gantry

Documentation

Overview

Package gantry contains a gRPC based gantry client.

Package gantry contains a gRPC based gantry service server.

Index

• Constants
• Variables
• func CreateStatus(ctx context.Context, g Gantry) (*pb.Status, error)
• func Named(name string) resource.Name
• func NamesFromRobot(r robot.Robot) []string
• func NewLengthsCollector(resource interface{}, params data.CollectorParams) (data.Collector, error)
• func NewPositionCollector(resource interface{}, params data.CollectorParams) (data.Collector, error)
• func NewRPCServiceServer(coll resource.APIResourceCollection[Gantry]) interface{}
• type Gantry
  • func FromDependencies(deps resource.Dependencies, name string) (Gantry, error)
  • func FromRobot(r robot.Robot, name string) (Gantry, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, remoteName string, ...) (Gantry, error)

Constants

const SubtypeName = "gantry"

SubtypeName is a constant that identifies the component resource API string "gantry".

Variables

var API = resource.APINamespaceRDK.WithComponentType(SubtypeName)

API is a variable that identifies the component resource API.

Functions

func CreateStatus

func CreateStatus(ctx context.Context, g Gantry) (*pb.Status, error)

CreateStatus creates a status from the gantry.

func Named

func Named(name string) resource.Name

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

func NamesFromRobot

func NamesFromRobot(r robot.Robot) []string

NamesFromRobot is a helper for getting all gantry names from the given Robot.

func NewLengthsCollector

func NewLengthsCollector(resource interface{}, params data.CollectorParams) (data.Collector, error)

NewLengthsCollector returns a collector to register a lengths method. If one is already registered with the same MethodMetadata it will panic.

func NewPositionCollector

func NewPositionCollector(resource interface{}, params data.CollectorParams) (data.Collector, error)

NewPositionCollector returns a collector to register a position method. If one is already registered with the same MethodMetadata it will panic.

func NewRPCServiceServer

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

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

Types

type Gantry

type Gantry interface {
	resource.Resource
	resource.Actuator
	referenceframe.ModelFramer
	referenceframe.InputEnabled

	// Position returns the position in meters
	Position(ctx context.Context, extra map[string]interface{}) ([]float64, error)

	// MoveToPosition is in meters
	// This will block until done or a new operation cancels this one
	MoveToPosition(ctx context.Context, positionsMm, speedsMmPerSec []float64, extra map[string]interface{}) error

	// Lengths is the length of gantries in meters
	Lengths(ctx context.Context, extra map[string]interface{}) ([]float64, error)

	// Home runs the homing sequence of the gantry and returns true once completed
	Home(ctx context.Context, extra map[string]interface{}) (bool, error)
}

Gantry is used for controlling gantries of N axis.

func FromDependencies

func FromDependencies(deps resource.Dependencies, name string) (Gantry, error)

FromDependencies is a helper for getting the named gantry from a collection of dependencies.

func FromRobot

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

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

func NewClientFromConn

func NewClientFromConn(
	ctx context.Context,
	conn rpc.ClientConn,
	remoteName string,
	name resource.Name,
	logger logging.Logger,
) (Gantry, error)

NewClientFromConn constructs a new Client from connection passed in.