inject

package
v0.2.37 Latest Latest
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 Go to latest Published: Apr 29, 2023 License: AGPL-3.0 Imports: 58 Imported by: 2

Documentation

Overview

Package inject provides dependency injected structures for mocking interfaces.

Index

Constants

This section is empty.

Variables

This section is empty.

Functions

This section is empty.

Types

type AnalogReader 

type AnalogReader struct {
	board.AnalogReader
	ReadFunc func(ctx context.Context, extra map[string]interface{}) (int, error)
	// contains filtered or unexported fields
}

AnalogReader is an injected analog reader.

func (*AnalogReader) Read 

func (a *AnalogReader) Read(ctx context.Context, extra map[string]interface{}) (int, error)

Read calls the injected Read or the real version.

func (*AnalogReader) ReadCap 

func (a *AnalogReader) ReadCap() []interface{}

ReadCap returns the last parameters received by Read, and then clears them.

type Arm 

type Arm struct {
	arm.Arm

	DoFunc                   func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
	EndPositionFunc          func(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error)
	MoveToPositionFunc       func(ctx context.Context, to spatialmath.Pose, extra map[string]interface{}) error
	MoveToJointPositionsFunc func(ctx context.Context, pos *pb.JointPositions, extra map[string]interface{}) error
	JointPositionsFunc       func(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error)
	StopFunc                 func(ctx context.Context, extra map[string]interface{}) error
	IsMovingFunc             func(context.Context) (bool, error)
	CloseFunc                func(ctx context.Context) error
	ModelFrameFunc           func() referenceframe.Model
	// contains filtered or unexported fields
}

Arm is an injected arm.

func NewArm added in v0.2.36 

func NewArm(name string) *Arm

NewArm returns a new injected arm.

func (*Arm) Close 

func (a *Arm) Close(ctx context.Context) error

Close calls the injected Close or the real version.

func (*Arm) DoCommand added in v0.1.0 

func (a *Arm) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real version.

func (*Arm) EndPosition added in v0.1.0 

func (a *Arm) EndPosition(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error)

EndPosition calls the injected EndPosition or the real version.

func (*Arm) IsMoving 

func (a *Arm) IsMoving(ctx context.Context) (bool, error)

IsMoving calls the injected IsMoving or the real version.

func (*Arm) JointPositions added in v0.1.0 

func (a *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error)

JointPositions calls the injected JointPositions or the real version.

func (*Arm) ModelFrame added in v0.2.15 

func (a *Arm) ModelFrame() referenceframe.Model

ModelFrame calls the injected ModelFrame or the real version.

func (*Arm) MoveToJointPositions 

func (a *Arm) MoveToJointPositions(ctx context.Context, jp *pb.JointPositions, extra map[string]interface{}) error

MoveToJointPositions calls the injected MoveToJointPositions or the real version.

func (*Arm) MoveToPosition 

func (a *Arm) MoveToPosition(ctx context.Context, to spatialmath.Pose, extra map[string]interface{}) error

MoveToPosition calls the injected MoveToPosition or the real version.

func (*Arm) Name added in v0.2.36 

func (a *Arm) Name() resource.Name

Name returns the name of the resource.

func (*Arm) Stop 

func (a *Arm) Stop(ctx context.Context, extra map[string]interface{}) error

Stop calls the injected Stop or the real version.

type AudioInput added in v0.0.8 

type AudioInput struct {
	audioinput.AudioInput

	DoFunc     func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
	StreamFunc func(
		ctx context.Context,
		errHandlers ...gostream.ErrorHandler,
	) (gostream.AudioStream, error)
	MediaPropertiesFunc func(ctx context.Context) (prop.Audio, error)
	CloseFunc           func(ctx context.Context) error
	// contains filtered or unexported fields
}

AudioInput is an injected audio input.

func NewAudioInput added in v0.2.36 

func NewAudioInput(name string) *AudioInput

NewAudioInput returns a new injected audio input.

func (*AudioInput) Close added in v0.0.8 

func (ai *AudioInput) Close(ctx context.Context) error

Close calls the injected Close or the real version.

func (*AudioInput) DoCommand added in v0.1.0 

func (ai *AudioInput) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real version.

func (*AudioInput) MediaProperties added in v0.0.8 

func (ai *AudioInput) MediaProperties(ctx context.Context) (prop.Audio, error)

MediaProperties calls the injected MediaProperties or the real version.

func (*AudioInput) Name added in v0.2.36 

func (ai *AudioInput) Name() resource.Name

Name returns the name of the resource.

func (*AudioInput) Stream added in v0.0.8 

func (ai *AudioInput) Stream(
	ctx context.Context,
	errHandlers ...gostream.ErrorHandler,
) (gostream.AudioStream, error)

Stream calls the injected Stream or the real version.

type Base 

type Base struct {
	base.LocalBase

	DoFunc           func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
	MoveStraightFunc func(ctx context.Context, distanceMm int, mmPerSec float64, extra map[string]interface{}) error
	SpinFunc         func(ctx context.Context, angleDeg, degsPerSec float64, extra map[string]interface{}) error
	WidthFunc        func(ctx context.Context) (int, error)
	StopFunc         func(ctx context.Context, extra map[string]interface{}) error
	IsMovingFunc     func(context.Context) (bool, error)
	CloseFunc        func(ctx context.Context) error
	SetPowerFunc     func(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error
	// contains filtered or unexported fields
}

Base is an injected base.

func NewBase added in v0.2.36 

func NewBase(name string) *Base

NewBase returns a new injected base.

func (*Base) Close 

func (b *Base) Close(ctx context.Context) error

Close calls the injected Close or the real version.

func (*Base) DoCommand added in v0.1.0 

func (b *Base) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real version.

func (*Base) IsMoving 

func (b *Base) IsMoving(ctx context.Context) (bool, error)

IsMoving calls the injected IsMoving or the real version.

func (*Base) MoveStraight 

func (b *Base) MoveStraight(ctx context.Context, distanceMm int, mmPerSec float64, extra map[string]interface{}) error

MoveStraight calls the injected MoveStraight or the real version.

func (*Base) Name added in v0.2.36 

func (b *Base) Name() resource.Name

Name returns the name of the resource.

func (*Base) SetPower added in v0.2.5 

func (b *Base) SetPower(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error

SetPower calls the injected SetPower or the real version.

func (*Base) Spin 

func (b *Base) Spin(ctx context.Context, angleDeg, degsPerSec float64, extra map[string]interface{}) error

Spin calls the injected Spin or the real version.

func (*Base) Stop 

func (b *Base) Stop(ctx context.Context, extra map[string]interface{}) error

Stop calls the injected Stop or the real version.

func (*Base) Width added in v0.1.0 

func (b *Base) Width(ctx context.Context) (int, error)

Width calls the injected Width or the real version.

type Board 

type Board struct {
	board.LocalBoard

	DoFunc        func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
	SPIByNameFunc func(name string) (board.SPI, bool)

	I2CByNameFunc func(name string) (board.I2C, bool)

	AnalogReaderByNameFunc func(name string) (board.AnalogReader, bool)

	DigitalInterruptByNameFunc func(name string) (board.DigitalInterrupt, bool)

	GPIOPinByNameFunc func(name string) (board.GPIOPin, error)

	SPINamesFunc              func() []string
	I2CNamesFunc              func() []string
	AnalogReaderNamesFunc     func() []string
	DigitalInterruptNamesFunc func() []string
	GPIOPinNamesFunc          func() []string
	CloseFunc                 func(ctx context.Context) error
	StatusFunc                func(ctx context.Context, extra map[string]interface{}) (*commonpb.BoardStatus, error)

