rclgo

type AlreadyInit ¶

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

AlreadyInit rcl specific ret codes start at 100rcl_init() already called return code.

func (e *AlreadyInit) Error() string

type AlreadyShutdown ¶

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

AlreadyShutdown rcl_shutdown() already called return code.

func (e *AlreadyShutdown) Error() string

type BadAlloc ¶

type BadAlloc = RmwBadAlloc

BadAlloc Failed to allocate memory return code.

type Client ¶

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

Client is used to send requests to and receive responses from a service.

Calling Send is thread-safe. Creating and closing clients is not thread-safe.

func (c *Client) Close() error

func (r *Client) GetID() uint64

func (c *Client) Send(ctx context.Context, req types.Message) (types.Message, *RmwServiceInfo, error)

func (r *Client) SetID(x uint64)

type ClientInvalid ¶

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

ClientInvalid rcl service client specific ret codes in 5XXInvalid rcl_client_t given return code.

func (e *ClientInvalid) Error() string

type ClientOptions ¶

type ClientOptions struct {
	Qos RmwQosProfile
}

func NewDefaultClientOptions() *ClientOptions

type ClientTakeFailed ¶

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

ClientTakeFailed Failed to take a response from the client return code.

func (e *ClientTakeFailed) Error() string

type Clock ¶

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

func (self *Clock) Close() error

func (r *Clock) GetID() uint64

func (r *Clock) SetID(x uint64)

type ClockType ¶

type ClockType uint32

const (
	ClockTypeUninitialized ClockType = 0
	ClockTypeROSTime       ClockType = 1
	ClockTypeSystemTime    ClockType = 2
	ClockTypeSteadyTime    ClockType = 3
)

type Context ¶

type Context struct {
	WG *sync.WaitGroup

	Clock *Clock
	// contains filtered or unexported fields
}

Context manages resources for a set of RCL entities.

func NewContext(wg *sync.WaitGroup, clockType ClockType, rclArgs *RCLArgs) (ctx *Context, err error)

func PublisherBundleTimer(ctx context.Context, rclContext *Context, wg *sync.WaitGroup, namespace, nodeName, topicName, msgTypeName string, rosArgs *RCLArgs, interval time.Duration, payload string, publisherCallback func(*Publisher, types.Message) bool) (*Context, error)

func SubscriberBundle(ctx context.Context, rclContext *Context, wg *sync.WaitGroup, namespace, nodeName, topicName, msgTypeName string, rosArgs *RCLArgs, subscriberCallback SubscriptionCallback) (*Context, error)

func (c *Context) Close() error

func (c *Context) NewClock(clockType ClockType) (clock *Clock, err error)

func (c *Context) NewNode(node_name, namespace string) (node *Node, err error)

func (c *Context) NewTimer(timeout time.Duration, timer_callback func(*Timer)) (timer *Timer, err error)

func (c *Context) NewWaitSet(timeout time.Duration) (ws *WaitSet, err error)

type Error ¶

type Error = RmwError

Error Unspecified error return code.

type EventInvalid ¶

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

EventInvalid rcl event specific ret codes in 20XXInvalid rcl_event_t given return code.

func (e *EventInvalid) Error() string

type EventTakeFailed ¶

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

EventTakeFailed Failed to take an event from the event handle

func (e *EventTakeFailed) Error() string

type InvalidArgument ¶

type InvalidArgument = RmwInvalidArgument

InvalidArgument Invalid argument return code.

type InvalidLogLevelRule ¶

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

InvalidLogLevelRule Argument is not a valid log level rule

func (e *InvalidLogLevelRule) Error() string

type InvalidParamRule ¶

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

InvalidParamRule Argument is not a valid parameter rule

func (e *InvalidParamRule) Error() string

type InvalidRemapRule ¶

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

InvalidRemapRule rcl argument parsing specific ret codes in 1XXXArgument is not a valid remap rule

func (e *InvalidRemapRule) Error() string

type InvalidRosArgs ¶

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

InvalidRosArgs Found invalid ros argument while parsing

func (e *InvalidRosArgs) Error() string

type LifecycleStateNotRegistered ¶

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

LifecycleStateNotRegistered rcl_lifecycle state not registered

func (e *LifecycleStateNotRegistered) Error() string

type LifecycleStateRegistered ¶

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

LifecycleStateRegistered rcl_lifecycle state register ret codes in 30XXrcl_lifecycle state registered

