robotimpl

Documentation

Overview

Package robotimpl defines implementations of robot.Robot and robot.LocalRobot.

It also provides a remote robot implementation that is aware that the robot.Robot it is working with is not on the same physical system.

Index

• func New(ctx context.Context, cfg *config.Config, logger logging.Logger, opts ...Option) (robot.LocalRobot, error)
• func RobotFromConfig(ctx context.Context, cfg *config.Config, logger logging.Logger, opts ...Option) (robot.LocalRobot, error)
• func RobotFromConfigPath(ctx context.Context, cfgPath string, logger logging.Logger, opts ...Option) (robot.LocalRobot, error)
• func RobotFromResources(ctx context.Context, resources map[resource.Name]resource.Resource, ...) (robot.LocalRobot, error)
• type Option
  • func WithFTDC() Option
  • func WithRevealSensitiveConfigDiffs() Option
  • func WithShutdownCallback(shutdownFunc func()) Option
  • func WithViamHomeDir(homeDir string) Option
  • func WithWebOptions(opts ...web.Option) Option
• type PartsMergeResult

Functions

func New

func New(
	ctx context.Context,
	cfg *config.Config,
	logger logging.Logger,
	opts ...Option,
) (robot.LocalRobot, error)

New returns a new robot with parts sourced from the given config.

func RobotFromConfig

func RobotFromConfig(ctx context.Context, cfg *config.Config, logger logging.Logger, opts ...Option) (robot.LocalRobot, error)

RobotFromConfig is a helper to process a config and then create a robot based on it.

func RobotFromConfigPath

func RobotFromConfigPath(ctx context.Context, cfgPath string, logger logging.Logger, opts ...Option) (robot.LocalRobot, error)

RobotFromConfigPath is a helper to read and process a config given its path and then create a robot based on it.

func RobotFromResources

func RobotFromResources(
	ctx context.Context,
	resources map[resource.Name]resource.Resource,
	logger logging.Logger,
	opts ...Option,
) (robot.LocalRobot, error)

RobotFromResources creates a new robot consisting of the given resources. Using RobotFromConfig is preferred to support more streamlined reconfiguration functionality.

Types

type Option

type Option interface {
	// contains filtered or unexported methods
}

Option configures how we set up the web service. Cribbed from https://github.com/grpc/grpc-go/blob/aff571cc86e6e7e740130dbbb32a9741558db805/dialoptions.go#L41

func WithFTDC

func WithFTDC() Option

WithFTDC enables FTDC.

func WithRevealSensitiveConfigDiffs

func WithRevealSensitiveConfigDiffs() Option

WithRevealSensitiveConfigDiffs returns an Option which causes config diffs - which may contain sensitive information - to be displayed in logs.

func WithShutdownCallback

func WithShutdownCallback(shutdownFunc func()) Option

WithShutdownCallback returns a Option which provides a callback for the robot to be able to shut itself down.

func WithViamHomeDir

func WithViamHomeDir(homeDir string) Option

WithViamHomeDir returns a Option which sets the Viam home directory.

func WithWebOptions

func WithWebOptions(opts ...web.Option) Option

WithWebOptions returns a Option which sets the streamConfig used to enable audio/video streaming over WebRTC.

type PartsMergeResult

type PartsMergeResult struct {
	ReplacedProcesses []pexec.ManagedProcess
}

PartsMergeResult is the result of merging in parts together.