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 Go to latest Published: Feb 23, 2022 License: Apache-2.0 Imports: 29 Imported by: 0

README

actionlib [WIP]

Package Summary

A pure go implementation for ROS action library built on top of ROSGO. This package is unstable and the API can change in future.

Prerequisites

This library uses messages GoalID, GoalStatus and GoalStatusArray from actionlib_msgs package. Please generate Go code for the messages in actionlib_msgs package and place them in your $GOPATH/src.

Use the following commands after install gengo.

gengo -out=$GOPATH/src msg actionlib_msgs/GoalID
gengo -out=$GOPATH/src msg actionlib_msgs/GoalStatus
gengo -out=$GOPATH/src msg actionlib_msgs/GoalStatusArray

Status

This package implements all the features of actionlib library but is still very unstable and is still a work in progress to fix known issues and make this packge more robust. Following are the features that are implemented and what's to be added in the future.

Implemented
  • Action Client
  • Action Server
  • Simple Action Client
  • Simple Action Server
  • Client Goal Handler
  • Server Goal Handler
  • Go code generation from action definitons
To Be Added
  • Tests
  • Documentation
  • Fix for golint issues
  • Go mod

How To Use

Examples of client and server usage can be found in rosgo/test folder.

Documentation

Index

Constants

View Source 
const (
	//Sep is a namespace separator string
	Sep = "/"
	//GlobalNS is the global namespace initial separator string
	GlobalNS = "/"
	//PrivateNS is private namespace initial separator string
	PrivateNS = "~"
)
View Source 
const (
	//APIStatusError is an API call which returned an Error
	APIStatusError = -1
	//APIStatusFailure is a failed API call
	APIStatusFailure = 0
	//APIStatusSuccess is a successful API call
	APIStatusSuccess = 1
	//Remap string constant for splitting components
	Remap = ":="
)
View Source 
const (
	SimpleStatePending uint8 = 0
	SimpleStateActive  uint8 = 1
	SimpleStateDone    uint8 = 2
)

Variables

This section is empty.

Functions

func CheckSize 

func CheckSize(buf *bytes.Reader, size int) error

func GetRuntimePackagePath 

func GetRuntimePackagePath() string

GetRuntimePackagePath returns the ROS package search path which will be used by DynamicMessage to look up ROS message definitions at runtime. By default, this will be equivalent to the ${ROS_PACKAGE_PATH} environment variable.

func PingMasterURI 

func PingMasterURI(calleeURI string) bool

PingMasterURI is intended to return true if a dial to the ros master URI returns successfully

func ResetContext 

func ResetContext()

ResetContext resets the package path context so that a new one will be generated

func SetRuntimePackagePath 

func SetRuntimePackagePath(path string)

SetRuntimePackagePath sets the ROS package search path which will be used by DynamicMessage to look up ROS message definitions at runtime.

Types

type Action 

type Action interface {
	GetActionGoal() ActionGoal
	GetActionFeedback() ActionFeedback
	GetActionResult() ActionResult
}

type ActionClient 

type ActionClient interface {
	WaitForServer(timeout Duration) bool
	SendGoal(goal Message, transitionCallback interface{}, feedbackCallback interface{}, goalID string) (ClientGoalHandler, error)
	CancelAllGoals()
	CancelAllGoalsBeforeTime(stamp Time)
}

func NewActionClient 

func NewActionClient(node Node, action string, actionType ActionType) (ActionClient, error)

type ActionFeedback 

type ActionFeedback interface {
	Message
	GetHeader() Message
	GetStatus() ActionStatus
	GetFeedback() Message
	SetHeader(Message)
	SetStatus(ActionStatus)
	SetFeedback(Message)
}

* ActionFeedback interface

type ActionFeedbackType 

type ActionFeedbackType interface {
	MessageType
	NewFeedbackMessage() ActionFeedback
}

type ActionGoal 

type ActionGoal interface {
	Message
	GetHeader() (Message, error)
	GetGoalId() (ActionGoalID, error)
	GetGoal() (Message, error)
	SetHeader(Message)
	SetGoalId(ActionGoalID)
	SetGoal(Message)
}

type ActionGoalID 

type ActionGoalID interface {
	Message
	GetID() string
	SetID(string)
	GetStamp() Time
	SetStamp(Time)
}

type ActionGoalIDType 

type ActionGoalIDType interface {
	MessageType
	NewGoalIDMessage() ActionGoalID
}

func NewActionGoalIDType 

func NewActionGoalIDType() ActionGoalIDType

DynamicActionGoalID Type and New Message instantiators

type ActionGoalType 

type ActionGoalType interface {
	MessageType
	NewGoalMessage() ActionGoal
}

type ActionHeader 

type ActionHeader interface {
	Message
	GetStamp() Time
	SetStamp(Time)
	GetFrameID() string
	SetFrameID(string)
}

*** Shared ActionHeader interface

type ActionResult 

type ActionResult interface {
	Message
	GetHeader() Message
	GetStatus() ActionStatus
	GetResult() Message
	SetHeader(Message)
	SetStatus(ActionStatus)
	SetResult(Message)
}

* ActionResult interface

type ActionResultType 

type ActionResultType interface {
	MessageType
	NewResultMessage() ActionResult
}

type ActionServer 

type ActionServer interface {
	Start()
	Shutdown()
	PublishResult(status ActionStatus, result Message)
	PublishFeedback(status ActionStatus, feedback Message)
	PublishStatus()
	RegisterGoalCallback(interface{})
	RegisterCancelCallback(interface{})
}

func NewActionServer 

func NewActionServer(node Node, action string, actionType ActionType, goalCb, cancelCb interface{}, autoStart bool) ActionServer

type ActionStatus 

type ActionStatus interface {
	Message
	GetGoalID() ActionGoalID
	SetGoalID(ActionGoalID)
	GetStatus() uint8
	SetStatus(uint8)
	GetStatusText() string
	SetStatusText(string)
}

*** Shared ActionStatus interface

type ActionStatusArray 

type ActionStatusArray interface {
	Message
	GetHeader() Message
	SetHeader(Message)
	GetStatusArray() []ActionStatus
	SetStatusArray([]ActionStatus)
}

