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navigation_service.go
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navigation_service.go
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package inject
import (
"context"
geo "github.com/kellydunn/golang-geo"
"go.mongodb.org/mongo-driver/bson/primitive"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/services/navigation"
"go.viam.com/rdk/spatialmath"
)
// NavigationService represents a fake instance of a navigation service.
type NavigationService struct {
navigation.Service
name resource.Name
ModeFunc func(ctx context.Context, extra map[string]interface{}) (navigation.Mode, error)
SetModeFunc func(ctx context.Context, mode navigation.Mode, extra map[string]interface{}) error
LocationFunc func(ctx context.Context, extra map[string]interface{}) (*spatialmath.GeoPose, error)
WaypointsFunc func(ctx context.Context, extra map[string]interface{}) ([]navigation.Waypoint, error)
AddWaypointFunc func(ctx context.Context, point *geo.Point, extra map[string]interface{}) error
RemoveWaypointFunc func(ctx context.Context, id primitive.ObjectID, extra map[string]interface{}) error
ObstaclesFunc func(ctx context.Context, extra map[string]interface{}) ([]*spatialmath.GeoObstacle, error)
PathsFunc func(ctx context.Context, extra map[string]interface{}) ([]*navigation.Path, error)
PropertiesFunc func(ctx context.Context) (navigation.Properties, error)
DoCommandFunc func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
CloseFunc func(ctx context.Context) error
}
// NewNavigationService returns a new injected navigation service.
func NewNavigationService(name string) *NavigationService {
return &NavigationService{name: navigation.Named(name)}
}
// Name returns the name of the resource.
func (ns *NavigationService) Name() resource.Name {
return ns.name
}
// Mode calls the injected ModeFunc or the real version.
func (ns *NavigationService) Mode(ctx context.Context, extra map[string]interface{}) (navigation.Mode, error) {
if ns.ModeFunc == nil {
return ns.Service.Mode(ctx, extra)
}
return ns.ModeFunc(ctx, extra)
}
// SetMode calls the injected SetModeFunc or the real version.
func (ns *NavigationService) SetMode(ctx context.Context, mode navigation.Mode, extra map[string]interface{}) error {
if ns.SetModeFunc == nil {
return ns.Service.SetMode(ctx, mode, extra)
}
return ns.SetModeFunc(ctx, mode, extra)
}
// Location calls the injected LocationFunc or the real version.
func (ns *NavigationService) Location(ctx context.Context, extra map[string]interface{}) (*spatialmath.GeoPose, error) {
if ns.LocationFunc == nil {
return ns.Service.Location(ctx, extra)
}
return ns.LocationFunc(ctx, extra)
}
// Waypoints calls the injected WaypointsFunc or the real version.
func (ns *NavigationService) Waypoints(ctx context.Context, extra map[string]interface{}) ([]navigation.Waypoint, error) {
if ns.WaypointsFunc == nil {
return ns.Service.Waypoints(ctx, extra)
}
return ns.WaypointsFunc(ctx, extra)
}
// AddWaypoint calls the injected AddWaypointFunc or the real version.
func (ns *NavigationService) AddWaypoint(ctx context.Context, point *geo.Point, extra map[string]interface{}) error {
if ns.AddWaypointFunc == nil {
return ns.Service.AddWaypoint(ctx, point, extra)
}
return ns.AddWaypointFunc(ctx, point, extra)
}
// RemoveWaypoint calls the injected RemoveWaypointFunc or the real version.
func (ns *NavigationService) RemoveWaypoint(ctx context.Context, id primitive.ObjectID, extra map[string]interface{}) error {
if ns.RemoveWaypointFunc == nil {
return ns.Service.RemoveWaypoint(ctx, id, extra)
}
return ns.RemoveWaypointFunc(ctx, id, extra)
}
// Obstacles calls the injected Obstacles or the real version.
func (ns *NavigationService) Obstacles(ctx context.Context, extra map[string]interface{}) ([]*spatialmath.GeoObstacle, error) {
if ns.ObstaclesFunc == nil {
return ns.Service.Obstacles(ctx, extra)
}
return ns.ObstaclesFunc(ctx, extra)
}
// Paths calls the injected Paths or the real version.
func (ns *NavigationService) Paths(ctx context.Context, extra map[string]interface{}) ([]*navigation.Path, error) {
if ns.PathsFunc == nil {
return ns.Service.Paths(ctx, extra)
}
return ns.PathsFunc(ctx, extra)
}
// Properties calls the injected Properties or the real variant.
func (ns *NavigationService) Properties(ctx context.Context) (navigation.Properties, error) {
if ns.PropertiesFunc == nil {
return ns.Service.Properties(ctx)
}
return ns.PropertiesFunc(ctx)
}
// DoCommand calls the injected DoCommand or the real variant.
func (ns *NavigationService) DoCommand(ctx context.Context,
cmd map[string]interface{},
) (map[string]interface{}, error) {
if ns.DoCommandFunc == nil {
return ns.Service.DoCommand(ctx, cmd)
}
return ns.DoCommandFunc(ctx, cmd)
}
// Close calls the injected Close or the real version.
func (ns *NavigationService) Close(ctx context.Context) error {
if ns.CloseFunc == nil {
if ns.Service == nil {
return nil
}
return ns.Service.Close(ctx)
}
return ns.CloseFunc(ctx)
}