Documentation ¶
Overview ¶
Package utils contains all utility functions that currently have no better home than here. Consider moving them to go.viam.com/utils.
Index ¶
- Constants
- Variables
- func AbsInt(n int) int
- func AbsInt64(n int64) int64
- func AngleDiffDeg(a1, a2 float64) float64
- func AntiCWDeg(deg float64) float64
- func AssertType[T any](from interface{}) (T, error)
- func BytesFromFloat32BE(v float32) []byte
- func BytesFromFloat32LE(v float32) []byte
- func BytesFromFloat64BE(v float64) []byte
- func BytesFromFloat64LE(v float64) []byte
- func BytesFromUint32BE(v uint32) []byte
- func BytesFromUint32LE(v uint32) []byte
- func CheckLazyMIMEType(mimeType string) (string, bool)
- func Clamp(value, min, max float64) float64
- func ComputeDistance(p1, p2 []float64, distType DistanceType) (float64, error)
- func ContextualMain[L utils.ILogger](main func(ctx context.Context, args []string, logger L) error, logger L)
- func CubeRoot(x float64) float64
- func CycleIntSliceByN(s []int, n int) []int
- func DegToRad(degrees float64) float64
- func EuclideanDistance(p1, p2 []float64) (float64, error)
- func FilterMap[K comparable, V any](orig map[K]V, predicate func(K, V) bool) map[K]V
- func FilterSlice[T any](orig []T, predicate func(T) bool) []T
- func FindInSlice[T any](items []T, predicate func(T) bool) *T
- func Float32AlmostEqual(a, b, epsilon float32) bool
- func Float32FromBytesBE(bytes []byte) float32
- func Float32FromBytesLE(bytes []byte) float32
- func Float64AlmostEqual(a, b, epsilon float64) bool
- func Float64FromBytesBE(bytes []byte) float64
- func Float64FromBytesLE(bytes []byte) float64
- func FlushChan[T any](c chan T)
- func GetArgMinDistancesPerRow(distances *mat.Dense) []int
- func GetArgMinDistancesPerRowInt(distances [][]int) []int
- func GetDeviceInfo(modelName string) (utils.StringSet, error)
- func GetInParallel(ctx context.Context, fs []FloatFunc) (time.Duration, []float64, error)
- func GetModuleStartupTimeout(logger logging.Logger) time.Duration
- func GetResourceConfigurationTimeout(logger logging.Logger) time.Duration
- func GroupWorkParallel(ctx context.Context, totalSize int, before BeforeParallelGroupWorkFunc, ...) error
- func HammingDistance(p1, p2 []float64) (float64, error)
- func Int16FromBytesBE(bytes []byte) int16
- func Int16FromBytesLE(bytes []byte) int16
- func IsTrustedEnvironment(ctx context.Context) bool
- func MMToMeters(mm float64) float64
- func MapOver[T, U any](items []T, fn func(T) (U, error)) ([]U, error)
- func MaxInt(a, b int) int
- func MaxUint8(a, b uint8) uint8
- func Median(values ...float64) float64
- func MetersToMM(m float64) float64
- func MinInt(a, b int) int
- func MinUint8(a, b uint8) uint8
- func ModAngDeg(ang float64) float64
- func NewBuildTimeoutError(name string) error
- func NewConfigValidationError(path string, err error) error
- func NewConfigValidationFieldRequiredError(path, field string) error
- func NewFilePathDebugLogger(filepath, name string) (logging.Logger, error)
- func NewModuleStartUpTimeoutError(name string) error
- func NewRemoteResourceClashError(name string) error
- func NewUnexpectedTypeError[ExpectedT any](actual interface{}) error
- func NewWeakDependenciesUpdateTimeoutError(name string) error
- func PairwiseDistance(pts1, pts2 [][]float64, distType DistanceType) (*mat.Dense, error)
- func ParallelForEachPixel(size image.Point, f func(x, y int))
- func PlatformHomeDir() string
- func PlatformMkdirTemp(dir, pattern string) (string, error)
- func RadToDeg(radians float64) float64
- func RemoveFileNoError(path string)
- func ResolveFile(fn string) string
- func RunInParallel(ctx context.Context, fs []SimpleFunc) (time.Duration, error)
- func SafeJoinDir(parent, subdir string) (string, error)
- func SampleNIntegersNormal(n int, vMin, vMax float64) []int
- func SampleNIntegersUniform(n int, vMin, vMax float64) []int
- func SampleNRegularlySpaced(n int, vMin, vMax float64) []int
- func SampleRandomIntRange(min, max int, r *rand.Rand) int
- func SanitizePath(path string) string
- func ScaleByPct(n int, pct float64) int
- func SelectNIndicesWithoutReplacement(nSamples, nMax int) ([]int, error)
- func Single(dim int, x []float64) [][]float64
- func SlowStartupLogger(ctx context.Context, msg, fieldName, fieldVal string, logger logging.Logger) func()
- func Square(n float64) float64