*** Shared ActionStatusArray interface

type ActionStatusArrayType 

type ActionStatusArrayType interface {
	MessageType
	NewStatusArrayMessage() ActionStatusArray
}

func NewActionStatusArrayType 

func NewActionStatusArrayType() ActionStatusArrayType

DynamicActionStatusArray Type and New Message instantiators

type ActionStatusType 

type ActionStatusType interface {
	MessageType
	NewStatusMessage() ActionStatus
}

func NewActionStatusType 

func NewActionStatusType() ActionStatusType

DynamicActionStatus Type and New Message instantiators

type ActionType 

type ActionType interface {
	MD5Sum() string
	Name() string
	GoalType() ActionGoalType
	FeedbackType() ActionFeedbackType
	ResultType() ActionResultType
	NewAction() Action
}

type ByteDecoder 

type ByteDecoder interface {
	DecodeBoolArray(buf *bytes.Reader, size int) ([]bool, error)
	DecodeInt8Array(buf *bytes.Reader, size int) ([]int8, error)
	DecodeInt16Array(buf *bytes.Reader, size int) ([]int16, error)
	DecodeInt32Array(buf *bytes.Reader, size int) ([]int32, error)
	DecodeInt64Array(buf *bytes.Reader, size int) ([]int64, error)
	DecodeUint8Array(buf *bytes.Reader, size int) ([]uint8, error)
	DecodeUint16Array(buf *bytes.Reader, size int) ([]uint16, error)
	DecodeUint32Array(buf *bytes.Reader, size int) ([]uint32, error)
	DecodeUint64Array(buf *bytes.Reader, size int) ([]uint64, error)
	DecodeFloat32Array(buf *bytes.Reader, size int) ([]JsonFloat32, error)
	DecodeFloat64Array(buf *bytes.Reader, size int) ([]JsonFloat64, error)
	DecodeStringArray(buf *bytes.Reader, size int) ([]string, error)
	DecodeTimeArray(buf *bytes.Reader, size int) ([]Time, error)
	DecodeDurationArray(buf *bytes.Reader, size int) ([]Duration, error)
	DecodeMessageArray(buf *bytes.Reader, size int, msgType *DynamicMessageType) ([]Message, error)

	DecodeBool(buf *bytes.Reader) (bool, error)
	DecodeInt8(buf *bytes.Reader) (int8, error)
	DecodeInt16(buf *bytes.Reader) (int16, error)
	DecodeInt32(buf *bytes.Reader) (int32, error)
	DecodeInt64(buf *bytes.Reader) (int64, error)
	DecodeUint8(buf *bytes.Reader) (uint8, error)
	DecodeUint16(buf *bytes.Reader) (uint16, error)
	DecodeUint32(buf *bytes.Reader) (uint32, error)
	DecodeUint64(buf *bytes.Reader) (uint64, error)
	DecodeFloat32(buf *bytes.Reader) (JsonFloat32, error)
	DecodeFloat64(buf *bytes.Reader) (JsonFloat64, error)
	DecodeString(buf *bytes.Reader) (string, error)
	DecodeTime(buf *bytes.Reader) (Time, error)
	DecodeDuration(buf *bytes.Reader) (Duration, error)
	DecodeMessage(buf *bytes.Reader, msgType *DynamicMessageType) (Message, error)
}

ByteDecoder provides an interface that dynamic message deserialization expects for decoding ROS messages.

type ClientGoalHandler 

type ClientGoalHandler interface {
	IsExpired() bool
	GetCommState() (CommState, error)
	GetGoalStatus() (uint8, error)
	GetGoalStatusText() (string, error)
	GetTerminalState() (uint8, error)
	GetResult() (Message, error)
	Resend() error
	Cancel() error
}

type CommState 

type CommState uint8
const (
	WaitingForGoalAck CommState = iota
	Pending
	Active
	WaitingForResult
	WaitingForCancelAck
	Recalling
	Preempting
	Done
	Lost
)

func (CommState) String 

func (cs CommState) String() string

type Duration 

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

Duration type which is a wrapper for a temporal value of {sec,nsec}

func NewDuration 

func NewDuration(sec uint32, nsec uint32) Duration

NewDuration instantiates a new Duration item with given sec and nsec integers

func (*Duration) Add 

func (d *Duration) Add(other Duration) Duration

Add function for adding two durations together

func (*Duration) Cmp 

func (d *Duration) Cmp(other Duration) int

Cmp function to compare two durations

func (*Duration) FromNSec 

func (t *Duration) FromNSec(nsec uint64)

func (*Duration) FromSec 

func (t *Duration) FromSec(sec float64)

func (*Duration) IsZero 

func (t *Duration) IsZero() bool

func (*Duration) Normalize 

func (t *Duration) Normalize()

func (*Duration) Sleep 

func (d *Duration) Sleep() error

Sleep function pauses go routine for duration d

func (*Duration) Sub 

func (d *Duration) Sub(other Duration) Duration

Sub function for subtracting a duration from another

func (*Duration) ToNSec 

func (t *Duration) ToNSec() uint64

func (*Duration) ToSec 

func (t *Duration) ToSec() float64

type DynamicAction 

type DynamicAction struct {
	Goal     ActionGoal
	Feedback ActionFeedback
	Result   ActionResult
	// contains filtered or unexported fields
}

DynamicAction abstracts an instance of a ROS Action whose type is only known at runtime. The schema of the action is denoted by the referenced DynamicActionType, while the Goal, Feedback and Result references the rosgo Messages it implements. DynamicAction implements the rosgo actionlib.Action interface, allowing it to be used throughout rosgo in the same manner as action types generated at compiletime by gengo.

func (*DynamicAction) GetActionFeedback 

func (a *DynamicAction) GetActionFeedback() ActionFeedback

GetActionFeedback returns the actionlib.ActionFeedback of the DynamicAction; required for actionlib.Action.

func (*DynamicAction) GetActionGoal 

func (a *DynamicAction) GetActionGoal() ActionGoal

GetActionGoal returns the actionlib.ActionGoal of the DynamicAction; required for actionlib.Action.

