Documentation
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Overview ¶
Package resource contains types that help identify and classify resources (components/services) of a robot. The three most imporant types in this package are: Subtype (which represents an API for a resource), Model (which represents a specific implementation of an API), and Name (which represents a specific instantiation of a resource.)
Both Subtype and Model have a "triplet" format which begins with a namespace. Subtype has "namespace:type:subtype" with "type" in this case being either "service" or "component." Model has "namespace:modelfamily:modelname" with "modelfamily" being somewhat arbitrary, and useful mostly for organization/grouping. Note that each "tier" contains the tier to the left it. Such that ModelFamily contains Namespace, and Model itself contains ModelFamily.
An example resource (say, a motor) may use the motor API, and thus have the Subtype "rdk:component:motor" and have a model such as "rdk:builtin:gpio". Each individual instance of that motor will have an arbitrary name (defined in the robot's configuration) and that is represented by a Name type, which also includes the Subtype and (optionally) the remote it belongs to. Thus, the Name contains everything (API, remote info, and unique name) to locate and cast a resource to the correct interface when requested by a client. While Model is typically only needed during resource instantiation.
Index ¶
- Constants
- Variables
- func AddDefaultService(n Name)
- func ContainsReservedCharacter(val string) error
- func ReconfigureResource(ctx context.Context, old, newR interface{}) (interface{}, error)
- func StopResource(ctx context.Context, res interface{}, extra map[string]interface{}) error
- type Generic
- type Graph
- func (g *Graph) AddChildren(child, parent Name) error
- func (g *Graph) AddNode(node Name, iface interface{})
- func (g *Graph) Clone() *Graph
- func (g *Graph) CopyNodeAndChildren(node Name, origin *Graph) error
- func (g *Graph) FindNodeByName(name string) (*Name, bool)
- func (g *Graph) FindNodesByShortNameAndSubtype(name Name) []Name
- func (g *Graph) GetAllChildrenOf(node Name) []Name
- func (g *Graph) GetAllParentsOf(node Name) []Name
- func (g *Graph) IsNodeDependingOn(node, child Name) bool
- func (g *Graph) MergeAdd(toAdd *Graph) error
- func (g *Graph) MergeRemove(toRemove *Graph)
- func (g *Graph) Names() []Name
- func (g *Graph) Node(node Name) (interface{}, bool)
- func (g *Graph) Remove(node Name)
- func (g *Graph) RemoveChildren(child, parent Name)
- func (g *Graph) RenameNode(old, newName Name) error
- func (g *Graph) ReplaceNodesParents(node Name, other *Graph) error
- func (g *Graph) ReverseTopologicalSort() []Name
- func (g *Graph) SubGraphFrom(node Name) (*Graph, error)
- func (g *Graph) TopologicalSort() []Name
- type Model
- type ModelFamily
- type ModelFamilyName
- type ModelName
- type MovingCheckable
- type Name
- type Namespace
- type OldStoppable
- type RPCSubtype
- type Reconfigurable
- type RemoteName
- type Stoppable
- type Subtype
- type SubtypeName
- type Type
- type TypeName
- type Updateable
Constants ¶
const ( ResourceNamespaceRDK = Namespace("rdk") ResourceTypeComponent = TypeName("component") ResourceTypeService = TypeName("service") DefaultServiceName = "builtin" DefaultMaxInstance = 1 )
Placeholder definitions for a few known constants.
const DefaultModelFamilyName = ModelFamilyName("builtin")
DefaultModelFamilyName is the name "default".
Variables ¶
var ( // DefaultModelFamily is the rdk:builtin model family for built-in resources. DefaultModelFamily = ModelFamily{ResourceNamespaceRDK, DefaultModelFamilyName} )
var ( // DefaultServiceModel is used for builtin services. DefaultServiceModel = NewDefaultModel("builtin") )
var DefaultServices []Name
DefaultServices is a list of default robot services. services should add themseleves in an init if they should be included by default.