func (e *LifecycleStateRegistered) Error() string

type LogSeverity ¶

type LogSeverity uint32

/ The severity levels of log messages / loggers. // Copypaste from /opt/ros/galactic/include/rcutils/logging.h

const (
	LogSeverityUnset LogSeverity = 0  ///< The unset log level
	LogSeverityDebug LogSeverity = 10 ///< The debug log level
	LogSeverityInfo  LogSeverity = 20 ///< The info log level
	LogSeverityWarn  LogSeverity = 30 ///< The warn log level
	LogSeverityError LogSeverity = 40 ///< The error log level
	LogSeverityFatal LogSeverity = 50 ///< The fatal log level
)

type MismatchedRmwId ¶

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

MismatchedRmwId Mismatched rmw identifier return code.

func (e *MismatchedRmwId) Error() string

type Node ¶

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

func (self *Node) Close() error

func (r *Node) GetID() uint64

func (n *Node) NewClient(
	serviceName string,
	typeSupport types.ServiceTypeSupport,
	options *ClientOptions,
) (c *Client, err error)

func (self *Node) NewPublisher(
	topicName string,
	ros2msg types.MessageTypeSupport,
	options *PublisherOptions,
) (pub *Publisher, err error)

func (n *Node) NewService(
	name string,
	typeSupport types.ServiceTypeSupport,
	options *ServiceOptions,
	handler ServiceRequestHandler,
) (s *Service, err error)

func (self *Node) NewSubscription(topic_name string, ros2msg types.MessageTypeSupport, subscriptionCallback SubscriptionCallback) (sub *Subscription, err error)

func (r *Node) SetID(x uint64)

type NodeInvalid ¶

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

NodeInvalid rcl node specific ret codes in 2XXInvalid rcl_node_t given return code.

func (e *NodeInvalid) Error() string

type NodeInvalidName ¶

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

NodeInvalidName Invalid node name return code.

func (e *NodeInvalidName) Error() string

type NodeInvalidNamespace ¶

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

NodeInvalidNamespace Invalid node namespace return code.

func (e *NodeInvalidNamespace) Error() string

type NodeNameNonExistent ¶

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

NodeNameNonExistent Failed to find node name

func (e *NodeNameNonExistent) Error() string

type NotInit ¶

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

NotInit rcl_init() not yet called return code.

func (e *NotInit) Error() string

type Ok ¶

type Ok = RmwOk

Ok Success return code.

type Publisher ¶

type Publisher struct {
	TopicName string
	// contains filtered or unexported fields
}

func (self *Publisher) Close() error

func (r *Publisher) GetID() uint64

func (self *Publisher) Publish(ros2msg types.Message) error

func (r *Publisher) SetID(x uint64)

type PublisherInvalid ¶

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

PublisherInvalid rcl publisher specific ret codes in 3XXInvalid rcl_publisher_t given return code.

func (e *PublisherInvalid) Error() string

type PublisherOptions ¶

type PublisherOptions struct {
	Qos RmwQosProfile
}

func NewDefaultPublisherOptions() *PublisherOptions

type RCLArgs ¶

type RCLArgs struct {
	GoArgs []string
	CArgv  **C.char
	CArgc  C.int
}

ROS2 RCL is configured via CLI arguments, so merge them from different sources. See. http://design.ros2.org/articles/ros_command_line_arguments.html

func NewRCLArgs(rclArgs string) (*RCLArgs, error)

oldOSArgs := os.Args
defer func() { os.Args = oldOSArgs }()

os.Args = []string{"--extra0", "args0", "--ros-args", "--log-level", "DEBUG", "--", "--extra1", "args1"}
rosArgs, err := NewRCLArgs("")
if err != nil {
    panic(err)
}
fmt.Printf("rosArgs: %+v\n", rosArgs.GoArgs) // -> [--extra0 args0 --ros-args --log-level DEBUG -- --extra1 args1]

rosArgs, err = NewRCLArgs("--log-level INFO")
if err != nil {
    panic(err)
}
fmt.Printf("rosArgs: %+v\n", rosArgs.GoArgs) // -> [--ros-args --log-level INFO]

os.Args = []string{"--extra0", "args0", "--extra1", "args1"}
rosArgs, err = NewRCLArgs("")
if err != nil {
    panic(err)
}
fmt.Printf("rosArgs: %+v\n", rosArgs.GoArgs) // -> []