func (*DynamicAction) GetActionResult 

func (a *DynamicAction) GetActionResult() ActionResult

GetActionResult returns the actionlib.ActionResult of the DynamicAction; required for actionlib.Action.

type DynamicActionFeedback 

type DynamicActionFeedback struct{ DynamicMessage }

func (*DynamicActionFeedback) GetFeedback 

func (m *DynamicActionFeedback) GetFeedback() Message

func (*DynamicActionFeedback) GetHeader 

func (m *DynamicActionFeedback) GetHeader() Message

func (*DynamicActionFeedback) GetStatus 

func (m *DynamicActionFeedback) GetStatus() ActionStatus

func (*DynamicActionFeedback) SetFeedback 

func (m *DynamicActionFeedback) SetFeedback(goal Message)

Dynamic Action Feedback Interface Get and set functions of DynamicActionFeedback interface

func (*DynamicActionFeedback) SetHeader 

func (m *DynamicActionFeedback) SetHeader(header Message)

func (*DynamicActionFeedback) SetStatus 

func (m *DynamicActionFeedback) SetStatus(status ActionStatus)

type DynamicActionFeedbackType 

type DynamicActionFeedbackType struct{ DynamicMessageType }

func (*DynamicActionFeedbackType) NewFeedbackMessage 

func (a *DynamicActionFeedbackType) NewFeedbackMessage() ActionFeedback

Create a new Feedback message from DynamicActionFeedbackType

func (*DynamicActionFeedbackType) NewFeedbackMessageFromInterface 

func (a *DynamicActionFeedbackType) NewFeedbackMessageFromInterface(feedback interface{}) ActionFeedback

NewFeedbackMessageFromInterface creates an ActionFeedback provided an interface. Used where serialization/deserialization removes traces of action interface types from a message

type DynamicActionGoal 

type DynamicActionGoal struct{ DynamicMessage }

DynamicAction* interfaces.

func (*DynamicActionGoal) GetGoal 

func (m *DynamicActionGoal) GetGoal() (Message, error)

func (*DynamicActionGoal) GetGoalId 

func (m *DynamicActionGoal) GetGoalId() (ActionGoalID, error)

func (*DynamicActionGoal) GetHeader 

func (m *DynamicActionGoal) GetHeader() (Message, error)

func (*DynamicActionGoal) SetGoal 

func (m *DynamicActionGoal) SetGoal(goal Message)

Dynamic Action Goal Interface Get and set functions of DynamicActionGoal interface

func (*DynamicActionGoal) SetGoalId 

func (m *DynamicActionGoal) SetGoalId(goalid ActionGoalID)

func (*DynamicActionGoal) SetHeader 

func (m *DynamicActionGoal) SetHeader(header Message)

type DynamicActionGoalID 

type DynamicActionGoalID struct{ DynamicMessage }

DynamicAction** shared interfaces.

func (*DynamicActionGoalID) GetID 

func (m *DynamicActionGoalID) GetID() string

Get and Set Functions of DynamicActionGoalID

func (*DynamicActionGoalID) GetStamp 

func (m *DynamicActionGoalID) GetStamp() Time

func (*DynamicActionGoalID) SetID 

func (m *DynamicActionGoalID) SetID(id string)

func (*DynamicActionGoalID) SetStamp 

func (m *DynamicActionGoalID) SetStamp(stamp Time)

type DynamicActionGoalIDType 

type DynamicActionGoalIDType struct{ DynamicMessageType }

DynamicActionType** shared type interfaces

func (*DynamicActionGoalIDType) NewGoalIDMessage 

func (a *DynamicActionGoalIDType) NewGoalIDMessage() ActionGoalID

func (*DynamicActionGoalIDType) NewGoalIDMessageFromInterface 

func (a *DynamicActionGoalIDType) NewGoalIDMessageFromInterface(goalID interface{}) ActionGoalID

NewGoalIDMessageFromInterface create an ActionGoalID provided an interface Used where serialization/deserialization removes traces of action interface types from a message

type DynamicActionGoalType 

type DynamicActionGoalType struct{ DynamicMessageType }

DynamicActionType* type interfaces

func (*DynamicActionGoalType) NewGoalMessage 

func (a *DynamicActionGoalType) NewGoalMessage() ActionGoal

Instnatiators for main Action message types. These functions copy dynamic messages into the dynamic action message type. Create a new Goal message from DynamicActionGoalType

func (*DynamicActionGoalType) NewGoalMessageFromInterface 

func (a *DynamicActionGoalType) NewGoalMessageFromInterface(goal interface{}) ActionGoal

NewGoalMessageFromInterface creates an ActionGoal provided an interface. Used where serialization/deserialization removes traces of action interface types from a message

type DynamicActionResult 

type DynamicActionResult struct{ DynamicMessage }

func (*DynamicActionResult) GetHeader 

func (m *DynamicActionResult) GetHeader() Message

func (*DynamicActionResult) GetResult 

func (m *DynamicActionResult) GetResult() Message

func (*DynamicActionResult) GetStatus 

func (m *DynamicActionResult) GetStatus() ActionStatus

func (*DynamicActionResult) SetHeader 

func (m *DynamicActionResult) SetHeader(header Message)

func (*DynamicActionResult) SetResult 

func (m *DynamicActionResult) SetResult(result Message)

Dynamic Action Feedback Interface Get and set functions of DynamicActionFeedback interface

func (*DynamicActionResult) SetStatus 

func (m *DynamicActionResult) SetStatus(status ActionStatus)

type DynamicActionResultType 

type DynamicActionResultType struct{ DynamicMessageType }

func (*DynamicActionResultType) NewResultMessage 

func (a *DynamicActionResultType) NewResultMessage() ActionResult

Create a new Result message from DynamicActionResultType

func (*DynamicActionResultType) NewResultMessageFromInterface 

func (a *DynamicActionResultType) NewResultMessageFromInterface(result interface{}) ActionResult