- func SquareInt(n int) int
- func SubFor(sub []int, idx int, dims []int) []int
- func Testing() bool
- func Transpose(slice [][]int) [][]int
- func TypeStr[T any]() string
- func Uint32FromBytesBE(bytes []byte) uint32
- func Uint32FromBytesLE(bytes []byte) uint32
- func ValidateBaudRate(validBaudRates []uint, baudRate int) bool
- func ValidateModuleName(name string) error
- func ValidatePackageName(name string) error
- func ValidateRemoteName(name string) error
- func ValidateResourceName(name string) error
- func Walk(middleX, middleY, maxRadius int, f WalkCallback) error
- func WithEntityCredentials(entity string, creds Credentials) goutils.DialOption
- func WithLazyMIMEType(mimeType string) string
- func WithTrustedEnvironment(ctx context.Context, trusted bool) (context.Context, error)
- type AttributeMap
- func (am AttributeMap) Bool(name string, def bool) bool
- func (am AttributeMap) BoolSlice(name string, def bool) []bool
- func (am AttributeMap) Float64(name string, def float64) float64
- func (am AttributeMap) Float64Slice(name string) []float64
- func (am AttributeMap) Has(name string) bool
- func (am AttributeMap) Int(name string, def int) int
- func (am AttributeMap) IntSlice(name string) []int
- func (am AttributeMap) String(name string) string
- func (am AttributeMap) StringSlice(name string) []string
- func (am AttributeMap) Walk(visitor Visitor) (interface{}, error)
- type BeforeParallelGroupWorkFunc
- type CLFBaseMessage
- type CLFMessage
- type CLFMessageType
- type CLFOdometryMessage
- type CLFOldLaserMessage
- type CLFParamMessage
- type CLFReader
- type Credentials
- type CredentialsType
- type DistanceType
- type FloatFunc
- type GroupWorkDoneFunc
- type GroupWorkFunc
- type Guard
- type MemberWorkFunc
- type Rand
- type RollingAverage
- type SimpleFunc
- type StoppableWorkers
- type TypedName
- type Vec2Fs
- type Vec2Matrix
- type Visitor
- type WalkCallback
- type Walker
Constants ¶
const ( // CredentialsTypeRobotSecret is for credentials used against the cloud managing this robot. CredentialsTypeRobotSecret = "robot-secret" // CredentialsTypeRobotLocationSecret is for credentials used against the cloud managing this robot's location. CredentialsTypeRobotLocationSecret = "robot-location-secret" // CredentialsTypeAPIKey is intended for by external users, human and computer. CredentialsTypeAPIKey = goutils.CredentialsTypeAPIKey // CredentialsTypeExternal is for credentials that are to be produced by some // external authentication endpoint (see ExternalAuthService#AuthenticateTo) intended // for another, different consumer at a different endpoint. CredentialsTypeExternal = goutils.CredentialsTypeExternal )
const ( CLFMessageTypeParam = CLFMessageType("PARAM") CLFMessageTypeComment = CLFMessageType("COMMENT") CLFMessageTypeSync = CLFMessageType("SYNC") CLFMessageTypeOdometry = CLFMessageType("ODOM") CLFMessageTypeTruePos = CLFMessageType("TRUEPOS") CLFMessageTypeRawLaser1 = CLFMessageType("RAWLASER1") CLFMessageTypeRawLaser2 = CLFMessageType("RAWLASER2") CLFMessageTypeRawLaser3 = CLFMessageType("RAWLASER3") CLFMessageTypeRawLaser4 = CLFMessageType("RAWLASER4") CLFMessageTypePositionLaser = CLFMessageType("POSITIONLASER") CLFMessageTypeRobotLaser1 = CLFMessageType("ROBOTLASER1") CLFMessageTypeRobotLaser2 = CLFMessageType("ROBOTLASER2") CLFMessageTypeNMEAGGA = CLFMessageType("NMEAGGA") CLFMessageTypeNMEARMC = CLFMessageType("NMEARMC") CLFMessageTypeSonar = CLFMessageType("SONAR") CLFMessageTypeBumper = CLFMessageType("BUMPER") CLFMessageTypeScanMark = CLFMessageType("SCANMARK") CLFMessageTypeIMU = CLFMessageType("IMU") CLFMessageTypeVectorMove = CLFMessageType("VECTORMOVE") CLFMessageTypeRobotVelocity = CLFMessageType("ROBOTVELOCITY") CLFMessageTypeFollowTrajectory = CLFMessageType("FOLLOWTRAJECTORY") CLFMessageTypeBaseVelocity = CLFMessageType("BASEVELOCITY") CLFMessageTypeOld = CLFMessageType("OLD") CLFMessageTypeFrontLaser = CLFMessageType("FLASER") CLFMessageTypeRearLaser = CLFMessageType("RLASER") CLFMessageTypeLaser3 = CLFMessageType("LASER3") CLFMessageTypeLaser4 = CLFMessageType("LASER4") CLFMessageTypeRemissionFLaser = CLFMessageType("REMISSIONFLASER") CLFMessageTypeRemissionRLaser = CLFMessageType("REMISSIONRLASER") CLFMessageTypeRemissionLaser3 = CLFMessageType("REMISSIONLASER3") CLFMessageTypeRemissionLaser4 = CLFMessageType("REMISSIONLASER4") )
known message types.
