fake

Documentation

Overview

Package fake implements a fake encoder.

Index

• type AttrConfig
  • func (cfg *AttrConfig) Validate(path string) error
• type Encoder
  • func (e *Encoder) GetPosition(ctx context.Context, positionType *encoder.PositionType, ...) (float64, encoder.PositionType, error)
  • func (e *Encoder) GetProperties(ctx context.Context, extra map[string]interface{}) (map[encoder.Feature]bool, error)
  • func (e *Encoder) ResetPosition(ctx context.Context, extra map[string]interface{}) error
  • func (e *Encoder) SetPosition(ctx context.Context, position int64) error
  • func (e *Encoder) SetSpeed(ctx context.Context, speed float64) error
  • func (e *Encoder) Start(cancelCtx context.Context)

Types

type AttrConfig

type AttrConfig struct {
	UpdateRate int64 `json:"update_rate_msec,omitempty"`
}

AttrConfig describes the configuration of a fake encoder.

func (*AttrConfig) Validate

func (cfg *AttrConfig) Validate(path string) error

Validate ensures all parts of a config is valid.

type Encoder

type Encoder struct {
	generic.Unimplemented
	// contains filtered or unexported fields
}

Encoder keeps track of a fake motor position.

func (*Encoder) GetPosition

func (e *Encoder) GetPosition(
	ctx context.Context,
	positionType *encoder.PositionType,
	extra map[string]interface{},
) (float64, encoder.PositionType, error)

GetPosition returns the current position in terms of ticks or degrees, and whether it is a relative or absolute position.

func (*Encoder) GetProperties

func (e *Encoder) GetProperties(ctx context.Context, extra map[string]interface{}) (map[encoder.Feature]bool, error)

GetProperties returns a list of all the position types that are supported by a given encoder.

func (*Encoder) ResetPosition

func (e *Encoder) ResetPosition(ctx context.Context, extra map[string]interface{}) error

ResetPosition sets the current position of the motor (adjusted by a given offset) to be its new zero position.

func (*Encoder) SetPosition

func (e *Encoder) SetPosition(ctx context.Context, position int64) error

SetPosition sets the position of the encoder.

func (*Encoder) SetSpeed

func (e *Encoder) SetSpeed(ctx context.Context, speed float64) error

SetSpeed sets the speed of the fake motor the encoder is measuring.

func (*Encoder) Start

func (e *Encoder) Start(cancelCtx context.Context)

Start starts a background thread to run the encoder.