NewResultMessageFromInterface creates an ActionResult provided an interface. Used where serialization/deserialization removes traces of action interface types from a message

type DynamicActionStatus 

type DynamicActionStatus struct{ DynamicMessage }

func (*DynamicActionStatus) GetGoalID 

func (m *DynamicActionStatus) GetGoalID() ActionGoalID

Get and Set Functions of shared type DynamicActionStatus

func (*DynamicActionStatus) GetStatus 

func (m *DynamicActionStatus) GetStatus() uint8

func (*DynamicActionStatus) GetStatusText 

func (m *DynamicActionStatus) GetStatusText() string

func (*DynamicActionStatus) SetGoalID 

func (m *DynamicActionStatus) SetGoalID(id ActionGoalID)

func (*DynamicActionStatus) SetStatus 

func (m *DynamicActionStatus) SetStatus(status uint8)

func (*DynamicActionStatus) SetStatusText 

func (m *DynamicActionStatus) SetStatusText(text string)

type DynamicActionStatusArray 

type DynamicActionStatusArray struct{ DynamicMessage }

func (*DynamicActionStatusArray) GetHeader 

func (m *DynamicActionStatusArray) GetHeader() Message

func (*DynamicActionStatusArray) GetStatusArray 

func (m *DynamicActionStatusArray) GetStatusArray() []ActionStatus

Get and set functions of the shared type DynamicActionStatusArray

func (*DynamicActionStatusArray) SetHeader 

func (m *DynamicActionStatusArray) SetHeader(header Message)

func (*DynamicActionStatusArray) SetStatusArray 

func (m *DynamicActionStatusArray) SetStatusArray(statusArray []ActionStatus)

type DynamicActionStatusArrayType 

type DynamicActionStatusArrayType struct{ DynamicMessageType }

func (*DynamicActionStatusArrayType) NewStatusArrayFromInterface 

func (a *DynamicActionStatusArrayType) NewStatusArrayFromInterface(statusArr interface{}) ActionStatusArray

NewStatusArrayFromInterface creates an ActionStatusArray provided an interface. Used where serialization/deserialization removes traces of action interface types from a message

func (*DynamicActionStatusArrayType) NewStatusArrayMessage 

func (a *DynamicActionStatusArrayType) NewStatusArrayMessage() ActionStatusArray

type DynamicActionStatusType 

type DynamicActionStatusType struct{ DynamicMessageType }

func (*DynamicActionStatusType) NewStatusMessage 

func (a *DynamicActionStatusType) NewStatusMessage() ActionStatus

type DynamicActionType 

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

DynamicActionType abstracts the schema of a ROS Action whose schema is only known at runtime. DynamicActionType implements the rosgo actionlib.ActionType interface, allowing it to be used throughout rosgo in the same manner as action schemas generated at compiletime by gengo.

func NewDynamicActionType 

func NewDynamicActionType(typeName string) (*DynamicActionType, error)

NewDynamicActionType generates a DynamicActionType corresponding to the specified typeName from the available ROS action definitions; typeName should be a fully-qualified ROS action type name. The first time the function is run, a message/service/action 'context' is created by searching through the available ROS definitions, then the ROS action to be used for the definition is looked up by name. On subsequent calls, the ROS action type is looked up directly from the existing context.

func (*DynamicActionType) FeedbackType 

func (t *DynamicActionType) FeedbackType() ActionFeedbackType

FeedbackType returns the full ROS MessageType of the action feedbackType; required for actionlib.ActionType.

func (*DynamicActionType) GoalType 

func (t *DynamicActionType) GoalType() ActionGoalType

GoalType returns the full ROS MessageType of the action goalType; required for actionlib.ActionType.

func (*DynamicActionType) MD5Sum 

func (t *DynamicActionType) MD5Sum() string

MD5Sum returns the ROS compatible MD5 sum of the action type; required for actionlib.ActionType.

func (*DynamicActionType) Name 

func (t *DynamicActionType) Name() string

Name returns the full ROS name of the action type; required for actionlib.ActionType.

func (*DynamicActionType) NewAction 

func (t *DynamicActionType) NewAction() Action

NewAction creates a new DynamicAction instantiating the action type; required for actionlib.ActionType.

func (*DynamicActionType) ResultType 

func (t *DynamicActionType) ResultType() ActionResultType

ResultType returns the full ROS MessageType of the action resultType; required for actionlib.ActionType.

func (*DynamicActionType) Text 

func (t *DynamicActionType) Text() string

Text returns the full ROS text of the action type; required for actionlib.ActionType.

type DynamicMessage 

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

DynamicMessage abstracts an instance of a ROS Message whose type is only known at runtime. The schema of the message is denoted by the referenced DynamicMessageType, while the actual payload of the Message is stored in a map[string]interface{} which maps the name of each field to its value. DynamicMessage implements the rosgo Message interface, allowing it to be used throughout rosgo in the same manner as message types generated at compiletime by gengo.

func (*DynamicMessage) Data 

func (m *DynamicMessage) Data() map[string]interface{}

Data returns the data map field of the DynamicMessage

func (*DynamicMessage) Deserialize 

func (m *DynamicMessage) Deserialize(buf *bytes.Reader) error

Deserialize parses a byte stream into a DynamicMessage, thus reconstructing the fields of a received ROS message; required for ros.Message.

func (*DynamicMessage) GetDynamicType 

func (m *DynamicMessage) GetDynamicType() *DynamicMessageType

GetDynamicType returns the DynamicMessageType of a DynamicMessage

func (*DynamicMessage) MarshalJSON 

func (m *DynamicMessage) MarshalJSON() ([]byte, error)

MarshalJSON provides a custom implementation of JSON marshalling, only the message payload is represented in compact form. Verification provided in dynamic_message_json_test.go. The marshalled JSON must match the schema generated by GenerateJSONSchema().

func (*DynamicMessage) Serialize 

func (m *DynamicMessage) Serialize(buf *bytes.Buffer) error

Serialize converts a DynamicMessage into a TCPROS bytestream allowing it to be published to other nodes; required for ros.Message.

func (*DynamicMessage) String 

func (m *DynamicMessage) String() string

String returns a string which represents the encapsulared DynamicMessage data.

func (*DynamicMessage) Type 

func (m *DynamicMessage) Type() MessageType

Type returns the ROS type of a dynamic message; required for ros.Message.

