navigation

package
v0.10.0-rc0 Latest Latest
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 Go to latest Published: Sep 28, 2023 License: AGPL-3.0 Imports: 22 Imported by: 1

Documentation

Overview

Package navigation is the service that allows you to navigate along waypoints.

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 = "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 API = resource.APINamespaceRDK.WithServiceType(SubtypeName)

API is a variable that identifies the navigation service resource API.

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 NewRPCServiceServer added in v0.2.36 

func NewRPCServiceServer(coll resource.APIResourceCollection[Service]) interface{}

NewRPCServiceServer constructs a navigation gRPC service server. It is intentionally untyped to prevent use outside of tests.

Types

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) Close added in v0.2.36 

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

Close does nothing.

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.

func (Mode) String added in v0.10.0 

func (m Mode) String() string

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
	Close(ctx context.Context) error
}

NavStore handles the waypoints for a navigation service.

func NewStoreFromConfig added in v0.10.0 

func NewStoreFromConfig(ctx context.Context, conf StoreConfig) (NavStore, error)

NewStoreFromConfig builds a NavStore from the provided StoreConfig and returns it.

type Service 

type Service interface {
	resource.Resource
	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{}) (*spatialmath.GeoPose, 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

	GetObstacles(ctx context.Context, extra map[string]interface{}) ([]*spatialmath.GeoObstacle, 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,
	remoteName string,
	name resource.Name,
	logger golog.Logger,
) (Service, error)

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) LatLongApproxEqual added in v0.10.0 

func (wp *Waypoint) LatLongApproxEqual(wp2 Waypoint) bool

LatLongApproxEqual returns true if the lat / long of the waypoint is within a small epsilon of the parameter.

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 implements a navigation service.
 Package builtin implements a navigation service.
Package register registers all relevant navigation models and API specific functions.
 Package register registers all relevant navigation models and API specific functions.

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