Documentation
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Overview ¶
Package ros is CSF's boundary to the low-level spine controller. The spine is the fast controller that drives hardware; it is external and ROS-side, not part of CSF. CSF reaches it over the network, so the boundary is an ipc capability: a caller is granted an ISpine through its constructor and never interprets a controller program in-process.
The seam is the shared contract proto/candace/brainspine/v1: CSF submits an Action and observes an Observation. No ROS transport ships yet; the DisconnectedSpine answers every call with a NotConnectedError so callers render "no spine connected" instead of failing.
Index ¶
Constants ¶
const NotConnectedReason = "no_spine_connected"
NotConnectedReason is the machine-facing reason a fallback Action carries when no spine is connected.
const NotConnectedStatus = "no spine connected"
NotConnectedStatus is the human-facing status a caller renders when no spine is connected. It is a stable string: views and tests match it.
Variables ¶
This section is empty.
Functions ¶
func IsNotConnected ¶
IsNotConnected reports whether err, or any error it wraps, is a NotConnectedError.
func Status ¶
Status is the human-facing problem a view renders for spine, or the empty string when an observation succeeds. A nil spine, or one whose observation reports NotConnectedError, renders NotConnectedStatus; any other observation failure is rendered with its cause rather than hidden.
Types ¶
type DisconnectedSpine ¶
type DisconnectedSpine struct{}
DisconnectedSpine is the spine stub: no transport and no state. Every call returns a NotConnectedError, or the context's error once ctx is done. It is immutable, so one value is safe to share between goroutines.
func NewDisconnectedSpine ¶
func NewDisconnectedSpine() *DisconnectedSpine
NewDisconnectedSpine returns the stub spine a CSF host is granted until a ROS transport is configured.
func (*DisconnectedSpine) Observe ¶
func (spine *DisconnectedSpine) Observe(ctx context.Context) (*brainspinev1.Observation, error)
Observe never reaches a controller.
func (*DisconnectedSpine) Submit ¶
func (spine *DisconnectedSpine) Submit(ctx context.Context, action *brainspinev1.Action) error
Submit never reaches a controller.
type ISpine ¶
type ISpine interface {
// Submit proposes one action to the spine.
Submit(ctx context.Context, action *brainspinev1.Action) error
// Observe returns the spine's latest observation.
Observe(ctx context.Context) (*brainspinev1.Observation, error)
}
ISpine is the low-level controller as CSF sees it. A submitted action is a proposal for the spine to admit; the spine owns admission, actuation and its own fail-safe behavior.
type NotConnectedError ¶
type NotConnectedError struct {
// Operation is the call that found no spine.
Operation Operation
}
NotConnectedError reports that no spine is connected for an operation.
func (*NotConnectedError) Error ¶
func (failure *NotConnectedError) Error() string
Source Files