navigation

Documentation

Overview

Package navigation contains a navigation service, along with a gRPC server and client

Package navigation implements the navigation service.

Index

• Constants
• Variables
• func Named(name string) resource.Name
• func NewRPCServiceServer(coll resource.APIResourceCollection[Service]) interface{}
• type MemoryNavigationStore
  • func NewMemoryNavigationStore() *MemoryNavigationStore
  • func (store *MemoryNavigationStore) AddWaypoint(ctx context.Context, point *geo.Point) (Waypoint, error)
  • func (store *MemoryNavigationStore) Close(ctx context.Context) error
  • func (store *MemoryNavigationStore) NextWaypoint(ctx context.Context) (Waypoint, error)
  • func (store *MemoryNavigationStore) RemoveWaypoint(ctx context.Context, id primitive.ObjectID) error
  • func (store *MemoryNavigationStore) WaypointVisited(ctx context.Context, id primitive.ObjectID) error
  • func (store *MemoryNavigationStore) Waypoints(ctx context.Context) ([]Waypoint, error)
• type Mode
• type MongoDBNavigationStore
  • func NewMongoDBNavigationStore(ctx context.Context, config map[string]interface{}) (*MongoDBNavigationStore, error)
  • func (store *MongoDBNavigationStore) AddWaypoint(ctx context.Context, point *geo.Point) (Waypoint, error)
  • func (store *MongoDBNavigationStore) Close(ctx context.Context) error
  • func (store *MongoDBNavigationStore) NextWaypoint(ctx context.Context) (Waypoint, error)
  • func (store *MongoDBNavigationStore) RemoveWaypoint(ctx context.Context, id primitive.ObjectID) error
  • func (store *MongoDBNavigationStore) WaypointVisited(ctx context.Context, id primitive.ObjectID) error
  • func (store *MongoDBNavigationStore) Waypoints(ctx context.Context) ([]Waypoint, error)
• type NavStore
• type Service
  • func FromRobot(r robot.Robot, name string) (Service, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, remoteName string, ...) (Service, error)
• type StoreConfig
  • func (config *StoreConfig) Validate(path string) error
• type Waypoint
  • func (wp *Waypoint) ToPoint() *geo.Point

Constants

const (
	ModeManual = Mode(iota)
	ModeWaypoint
)

The set of known modes.

const (
	// StoreTypeMemory is the constant for the memory store type.
	StoreTypeMemory = "memory"
	// StoreTypeMongoDB is the constant for the mongodb store type.
	StoreTypeMongoDB = "mongodb"
)

const SubtypeName = "navigation"

SubtypeName is the name of the type of service.

Variables

var (
	MongoDBNavStoreDBName            = "navigation"
	MongoDBNavStoreWaypointsCollName = "waypoints"
)

Database and collection names used by the MongoDBNavigationStore.

var API = resource.APINamespaceRDK.WithServiceType(SubtypeName)

API is a variable that identifies the navigation service resource API.

Functions

func Named

func Named(name string) resource.Name

Named is a helper for getting the named navigation service's typed resource name.

func NewRPCServiceServer

func NewRPCServiceServer(coll resource.APIResourceCollection[Service]) interface{}

NewRPCServiceServer constructs a navigation gRPC service server. It is intentionally untyped to prevent use outside of tests.

Types

type MemoryNavigationStore

type MemoryNavigationStore struct {
	// contains filtered or unexported fields
}

MemoryNavigationStore holds the waypoints for the navigation service.

func NewMemoryNavigationStore

func NewMemoryNavigationStore() *MemoryNavigationStore

NewMemoryNavigationStore returns and empty MemoryNavigationStore.

func (*MemoryNavigationStore) AddWaypoint

func (store *MemoryNavigationStore) AddWaypoint(ctx context.Context, point *geo.Point) (Waypoint, error)

AddWaypoint adds a waypoint to the MemoryNavigationStore.

func (*MemoryNavigationStore) Close

func (store *MemoryNavigationStore) Close(ctx context.Context) error

Close does nothing.

func (*MemoryNavigationStore) NextWaypoint

func (store *MemoryNavigationStore) NextWaypoint(ctx context.Context) (Waypoint, error)

NextWaypoint gets the next waypoint that has not been visited.

func (*MemoryNavigationStore) RemoveWaypoint

func (store *MemoryNavigationStore) RemoveWaypoint(ctx context.Context, id primitive.ObjectID) error

RemoveWaypoint removes a waypoint from the MemoryNavigationStore.

func (*MemoryNavigationStore) WaypointVisited

func (store *MemoryNavigationStore) WaypointVisited(ctx context.Context, id primitive.ObjectID) error