// Output: rosArgs: [--extra0 args0 --ros-args --log-level DEBUG -- --extra1 args1]
// rosArgs: [--ros-args --log-level INFO]
// rosArgs: []

func NewRCLArgsMust(rclArgs string) *RCLArgs

func (self *RCLArgs) Close() error

type RmwBadAlloc ¶

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

RmwBadAlloc Failed to allocate memory

func (e *RmwBadAlloc) Error() string

type RmwError ¶

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

RmwError Generic error to indicate operation could not complete successfully

func (e *RmwError) Error() string

type RmwIncorrectRmwImplementation ¶

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

RmwIncorrectRmwImplementation Incorrect rmw implementation.

func (e *RmwIncorrectRmwImplementation) Error() string

type RmwInvalidArgument ¶

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

RmwInvalidArgument Argument to function was invalid

func (e *RmwInvalidArgument) Error() string

type RmwMessageInfo ¶

type RmwMessageInfo struct {
	SourceTimestamp   time.Time
	ReceivedTimestamp time.Time
	FromIntraProcess  bool
}

type RmwNodeNameNonExistent ¶

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

RmwNodeNameNonExistent rmw node specific ret codes in 2XXFailed to find node nameUsing same return code than in rcl

func (e *RmwNodeNameNonExistent) Error() string

type RmwOk ¶

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

RmwOk Return code for rmw functionsThe operation ran as expected

func (e *RmwOk) Error() string

type RmwQosDurabilityPolicy ¶

type RmwQosDurabilityPolicy int

const (
	RmwQosDurabilityPolicySystemDefault RmwQosDurabilityPolicy = iota
	RmwQosDurabilityPolicyTransientLocal
	RmwQosDurabilityPolicyVolatile
	RmwQosDurabilityPolicyUnknown
)

type RmwQosHistoryPolicy ¶

type RmwQosHistoryPolicy int

const (
	RmwQosHistoryPolicySystemDefault RmwQosHistoryPolicy = iota
	RmwQosHistoryPolicyKeepLast
	RmwQosHistoryPolicyKeepAll
	RmwQosHistoryPolicyUnknown
)

type RmwQosLivelinessPolicy ¶

type RmwQosLivelinessPolicy int

const (
	RmwQosLivelinessPolicySystemDefault RmwQosLivelinessPolicy = iota
	RmwQosLivelinessPolicyAutomatic

	RmwQosLivelinessPolicyManualByTopic
	RmwQosLivelinessPolicyUnknown
)

type RmwQosProfile ¶

type RmwQosProfile struct {
	History                      RmwQosHistoryPolicy
	Depth                        int
	Reliability                  RmwQosReliabilityPolicy
	Durability                   RmwQosDurabilityPolicy
	Deadline                     time.Duration
	Lifespan                     time.Duration
	Liveliness                   RmwQosLivelinessPolicy
	LivelinessLeaseDuration      time.Duration
	AvoidRosNamespaceConventions bool
}

func NewRmwQosProfileDefault() RmwQosProfile

func NewRmwQosProfileServicesDefault() RmwQosProfile

type RmwQosReliabilityPolicy ¶

type RmwQosReliabilityPolicy int

const (
	RmwQosReliabilityPolicySystemDefault RmwQosReliabilityPolicy = iota
	RmwQosReliabilityPolicyReliable
	RmwQosReliabilityPolicyBestEffort
	RmwQosReliabilityPolicyUnknown
)

type RmwRequestID ¶

type RmwRequestID struct {
	WriterGUID     [16]int8
	SequenceNumber int64
}

type RmwServiceInfo ¶

type RmwServiceInfo struct {
	SourceTimestamp   time.Time
	ReceivedTimestamp time.Time
	RequestID         RmwRequestID
}

type RmwTimeout ¶

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

RmwTimeout The operation was halted early because it exceeded its timeout critera

func (e *RmwTimeout) Error() string

type RmwUnsupported ¶

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

RmwUnsupported The operation or event handling is not supported.

func (e *RmwUnsupported) Error() string

type Service ¶

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

func (s *Service) Close() (err error)

func (r *Service) GetID() uint64

func (r *Service) SetID(x uint64)

type ServiceInvalid ¶

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

ServiceInvalid rcl service server specific ret codes in 6XXInvalid rcl_service_t given return code.