Functions ¶
func ContainsReservedCharacter ¶ added in v0.0.6
ContainsReservedCharacter returns error if string contains a reserved character.
func ReconfigureResource ¶ added in v0.0.6
ReconfigureResource tries to reconfigure/replace an old resource with a new one.
Types ¶
type Generic ¶ added in v0.2.20
type Generic interface { // DoCommand sends/receives arbitrary data DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error) }
Generic is a resource that allows the execution of DoCommand.
type Graph ¶
type Graph struct {
// contains filtered or unexported fields
}
Graph The Graph maintains a collection of resources and their dependencies between each other.
func (*Graph) AddChildren ¶
AddChildren add a dependency to a parent, create the parent if it doesn't exists yet.
func (*Graph) CopyNodeAndChildren ¶
CopyNodeAndChildren adds a Node and it's children from another graph.
func (*Graph) FindNodeByName ¶
FindNodeByName returns a full resource name based on name, note if name is a duplicate the first one found will be returned.
func (*Graph) FindNodesByShortNameAndSubtype ¶
FindNodesByShortNameAndSubtype will look for resources matching both the subtype and the Name.
func (*Graph) GetAllChildrenOf ¶
GetAllChildrenOf returns all direct children of a node.
func (*Graph) GetAllParentsOf ¶
GetAllParentsOf returns all parents of a given node.
func (*Graph) IsNodeDependingOn ¶
IsNodeDependingOn returns true if child is depending on node.
func (*Graph) MergeAdd ¶
MergeAdd merges two Graphs, if a node exists in both graphs, then it is silently replaced.
func (*Graph) MergeRemove ¶
MergeRemove remove common nodes in both graphs.
func (*Graph) RemoveChildren ¶
RemoveChildren unlink a child from its parent.
func (*Graph) RenameNode ¶
RenameNode rename a node from old to new keeping it's dependencies. On success the old node is destroyed.
func (*Graph) ReplaceNodesParents ¶
ReplaceNodesParents replaces all parent of a given node with the parents of the other graph.
func (*Graph) ReverseTopologicalSort ¶
ReverseTopologicalSort returns an array of nodes' Name ordered by most edges first.
func (*Graph) SubGraphFrom ¶
SubGraphFrom returns a Sub-Graph containing all linked dependencies starting with node Name.
func (*Graph) TopologicalSort ¶
TopologicalSort returns an array of nodes' Name ordered by fewest edges first.
type Model ¶ added in v0.2.8
type Model struct { ModelFamily `json:","` Name ModelName `json:"name"` }
Model represents an individual model within a family.
func NewDefaultModel ¶ added in v0.2.8
NewDefaultModel creates a new Model in the rdk:builtin namespace/family based on parameters passed in.
func NewModel ¶ added in v0.2.8
func NewModel(namespace Namespace, fName ModelFamilyName, model ModelName) Model
NewModel creates a new Model based on parameters passed in.
func NewModelFromString ¶ added in v0.2.8
NewModelFromString creates a new Name based on a fully qualified resource name string passed in.
func NewModelFromStringIgnoreErrors ¶ added in v0.2.8
NewModelFromStringIgnoreErrors parses a model but ignores all errors and creates an empty model. This is used when validation of the model should happen later.
func (*Model) UnmarshalJSON ¶ added in v0.2.8
UnmarshalJSON parses namespace:family:modelname strings to the full Model{} struct.
type ModelFamily ¶ added in v0.2.8
type ModelFamily struct { Namespace Namespace `json:"namespace"` Family ModelFamilyName `json:"model_family"` }
ModelFamily is a family of related models.
func NewModelFamily ¶ added in v0.2.8
func NewModelFamily(namespace Namespace, family ModelFamilyName) ModelFamily
NewModelFamily creates a new ModelFamily based on parameters passed in.
