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goroslib

package module

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Versions in this module

v1

v1.2.0

Mar 11, 2023

Changes in this version

type NodeConf

+ ReadTimeout time.Duration

+ WriteTimeout time.Duration

v1.1.1

Mar 9, 2023

v1.1.0

Feb 8, 2023

v1.0.1

Dec 21, 2022

Changes in this version

+ var ErrNodeTerminated = fmt.Errorf("node terminated")

+ var ErrProviderTerminated = fmt.Errorf("service provider terminated")

v1.0.0

Dec 8, 2022

Changes in this version

+ type ActionClient struct

+ func NewActionClient(conf ActionClientConf) (*ActionClient, error)

+ func (ac *ActionClient) CancelAllGoals()

+ func (ac *ActionClient) Close() error

+ func (ac *ActionClient) SendGoal(conf ActionClientGoalConf) (*ActionClientGoalHandler, error)

+ func (ac *ActionClient) WaitForServer()

+ type ActionClientCommState int

+ const ActionClientCommStateActive

+ const ActionClientCommStateDone

+ const ActionClientCommStateLost

+ const ActionClientCommStatePending

+ const ActionClientCommStatePreempting

+ const ActionClientCommStateRecalling

+ const ActionClientCommStateWaitingForCancelAck

+ const ActionClientCommStateWaitingForGoalAck

+ const ActionClientCommStateWaitingForResult

+ func (s ActionClientCommState) String() string

+ type ActionClientConf struct

+ Action interface{}

+ Name string

+ Node *Node

+ type ActionClientGoalConf struct

+ Goal interface{}

+ OnFeedback interface{}

+ OnTransition interface{}

+ type ActionClientGoalHandler struct

+ func (gh *ActionClientGoalHandler) Cancel()

+ func (gh *ActionClientGoalHandler) CommState() ActionClientCommState

+ func (gh *ActionClientGoalHandler) TerminalState() (ActionClientTerminalState, error)

+ type ActionClientTerminalState int

+ const ActionClientTerminalStateAborted

+ const ActionClientTerminalStateLost

+ const ActionClientTerminalStatePreempted

+ const ActionClientTerminalStateRecalled

+ const ActionClientTerminalStateRejected

+ const ActionClientTerminalStateSucceeded

+ func (s ActionClientTerminalState) String() string

+ type ActionServer struct

+ func NewActionServer(conf ActionServerConf) (*ActionServer, error)

+ func (as *ActionServer) Close() error

+ type ActionServerConf struct

+ Action interface{}

+ DeleteFinishedGoalAfter time.Duration

+ Name string

+ Node *Node

+ OnCancel func(gh *ActionServerGoalHandler)

+ OnGoal interface{}

+ StatusPeriod time.Duration

+ type ActionServerGoalHandler struct

+ func (gh *ActionServerGoalHandler) PublishFeedback(fb interface{})

+ func (gh *ActionServerGoalHandler) SetAborted(res interface{})

+ func (gh *ActionServerGoalHandler) SetAccepted()

+ func (gh *ActionServerGoalHandler) SetCanceled(res interface{})

+ func (gh *ActionServerGoalHandler) SetRejected(res interface{})

+ func (gh *ActionServerGoalHandler) SetSucceeded(res interface{})

+ type ActionServerGoalState int

+ const ActionServerGoalStateAborted

+ const ActionServerGoalStateActive

+ const ActionServerGoalStateLost

+ const ActionServerGoalStatePending

+ const ActionServerGoalStatePreempted

+ const ActionServerGoalStatePreempting

+ const ActionServerGoalStateRecalled

+ const ActionServerGoalStateRecalling

+ const ActionServerGoalStateRejected

+ const ActionServerGoalStateSucceeded

+ func (s ActionServerGoalState) String() string

+ type InfoConnection struct

+ Connected bool

+ Direction byte

+ ID int

+ To string

+ Topic string

+ Transport string

+ type InfoNode struct

+ Address string

+ ProvidedServices map[string]struct{}

+ PublishedTopics map[string]struct{}

+ SubscribedTopics map[string]struct{}

+ type InfoService struct

+ Address string

+ Providers map[string]struct{}

+ type InfoTopic struct

+ Publishers map[string]struct{}

+ Subscribers map[string]struct{}

+ Type string

+ type LogDestination int

+ const LogDestinationCallback

+ const LogDestinationConsole

+ const LogDestinationRosout

+ type LogLevel int

+ const LogLevelDebug

+ const LogLevelError

+ const LogLevelFatal

+ const LogLevelInfo

+ const LogLevelWarn

+ type Node struct

+ func NewNode(conf NodeConf) (*Node, error)

+ func (n *Node) Close() error

+ func (n *Node) Log(level LogLevel, format string, args ...interface{})

+ func (n *Node) MasterGetMachines() (map[string]struct{}, error)

+ func (n *Node) MasterGetNodes() (map[string]*InfoNode, error)