	SetPowerModeFunc func(ctx context.Context, mode boardpb.PowerMode, duration *time.Duration) error
	// contains filtered or unexported fields
}

Board is an injected board.

func NewBoard added in v0.2.36 

func NewBoard(name string) *Board

NewBoard returns a new injected board.

func (*Board) AnalogReaderByName 

func (b *Board) AnalogReaderByName(name string) (board.AnalogReader, bool)

AnalogReaderByName calls the injected AnalogReaderByName or the real version.

func (*Board) AnalogReaderByNameCap 

func (b *Board) AnalogReaderByNameCap() []interface{}

AnalogReaderByNameCap returns the last parameters received by AnalogReaderByName, and then clears them.

func (*Board) AnalogReaderNames 

func (b *Board) AnalogReaderNames() []string

AnalogReaderNames calls the injected AnalogReaderNames or the real version.

func (*Board) Close 

func (b *Board) Close(ctx context.Context) error

Close calls the injected Close or the real version.

func (*Board) DigitalInterruptByName 

func (b *Board) DigitalInterruptByName(name string) (board.DigitalInterrupt, bool)

DigitalInterruptByName calls the injected DigitalInterruptByName or the real version.

func (*Board) DigitalInterruptByNameCap 

func (b *Board) DigitalInterruptByNameCap() []interface{}

DigitalInterruptByNameCap returns the last parameters received by DigitalInterruptByName, and then clears them.

func (*Board) DigitalInterruptNames 

func (b *Board) DigitalInterruptNames() []string

DigitalInterruptNames calls the injected DigitalInterruptNames or the real version.

func (*Board) DoCommand added in v0.1.0 

func (b *Board) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real version.

func (*Board) GPIOPinByName 

func (b *Board) GPIOPinByName(name string) (board.GPIOPin, error)

GPIOPinByName calls the injected GPIOPinByName or the real version.

func (*Board) GPIOPinByNameCap 

func (b *Board) GPIOPinByNameCap() []interface{}

GPIOPinByNameCap returns the last parameters received by GPIOPinByName, and then clears them.

func (*Board) GPIOPinNames 

func (b *Board) GPIOPinNames() []string

GPIOPinNames calls the injected GPIOPinNames or the real version.

func (*Board) I2CByName 

func (b *Board) I2CByName(name string) (board.I2C, bool)

I2CByName calls the injected I2CByName or the real version.

func (*Board) I2CNames 

func (b *Board) I2CNames() []string

I2CNames calls the injected SPINames or the real version.

func (*Board) Name added in v0.2.36 

func (b *Board) Name() resource.Name

Name returns the name of the resource.

func (*Board) SPIByName 

func (b *Board) SPIByName(name string) (board.SPI, bool)

SPIByName calls the injected SPIByName or the real version.

func (*Board) SPINames 

func (b *Board) SPINames() []string

SPINames calls the injected SPINames or the real version.

func (*Board) SetPowerMode added in v0.2.28 

func (b *Board) SetPowerMode(ctx context.Context, mode boardpb.PowerMode, duration *time.Duration) error

SetPowerMode sets the board to the given power mode. If provided, the board will exit the given power mode after the specified duration.

func (*Board) Status 

func (b *Board) Status(ctx context.Context, extra map[string]interface{}) (*commonpb.BoardStatus, error)

Status calls the injected Status or the real version.

func (*Board) StatusCap 

func (b *Board) StatusCap() []interface{}

StatusCap returns the last parameters received by Status, and then clears them.

type Camera 

type Camera struct {
	camera.Camera

	DoFunc     func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
	StreamFunc func(
		ctx context.Context,
		errHandlers ...gostream.ErrorHandler,
	) (gostream.VideoStream, error)
	NextPointCloudFunc func(ctx context.Context) (pointcloud.PointCloud, error)
	ProjectorFunc      func(ctx context.Context) (transform.Projector, error)
	PropertiesFunc     func(ctx context.Context) (camera.Properties, error)
	CloseFunc          func(ctx context.Context) error
	// contains filtered or unexported fields
}

Camera is an injected camera.

func NewCamera added in v0.2.36 

func NewCamera(name string) *Camera

NewCamera returns a new injected camera.

func (*Camera) Close 

func (c *Camera) Close(ctx context.Context) error

Close calls the injected Close or the real version.

func (*Camera) DoCommand added in v0.1.0 

func (c *Camera) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real version.

func (*Camera) Name added in v0.2.36 

func (c *Camera) Name() resource.Name

Name returns the name of the resource.

func (*Camera) NextPointCloud 

func (c *Camera) NextPointCloud(ctx context.Context) (pointcloud.PointCloud, error)

NextPointCloud calls the injected NextPointCloud or the real version.

func (*Camera) Projector added in v0.0.8 

func (c *Camera) Projector(ctx context.Context) (transform.Projector, error)

Projector calls the injected Projector or the real version.

func (*Camera) Properties added in v0.1.0 

func (c *Camera) Properties(ctx context.Context) (camera.Properties, error)

Properties calls the injected Properties or the real version.

func (*Camera) Stream added in v0.0.8 

func (c *Camera) Stream(
	ctx context.Context,
	errHandlers ...gostream.ErrorHandler,
) (gostream.VideoStream, error)

Stream calls the injected Stream or the real version.

type DataManagerService 

type DataManagerService struct {
	datamanager.Service

	SyncFunc      func(ctx context.Context, extra map[string]interface{}) error
	DoCommandFunc func(ctx context.Context,
		cmd map[string]interface{}) (map[string]interface{}, error)
	CloseFunc func(ctx context.Context) error
	// contains filtered or unexported fields
}

DataManagerService represents a fake instance of an data manager service.

func NewDataManagerService added in v0.2.36 

func NewDataManagerService(name string) *DataManagerService

NewDataManagerService returns a new injected data manager service.

func (*DataManagerService) Close added in v0.2.36 

func (svc *DataManagerService) Close(ctx context.Context) error

Close calls the injected Close or the real version.

func (*DataManagerService) DoCommand added in v0.2.20 

func (svc *DataManagerService) DoCommand(ctx context.Context,
	cmd map[string]interface{},
) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real variant.

func (*DataManagerService) Name added in v0.2.36 

func (svc *DataManagerService) Name() resource.Name

Name returns the name of the resource.

func (*DataManagerService) Sync 

func (svc *DataManagerService) Sync(ctx context.Context, extra map[string]interface{}) error

Sync calls the injected Sync or the real variant.

type DigitalInterrupt 

type DigitalInterrupt struct {
	board.DigitalInterrupt
	ValueFunc func(ctx context.Context, extra map[string]interface{}) (int64, error)

	TickFunc func(ctx context.Context, high bool, nanoseconds uint64) error

	AddCallbackFunc      func(c chan board.Tick)
	AddPostProcessorFunc func(pp board.PostProcessor)
	// contains filtered or unexported fields
}

DigitalInterrupt is an injected digital interrupt.

func (*DigitalInterrupt) AddCallback 

func (d *DigitalInterrupt) AddCallback(c chan board.Tick)

AddCallback calls the injected AddCallback or the real version.

func (*DigitalInterrupt) AddPostProcessor 

func (d *DigitalInterrupt) AddPostProcessor(pp board.PostProcessor)

AddPostProcessor calls the injected AddPostProcessor or the real version.