const ( // DefaultResourceConfigurationTimeout is the default resource configuration // timeout. DefaultResourceConfigurationTimeout = time.Minute // ResourceConfigurationTimeoutEnvVar is the environment variable that can // be set to override DefaultResourceConfigurationTimeout as the duration // that resources are allowed to (re)configure. ResourceConfigurationTimeoutEnvVar = "VIAM_RESOURCE_CONFIGURATION_TIMEOUT" // DefaultModuleStartupTimeout is the default module startup timeout. DefaultModuleStartupTimeout = 5 * time.Minute // ModuleStartupTimeoutEnvVar is the environment variable that can // be set to override DefaultModuleStartupTimeout as the duration // that modules are allowed to startup. ModuleStartupTimeoutEnvVar = "VIAM_MODULE_STARTUP_TIMEOUT" // AndroidFilesDir is hardcoded because golang inits before our android code can override HOME var. AndroidFilesDir = "/data/user/0/com.viam.rdk.fgservice/cache" )
const ( // MimeTypeSuffixLazy is used to indicate a lazy loading of data. MimeTypeSuffixLazy = "lazy" // MimeTypeRawRGBA is for go's internal image.NRGBA. This uses the custom header as // explained in the comments for rimage.DecodeImage and rimage.EncodeImage. MimeTypeRawRGBA = "image/vnd.viam.rgba" // MimeTypeRawRGBALazy is a lazy MimeTypeRawRGBA. MimeTypeRawRGBALazy = MimeTypeRawRGBA + "+" + MimeTypeSuffixLazy // MimeTypeRawDepth is for depth images. MimeTypeRawDepth = "image/vnd.viam.dep" // MimeTypeJPEG is regular jpgs. MimeTypeJPEG = "image/jpeg" // MimeTypePNG is regular pngs. MimeTypePNG = "image/png" // MimeTypePCD is for .pcd pountcloud files. MimeTypePCD = "pointcloud/pcd" // MimeTypeQOI is for .qoi "Quite OK Image" for lossless, fast encoding/decoding. MimeTypeQOI = "image/qoi" // MimeTypeTabular used to indicate tabular data, this is used mainly for filtering data. MimeTypeTabular = "x-application/tabular" // MimeTypeDefault used if mimetype cannot be inferred. MimeTypeDefault = "application/octet-stream" // MimeTypeH264 used to indicate H264 frames. MimeTypeH264 = "video/h264" )
Variables ¶
var FormatToMimeType = map[camerapb.Format]string{ camerapb.Format_FORMAT_JPEG: MimeTypeJPEG, camerapb.Format_FORMAT_PNG: MimeTypePNG, camerapb.Format_FORMAT_RAW_DEPTH: MimeTypeRawDepth, camerapb.Format_FORMAT_RAW_RGBA: MimeTypeRawRGBA, camerapb.Format_FORMAT_UNSPECIFIED: "", }
FormatToMimeType maps Format to Mymetype.
var MimeTypeToFormat = map[string]camerapb.Format{ MimeTypeJPEG: camerapb.Format_FORMAT_JPEG, MimeTypePNG: camerapb.Format_FORMAT_PNG, MimeTypeRawDepth: camerapb.Format_FORMAT_RAW_DEPTH, MimeTypeRawRGBA: camerapb.Format_FORMAT_RAW_RGBA, "": camerapb.Format_FORMAT_UNSPECIFIED, }
MimeTypeToFormat maps Mymetype to Format.
var ParallelFactor = runtime.GOMAXPROCS(0)
ParallelFactor controls the max level of parallelization. This might be useful to set in tests where too much parallelism actually slows tests down in aggregate. MUST NOT be used with t.Parallel() or via init()!