+ func (n *Node) MasterGetServices() (map[string]*InfoService, error)

+ func (n *Node) MasterGetTopics() (map[string]*InfoTopic, error)

+ func (n *Node) NodeGetConns(nodeName string) ([]InfoConnection, error)

+ func (n *Node) NodeKill(nodeName string) error

+ func (n *Node) NodePing(nodeName string) (time.Duration, error)

+ func (n *Node) ParamGetBool(key string) (bool, error)

+ func (n *Node) ParamGetFloat64(key string) (float64, error)

+ func (n *Node) ParamGetInt(key string) (int, error)

+ func (n *Node) ParamGetString(key string) (string, error)

+ func (n *Node) ParamIsSet(key string) (bool, error)

+ func (n *Node) ParamSetBool(key string, val bool) error

+ func (n *Node) ParamSetFloat64(key string, val float64) error

+ func (n *Node) ParamSetInt(key string, val int) error

+ func (n *Node) ParamSetString(key string, val string) error

+ func (n *Node) TimeNow() time.Time

+ func (n *Node) TimeRate(d time.Duration) *NodeRate

+ func (n *Node) TimeSleep(d time.Duration)

+ func (n *Node) TimeSleepChan(d time.Duration) <-chan time.Time

+ type NodeConf struct

+ ApislavePort int

+ Host string

+ LogDestinations LogDestination

+ LogLevel LogLevel

+ MasterAddress string

+ Name string

+ Namespace string

+ OnLog func(LogLevel, string)

+ TcprosPort int

+ UdprosPort int

+ type NodeRate struct

+ func (nr *NodeRate) Sleep()

+ func (nr *NodeRate) SleepChan() <-chan time.Time

+ type Protocol int

+ const TCP

+ const UDP

+ type Publisher struct

+ func NewPublisher(conf PublisherConf) (*Publisher, error)

+ func (p *Publisher) Close() error

+ func (p *Publisher) Write(msg interface{})

+ type PublisherConf struct

+ Latch bool

+ Msg interface{}

+ Node *Node

+ Topic string

+ type ServiceClient struct

+ func NewServiceClient(conf ServiceClientConf) (*ServiceClient, error)

+ func (sc *ServiceClient) Call(req interface{}, res interface{}) error

+ func (sc *ServiceClient) CallContext(ctx context.Context, req interface{}, res interface{}) error

+ func (sc *ServiceClient) Close() error

+ type ServiceClientConf struct

+ EnableKeepAlive bool

+ Name string

+ Node *Node

+ Srv interface{}

+ type ServiceProvider struct

+ func NewServiceProvider(conf ServiceProviderConf) (*ServiceProvider, error)

+ func (sp *ServiceProvider) Close() error

+ type ServiceProviderConf struct

+ Callback interface{}

+ Name string

+ Node *Node

+ Srv interface{}

+ type SimpleActionClient struct

+ func NewSimpleActionClient(conf SimpleActionClientConf) (*SimpleActionClient, error)

+ func (sac *SimpleActionClient) CancelAllGoals()

+ func (sac *SimpleActionClient) CancelGoal()

+ func (sac *SimpleActionClient) Close() error

+ func (sac *SimpleActionClient) SendGoal(conf SimpleActionClientGoalConf) error

+ func (sac *SimpleActionClient) WaitForServer()

+ type SimpleActionClientConf struct

+ Action interface{}

+ Name string

+ Node *Node

+ type SimpleActionClientGoalConf struct

+ Goal interface{}

+ OnActive func()

+ OnDone interface{}

+ OnFeedback interface{}

+ type SimpleActionClientGoalState int

+ const SimpleActionClientGoalStateAborted

+ const SimpleActionClientGoalStateActive

+ const SimpleActionClientGoalStateLost

+ const SimpleActionClientGoalStatePending

+ const SimpleActionClientGoalStatePreempted

+ const SimpleActionClientGoalStateRecalled

+ const SimpleActionClientGoalStateRejected

+ const SimpleActionClientGoalStateSucceeded

+ type SimpleActionServer struct

+ func NewSimpleActionServer(conf SimpleActionServerConf) (*SimpleActionServer, error)

+ func (sas *SimpleActionServer) Close() error

+ func (sas *SimpleActionServer) IsPreemptRequested() bool

+ func (sas *SimpleActionServer) PublishFeedback(fb interface{})

+ func (sas *SimpleActionServer) SetAborted(res interface{})

+ func (sas *SimpleActionServer) SetSucceeded(res interface{})

+ type SimpleActionServerConf struct

+ Action interface{}

+ Name string

+ Node *Node

+ OnExecute interface{}

+ type Subscriber struct

+ func NewSubscriber(conf SubscriberConf) (*Subscriber, error)

+ func (s *Subscriber) Close() error

+ type SubscriberConf struct

+ Callback interface{}

+ DisableNoDelay bool

+ EnableKeepAlive bool

+ Node *Node

+ Protocol Protocol

+ QueueSize uint

+ Topic string