func (*DynamicMessage) UnmarshalJSON 

func (m *DynamicMessage) UnmarshalJSON(buf []byte) (err error)

UnmarshalJSON provides a custom implementation of JSON unmarshalling. Verification provided in dynamic_message_json_test.go.

type DynamicMessageType 

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

DynamicMessageType abstracts the schema of a ROS Message whose schema is only known at runtime. DynamicMessageTypes are created by looking up the relevant schema information from ROS Message definition files. DynamicMessageType implements the rosgo MessageType interface, allowing it to be used throughout rosgo in the same manner as message schemas generated at compiletime by gengo.

func NewDynamicMessageType 

func NewDynamicMessageType(typeName string) (*DynamicMessageType, error)

NewDynamicMessageType generates a DynamicMessageType corresponding to the specified typeName from the available ROS message definitions; typeName should be a fully-qualified ROS message type name. The first time the function is run, a message 'context' is created by searching through the available ROS message definitions, then the ROS message to be used for the definition is looked up by name. On subsequent calls, the ROS message type is looked up directly from the existing context.

func NewDynamicMessageTypeFromSpec 

func NewDynamicMessageTypeFromSpec(spec *libgengo.MsgSpec) (*DynamicMessageType, error)

NewDynamicMessageTypeFromSpec creates a DynamicMessageType using a preloaded message specification. When loading a service or action, multiple message specs are loaded at once, so `NewDynamicMessageType` is not applicable.

func NewDynamicMessageTypeLiteral 

func NewDynamicMessageTypeLiteral(typeName string) (DynamicMessageType, error)

NewDynamicMessageTypeLiteral generates a DynamicMessageType, and returns a copy of the generated type. This is required by DynamicAction.

func (*DynamicMessageType) GenerateJSONSchema 

func (t *DynamicMessageType) GenerateJSONSchema(prefix string, topic string) ([]byte, error)

GenerateJSONSchema generates a (primitive) JSON schema for the associated DynamicMessageType; however note that since we are mostly interested in making schema's for particular _topics_, the function takes a string prefix, and string topic name, which are used to id the resulting schema.

func (*DynamicMessageType) MD5Sum 

func (t *DynamicMessageType) MD5Sum() string

MD5Sum returns the ROS compatible MD5 sum of the message type; required for ros.MessageType.

func (*DynamicMessageType) Name 

func (t *DynamicMessageType) Name() string

Name returns the full ROS name of the message type; required for ros.MessageType.

func (*DynamicMessageType) NewDynamicMessage 

func (t *DynamicMessageType) NewDynamicMessage() *DynamicMessage

NewDynamicMessage constructs a DynamicMessage with zeroed fields.

func (*DynamicMessageType) NewMessage 

func (t *DynamicMessageType) NewMessage() Message

NewMessage creates a new DynamicMessage instantiating the message type; required for ros.MessageType.

func (*DynamicMessageType) Text 

func (t *DynamicMessageType) Text() string

Text returns the full ROS message specification for this message type; required for ros.MessageType.

type DynamicService 

type DynamicService struct {
	Request  Message
	Response Message
	// contains filtered or unexported fields
}

DynamicService abstracts an instance of a ROS Service whose type is only known at runtime. The schema of the message is denoted by the referenced DynamicServiceType, while the Request and Response references the rosgo Messages it implements. DynamicService implements the rosgo Service interface, allowing it to be used throughout rosgo in the same manner as service types generated at compiletime by gengo.

func (*DynamicService) ReqMessage 

func (s *DynamicService) ReqMessage() Message

ReqMessage returns the request message of the DynamicService; required for ros.Service.

func (*DynamicService) ResMessage 

func (s *DynamicService) ResMessage() Message

ResMessage returns the response message of the DynamicService; required for ros.Service.

func (*DynamicService) Type 

func (s *DynamicService) Type() ServiceType

Type returns the ROS type of a dynamic service; not required for ros.Service.

type DynamicServiceType 

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

DynamicServiceType abstracts the schema of a ROS Service whose schema is only known at runtime. DynamicServiceType implements the rosgo ServiceType interface, allowing it to be used throughout rosgo in the same manner as service schemas generated at compiletime by gengo.

func NewDynamicServiceType 

func NewDynamicServiceType(typeName string) (*DynamicServiceType, error)

NewDynamicServiceType generates a DynamicServiceType corresponding to the specified typeName from the available ROS service definitions; typeName should be a fully-qualified ROS service type name. The first time the function is run, a message/service/action 'context' is created by searching through the available ROS definitions, then the ROS service to be used for the definition is looked up by name. On subsequent calls, the ROS service type is looked up directly from the existing context.

func (*DynamicServiceType) MD5Sum 

func (t *DynamicServiceType) MD5Sum() string

MD5Sum returns the ROS compatible MD5 sum of the service type; required for ros.ServiceType.

func (*DynamicServiceType) Name 

func (t *DynamicServiceType) Name() string

Name returns the full ROS name of the service type; required for ros.ServiceType.

func (*DynamicServiceType) NewService 

func (t *DynamicServiceType) NewService() Service

NewService creates a new DynamicService instantiating the service type; required for ros.ServiceType.

func (*DynamicServiceType) RequestType 

func (t *DynamicServiceType) RequestType() MessageType

RequestType returns the MessageType of the request message of DynamicServiceType; required for ros.ServiceType.

func (*DynamicServiceType) ResponseType 

func (t *DynamicServiceType) ResponseType() MessageType

ResponseType returns the MessageType of the response message of DynamicServiceType; required for ros.ServiceType.

func (*DynamicServiceType) Text 

func (t *DynamicServiceType) Text() string

Name returns the full ROS text of the service type; required for ros.ServiceType.

