Documentation
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Overview ¶
Package server contains a gRPC based robot.Robot server implementation.
It should be used by an rpc.Server.
Index ¶
- func New(r robot.Robot) pb.RobotServiceServer
- type Server
- func (s *Server) BlockForOperation(ctx context.Context, req *pb.BlockForOperationRequest) (*pb.BlockForOperationResponse, error)
- func (s *Server) CancelOperation(ctx context.Context, req *pb.CancelOperationRequest) (*pb.CancelOperationResponse, error)
- func (s *Server) Close()
- func (s *Server) DiscoverComponents(ctx context.Context, req *pb.DiscoverComponentsRequest) (*pb.DiscoverComponentsResponse, error)
- func (s *Server) FrameSystemConfig(ctx context.Context, req *pb.FrameSystemConfigRequest) (*pb.FrameSystemConfigResponse, error)
- func (s *Server) GetOperations(ctx context.Context, req *pb.GetOperationsRequest) (*pb.GetOperationsResponse, error)
- func (s *Server) GetStatus(ctx context.Context, req *pb.GetStatusRequest) (*pb.GetStatusResponse, error)
- func (s *Server) ResourceNames(ctx context.Context, _ *pb.ResourceNamesRequest) (*pb.ResourceNamesResponse, error)
- func (s *Server) ResourceRPCSubtypes(ctx context.Context, _ *pb.ResourceRPCSubtypesRequest) (*pb.ResourceRPCSubtypesResponse, error)
- func (s *Server) StopAll(ctx context.Context, req *pb.StopAllRequest) (*pb.StopAllResponse, error)
- func (s *Server) StreamStatus(req *pb.StreamStatusRequest, streamServer pb.RobotService_StreamStatusServer) error
- func (s *Server) TransformPose(ctx context.Context, req *pb.TransformPoseRequest) (*pb.TransformPoseResponse, error)
Constants ¶
This section is empty.
Variables ¶
This section is empty.
Functions ¶
Types ¶
type Server ¶
type Server struct { pb.UnimplementedRobotServiceServer // contains filtered or unexported fields }
Server implements the contract from robot.proto that ultimately satisfies a robot.Robot as a gRPC server.
func (*Server) BlockForOperation ¶
func (s *Server) BlockForOperation(ctx context.Context, req *pb.BlockForOperationRequest) (*pb.BlockForOperationResponse, error)
BlockForOperation blocks for an operation to finish.
func (*Server) CancelOperation ¶
func (s *Server) CancelOperation(ctx context.Context, req *pb.CancelOperationRequest) (*pb.CancelOperationResponse, error)
CancelOperation kills an operations.
func (*Server) DiscoverComponents ¶
func (s *Server) DiscoverComponents(ctx context.Context, req *pb.DiscoverComponentsRequest) (*pb.DiscoverComponentsResponse, error)
DiscoverComponents takes a list of discovery queries and returns corresponding component configurations.
func (*Server) FrameSystemConfig ¶
func (s *Server) FrameSystemConfig( ctx context.Context, req *pb.FrameSystemConfigRequest, ) (*pb.FrameSystemConfigResponse, error)
FrameSystemConfig returns the info of each individual part that makes up the frame system.
func (*Server) GetOperations ¶
func (s *Server) GetOperations(ctx context.Context, req *pb.GetOperationsRequest) (*pb.GetOperationsResponse, error)
GetOperations lists all running operations.
func (*Server) GetStatus ¶
func (s *Server) GetStatus(ctx context.Context, req *pb.GetStatusRequest) (*pb.GetStatusResponse, error)
GetStatus takes a list of resource names and returns their corresponding statuses. If no names are passed in, return all statuses.
func (*Server) ResourceNames ¶
func (s *Server) ResourceNames(ctx context.Context, _ *pb.ResourceNamesRequest) (*pb.ResourceNamesResponse, error)
ResourceNames returns the list of resources.
func (*Server) ResourceRPCSubtypes ¶
func (s *Server) ResourceRPCSubtypes(ctx context.Context, _ *pb.ResourceRPCSubtypesRequest) (*pb.ResourceRPCSubtypesResponse, error)
ResourceRPCSubtypes returns the list of resource RPC subtypes.
func (*Server) StopAll ¶
func (s *Server) StopAll(ctx context.Context, req *pb.StopAllRequest) (*pb.StopAllResponse, error)
StopAll will stop all current and outstanding operations for the robot and stops all actuators and movement.
func (*Server) StreamStatus ¶
func (s *Server) StreamStatus(req *pb.StreamStatusRequest, streamServer pb.RobotService_StreamStatusServer) error
StreamStatus periodically sends the status of all statuses requested. An empty request signifies all resources.
func (*Server) TransformPose ¶
func (s *Server) TransformPose(ctx context.Context, req *pb.TransformPoseRequest) (*pb.TransformPoseResponse, error)
TransformPose will transform the pose of the requested poseInFrame to the desired frame in the robot's frame system.