func (*DigitalInterrupt) Tick 

func (d *DigitalInterrupt) Tick(ctx context.Context, high bool, nanoseconds uint64) error

Tick calls the injected Tick or the real version.

func (*DigitalInterrupt) TickCap 

func (d *DigitalInterrupt) TickCap() []interface{}

TickCap returns the last parameters received by Tick, and then clears them.

func (*DigitalInterrupt) Value 

func (d *DigitalInterrupt) Value(ctx context.Context, extra map[string]interface{}) (int64, error)

Value calls the injected Value or the real version.

func (*DigitalInterrupt) ValueCap 

func (d *DigitalInterrupt) ValueCap() []interface{}

ValueCap returns the last parameters received by Value, and then clears them.

type Encoder added in v0.2.34 

type Encoder struct {
	encoder.Encoder

	DoFunc            func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
	ResetPositionFunc func(ctx context.Context, extra map[string]interface{}) error
	GetPositionFunc   func(ctx context.Context,
		positionType encoder.PositionType,
		extra map[string]interface{},
	) (float64, encoder.PositionType, error)
	GetPropertiesFunc func(ctx context.Context, extra map[string]interface{}) (map[encoder.Feature]bool, error)
	// contains filtered or unexported fields
}

Encoder is an injected encoder.

func NewEncoder added in v0.2.36 

func NewEncoder(name string) *Encoder

NewEncoder returns a new injected Encoder.

func (*Encoder) DoCommand added in v0.2.34 

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

DoCommand calls the injected DoCommand or the real version.

func (*Encoder) GetPosition added in v0.2.34 

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

GetPosition calls the injected GetPosition or the real version.

func (*Encoder) GetProperties added in v0.2.34 

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

GetProperties calls the injected Properties or the real version.

func (*Encoder) Name added in v0.2.36 

func (e *Encoder) Name() resource.Name

Name returns the name of the resource.

func (*Encoder) ResetPosition added in v0.2.34 

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

ResetPosition calls the injected Zero or the real version.

type GPIOPin 

type GPIOPin struct {
	board.GPIOPin

	SetFunc func(ctx context.Context, high bool, extra map[string]interface{}) error

	GetFunc func(ctx context.Context, extra map[string]interface{}) (bool, error)

	PWMFunc func(ctx context.Context, extra map[string]interface{}) (float64, error)

	SetPWMFunc func(ctx context.Context, dutyCyclePct float64, extra map[string]interface{}) error

	PWMFreqFunc func(ctx context.Context, extra map[string]interface{}) (uint, error)

	SetPWMFreqFunc func(ctx context.Context, freqHz uint, extra map[string]interface{}) error
	// contains filtered or unexported fields
}

GPIOPin is an injected GPIOPin.

func (*GPIOPin) Get 

func (gp *GPIOPin) Get(ctx context.Context, extra map[string]interface{}) (bool, error)

Get calls the injected Get or the real version.

func (*GPIOPin) GetCap 

func (gp *GPIOPin) GetCap() []interface{}

GetCap returns the last parameters received by Get, and then clears them.

func (*GPIOPin) PWM 

func (gp *GPIOPin) PWM(ctx context.Context, extra map[string]interface{}) (float64, error)

PWM calls the injected PWM or the real version.

func (*GPIOPin) PWMCap 

func (gp *GPIOPin) PWMCap() []interface{}

PWMCap returns the last parameters received by PWM, and then clears them.

func (*GPIOPin) PWMFreq 

func (gp *GPIOPin) PWMFreq(ctx context.Context, extra map[string]interface{}) (uint, error)

PWMFreq calls the injected PWMFreq or the real version.

func (*GPIOPin) PWMFreqCap 

func (gp *GPIOPin) PWMFreqCap() []interface{}

PWMFreqCap returns the last parameters received by PWMFreq, and then clears them.

func (*GPIOPin) Set 

func (gp *GPIOPin) Set(ctx context.Context, high bool, extra map[string]interface{}) error

Set calls the injected Set or the real version.

func (*GPIOPin) SetCap 

func (gp *GPIOPin) SetCap() []interface{}

SetCap returns the last parameters received by Set, and then clears them.

func (*GPIOPin) SetPWM 

func (gp *GPIOPin) SetPWM(ctx context.Context, dutyCyclePct float64, extra map[string]interface{}) error

SetPWM calls the injected SetPWM or the real version.

func (*GPIOPin) SetPWMCap 

func (gp *GPIOPin) SetPWMCap() []interface{}

SetPWMCap returns the last parameters received by SetPWM, and then clears them.

func (*GPIOPin) SetPWMFreq 

func (gp *GPIOPin) SetPWMFreq(ctx context.Context, freqHz uint, extra map[string]interface{}) error

SetPWMFreq calls the injected SetPWMFreq or the real version.

func (*GPIOPin) SetPWMFreqCap 

func (gp *GPIOPin) SetPWMFreqCap() []interface{}

SetPWMFreqCap returns the last parameters received by SetPWMFreq, and then clears them.

type Gantry 

type Gantry struct {
	gantry.Gantry

	DoFunc             func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
	PositionFunc       func(ctx context.Context, extra map[string]interface{}) ([]float64, error)
	MoveToPositionFunc func(ctx context.Context, pos []float64, extra map[string]interface{}) error
	LengthsFunc        func(ctx context.Context, extra map[string]interface{}) ([]float64, error)
	StopFunc           func(ctx context.Context, extra map[string]interface{}) error
	IsMovingFunc       func(context.Context) (bool, error)
	CloseFunc          func(ctx context.Context) error
	ModelFrameFunc     func() referenceframe.Model
	// contains filtered or unexported fields
}

Gantry is an injected gantry.

func NewGantry added in v0.2.36 

func NewGantry(name string) *Gantry

NewGantry returns a new injected gantry.

func (*Gantry) Close 

func (g *Gantry) Close(ctx context.Context) error

Close calls the injected Close or the real version.

func (*Gantry) DoCommand added in v0.1.0 

func (g *Gantry) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real version.

func (*Gantry) IsMoving 

func (g *Gantry) IsMoving(ctx context.Context) (bool, error)

IsMoving calls the injected IsMoving or the real version.

func (*Gantry) Lengths added in v0.1.0 

func (g *Gantry) Lengths(ctx context.Context, extra map[string]interface{}) ([]float64, error)

Lengths calls the injected Lengths or the real version.

func (*Gantry) ModelFrame 

func (g *Gantry) ModelFrame() referenceframe.Model

ModelFrame returns a Gantry ModelFrame.

func (*Gantry) MoveToPosition 

func (g *Gantry) MoveToPosition(ctx context.Context, positions []float64, extra map[string]interface{}) error

MoveToPosition calls the injected MoveToPosition or the real version.

func (*Gantry) Name added in v0.2.36 

func (g *Gantry) Name() resource.Name

Name returns the name of the resource.

func (*Gantry) Position added in v0.1.0 

func (g *Gantry) Position(ctx context.Context, extra map[string]interface{}) ([]float64, error)

Position calls the injected Position or the real version.

func (*Gantry) Stop 

func (g *Gantry) Stop(ctx context.Context, extra map[string]interface{}) error

Stop calls the injected Stop or the real version.

type Generic 

type Generic struct {
	resource.Resource

	DoFunc func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
	// contains filtered or unexported fields
}

Generic is an injectable Generic component.

func NewGeneric added in v0.2.36 

func NewGeneric(name string) *Generic

NewGeneric returns a new injected generic.

func (*Generic) DoCommand added in v0.1.0 

func (g *Generic) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real version.