type Event 

type Event uint8
const (
	CancelRequest Event = iota + 1
	Cancel
	Reject
	Accept
	Succeed
	Abort
)

func (Event) String 

func (e Event) String() string

type JsonFloat32 

type JsonFloat32 struct {
	F float32
}

func (JsonFloat32) MarshalJSON 

func (f JsonFloat32) MarshalJSON() ([]byte, error)

func (JsonFloat32) String 

func (f JsonFloat32) String() string

type JsonFloat64 

type JsonFloat64 struct {
	F float64
}

func (JsonFloat64) MarshalJSON 

func (f JsonFloat64) MarshalJSON() ([]byte, error)

func (JsonFloat64) String 

func (f JsonFloat64) String() string

type LEByteDecoder 

type LEByteDecoder struct{}

LEByteDecoder is a little-endian byte decoder, implements the ByteDecoder interface.

func (LEByteDecoder) DecodeBool 

func (d LEByteDecoder) DecodeBool(buf *bytes.Reader) (bool, error)

DecodeBool decodes a boolean.

func (LEByteDecoder) DecodeBoolArray 

func (d LEByteDecoder) DecodeBoolArray(buf *bytes.Reader, size int) ([]bool, error)

DecodeBoolArray decodes an array of boolean values.

func (LEByteDecoder) DecodeDuration 

func (d LEByteDecoder) DecodeDuration(buf *bytes.Reader) (Duration, error)

DecodeDuration decodes a Duraction struct.

func (LEByteDecoder) DecodeDurationArray 

func (d LEByteDecoder) DecodeDurationArray(buf *bytes.Reader, size int) ([]Duration, error)

DecodeDurationArray decodes an array of Duration structs.

func (LEByteDecoder) DecodeFloat32 

func (d LEByteDecoder) DecodeFloat32(buf *bytes.Reader) (JsonFloat32, error)

DecodeFloat32 decodes a JsonFloat32.

func (LEByteDecoder) DecodeFloat32Array 

func (d LEByteDecoder) DecodeFloat32Array(buf *bytes.Reader, size int) ([]JsonFloat32, error)

DecodeFloat32Array decodes an array of float32 values.

func (LEByteDecoder) DecodeFloat64 

func (d LEByteDecoder) DecodeFloat64(buf *bytes.Reader) (JsonFloat64, error)

DecodeFloat64 decodes a JsonFloat64.

func (LEByteDecoder) DecodeFloat64Array 

func (d LEByteDecoder) DecodeFloat64Array(buf *bytes.Reader, size int) ([]JsonFloat64, error)

DecodeFloat64Array decodes an array of float64 values.

func (LEByteDecoder) DecodeInt16 

func (d LEByteDecoder) DecodeInt16(buf *bytes.Reader) (int16, error)

DecodeInt16 decodes a int16.

func (LEByteDecoder) DecodeInt16Array 

func (d LEByteDecoder) DecodeInt16Array(buf *bytes.Reader, size int) ([]int16, error)

DecodeInt16Array decodes an array of int16 values.

func (LEByteDecoder) DecodeInt32 

func (d LEByteDecoder) DecodeInt32(buf *bytes.Reader) (int32, error)

DecodeInt32 decodes a int32.

func (LEByteDecoder) DecodeInt32Array 

func (d LEByteDecoder) DecodeInt32Array(buf *bytes.Reader, size int) ([]int32, error)

DecodeInt32Array decodes an array of int32 values.

func (LEByteDecoder) DecodeInt64 

func (d LEByteDecoder) DecodeInt64(buf *bytes.Reader) (int64, error)

DecodeInt64 decodes a int64.

func (LEByteDecoder) DecodeInt64Array 

func (d LEByteDecoder) DecodeInt64Array(buf *bytes.Reader, size int) ([]int64, error)

DecodeInt64Array decodes an array of int64 values.

func (LEByteDecoder) DecodeInt8 

func (d LEByteDecoder) DecodeInt8(buf *bytes.Reader) (int8, error)

DecodeInt8 decodes a int8.

func (LEByteDecoder) DecodeInt8Array 

func (d LEByteDecoder) DecodeInt8Array(buf *bytes.Reader, size int) ([]int8, error)

DecodeInt8Array decodes an array of int8 values.

func (LEByteDecoder) DecodeMessage 

func (d LEByteDecoder) DecodeMessage(buf *bytes.Reader, msgType *DynamicMessageType) (Message, error)

DecodeMessage decodes a DynamicMessage.

func (LEByteDecoder) DecodeMessageArray 

func (d LEByteDecoder) DecodeMessageArray(buf *bytes.Reader, size int, msgType *DynamicMessageType) ([]Message, error)

DecodeMessageArray decodes an array of DynamicMessages.

func (LEByteDecoder) DecodeString 

func (d LEByteDecoder) DecodeString(buf *bytes.Reader) (string, error)

DecodeString decodes a string.

func (LEByteDecoder) DecodeStringArray 

func (d LEByteDecoder) DecodeStringArray(buf *bytes.Reader, size int) ([]string, error)

DecodeStringArray decodes an array of strings.

func (LEByteDecoder) DecodeTime 

func (d LEByteDecoder) DecodeTime(buf *bytes.Reader) (Time, error)

DecodeTime decodes a Time struct.

func (LEByteDecoder) DecodeTimeArray 

func (d LEByteDecoder) DecodeTimeArray(buf *bytes.Reader, size int) ([]Time, error)

DecodeTimeArray decodes an array of Time structs.

func (LEByteDecoder) DecodeUint16 

func (d LEByteDecoder) DecodeUint16(buf *bytes.Reader) (uint16, error)

DecodeUint16 decodes a uint16.

func (LEByteDecoder) DecodeUint16Array 

func (d LEByteDecoder) DecodeUint16Array(buf *bytes.Reader, size int) ([]uint16, error)

DecodeUint16Array decodes an array of uint16 values.

func (LEByteDecoder) DecodeUint32 

func (d LEByteDecoder) DecodeUint32(buf *bytes.Reader) (uint32, error)

DecodeUint32 decodes a uint32.

func (LEByteDecoder) DecodeUint32Array 

func (d LEByteDecoder) DecodeUint32Array(buf *bytes.Reader, size int) ([]uint32, error)

DecodeUint32Array decodes an array of uint32 values.

func (LEByteDecoder) DecodeUint64 

func (d LEByteDecoder) DecodeUint64(buf *bytes.Reader) (uint64, error)

DecodeUint64 decodes a uint64.