func (e *ServiceInvalid) Error() string

type ServiceNameInvalid ¶

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

ServiceNameInvalid Service name (same as topic name) does not pass validation.

func (e *ServiceNameInvalid) Error() string

type ServiceOptions ¶

type ServiceOptions struct {
	Qos RmwQosProfile
}

func NewDefaultServiceOptions() *ServiceOptions

type ServiceRequestHandler ¶

type ServiceRequestHandler func(*RmwServiceInfo, types.Message, ServiceResponseSender)

type ServiceResponseSender ¶

type ServiceResponseSender interface {
	SendResponse(resp types.Message) error
}

type ServiceTakeFailed ¶

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

ServiceTakeFailed Failed to take a request from the service return code.

func (e *ServiceTakeFailed) Error() string

type Subscription ¶

type Subscription struct {
	TopicName   string
	Ros2MsgType types.MessageTypeSupport
	Callback    SubscriptionCallback
	// contains filtered or unexported fields
}

func (self *Subscription) Close() error

func (r *Subscription) GetID() uint64

func (r *Subscription) SetID(x uint64)

func (s *Subscription) Spin(ctx context.Context, timeout time.Duration) error

func (s *Subscription) TakeMessage(out types.Message) (*RmwMessageInfo, error)

type SubscriptionCallback ¶

type SubscriptionCallback func(*Subscription)

type SubscriptionInvalid ¶

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

SubscriptionInvalid rcl subscription specific ret codes in 4XXInvalid rcl_subscription_t given return code.

func (e *SubscriptionInvalid) Error() string

type SubscriptionTakeFailed ¶

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

SubscriptionTakeFailed Failed to take a message from the subscription return code.

func (e *SubscriptionTakeFailed) Error() string

type Timeout ¶

type Timeout = RmwTimeout

Timeout Timeout occurred return code.

type Timer ¶

type Timer struct {
	Callback func(*Timer)
	// contains filtered or unexported fields
}

func (self *Timer) Close() error

func (r *Timer) GetID() uint64

func (self *Timer) GetTimeUntilNextCall() (int64, error)

func (self *Timer) Reset() error

func (r *Timer) SetID(x uint64)

type TimerCanceled ¶

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

TimerCanceled Given timer was canceled return code.

func (e *TimerCanceled) Error() string

type TimerInvalid ¶

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

TimerInvalid rcl timer specific ret codes in 8XXInvalid rcl_timer_t given return code.

func (e *TimerInvalid) Error() string

type TopicNameInvalid ¶

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

TopicNameInvalid Topic name does not pass validation.

func (e *TopicNameInvalid) Error() string

type UnknownReturnCode ¶

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

func (e *UnknownReturnCode) Error() string

type UnknownSubstitution ¶

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

UnknownSubstitution Topic name substitution is unknown.

func (e *UnknownSubstitution) Error() string

type Unsupported ¶

type Unsupported = RmwUnsupported

Unsupported Unsupported return code.

type WaitSet ¶

type WaitSet struct {
	Timeout       time.Duration
	Subscriptions []*Subscription
	Timers        []*Timer
	// contains filtered or unexported fields
}

func (w *WaitSet) AddClients(clients ...*Client)

func (w *WaitSet) AddServices(services ...*Service)

func (w *WaitSet) AddSubscriptions(subs ...*Subscription)

func (w *WaitSet) AddTimers(timers ...*Timer)

func (self *WaitSet) Close() error

func (r *WaitSet) GetID() uint64

func (w *WaitSet) Ready() bool

func (self *WaitSet) Run(ctx context.Context) error

func (self *WaitSet) RunGoroutine(ctx context.Context)

func (r *WaitSet) SetID(x uint64)

func (self *WaitSet) WaitForReady(timeout, interval time.Duration) error

type WaitSetEmpty ¶

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

WaitSetEmpty Given rcl_wait_set_t is empty return code.

func (e *WaitSetEmpty) Error() string

type WaitSetFull ¶

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

WaitSetFull Given rcl_wait_set_t is full return code.

func (e *WaitSetFull) Error() string

type WaitSetInvalid ¶

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

WaitSetInvalid rcl wait and wait set specific ret codes in 9XXInvalid rcl_wait_set_t given return code.

func (e *WaitSetInvalid) Error() string

type WrongLexeme ¶

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

WrongLexeme Expected one type of lexeme but got another

func (e *WrongLexeme) Error() string