func (*Generic) Name added in v0.2.36 

func (g *Generic) Name() resource.Name

Name returns the name of the resource.

type Gripper 

type Gripper struct {
	gripper.Gripper

	DoFunc       func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
	OpenFunc     func(ctx context.Context, extra map[string]interface{}) error
	GrabFunc     func(ctx context.Context, extra map[string]interface{}) (bool, error)
	StopFunc     func(ctx context.Context, extra map[string]interface{}) error
	IsMovingFunc func(context.Context) (bool, error)
	CloseFunc    func(ctx context.Context) error
	// contains filtered or unexported fields
}

Gripper is an injected gripper.

func NewGripper added in v0.2.36 

func NewGripper(name string) *Gripper

NewGripper returns a new injected gripper.

func (*Gripper) Close 

func (g *Gripper) Close(ctx context.Context) error

Close calls the injected Close or the real version.

func (*Gripper) DoCommand added in v0.1.0 

func (g *Gripper) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real version.

func (*Gripper) Grab 

func (g *Gripper) Grab(ctx context.Context, extra map[string]interface{}) (bool, error)

Grab calls the injected Grab or the real version.

func (*Gripper) IsMoving 

func (g *Gripper) IsMoving(ctx context.Context) (bool, error)

IsMoving calls the injected IsMoving or the real version.

func (*Gripper) Name added in v0.2.36 

func (g *Gripper) Name() resource.Name

Name returns the name of the resource.

func (*Gripper) Open 

func (g *Gripper) Open(ctx context.Context, extra map[string]interface{}) error

Open calls the injected Open or the real version.

func (*Gripper) Stop 

func (g *Gripper) Stop(ctx context.Context, extra map[string]interface{}) error

Stop calls the injected Stop or the real version.

type I2C 

type I2C struct {
	board.I2C
	OpenHandleFunc func(addr byte) (board.I2CHandle, error)
}

I2C is an injected I2C.

func (*I2C) OpenHandle 

func (s *I2C) OpenHandle(addr byte) (board.I2CHandle, error)

OpenHandle calls the injected OpenHandle or the real version.

type I2CHandle added in v0.2.25 

type I2CHandle struct {
	board.I2CHandle
	WriteFunc          func(ctx context.Context, tx []byte) error
	ReadFunc           func(ctx context.Context, count int) ([]byte, error)
	ReadByteDataFunc   func(ctx context.Context, register byte) (byte, error)
	WriteByteDataFunc  func(ctx context.Context, register, data byte) error
	ReadBlockDataFunc  func(ctx context.Context, register byte, numBytes uint8) ([]byte, error)
	WriteBlockDataFunc func(ctx context.Context, register byte, data []byte) error
	CloseFunc          func() error
}

I2CHandle is an injected I2CHandle.

func (*I2CHandle) Close added in v0.2.25 

func (handle *I2CHandle) Close() error

Close calls the injected CloseFunc or the real version.

func (*I2CHandle) Read added in v0.2.36 

func (handle *I2CHandle) Read(ctx context.Context, count int) ([]byte, error)

Read calls the injected ReadFunc or the real version.

func (*I2CHandle) ReadBlockData added in v0.2.25 

func (handle *I2CHandle) ReadBlockData(ctx context.Context, register byte, numBytes uint8) ([]byte, error)

ReadBlockData calls the injected ReadBlockDataFunc or the real version.

func (*I2CHandle) ReadByteData added in v0.2.36 

func (handle *I2CHandle) ReadByteData(ctx context.Context, register byte) (byte, error)

ReadByteData calls the injected ReadByteDataFunc or the real version.

func (*I2CHandle) Write added in v0.2.36 

func (handle *I2CHandle) Write(ctx context.Context, tx []byte) error

Write calls the injected WriteFunc or the real version.

func (*I2CHandle) WriteBlockData added in v0.2.36 

func (handle *I2CHandle) WriteBlockData(ctx context.Context, register byte, data []byte) error

WriteBlockData calls the injected WriteBlockDataFunc or the real version.

func (*I2CHandle) WriteByteData added in v0.2.25 

func (handle *I2CHandle) WriteByteData(ctx context.Context, register, data byte) error

WriteByteData calls the injected WriteByteDataFunc or the real version.

type InputController 

type InputController struct {
	input.Controller

	DoFunc                      func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
	ControlsFunc                func(ctx context.Context, extra map[string]interface{}) ([]input.Control, error)
	EventsFunc                  func(ctx context.Context, extra map[string]interface{}) (map[input.Control]input.Event, error)
	RegisterControlCallbackFunc func(
		ctx context.Context,
		control input.Control,
		triggers []input.EventType,
		ctrlFunc input.ControlFunction,
		extra map[string]interface{},
	) error
	// contains filtered or unexported fields
}

InputController is an injected InputController.

func NewInputController added in v0.2.36 

func NewInputController(name string) *InputController

NewInputController returns a new injected input controller.

func (*InputController) Controls added in v0.1.0 

func (s *InputController) Controls(ctx context.Context, extra map[string]interface{}) ([]input.Control, error)

Controls calls the injected function or the real version.

func (*InputController) DoCommand added in v0.1.0 

func (s *InputController) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real version.

func (*InputController) Events added in v0.1.0 

func (s *InputController) Events(ctx context.Context, extra map[string]interface{}) (map[input.Control]input.Event, error)

Events calls the injected function or the real version.

func (*InputController) Name added in v0.2.36 

func (s *InputController) Name() resource.Name

Name returns the name of the resource.

func (*InputController) RegisterControlCallback 

func (s *InputController) RegisterControlCallback(
	ctx context.Context,
	control input.Control,
	triggers []input.EventType,
	ctrlFunc input.ControlFunction,
	extra map[string]interface{},
) error

RegisterControlCallback calls the injected function or the real version.

type LocalMotor 

type LocalMotor struct {
	Motor
	GoTillStopFunc func(ctx context.Context, rpm float64, stopFunc func(ctx context.Context) bool) error
	IsMovingFunc   func(context.Context) (bool, error)
}

LocalMotor is an injected motor that supports additional features provided by RDK (e.g. GoTillStop).

func (*LocalMotor) GoTillStop 

func (m *LocalMotor) GoTillStop(
	ctx context.Context, rpm float64,
	stopFunc func(ctx context.Context) bool,
) error

GoTillStop calls the injected GoTillStop or the real version.

func (*LocalMotor) IsMoving 

func (m *LocalMotor) IsMoving(ctx context.Context) (bool, error)

IsMoving calls the injected IsMoving or the real version.

type MLModelService added in v0.2.34 

type MLModelService struct {
	mlmodel.Service

	InferFunc    func(ctx context.Context, input map[string]interface{}) (map[string]interface{}, error)
	MetadataFunc func(ctx context.Context) (mlmodel.MLMetadata, error)
	CloseFunc    func(ctx context.Context) error
	// contains filtered or unexported fields
}

MLModelService represents a fake instance of an MLModel service.

func NewMLModelService added in v0.2.36 

func NewMLModelService(name string) *MLModelService

NewMLModelService returns a new injected mlmodel service.

func (*MLModelService) Close added in v0.2.36 

func (s *MLModelService) Close(ctx context.Context) error

Close calls the injected Close or the real version.

func (*MLModelService) Infer added in v0.2.34 

func (s *MLModelService) Infer(ctx context.Context, input map[string]interface{}) (map[string]interface{}, error)

Infer calls the injected Infer or the real variant.