Functions ¶
func AngleDiffDeg ¶
AngleDiffDeg returns the closest difference from the two given angles. The arguments are commutative.
func AntiCWDeg ¶
AntiCWDeg flips the given degrees as if you were to start at 0 and go counter-clockwise or vice versa.
func AssertType ¶ added in v0.2.36
AssertType attempts to assert that the given interface argument is the given type parameter.
func BytesFromFloat32BE ¶
BytesFromFloat32BE converts a float32 to an array of bytes ordered in big-endian.
func BytesFromFloat32LE ¶
BytesFromFloat32LE converts a float32 to an array of bytes ordered in little-endian.
func BytesFromFloat64BE ¶
BytesFromFloat64BE converts a float64 to an array of bytes ordered in big-endian.
func BytesFromFloat64LE ¶
BytesFromFloat64LE converts a float64 to an array of bytes ordered in little-endian.
func BytesFromUint32BE ¶
BytesFromUint32BE converts a uint32 to an array of bytes ordered in big-endian.
func BytesFromUint32LE ¶
BytesFromUint32LE converts a uint32 to an array of bytes ordered in little-endian.
func CheckLazyMIMEType ¶ added in v0.0.8
CheckLazyMIMEType checks the lazy suffix of a MIME.
func Clamp ¶
Clamp returns min if value is lesser than min, max if value is greater them max or value if the input value is between min and max.
func ComputeDistance ¶
func ComputeDistance(p1, p2 []float64, distType DistanceType) (float64, error)
ComputeDistance computes the distance between two vectors stored in a slice of floats.
func ContextualMain ¶ added in v0.34.0
func ContextualMain[L utils.ILogger](main func(ctx context.Context, args []string, logger L) error, logger L)
ContextualMain calls a main entry point function with a cancellable context via SIGTERM. This should be called once per process so as to not clobber the signals from Notify.
func CycleIntSliceByN ¶
CycleIntSliceByN cycles the list to the right by n steps.
func EuclideanDistance ¶
EuclideanDistance computes the euclidean distance between 2 vectors.
func FilterMap ¶ added in v0.18.0
func FilterMap[K comparable, V any](orig map[K]V, predicate func(K, V) bool) map[K]V
FilterMap is a helper that returns a new map based on k,v pairs that pass predicate.
func FilterSlice ¶ added in v0.28.0
FilterSlice returns a new slice with elements of `orig` which match `predicate`.
func FindInSlice ¶ added in v0.26.0
FindInSlice returns the first item in items which satisfies predicate, or nil.
func Float32AlmostEqual ¶ added in v0.39.0
Float32AlmostEqual compares two float32s and returns if the difference between them is less than epsilon.
func Float32FromBytesBE ¶
Float32FromBytesBE converts an array of byte ordered in big-endian to a float32.
func Float32FromBytesLE ¶
Float32FromBytesLE converts an array of byte ordered in little-endian to a float32.
func Float64AlmostEqual ¶
Float64AlmostEqual compares two float64s and returns if the difference between them is less than epsilon.
func Float64FromBytesBE ¶
Float64FromBytesBE converts an array of byte ordered in big-endian to a float64.
func Float64FromBytesLE ¶
Float64FromBytesLE converts an array of byte ordered in little-endian to a float64.
func FlushChan ¶ added in v0.9.0
func FlushChan[T any](c chan T)
FlushChan is a function that takes a generic chanel and completely empties it.
func GetArgMinDistancesPerRow ¶
GetArgMinDistancesPerRow returns in a slice of int the index of the point with minimum distance for each row.
func GetArgMinDistancesPerRowInt ¶ added in v0.0.9
GetArgMinDistancesPerRowInt returns in a slice of int the index of the point with minimum distance for each row.
func GetDeviceInfo ¶ added in v0.2.47
GetDeviceInfo returns the device information in stringset.
func GetInParallel ¶ added in v0.8.0
GetInParallel runs all functions in parallel, return is elapsed time, a list of floats, and an error.