func (LEByteDecoder) DecodeUint64Array 

func (d LEByteDecoder) DecodeUint64Array(buf *bytes.Reader, size int) ([]uint64, error)

DecodeUint64Array decodes an array of uint64 values.

func (LEByteDecoder) DecodeUint8 

func (d LEByteDecoder) DecodeUint8(buf *bytes.Reader) (uint8, error)

DecodeUint8 decodes a uint8.

func (LEByteDecoder) DecodeUint8Array 

func (d LEByteDecoder) DecodeUint8Array(buf *bytes.Reader, size int) ([]uint8, error)

DecodeUint8Array decodes an array of uint8 values.

type Message 

type Message interface {
	Type() MessageType
	Serialize(buf *bytes.Buffer) error
	Deserialize(buf *bytes.Reader) error
}

Message struct which contains the message type, serialize and deserialize functions

func NewActionHeader 

func NewActionHeader() Message

Create a new standard header message. Convenience function

type MessageEvent 

type MessageEvent struct {
	PublisherName    string
	ReceiptTime      time.Time
	ConnectionHeader map[string]string
}

MessageEvent is an optional second argument to a Subscriber callback.

type MessageType 

type MessageType interface {
	Text() string
	MD5Sum() string
	Name() string
	NewMessage() Message
}

MessageType struct which contains the interface functions for the important properties of a message Text, Name, and MD5 sum are data used to identify message types while NewMessage instantiates the message fields

type NameMap 

type NameMap map[string]string

NameMap is a string to string map of node names and resolved names

type NameResolver 

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

NameResolver struct definition for the NameResolver object. Node name is the raw name of the node in question namespace is the directory/qualifier of the node, by default "/" mapping and resolvedMapping are NameMap maps

type Node 

type Node interface {
	NewPublisher(topic string, msgType MessageType) (Publisher, error)
	// Create a publisher which gives you callbacks when subscribers
	// connect and disconnect.  The callbacks are called in their own
	// goroutines, so they don't need to return immediately to let the
	// connection proceed.
	NewPublisherWithCallbacks(topic string,
		msgType MessageType,
		connectCallback, disconnectCallback func(SingleSubscriberPublisher)) (Publisher, error)
	// callback should be a function which takes 0, 1, or 2 arguments.
	// If it takes 0 arguments, it will simply be called without the
	// message.  1-argument functions are the normal case, and the
	// argument should be of the generated message type.  If the
	// function takes 2 arguments, the first argument should be of the
	// generated message type and the second argument should be of
	// type MessageEvent.
	NewSubscriber(topic string, msgType MessageType, callback interface{}) (Subscriber, error)
	NewSubscriberWithFlowControl(topic string, msgType MessageType, enable chan bool, callback interface{}) (Subscriber, error)
	NewServiceClient(service string, srvType ServiceType) ServiceClient
	NewServiceServer(service string, srvType ServiceType, callback interface{}) ServiceServer

	RemoveSubscriber(topic string)
	RemovePublisher(topic string)

	OK() bool
	SpinOnce() bool
	Spin()
	Shutdown()
	Namespace() string
	QualifiedName() string

	GetParam(name string) (interface{}, error)
	SetParam(name string, value interface{}) error
	HasParam(name string) (bool, error)
	SearchParam(name string) (string, error)
	DeleteParam(name string) error

	GetSystemState() ([]interface{}, error)
	GetServiceList() ([]string, error)
	GetServiceType(string) (*ServiceHeader, error)
	GetPublishedActions(subgraph string) (map[string]string, error)
	GetPublishedTopics(subgraph string) (map[string]string, error)
	GetTopicTypes() []interface{}

	Logger() zerolog.Logger

	NonRosArgs() []string
	Name() string
}

Node interface which contains functions of a ROS Node

func NewNode 

func NewNode(name string, args []string) (Node, error)

NewNode instantiates a newDefaultNode with name and arguments

func NewNodeWithLogs 

func NewNodeWithLogs(name string, log zerolog.Logger, args []string) (Node, error)

NewNodeWithLogs instantiates a newDefaultNode with a provided log

type Publisher 

type Publisher interface {
	TryPublish(msg Message) error
	Publish(msg Message)
	GetNumSubscribers() int
	Shutdown()
}

Publisher is interface for publisher and shutdown function

type Rate 

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

Rate interface is a struct of Durations actual and expected cycle time, and start Time

func CycleTime 

func CycleTime(d Duration) Rate

CycleTime returns a new Rate object of expected cycle time of duration given

func NewRate 

func NewRate(frequency float64) Rate

NewRate returns a new Rate object of given frequency

func (*Rate) CycleTime 

func (r *Rate) CycleTime() Duration

CycleTime returns duration of the Cycle time of a Rate object

func (*Rate) ExpectedCycleTime 

func (r *Rate) ExpectedCycleTime() Duration

ExpectedCycleTime returns duration of the Expected Cycle time of a Rate object

func (*Rate) Reset 

func (r *Rate) Reset()

Reset sets actual Cycle time and start time of Rate to 0/now

func (*Rate) Sleep 

func (r *Rate) Sleep() error

Sleep pauses go routine for time = expectedCycleTime - (Now - Rate start)

type ServerGoalHandler 

type ServerGoalHandler interface {
	SetAccepted(string) error
	SetCancelled(Message, string) error
	SetRejected(Message, string) error
	SetAborted(Message, string) error
	SetSucceeded(Message, string) error
	SetCancelRequested() bool
	PublishFeedback(Message)
	GetGoal() (Message, error)
	GetGoalId() (ActionGoalID, error)
	GetGoalStatus() (ActionStatus, error)
	Equal(ServerGoalHandler) bool
	NotEqual(ServerGoalHandler) bool
	Hash() (uint32, error)
	GetHandlerDestructionTime() Time
	SetHandlerDestructionTime(Time)
}

func NewServerGoalHandlerWithGoal 

func NewServerGoalHandlerWithGoal(as ActionServer, goal ActionGoal) (ServerGoalHandler, error)

func NewServerGoalHandlerWithGoalId 

func NewServerGoalHandlerWithGoalId(as ActionServer, goalID ActionGoalID) ServerGoalHandler