func (*MLModelService) Metadata added in v0.2.34 

func (s *MLModelService) Metadata(ctx context.Context) (mlmodel.MLMetadata, error)

Metadata calls the injected Metadata or the real variant.

func (*MLModelService) Name added in v0.2.36 

func (s *MLModelService) Name() resource.Name

Name returns the name of the resource.

type MotionService 

type MotionService struct {
	motion.Service

	MoveFunc func(
		ctx context.Context,
		componentName resource.Name,
		grabPose *referenceframe.PoseInFrame,
		worldState *referenceframe.WorldState,
		constraints *servicepb.Constraints,
		extra map[string]interface{},
	) (bool, error)
	MoveOnMapFunc func(
		ctx context.Context,
		componentName resource.Name,
		destination spatialmath.Pose,
		worldState *referenceframe.WorldState,
		slamName resource.Name,
		extra map[string]interface{},
	) (bool, error)
	MoveSingleComponentFunc func(
		ctx context.Context,
		componentName resource.Name,
		grabPose *referenceframe.PoseInFrame,
		worldState *referenceframe.WorldState,
		extra map[string]interface{},
	) (bool, error)
	GetPoseFunc func(
		ctx context.Context,
		componentName resource.Name,
		destinationFrame string,
		supplementalTransforms []*referenceframe.LinkInFrame,
		extra map[string]interface{},
	) (*referenceframe.PoseInFrame, error)
	DoCommandFunc func(ctx context.Context,
		cmd map[string]interface{}) (map[string]interface{}, error)
	CloseFunc func(ctx context.Context) error
	// contains filtered or unexported fields
}

MotionService represents a fake instance of an motion service.

func NewMotionService added in v0.2.36 

func NewMotionService(name string) *MotionService

NewMotionService returns a new injected motion service.

func (*MotionService) Close added in v0.2.36 

func (mgs *MotionService) Close(ctx context.Context) error

Close calls the injected Close or the real version.

func (*MotionService) DoCommand added in v0.2.20 

func (mgs *MotionService) DoCommand(ctx context.Context,
	cmd map[string]interface{},
) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real variant.

func (*MotionService) GetPose 

func (mgs *MotionService) GetPose(
	ctx context.Context,
	componentName resource.Name,
	destinationFrame string,
	supplementalTransforms []*referenceframe.LinkInFrame,
	extra map[string]interface{},
) (*referenceframe.PoseInFrame, error)

GetPose calls the injected GetPose or the real variant.

func (*MotionService) Move 

func (mgs *MotionService) Move(
	ctx context.Context,
	componentName resource.Name,
	destination *referenceframe.PoseInFrame,
	worldState *referenceframe.WorldState,
	constraints *servicepb.Constraints,
	extra map[string]interface{},
) (bool, error)

Move calls the injected Move or the real variant.

func (*MotionService) MoveOnMap added in v0.2.34 

func (mgs *MotionService) MoveOnMap(
	ctx context.Context,
	componentName resource.Name,
	destination spatialmath.Pose,
	slamName resource.Name,
	extra map[string]interface{},
) (bool, error)

MoveOnMap calls the inkected MoveOnMap or the real variant.

func (*MotionService) MoveSingleComponent added in v0.0.6 

func (mgs *MotionService) MoveSingleComponent(
	ctx context.Context,
	componentName resource.Name,
	destination *referenceframe.PoseInFrame,
	worldState *referenceframe.WorldState,
	extra map[string]interface{},
) (bool, error)

MoveSingleComponent calls the injected MoveSingleComponent or the real variant. It uses the same function as Move.

func (*MotionService) Name added in v0.2.36 

func (mgs *MotionService) Name() resource.Name

Name returns the name of the resource.

type Motor 

type Motor struct {
	motor.Motor

	DoFunc                func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
	SetPowerFunc          func(ctx context.Context, powerPct float64, extra map[string]interface{}) error
	GoForFunc             func(ctx context.Context, rpm, rotations float64, extra map[string]interface{}) error
	GoToFunc              func(ctx context.Context, rpm, position float64, extra map[string]interface{}) error
	ResetZeroPositionFunc func(ctx context.Context, offset float64, extra map[string]interface{}) error
	PositionFunc          func(ctx context.Context, extra map[string]interface{}) (float64, error)
	PropertiesFunc        func(ctx context.Context, extra map[string]interface{}) (map[motor.Feature]bool, error)
	StopFunc              func(ctx context.Context, extra map[string]interface{}) error
	IsPoweredFunc         func(ctx context.Context, extra map[string]interface{}) (bool, float64, error)
	// contains filtered or unexported fields
}

Motor is an injected motor.

func NewMotor added in v0.2.36 

func NewMotor(name string) *Motor

NewMotor returns a new injected motor.

func (*Motor) DoCommand added in v0.1.0 

func (m *Motor) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real version.

func (*Motor) GoFor 

func (m *Motor) GoFor(ctx context.Context, rpm, revolutions float64, extra map[string]interface{}) error

GoFor calls the injected GoFor or the real version.

func (*Motor) GoTo 

func (m *Motor) GoTo(ctx context.Context, rpm, positionRevolutions float64, extra map[string]interface{}) error

GoTo calls the injected GoTo or the real version.

func (*Motor) IsPowered 

func (m *Motor) IsPowered(ctx context.Context, extra map[string]interface{}) (bool, float64, error)

IsPowered calls the injected IsPowered or the real version.

func (*Motor) Name added in v0.2.36 

func (m *Motor) Name() resource.Name

Name returns the name of the resource.

func (*Motor) Position added in v0.1.0 

func (m *Motor) Position(ctx context.Context, extra map[string]interface{}) (float64, error)

Position calls the injected Position or the real version.

func (*Motor) Properties added in v0.1.0 

func (m *Motor) Properties(ctx context.Context, extra map[string]interface{}) (map[motor.Feature]bool, error)

Properties calls the injected Properties or the real version.

func (*Motor) ResetZeroPosition 

func (m *Motor) ResetZeroPosition(ctx context.Context, offset float64, extra map[string]interface{}) error

ResetZeroPosition calls the injected Zero or the real version.

func (*Motor) SetPower 

func (m *Motor) SetPower(ctx context.Context, powerPct float64, extra map[string]interface{}) error

SetPower calls the injected Power or the real version.

func (*Motor) Stop 

func (m *Motor) Stop(ctx context.Context, extra map[string]interface{}) error

Stop calls the injected Off or the real version.

type MovementSensor added in v0.0.6 

type MovementSensor struct {
	movementsensor.MovementSensor

	PositionFuncExtraCap        map[string]interface{}
	PositionFunc                func(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error)
	LinearVelocityFuncExtraCap  map[string]interface{}
	LinearVelocityFunc          func(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)
	AngularVelocityFuncExtraCap map[string]interface{}
	AngularVelocityFunc         func(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error)
	CompassHeadingFuncExtraCap  map[string]interface{}
	CompassHeadingFunc          func(ctx context.Context, extra map[string]interface{}) (float64, error)
	LinearAccelerationExtraCap  map[string]interface{}
	LinearAccelerationFunc      func(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)
	OrientationFuncExtraCap     map[string]interface{}
	OrientationFunc             func(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error)
	PropertiesFuncExtraCap      map[string]interface{}
	PropertiesFunc              func(ctx context.Context, extra map[string]interface{}) (*movementsensor.Properties, error)
	AccuracyFuncExtraCap        map[string]interface{}
	AccuracyFunc                func(ctx context.Context, extra map[string]interface{}) (map[string]float32, error)