func GetModuleStartupTimeout ¶ added in v0.16.0
GetModuleStartupTimeout calculates the module startup timeout (env variable value if set, DefaultModuleStartupTimeout otherwise).
func GetResourceConfigurationTimeout ¶ added in v0.5.1
GetResourceConfigurationTimeout calculates the resource configuration timeout (env variable value if set, DefaultResourceConfigurationTimeout otherwise).
func GroupWorkParallel ¶
func GroupWorkParallel(ctx context.Context, totalSize int, before BeforeParallelGroupWorkFunc, groupWork GroupWorkFunc) error
GroupWorkParallel parallelizes the given size of work over multiple workers.
func HammingDistance ¶
HammingDistance computes the hamming distance between two vectors that only contain zeros and ones.
func Int16FromBytesBE ¶ added in v0.2.5
Int16FromBytesBE converts an array of bytes ordered in big-endian to a (signed) int16.
func Int16FromBytesLE ¶ added in v0.2.5
Int16FromBytesLE converts an array of bytes ordered in little-endian to a (signed) int16.
func IsTrustedEnvironment ¶ added in v0.2.36
IsTrustedEnvironment is used to check the trusted state of the runtime. Note: by default, if no context is set up, trust is assumed; be careful.
func MMToMeters ¶ added in v0.15.0
MMToMeters converts a value in mm to a value in meters.
func MapOver ¶ added in v0.28.0
MapOver applies fn() to a slice of items and returns a slice of the return values. TODO(golang/go#61898): use stdlib iter if it lands.
func Median ¶
Median returns the median value of the given values. If there are no values, NaN is returned.
func MetersToMM ¶ added in v0.15.0
MetersToMM converts a value in meters to a value in mm.
func NewBuildTimeoutError ¶ added in v0.16.0
NewBuildTimeoutError is used when a resource times out during construction or reconfiguration.
func NewConfigValidationError ¶ added in v0.34.0
NewConfigValidationError returns a config validation error occurring at a given path. copied from goutils.
func NewConfigValidationFieldRequiredError ¶ added in v0.34.0
NewConfigValidationFieldRequiredError returns a config validation error for a field missing at a given path. copied from goutils.
func NewFilePathDebugLogger ¶ added in v0.10.0
NewFilePathDebugLogger is intended as a debug only tool & should not be used in prod logs using debug configuration to log to both stderr, stdout & a filepath.
func NewModuleStartUpTimeoutError ¶ added in v0.16.0
NewModuleStartUpTimeoutError is used when a module times out during startup.
func NewRemoteResourceClashError ¶
NewRemoteResourceClashError is used when you are more than one resource with the same name exist.
func NewUnexpectedTypeError ¶
NewUnexpectedTypeError is used when there is a type mismatch.
func NewWeakDependenciesUpdateTimeoutError ¶ added in v0.21.0
NewWeakDependenciesUpdateTimeoutError is used when a resource times out during weak dependencies update.
func PairwiseDistance ¶
func PairwiseDistance(pts1, pts2 [][]float64, distType DistanceType) (*mat.Dense, error)
PairwiseDistance computes the pairwise distances between 2 sets of points.
func ParallelForEachPixel ¶
ParallelForEachPixel loops through the image and calls f functions for each [x, y] position. The image is divided into N * N blocks, where N is the number of available processor threads. For each block a parallel Goroutine is started.
func PlatformHomeDir ¶ added in v0.27.0
func PlatformHomeDir() string
PlatformHomeDir wraps Getenv("HOME"), except on android, where it returns the app cache directory.
func PlatformMkdirTemp ¶ added in v0.27.0
PlatformMkdirTemp wraps MkdirTemp. On android, when dir is empty, it uses a path that is writable + executable.
func RemoveFileNoError ¶ added in v0.2.47
func RemoveFileNoError(path string)
RemoveFileNoError will remove the file at the given path if it exists. Any errors will be suppressed.
func ResolveFile ¶
ResolveFile returns the path of the given file relative to the root of the codebase. For example, if this file currently lives in utils/file.go and ./foo/bar/baz is given, then the result is foo/bar/baz. This is helpful when you don't want to relatively refer to files when you're not sure where the caller actually lives in relation to the target file.
func RunInParallel ¶
RunInParallel runs all functions in parallel, return is elapsed time and an error.
func SafeJoinDir ¶ added in v0.29.0
SafeJoinDir performs a filepath.Join of 'parent' and 'subdir' but returns an error if the resulting path points outside of 'parent'. See also https://github.com/cyphar/filepath-securejoin.