WaypointVisited sets that a waypoint has been visited.

func (*MemoryNavigationStore) Waypoints

func (store *MemoryNavigationStore) Waypoints(ctx context.Context) ([]Waypoint, error)

Waypoints returns a copy of all of the waypoints in the MemoryNavigationStore.

type Mode

type Mode uint8

Mode describes what mode to operate the service in.

type MongoDBNavigationStore

type MongoDBNavigationStore struct {
	// contains filtered or unexported fields
}

MongoDBNavigationStore holds the mongodb client and waypoints collection.

func NewMongoDBNavigationStore

func NewMongoDBNavigationStore(ctx context.Context, config map[string]interface{}) (*MongoDBNavigationStore, error)

NewMongoDBNavigationStore creates a new navigation store using MongoDB.

func (*MongoDBNavigationStore) AddWaypoint

func (store *MongoDBNavigationStore) AddWaypoint(ctx context.Context, point *geo.Point) (Waypoint, error)

AddWaypoint adds a waypoint to the MongoDBNavigationStore.

func (*MongoDBNavigationStore) Close

func (store *MongoDBNavigationStore) Close(ctx context.Context) error

Close closes the connection with the mongodb client.

func (*MongoDBNavigationStore) NextWaypoint

func (store *MongoDBNavigationStore) NextWaypoint(ctx context.Context) (Waypoint, error)

NextWaypoint gets the next waypoint that has not been visited.

func (*MongoDBNavigationStore) RemoveWaypoint

func (store *MongoDBNavigationStore) RemoveWaypoint(ctx context.Context, id primitive.ObjectID) error

RemoveWaypoint removes a waypoint from the MongoDBNavigationStore.

func (*MongoDBNavigationStore) WaypointVisited

func (store *MongoDBNavigationStore) WaypointVisited(ctx context.Context, id primitive.ObjectID) error

WaypointVisited sets that a waypoint has been visited.

func (*MongoDBNavigationStore) Waypoints

func (store *MongoDBNavigationStore) Waypoints(ctx context.Context) ([]Waypoint, error)

Waypoints returns a copy of all the waypoints in the MongoDBNavigationStore.

type NavStore

type NavStore interface {
	Waypoints(ctx context.Context) ([]Waypoint, error)
	AddWaypoint(ctx context.Context, point *geo.Point) (Waypoint, error)
	RemoveWaypoint(ctx context.Context, id primitive.ObjectID) error
	NextWaypoint(ctx context.Context) (Waypoint, error)
	WaypointVisited(ctx context.Context, id primitive.ObjectID) error
	Close(ctx context.Context) error
}

NavStore handles the waypoints for a navigation service.

type Service

type Service interface {
	resource.Resource
	Mode(ctx context.Context, extra map[string]interface{}) (Mode, error)
	SetMode(ctx context.Context, mode Mode, extra map[string]interface{}) error

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

	// Waypoint
	Waypoints(ctx context.Context, extra map[string]interface{}) ([]Waypoint, error)
	AddWaypoint(ctx context.Context, point *geo.Point, extra map[string]interface{}) error
	RemoveWaypoint(ctx context.Context, id primitive.ObjectID, extra map[string]interface{}) error

	GetObstacles(ctx context.Context, extra map[string]interface{}) ([]*spatialmath.GeoObstacle, error)
}

A Service controls the navigation for a robot.

func FromRobot

func FromRobot(r robot.Robot, name string) (Service, error)

FromRobot is a helper for getting the named navigation service from the given Robot.

func NewClientFromConn

func NewClientFromConn(
	ctx context.Context,
	conn rpc.ClientConn,
	remoteName string,
	name resource.Name,
	logger golog.Logger,
) (Service, error)

NewClientFromConn constructs a new Client from connection passed in.

type StoreConfig

type StoreConfig struct {
	Type   storeType              `json:"type"`
	Config map[string]interface{} `json:"config"`
}

StoreConfig describes how to configure data storage.

func (*StoreConfig) Validate

func (config *StoreConfig) Validate(path string) error

Validate ensures all parts of the config are valid.

type Waypoint

type Waypoint struct {
	ID      primitive.ObjectID `bson:"_id"`
	Visited bool               `bson:"visited"`
	Order   int                `bson:"order"`
	Lat     float64            `bson:"latitude"`
	Long    float64            `bson:"longitude"`
}

A Waypoint designates a location within a path to navigate to.

func (*Waypoint) ToPoint

func (wp *Waypoint) ToPoint() *geo.Point

ToPoint converts the waypoint to a geo.Point.