	DoFunc    func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
	CloseFunc func() error
	// contains filtered or unexported fields
}

MovementSensor is an injected MovementSensor.

func NewMovementSensor added in v0.2.36 

func NewMovementSensor(name string) *MovementSensor

NewMovementSensor returns a new injected movement sensor.

func (*MovementSensor) Accuracy added in v0.2.0 

func (i *MovementSensor) Accuracy(ctx context.Context, extra map[string]interface{}) (map[string]float32, error)

Accuracy func or passthrough.

func (*MovementSensor) AngularVelocity added in v0.1.0 

func (i *MovementSensor) AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error)

AngularVelocity func or passthrough.

func (*MovementSensor) Close added in v0.0.6 

func (i *MovementSensor) Close(ctx context.Context) error

Close calls the injected Close or the real version.

func (*MovementSensor) CompassHeading added in v0.1.0 

func (i *MovementSensor) CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error)

CompassHeading func or passthrough.

func (*MovementSensor) DoCommand added in v0.1.0 

func (i *MovementSensor) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real version.

func (*MovementSensor) LinearAcceleration added in v0.2.11 

func (i *MovementSensor) LinearAcceleration(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)

LinearAcceleration func or passthrough.

func (*MovementSensor) LinearVelocity added in v0.1.0 

func (i *MovementSensor) LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)

LinearVelocity func or passthrough.

func (*MovementSensor) Name added in v0.2.36 

func (i *MovementSensor) Name() resource.Name

Name returns the name of the resource.

func (*MovementSensor) Orientation added in v0.1.0 

func (i *MovementSensor) Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error)

Orientation func or passthrough.

func (*MovementSensor) Position added in v0.1.0 

func (i *MovementSensor) Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error)

Position func or passthrough.

func (*MovementSensor) Properties added in v0.2.0 

func (i *MovementSensor) Properties(ctx context.Context, extra map[string]interface{}) (*movementsensor.Properties, error)

Properties func or passthrough. 

type NavigationService struct {
	navigation.Service

	ModeFunc    func(ctx context.Context, extra map[string]interface{}) (navigation.Mode, error)
	SetModeFunc func(ctx context.Context, mode navigation.Mode, extra map[string]interface{}) error

	LocationFunc func(ctx context.Context, extra map[string]interface{}) (*geo.Point, error)

	WaypointsFunc      func(ctx context.Context, extra map[string]interface{}) ([]navigation.Waypoint, error)
	AddWaypointFunc    func(ctx context.Context, point *geo.Point, extra map[string]interface{}) error
	RemoveWaypointFunc func(ctx context.Context, id primitive.ObjectID, extra map[string]interface{}) error
	DoCommandFunc      func(ctx context.Context,
		cmd map[string]interface{}) (map[string]interface{}, error)
	CloseFunc func(ctx context.Context) error
	// contains filtered or unexported fields
}

NavigationService represents a fake instance of a navigation service.

func NewNavigationService added in v0.2.36 

func NewNavigationService(name string) *NavigationService

NewNavigationService returns a new injected navigation service. 

func (ns *NavigationService) AddWaypoint(ctx context.Context, point *geo.Point, extra map[string]interface{}) error

AddWaypoint calls the injected AddWaypointFunc or the real version. 

func (ns *NavigationService) Close(ctx context.Context) error

Close calls the injected Close or the real version. 

func (ns *NavigationService) DoCommand(ctx context.Context,
	cmd map[string]interface{},
) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real variant. 

func (ns *NavigationService) Location(ctx context.Context, extra map[string]interface{}) (*geo.Point, error)

Location calls the injected LocationFunc or the real version. 

func (ns *NavigationService) Mode(ctx context.Context, extra map[string]interface{}) (navigation.Mode, error)

Mode calls the injected ModeFunc or the real version. 

func (ns *NavigationService) Name() resource.Name

Name returns the name of the resource. 

func (ns *NavigationService) RemoveWaypoint(ctx context.Context, id primitive.ObjectID, extra map[string]interface{}) error

RemoveWaypoint calls the injected RemoveWaypointFunc or the real version. 

func (ns *NavigationService) SetMode(ctx context.Context, mode navigation.Mode, extra map[string]interface{}) error

SetMode calls the injected SetModeFunc or the real version. 

func (ns *NavigationService) Waypoints(ctx context.Context, extra map[string]interface{}) ([]navigation.Waypoint, error)

Waypoints calls the injected WaypointsFunc or the real version.

type PoseTracker 

type PoseTracker struct {
	posetracker.PoseTracker

	PosesFunc func(ctx context.Context, bodyNames []string, extra map[string]interface{}) (posetracker.BodyToPoseInFrame, error)
	DoFunc    func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
	// contains filtered or unexported fields
}

PoseTracker is an injected pose tracker.

func NewPoseTracker added in v0.2.36 

func NewPoseTracker(name string) *PoseTracker

NewPoseTracker returns a new injected pose tracker.

func (*PoseTracker) DoCommand added in v0.1.1 

func (pT *PoseTracker) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real version.

func (*PoseTracker) Name added in v0.2.36 

func (pT *PoseTracker) Name() resource.Name

Name returns the name of the resource.

func (*PoseTracker) Poses added in v0.1.1 

func (pT *PoseTracker) Poses(
	ctx context.Context, bodyNames []string, extra map[string]interface{},
) (posetracker.BodyToPoseInFrame, error)

Poses calls the injected Poses or the real version.

type ReadWriteCloser 

type ReadWriteCloser struct {
	io.ReadWriteCloser
	ReadFunc  func(p []byte) (n int, err error)
	WriteFunc func(p []byte) (n int, err error)
	CloseFunc func() error
}

ReadWriteCloser is an injected read write closer.

func (*ReadWriteCloser) Close 

func (rwc *ReadWriteCloser) Close() error

Close calls the injected Close or the real version.

func (*ReadWriteCloser) Read 

func (rwc *ReadWriteCloser) Read(p []byte) (n int, err error)

Read calls the injected Read or the real version.

func (*ReadWriteCloser) Write 

func (rwc *ReadWriteCloser) Write(p []byte) (n int, err error)

Write calls the injected Write or the real version.

type Robot 

type Robot struct {
	robot.LocalRobot
	Mu                     sync.RWMutex // Ugly, has to be manually locked if a test means to swap funcs on an in-use robot.
	DiscoverComponentsFunc func(ctx context.Context, keys []resource.DiscoveryQuery) ([]resource.Discovery, error)
	RemoteByNameFunc       func(name string) (robot.Robot, bool)
	ResourceByNameFunc     func(name resource.Name) (resource.Resource, error)
	RemoteNamesFunc        func() []string
	ResourceNamesFunc      func() []resource.Name
	ResourceRPCAPIsFunc    func() []resource.RPCAPI
	ProcessManagerFunc     func() pexec.ProcessManager
	ConfigFunc             func(ctx context.Context) (*config.Config, error)
	LoggerFunc             func() golog.Logger
	CloseFunc              func(ctx context.Context) error
	StopAllFunc            func(ctx context.Context, extra map[resource.Name]map[string]interface{}) error
	FrameSystemConfigFunc  func(ctx context.Context, additionalTransforms []*referenceframe.LinkInFrame) (framesystemparts.Parts, error)
	TransformPoseFunc      func(
		ctx context.Context,
		pose *referenceframe.PoseInFrame,
		dst string,
		additionalTransforms []*referenceframe.LinkInFrame,
	) (*referenceframe.PoseInFrame, error)
	TransformPointCloudFunc func(ctx context.Context, srcpc pointcloud.PointCloud, srcName, dstName string) (pointcloud.PointCloud, error)
	StatusFunc              func(ctx context.Context, resourceNames []resource.Name) ([]robot.Status, error)
	ModuleAddressFunc       func() (string, error)
	ModuleManagerFunc       func() modmaninterface.ModuleManager