func SampleNIntegersNormal ¶
SampleNIntegersNormal samples n integers from normal distribution centered around (vMax+vMin) / 2 and in range [vMin, vMax].
func SampleNIntegersUniform ¶
SampleNIntegersUniform samples n integers uniformly in [vMin, vMax].
func SampleNRegularlySpaced ¶
SampleNRegularlySpaced returns the same set of evenly divided numbers every time, and is mostly used for testing purposes.
func SampleRandomIntRange ¶
SampleRandomIntRange samples a random integer within a range given by [min, max] using the given rand.Rand.
func SanitizePath ¶ added in v0.31.0
SanitizePath conservatively sanitizes a string for use as a path. It replaces all characters outside of [A-Za-z0-9] with '-'. Use this for relatively safe input, for example a user running something on hardware they own, not for user input running in a secure context. In sensitive contexts please use a third-party library for this.
func ScaleByPct ¶
ScaleByPct scales a max number by a floating point percentage between two bounds [0, n].
func SelectNIndicesWithoutReplacement ¶
SelectNIndicesWithoutReplacement select N random indices from [0,nMax] without replacement (no duplicate indices).
func Single ¶
Single generates an n-dimensional Grid using a single set of values. dim specifies the number of dimensions, the entries in x specify the gridded values.
func SlowStartupLogger ¶ added in v0.26.0
func SlowStartupLogger(ctx context.Context, msg, fieldName, fieldVal string, logger logging.Logger) func()
SlowStartupLogger starts a goroutine that logs every few seconds as long as the context has not timed out or was not cancelled.
func Square ¶
Square returns the square of the given value. Math.pow( x, 2 ) is slow, this is faster.
func SquareInt ¶
SquareInt returns the square of the given value. Math.pow( x, 2 ) is slow, this is faster.
func SubFor ¶
SubFor constructs the multi-dimensional subscript for the input linear index. dims specify the maximum size in each dimension. If sub is non-nil the result is stored in-place into sub. If it is nil a new slice of the appropriate length is allocated.
func Testing ¶ added in v0.19.0
func Testing() bool
Testing returns true when you are running in test suite.
func TypeStr ¶ added in v0.2.36
TypeStr returns the a human readable type string of the given value.
func Uint32FromBytesBE ¶
Uint32FromBytesBE converts an array of bytes ordered in big-endian to a uint32.
func Uint32FromBytesLE ¶
Uint32FromBytesLE converts an array of bytes ordered in little-endian to a uint32.
func ValidateBaudRate ¶ added in v0.2.49
ValidateBaudRate validates that the baudrate is in the list of valid values.
func ValidateModuleName ¶ added in v0.23.0
ValidateModuleName validates that the module follows our naming requirements. the module name is used to create the socket path, so if you modify this, ensure that this only accepts valid socket paths.
func ValidatePackageName ¶ added in v0.23.0
ValidatePackageName validates that the package follows our naming requirements.
func ValidateRemoteName ¶ added in v0.23.0
ValidateRemoteName validates that the remote follows our naming requirements.
func ValidateResourceName ¶ added in v0.23.0
ValidateResourceName validates that the resource follows our naming requirements.
func Walk ¶
func Walk(middleX, middleY, maxRadius int, f WalkCallback) error
Walk starts at the given middle point and walks around increasingly bigger squares based on the given radius growing outwards.
func WithEntityCredentials ¶ added in v0.34.0
func WithEntityCredentials(entity string, creds Credentials) goutils.DialOption
WithEntityCredentials returns a DialOption which sets the entity credentials to use for authenticating the request. This is mutually exclusive with WithCredentials.
func WithLazyMIMEType ¶ added in v0.0.8
WithLazyMIMEType attaches the lazy suffix to a MIME.
Types ¶
type AttributeMap ¶ added in v0.2.36
type AttributeMap map[string]interface{}
An AttributeMap is a convenience wrapper for pulling out typed information from a map.
func (AttributeMap) Bool ¶ added in v0.2.36
func (am AttributeMap) Bool(name string, def bool) bool
Bool attempts to return a boolean present in the map with the given name; returns the given default otherwise.
func (AttributeMap) BoolSlice ¶ added in v0.2.36
func (am AttributeMap) BoolSlice(name string, def bool) []bool
BoolSlice attempts to return a slice of bools present in the map with the given name; returns an empty slice otherwise.
