourceRPCSubtypes

func (rc *RobotClient) ResourceRPCSubtypes() []resource.RPCSubtype

ResourceRPCSubtypes returns a list of all known resource subtypes.

func (*RobotClient) SetParentNotifier

func (rc *RobotClient) SetParentNotifier(f func())

SetParentNotifier set the notifier function, robot client will use that the relay changes.

func (*RobotClient) Status

func (rc *RobotClient) Status(ctx context.Context, resourceNames []resource.Name) ([]robot.Status, error)

Status takes a list of resource names and returns their corresponding statuses. If no names are passed in, return all statuses.

func (*RobotClient) StopAll

func (rc *RobotClient) StopAll(ctx context.Context, extra map[resource.Name]map[string]interface{}) error

StopAll cancels all current and outstanding operations for the robot and stops all actuators and movement.

func (*RobotClient) TransformPose

func (rc *RobotClient) TransformPose(
	ctx context.Context,
	query *referenceframe.PoseInFrame,
	destination string,
	additionalTransforms []*commonpb.Transform,
) (*referenceframe.PoseInFrame, error)

TransformPose will transform the pose of the requested poseInFrame to the desired frame in the robot's frame system.

type RobotClientOption

type RobotClientOption interface {
	// contains filtered or unexported methods
}

RobotClientOption configures how we set up the connection. Cribbed from https://github.com/grpc/grpc-go/blob/aff571cc86e6e7e740130dbbb32a9741558db805/dialoptions.go#L41

func WithCheckConnectedEvery

func WithCheckConnectedEvery(checkConnectedEvery time.Duration) RobotClientOption

WithCheckConnectedEvery returns a RobotClientOption for how often to check connection to the robot.

func WithDialOptions

func WithDialOptions(opts ...rpc.DialOption) RobotClientOption

WithDialOptions returns a RobotClientOption which sets the options for making gRPC connections to other servers.

func WithReconnectEvery

func WithReconnectEvery(reconnectEvery time.Duration) RobotClientOption

WithReconnectEvery returns a RobotClientOption for how often to reconnect the robot.

func WithRefreshEvery

func WithRefreshEvery(refreshEvery time.Duration) RobotClientOption

WithRefreshEvery returns a RobotClientOption for how often to refresh the status/parts of the robot.