	SessMgr    session.Manager
	PackageMgr packages.Manager
	// contains filtered or unexported fields
}

Robot is an injected robot.

func (*Robot) Close 

func (r *Robot) Close(ctx context.Context) error

Close calls the injected Close or the real version.

func (*Robot) Config 

func (r *Robot) Config(ctx context.Context) (*config.Config, error)

Config calls the injected Config or the real version.

func (*Robot) DiscoverComponents 

func (r *Robot) DiscoverComponents(ctx context.Context, keys []resource.DiscoveryQuery) ([]resource.Discovery, error)

DiscoverComponents calls the injected DiscoverComponents or the real one.

func (*Robot) FrameSystemConfig 

func (r *Robot) FrameSystemConfig(ctx context.Context, additionalTransforms []*referenceframe.LinkInFrame) (framesystemparts.Parts, error)

FrameSystemConfig calls the injected FrameSystemConfig or the real version.

func (*Robot) Logger 

func (r *Robot) Logger() golog.Logger

Logger calls the injected Logger or the real version.

func (*Robot) MockResourcesFromMap 

func (r *Robot) MockResourcesFromMap(rs map[resource.Name]resource.Resource)

MockResourcesFromMap mocks ResourceNames and ResourceByName based on a resource map.

func (*Robot) ModuleAddress added in v0.2.8 

func (r *Robot) ModuleAddress() (string, error)

ModuleAddress calls the injected ModuleAddress or the real one.

func (*Robot) ModuleManager added in v0.2.8 

func (r *Robot) ModuleManager() modmaninterface.ModuleManager

ModuleManager calls the injected ModuleManager or the real one.

func (*Robot) OperationManager 

func (r *Robot) OperationManager() *operation.Manager

OperationManager calls the injected OperationManager or the real version.

func (*Robot) PackageManager added in v0.2.15 

func (r *Robot) PackageManager() packages.Manager

PackageManager calls the injected PackageManager or the real version.

func (*Robot) ProcessManager 

func (r *Robot) ProcessManager() pexec.ProcessManager

ProcessManager calls the injected ProcessManager or the real version.

func (*Robot) RemoteByName 

func (r *Robot) RemoteByName(name string) (robot.Robot, bool)

RemoteByName calls the injected RemoteByName or the real version.

func (*Robot) RemoteNames 

func (r *Robot) RemoteNames() []string

RemoteNames calls the injected RemoteNames or the real version.

func (*Robot) ResourceByName 

func (r *Robot) ResourceByName(name resource.Name) (resource.Resource, error)

ResourceByName calls the injected ResourceByName or the real version.

func (*Robot) ResourceNames 

func (r *Robot) ResourceNames() []resource.Name

ResourceNames calls the injected ResourceNames or the real version.

func (*Robot) ResourceRPCAPIs added in v0.2.36 

func (r *Robot) ResourceRPCAPIs() []resource.RPCAPI

ResourceRPCAPIs returns a list of all known resource RPC APIs.

func (*Robot) SessionManager added in v0.2.5 

func (r *Robot) SessionManager() session.Manager

SessionManager calls the injected SessionManager or the real version.

func (*Robot) Status added in v0.1.0 

func (r *Robot) Status(ctx context.Context, resourceNames []resource.Name) ([]robot.Status, error)

Status call the injected Status or the real one.

func (*Robot) StopAll 

func (r *Robot) StopAll(ctx context.Context, extra map[resource.Name]map[string]interface{}) error

StopAll calls the injected StopAll or the real version.

func (*Robot) TransformPointCloud added in v0.2.11 

func (r *Robot) TransformPointCloud(ctx context.Context, srcpc pointcloud.PointCloud, srcName, dstName string,
) (pointcloud.PointCloud, error)

TransformPointCloud calls the injected TransformPointCloud or the real version.

func (*Robot) TransformPose 

func (r *Robot) TransformPose(
	ctx context.Context,
	pose *referenceframe.PoseInFrame,
	dst string,
	additionalTransforms []*referenceframe.LinkInFrame,
) (*referenceframe.PoseInFrame, error)

TransformPose calls the injected TransformPose or the real version.

type SLAMService 

type SLAMService struct {
	slam.Service

	GetPositionFunc      func(ctx context.Context) (spatialmath.Pose, string, error)
	GetPointCloudMapFunc func(ctx context.Context) (func() ([]byte, error), error)
	GetInternalStateFunc func(ctx context.Context) (func() ([]byte, error), error)
	DoCommandFunc        func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
	CloseFunc            func(ctx context.Context) error
	// contains filtered or unexported fields
}

SLAMService represents a fake instance of a slam service.

func NewSLAMService added in v0.2.36 

func NewSLAMService(name string) *SLAMService

NewSLAMService returns a new injected SLAM service.

func (*SLAMService) Close added in v0.2.36 

func (slamSvc *SLAMService) Close(ctx context.Context) error

Close calls the injected Close or the real version.

func (*SLAMService) DoCommand added in v0.2.20 

func (slamSvc *SLAMService) DoCommand(ctx context.Context,
	cmd map[string]interface{},
) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real variant.

func (*SLAMService) GetInternalState added in v0.2.15 

func (slamSvc *SLAMService) GetInternalState(ctx context.Context) (func() ([]byte, error), error)

GetInternalState calls the injected GetInternalState or the real version.

func (*SLAMService) GetPointCloudMap added in v0.2.32 

func (slamSvc *SLAMService) GetPointCloudMap(ctx context.Context) (func() ([]byte, error), error)

GetPointCloudMap calls the injected GetPointCloudMap or the real version.

func (*SLAMService) GetPosition 

func (slamSvc *SLAMService) GetPosition(ctx context.Context) (spatialmath.Pose, string, error)

GetPosition calls the injected GetPositionFunc or the real version.

func (*SLAMService) Name added in v0.2.36 

func (slamSvc *SLAMService) Name() resource.Name

Name returns the name of the resource.

type SPI 

type SPI struct {
	board.SPI
	OpenHandleFunc func() (board.SPIHandle, error)
}

SPI is an injected SPI.

func (*SPI) OpenHandle 

func (s *SPI) OpenHandle() (board.SPIHandle, error)

OpenHandle calls the injected OpenHandle or the real version.

type Sensor 

type Sensor struct {
	sensor.Sensor

	DoFunc       func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
	ReadingsFunc func(ctx context.Context, extra map[string]interface{}) (map[string]interface{}, error)
	// contains filtered or unexported fields
}

Sensor is an injected sensor.

func NewSensor added in v0.2.36 

func NewSensor(name string) *Sensor

NewSensor returns a new injected sensor.

func (*Sensor) DoCommand added in v0.1.0 

func (s *Sensor) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real version.

func (*Sensor) Name added in v0.2.36 

func (s *Sensor) Name() resource.Name

Name returns the name of the resource.

func (*Sensor) Readings added in v0.1.0 

func (s *Sensor) Readings(ctx context.Context, extra map[string]interface{}) (map[string]interface{}, error)

Readings calls the injected Readings or the real version.