func (ModelFamily) String ¶ added in v0.2.8
func (f ModelFamily) String() string
String returns the model family string for the resource.
func (ModelFamily) Validate ¶ added in v0.2.8
func (f ModelFamily) Validate() error
Validate ensures that important fields exist and are valid.
type ModelFamilyName ¶ added in v0.2.8
type ModelFamilyName string
ModelFamilyName is the model family.
type ModelName ¶ added in v0.2.8
type ModelName string
ModelName is the name of a specific model within a family.
type MovingCheckable ¶
type MovingCheckable interface { // IsMoving returns whether the resource is moving or not IsMoving(context.Context) (bool, error) }
MovingCheckable is implemented when a resource of a robot returns whether it is moving or not.
type Name ¶
type Name struct { Subtype Remote RemoteName Name string }
Name represents a known component/service representation of a robot.
func NameFromSubtype ¶
NameFromSubtype creates a new Name based on a Subtype and name string passed in.
func NewFromString ¶
NewFromString creates a new Name based on a fully qualified resource name string passed in.
func NewName ¶
func NewName(namespace Namespace, rType TypeName, subtype SubtypeName, name string) Name
NewName creates a new Name based on parameters passed in.
func RemoveRemoteName ¶ added in v0.1.0
RemoveRemoteName returns a new name with remote removed.
func (Name) ContainsRemoteNames ¶
ContainsRemoteNames return true if the resource is a remote resource.
func (Name) PopRemote ¶
PopRemote pop the first remote from a Name (if any) and returns the new Name.
func (Name) PrependRemote ¶
func (n Name) PrependRemote(remote RemoteName) Name
PrependRemote returns a Name with a remote prepended.
type Namespace ¶
type Namespace string
Namespace identifies the namespaces robot resources can live in.
type OldStoppable ¶
type OldStoppable interface { // Stop stops all movement for the resource Stop(context.Context) error }
OldStoppable will be deprecated soon. See Stoppable. TODO[RSDK-328].
type RPCSubtype ¶
type RPCSubtype struct { Subtype Subtype ProtoSvcName string Desc *desc.ServiceDescriptor }
An RPCSubtype provides RPC information about a particular subtype.
type Reconfigurable ¶
type Reconfigurable interface { // TODO(RSDK-895): hold over until all resources have names. This doesn't guarantee // everything is named since everything may not be a reconfigurable (but should be). Name() Name // Reconfigure reconfigures the resource Reconfigure(ctx context.Context, newResource Reconfigurable) error }
Reconfigurable is implemented when component/service of a robot is reconfigurable.
type RemoteName ¶
type RemoteName string
RemoteName identifies the remote the resource is attached to.
type Stoppable ¶
type Stoppable interface { // Stop stops all movement for the resource Stop(context.Context, map[string]interface{}) error }
Stoppable is implemented when a resource of a robot can stop its movement.
type Subtype ¶
type Subtype struct { Type ResourceSubtype SubtypeName `json:"subtype"` }
Subtype represents a known component/service (resource) API.
func NewDefaultSubtype ¶ added in v0.2.8
func NewDefaultSubtype(subtype SubtypeName, rType TypeName) Subtype
NewDefaultSubtype creates a new Subtype based on parameters passed in.
func NewSubtype ¶
func NewSubtype(namespace Namespace, rType TypeName, subtype SubtypeName) Subtype
NewSubtype creates a new Subtype based on parameters passed in.
func NewSubtypeFromString ¶ added in v0.2.8
NewSubtypeFromString creates a new Subtype from string like: %s:%s:%s.
func (*Subtype) UnmarshalJSON ¶ added in v0.2.8
UnmarshalJSON parses namespace:type:subtype strings to the full Subtype struct.
type SubtypeName ¶
type SubtypeName string
SubtypeName identifies the resources subtypes that robot resources can be.
type Type ¶
Type represents a known component/service type of a robot.