func (AttributeMap) Float64 ¶ added in v0.2.36
func (am AttributeMap) Float64(name string, def float64) float64
Float64 attempts to return a float64 present in the map with the given name; returns the given default otherwise.
func (AttributeMap) Float64Slice ¶ added in v0.2.36
func (am AttributeMap) Float64Slice(name string) []float64
Float64Slice attempts to return a slice of ints present in the map with the given name; returns an empty slice otherwise.
func (AttributeMap) Has ¶ added in v0.2.36
func (am AttributeMap) Has(name string) bool
Has returns whether or not the given name is in the map.
func (AttributeMap) Int ¶ added in v0.2.36
func (am AttributeMap) Int(name string, def int) int
Int attempts to return an integer present in the map with the given name; returns the given default otherwise.
func (AttributeMap) IntSlice ¶ added in v0.2.36
func (am AttributeMap) IntSlice(name string) []int
IntSlice attempts to return a slice of ints present in the map with the given name; returns an empty slice otherwise.
func (AttributeMap) String ¶ added in v0.2.36
func (am AttributeMap) String(name string) string
String attempts to return a string present in the map with the given name; returns an empty string otherwise.
func (AttributeMap) StringSlice ¶ added in v0.2.36
func (am AttributeMap) StringSlice(name string) []string
StringSlice attempts to return a slice of strings present in the map with the given name; returns an empty slice otherwise.
func (AttributeMap) Walk ¶ added in v0.2.36
func (am AttributeMap) Walk(visitor Visitor) (interface{}, error)
Walk implements the Walker interface.
type BeforeParallelGroupWorkFunc ¶
type BeforeParallelGroupWorkFunc func(groupSize int)
BeforeParallelGroupWorkFunc executes before any work starts with the calculated group size.
type CLFBaseMessage ¶
type CLFBaseMessage struct { MessageType CLFMessageType IPCTimestamp float64 IPCHostname string LoggerTimestamp float64 }
CLFBaseMessage is used by all messages and contains basic information about the message.
func (CLFBaseMessage) Base ¶
func (b CLFBaseMessage) Base() CLFBaseMessage
Base returns the base part of the message.
func (CLFBaseMessage) Type ¶
func (b CLFBaseMessage) Type() CLFMessageType
Type returns the type of message this is.
type CLFMessage ¶
type CLFMessage interface { Base() CLFBaseMessage Type() CLFMessageType }
CLFMessage is a specific type of CLF message that always has a base message.
type CLFMessageType ¶
type CLFMessageType string
CLFMessageType describes a specific type of message.
type CLFOdometryMessage ¶
type CLFOdometryMessage struct { CLFMessage X float64 Y float64 Theta float64 TranslationalVelocity float64 RotationalVelocity float64 Acceleration float64 }
CLFOdometryMessage represents odometry data.
type CLFOldLaserMessage ¶
type CLFOldLaserMessage struct { CLFMessage RangeReadings []float64 X float64 Y float64 Theta float64 OdomX float64 OdomY float64 OdomTheta float64 }
CLFOldLaserMessage represents legacy lidar scan data.
type CLFParamMessage ¶
type CLFParamMessage struct { CLFMessage Name, Value string }
CLFParamMessage conveys parameters being set for the whole CLF.
type CLFReader ¶
type CLFReader struct {
// contains filtered or unexported fields
}
A CLFReader can read in CARMEN Logfiles.
func NewCLFReader ¶
NewCLFReader returns a CLF reader based on the given reader.
type Credentials ¶ added in v0.34.0
type Credentials = goutils.Credentials
Credentials packages up both a type of credential along with its payload which is formatted specific to the type.
type CredentialsType ¶ added in v0.34.0
type CredentialsType string
CredentialsType signifies a means of representing a credential. For example, an API key.
type DistanceType ¶
type DistanceType int
DistanceType defines the type of distance used in a function.
const ( // Euclidean is DistanceType 0. Euclidean DistanceType = iota // Hamming is DistanceType 1. Hamming )
type GroupWorkDoneFunc ¶
type GroupWorkDoneFunc func()
GroupWorkDoneFunc runs when a single group's work is done; helpful for merge stages.
type GroupWorkFunc ¶
type GroupWorkFunc func(groupNum, groupSize, from, to int) (MemberWorkFunc, GroupWorkDoneFunc)
GroupWorkFunc runs to determine what work members should do, if any.
type Guard ¶ added in v0.25.0
type Guard struct { OnFail func() // contains filtered or unexported fields }
Guard is a structure for managing special cleanup for when a function that returns an allocated resource (e.g: open file) fails. Programmers are often presented with two options when dealing with early-return error cases:
- Don't use defers. On success, the resource (e.g: file object) is returned, but on failure the programmer must ensure the resource (e.g: file) is closed.