type SensorsService 

type SensorsService struct {
	sensors.Service

	SensorsFunc   func(ctx context.Context, extra map[string]interface{}) ([]resource.Name, error)
	ReadingsFunc  func(ctx context.Context, resources []resource.Name, extra map[string]interface{}) ([]sensors.Readings, error)
	DoCommandFunc func(ctx context.Context,
		cmd map[string]interface{}) (map[string]interface{}, error)
	// contains filtered or unexported fields
}

SensorsService represents a fake instance of a sensors service.

func NewSensorsService added in v0.2.36 

func NewSensorsService(name string) *SensorsService

NewSensorsService returns a new injected sensors service.

func (*SensorsService) DoCommand added in v0.2.20 

func (s *SensorsService) DoCommand(ctx context.Context,
	cmd map[string]interface{},
) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real variant.

func (*SensorsService) Name added in v0.2.36 

func (s *SensorsService) Name() resource.Name

Name returns the name of the resource.

func (*SensorsService) Readings added in v0.1.0 

func (s *SensorsService) Readings(ctx context.Context, names []resource.Name, extra map[string]interface{}) ([]sensors.Readings, error)

Readings call the injected Readings or the real one.

func (*SensorsService) Sensors added in v0.1.0 

func (s *SensorsService) Sensors(ctx context.Context, extra map[string]interface{}) ([]resource.Name, error)

Sensors call the injected Sensors or the real one.

type Servo 

type Servo struct {
	servo.Servo

	DoFunc       func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
	MoveFunc     func(ctx context.Context, angleDeg uint32, extra map[string]interface{}) error
	PositionFunc func(ctx context.Context, extra map[string]interface{}) (uint32, error)
	StopFunc     func(ctx context.Context, extra map[string]interface{}) error
	IsMovingFunc func(context.Context) (bool, error)
	// contains filtered or unexported fields
}

Servo is an injected servo.

func NewServo added in v0.2.36 

func NewServo(name string) *Servo

NewServo returns a new injected servo.

func (*Servo) DoCommand added in v0.1.0 

func (s *Servo) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real version.

func (*Servo) IsMoving 

func (s *Servo) IsMoving(ctx context.Context) (bool, error)

IsMoving calls the injected IsMoving or the real version.

func (*Servo) Move 

func (s *Servo) Move(ctx context.Context, angleDeg uint32, extra map[string]interface{}) error

Move calls the injected Move or the real version.

func (*Servo) Name added in v0.2.36 

func (s *Servo) Name() resource.Name

Name returns the name of the resource.

func (*Servo) Position added in v0.1.0 

func (s *Servo) Position(ctx context.Context, extra map[string]interface{}) (uint32, error)

Position calls the injected Current or the real version.

func (*Servo) Stop 

func (s *Servo) Stop(ctx context.Context, extra map[string]interface{}) error

Stop calls the injected Stop or the real version.

type ShellService added in v0.2.20 

type ShellService struct {
	shell.Service

	DoCommandFunc func(ctx context.Context,
		cmd map[string]interface{}) (map[string]interface{}, error)
	ReconfigureFunc func(ctx context.Context, deps resource.Dependencies, conf resource.Config) error
	CloseFunc       func(ctx context.Context) error
	// contains filtered or unexported fields
}

ShellService represents a fake instance of a shell service.

func NewShellService added in v0.2.36 

func NewShellService(name string) *ShellService

NewShellService returns a new injected shell service.

func (*ShellService) Close added in v0.2.36 

func (s *ShellService) Close(ctx context.Context) error

Close calls the injected Close or the real version.

func (*ShellService) DoCommand added in v0.2.20 

func (s *ShellService) DoCommand(ctx context.Context,
	cmd map[string]interface{},
) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real variant.

func (*ShellService) Name added in v0.2.36 

func (s *ShellService) Name() resource.Name

Name returns the name of the resource.

func (*ShellService) Reconfigure added in v0.2.36 

func (s *ShellService) Reconfigure(ctx context.Context, deps resource.Dependencies, conf resource.Config) error

Reconfigure calls the injected Reconfigure or the real variant.

type TriggerableInputController 

type TriggerableInputController struct {
	InputController
	input.Triggerable

	TriggerEventFunc func(ctx context.Context, event input.Event, extra map[string]interface{}) error
}

TriggerableInputController is an injected injectable InputController.

func (*TriggerableInputController) TriggerEvent 

func (s *TriggerableInputController) TriggerEvent(ctx context.Context, event input.Event, extra map[string]interface{}) error

TriggerEvent calls the injected function or the real version.

type VisionService 

type VisionService struct {
	vision.Service

	DetectionsFromCameraFunc func(
		ctx context.Context, cameraName string, extra map[string]interface{},
	) ([]objectdetection.Detection, error)
	DetectionsFunc func(
		ctx context.Context, img image.Image, extra map[string]interface{},
	) ([]objectdetection.Detection, error)
	// classification functions
	ClassificationsFromCameraFunc func(ctx context.Context, cameraName string,
		n int, extra map[string]interface{}) (classification.Classifications, error)
	ClassificationsFunc func(ctx context.Context, img image.Image,
		n int, extra map[string]interface{}) (classification.Classifications, error)
	// segmentation functions
	GetObjectPointCloudsFunc func(ctx context.Context, cameraName string, extra map[string]interface{}) ([]*viz.Object, error)
	DoCommandFunc            func(ctx context.Context,
		cmd map[string]interface{}) (map[string]interface{}, error)
	CloseFunc func(ctx context.Context) error
	// contains filtered or unexported fields
}

VisionService represents a fake instance of a vision service.

func NewVisionService added in v0.2.36 

func NewVisionService(name string) *VisionService

NewVisionService returns a new injected vision service.

func (*VisionService) Classifications added in v0.1.0 

func (vs *VisionService) Classifications(ctx context.Context, img image.Image,
	n int, extra map[string]interface{},
) (classification.Classifications, error)

Classifications calls the injected Classifier or the real variant.

func (*VisionService) ClassificationsFromCamera added in v0.1.0 

func (vs *VisionService) ClassificationsFromCamera(ctx context.Context,
	cameraName string, n int, extra map[string]interface{},
) (classification.Classifications, error)

ClassificationsFromCamera calls the injected Classifer or the real variant.

func (*VisionService) Close added in v0.2.36 

func (vs *VisionService) Close(ctx context.Context) error

Close calls the injected Close or the real version.

func (*VisionService) Detections added in v0.1.0 

func (vs *VisionService) Detections(ctx context.Context, img image.Image, extra map[string]interface{},
) ([]objectdetection.Detection, error)

Detections calls the injected Detect or the real variant.

func (*VisionService) DetectionsFromCamera added in v0.1.0 

func (vs *VisionService) DetectionsFromCamera(ctx context.Context, cameraName string, extra map[string]interface{},
) ([]objectdetection.Detection, error)

DetectionsFromCamera calls the injected DetectionsFromCamera or the real variant.

func (*VisionService) DoCommand added in v0.2.20 

func (vs *VisionService) DoCommand(ctx context.Context,
	cmd map[string]interface{},
) (map[string]interface{}, error)

DoCommand calls the injected DoCommand or the real variant.

func (*VisionService) GetObjectPointClouds 

func (vs *VisionService) GetObjectPointClouds(
	ctx context.Context,
	cameraName string, extra map[string]interface{},
) ([]*viz.Object, error)

GetObjectPointClouds calls the injected GetObjectPointClouds or the real variant.

func (*VisionService) Name added in v0.2.36 

func (vs *VisionService) Name() resource.Name

Name returns the name of the resource.

Source Files

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