type Service 

type Service interface {
	ReqMessage() Message
	ResMessage() Message
}

Service interface contains the Request and Response ROS messages

type ServiceClient 

type ServiceClient interface {
	Call(srv Service) error
	Shutdown()
}

ServiceClient is the interface for a service client with service call function

type ServiceFactory 

type ServiceFactory interface {
	Name() string
	MD5Sum() string
}

ServiceFactory is an interface for Name and MD5 sum of service

type ServiceHandler 

type ServiceHandler interface{}

ServiceHandler is a service handling interface

type ServiceHeader 

type ServiceHeader struct {
	Callerid     string
	Md5sum       string
	RequestType  string
	ResponseType string
	ServiceType  string
}

serviceheader is the header returned from probing a ros service, containing all type information

type ServiceServer 

type ServiceServer interface {
	Shutdown()
}

ServiceServer is the interface for a service server with shutdown

type ServiceType 

type ServiceType interface {
	MD5Sum() string
	Name() string
	RequestType() MessageType
	ResponseType() MessageType
	NewService() Service
}

ServiceType is the interface definition of a ROS Service This contains MD5sum and Name of service and the request and response message types NewService iinstantiates a new Service object

type SimpleActionClient 

type SimpleActionClient interface {
	SendGoal(goal Message, doneCb, activeCb, feedbackCb interface{}, goalID string) error
	SendGoalAndWait(goal Message, executeTimeout, preeptTimeout Duration) (uint8, error)
	WaitForServer(timeout Duration) bool
	WaitForResult(timeout Duration) bool
	GetResult() (Message, error)
	GetState() (uint8, error)
	GetGoalStatusText() (string, error)
	CancelAllGoals()
	CancelAllGoalsBeforeTime(stamp Time)
	CancelGoal() error
	ShutdownClient(bool, bool, bool)
	StopTrackingGoal()
}

func NewSimpleActionClient 

func NewSimpleActionClient(node Node, action string, actionType ActionType) (SimpleActionClient, error)

type SimpleActionServer 

type SimpleActionServer interface {
	Start()
	IsNewGoalAvailable() bool
	IsPreemptRequested() bool
	IsActive() bool
	SetSucceeded(result Message, text string) error
	SetAborted(result Message, text string) error
	SetPreempted(result Message, text string) error
	AcceptNewGoal() (Message, error)
	PublishFeedback(feedback Message)
	GetDefaultResult() Message
	RegisterGoalCallback(callback interface{}) error
	RegisterPreemptCallback(callback interface{})
}

func NewSimpleActionServer 

func NewSimpleActionServer(node Node, action string, actionType ActionType, executeCb interface{}, autoStart bool) SimpleActionServer

type SingleSubscriberPublisher 

type SingleSubscriberPublisher interface {
	Publish(msg Message)
	GetSubscriberName() string
	GetTopic() string
}

SingleSubscriberPublisher only sends to one specific subscriber. This is sent as an argument to the connect and disconnect callback functions passed to Node.NewPublisherWithCallbacks().

type Subscriber 

type Subscriber interface {
	GetNumPublishers() int
	Shutdown()
}

Subscriber is interface for GetNumPublishers function used in callbacks

type SubscriberRos 

type SubscriberRos interface {
	RequestTopicURI(pub string) (string, error)
	Unregister() error
}

SubscriberRos interface provides methods to decouple ROS API calls from the subscriber itself.

type SubscriberRosAPI 

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

SubscriberRosAPI implements SubscriberRos using callRosAPI rpc calls.

func (*SubscriberRosAPI) RequestTopicURI 

func (a *SubscriberRosAPI) RequestTopicURI(pub string) (string, error)

RequestTopicURI requests the URI of a given topic from a publisher.

func (*SubscriberRosAPI) Unregister 

func (a *SubscriberRosAPI) Unregister() error

Unregister removes a subscriber from a topic.

type TCPRosDialer 

type TCPRosDialer interface {
	Dial(ctx goContext.Context, uri string) (net.Conn, error)
}

TCPRosDialer interface used for connecting to servers.

type TCPRosError 

type TCPRosError int

TCPRosError defines custom error types returned by readTCPRosMessage and writeTCPRosMessage. Not all errors returned will be TCPRosErrors. 

const (
	TCPRosErrorSizeTooLarge TCPRosError = iota
)

All TCPRosError types.

func (*TCPRosError) Error 

func (err *TCPRosError) Error() string

type TCPRosNetDialer 

type TCPRosNetDialer struct{}

TCPRosNetDialer implements the TCPRosDialer for net connections.

func (*TCPRosNetDialer) Dial 

func (d *TCPRosNetDialer) Dial(ctx goContext.Context, uri string) (net.Conn, error)

Dial will attempt to connect to the specified uri over tcp.

type TCPRosReadResult 

type TCPRosReadResult struct {
	Buf []byte
	Err error
}

TCPRosReadResult defines a structure which is delivered via a channel when calling the asynchronous readTCPRosMessage.

type Time 

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

Time struct contains a temporal value {sec,nsec}

func NewTime 

func NewTime(sec uint32, nsec uint32) Time

NewTime creates a Time object of given integers {sec,nsec}

func Now 

func Now() Time

Now creates a Time object of value Now

func (*Time) Add 

func (t *Time) Add(d Duration) Time

Add returns sum of Time and Duration given

func (*Time) Cmp 

func (t *Time) Cmp(other Time) int

Cmp returns int comparison of two Time objects

func (*Time) Diff 

func (t *Time) Diff(from Time) Duration

Diff returns difference of two Time objects as a Duration

func (*Time) FromNSec 

func (t *Time) FromNSec(nsec uint64)

func (*Time) FromSec 

func (t *Time) FromSec(sec float64)

func (*Time) IsZero 

func (t *Time) IsZero() bool

func (*Time) Normalize 

func (t *Time) Normalize()

func (*Time) Sub 

func (t *Time) Sub(d Duration) Time

Sub returns subtraction of Time and Duration given

func (*Time) ToNSec 

func (t *Time) ToNSec() uint64

func (*Time) ToSec 

func (t *Time) ToSec() float64

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