- Use defers to close the resource in anticipation of failure. But wrap the defer with an `if !success` check. And when the function returns for the success case, it must flip a `bool success` from false - > true.
A Guard encapsulates the second technique. Correct usage of a Guard uses the following pattern:
guard := NewGuard(func() { f.Close() }) defer guard.OnFail() if (error) { return error } guard.Success() return nil
type MemberWorkFunc ¶
type MemberWorkFunc func(memberNum, workNum int)
MemberWorkFunc runs for each work item (member) of a group.
type Rand ¶ added in v0.19.0
type Rand interface {
Float64() float64
}
Rand is a wrapper for either a rand.Rand or a pass-through to the shared rand.x functions.
func SafeTestingRand ¶ added in v0.19.0
func SafeTestingRand() Rand
SafeTestingRand returns a wrapper around the shared math/rand source in prod, and a deterministic rand.Rand seeded with 0 in test.
type RollingAverage ¶
type RollingAverage struct {
// contains filtered or unexported fields
}
RollingAverage computes an average in a moving window of a certain size. It is goroutine-safe but should be used for statistical purposes only due to the use of atomics and not mutexes.
func NewRollingAverage ¶
func NewRollingAverage(windowSize int) *RollingAverage
NewRollingAverage returns a rolling average computed on the given window size.
func (*RollingAverage) Add ¶
func (ra *RollingAverage) Add(x int)
Add adds the given value to the samples.
func (*RollingAverage) Average ¶
func (ra *RollingAverage) Average() int
Average recomputes and returns the current rolling average.
func (*RollingAverage) NumSamples ¶
func (ra *RollingAverage) NumSamples() int
NumSamples returns the number of samples currently collected.
type StoppableWorkers ¶ added in v0.26.0
type StoppableWorkers interface { AddWorkers(...func(context.Context)) Stop() Context() context.Context }
StoppableWorkers is a collection of goroutines that can be stopped at a later time.
func NewStoppableWorkers ¶ added in v0.26.0
func NewStoppableWorkers(funcs ...func(context.Context)) StoppableWorkers
NewStoppableWorkers runs the functions in separate goroutines. They can be stopped later.
type Vec2Fs ¶
type Vec2Fs [][]float64
Vec2Fs is a series of two dimensional vectors that are float based.
type Vec2Matrix ¶
Vec2Matrix is a wrapper around a mat.Dense intended for a series of 2D vectors.
func (*Vec2Matrix) DistanceMSETo ¶
func (v2m *Vec2Matrix) DistanceMSETo(to *Vec2Matrix) float64
DistanceMSETo returns the mean squared error between this matrix and the given matrix. This is helpful for calculating how "far off" two matrices are.
func (*Vec2Matrix) RotateMatrixAbout ¶
func (v2m *Vec2Matrix) RotateMatrixAbout(x, y, theta float64) *Vec2Matrix
RotateMatrixAbout rotates every vector by the given theta about a given point.
type Visitor ¶ added in v0.2.36
type Visitor interface { // Visit visits a node and returns a new node, with or without modifications. Visit(interface{}) (interface{}, error) }
Visitor defines an interface for visiting and potentially modifying portions of the config.
type WalkCallback ¶
WalkCallback is to be called for each point visited by Walk.
Source Files ¶
- attribute_map.go
- auth.go
- average.go
- channel.go
- clf.go
- component_validation.go
- distance.go
- env.go
- errors.go
- file.go
- guard.go
- hardware_info.go
- logger.go
- math.go
- matrix.go
- meshgrid.go
- mime.go
- parallel.go
- ransac.go
- runtime.go
- stoppable_workers.go
- ticker.go
- trusted_env.go
- value.go
- variables.go
- walk.go
- walker_visitor.go
Directories ¶
Path | Synopsis |
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Package contextutils provides utilities for dealing with contexts such as adding and retrieving metadata to/from a context, and handling context timeouts.
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Package contextutils provides utilities for dealing with contexts such as adding and retrieving metadata to/from a context, and handling context timeouts. |
Package diskusage is used to get platform specific file system usage information.
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Package diskusage is used to get platform specific file system usage information. |
package main: this is called by the utils test suite to confirm the Testing() test is false in prod.
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package main: this is called by the utils test suite to confirm the Testing() test is false in prod. |