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endpoint.go
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endpoint.go
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package control
import (
"context"
"sync"
"time"
"github.com/pkg/errors"
"go.viam.com/rdk/logging"
)
type endpoint struct {
mu sync.Mutex
ctr Controllable
cfg BlockConfig
y []*Signal
logger logging.Logger
}
func newEndpoint(config BlockConfig, logger logging.Logger, ctr Controllable) (Block, error) {
e := &endpoint{cfg: config, logger: logger, ctr: ctr}
if err := e.reset(); err != nil {
return nil, err
}
return e, nil
}
func (e *endpoint) Next(ctx context.Context, x []*Signal, dt time.Duration) ([]*Signal, bool) {
e.logger.CDebugf(ctx, "z length %v", len(x))
e.logger.CDebugf(ctx, "controllable is %v", e.ctr)
switch len(x) {
case 1, 2:
if e.ctr != nil {
e.logger.CDebugf(ctx, "setting state %v", x)
err := e.ctr.SetState(ctx, x)
if err != nil {
return []*Signal{}, false
}
}
return []*Signal{}, false
case 0:
if e.ctr != nil {
e.logger.CDebug(ctx, "case 0")
vals, err := e.ctr.State(ctx)
if err != nil {
return []*Signal{}, false
}
for idx, val := range vals {
e.logger.CDebugf(ctx, "length val %v. e.y %v", len(vals), e.y)
e.y[idx].SetSignalValueAt(0, val)
}
}
return e.y, true
default:
return e.y, false
}
}
func (e *endpoint) reset() error {
_, motorOk := e.cfg.Attribute["motor_name"]
if motorOk {
e.logger.Info("making a signal of length 1")
e.y = make([]*Signal, 1)
e.y[0] = makeSignal(e.cfg.Name, e.cfg.Type)
}
_, baseOk := e.cfg.Attribute["base_name"]
if baseOk {
e.logger.Info("making a signal of length 2")
e.y = make([]*Signal, 2)
e.y[0] = makeSignal(e.cfg.Name, e.cfg.Type)
e.y[1] = makeSignal(e.cfg.Name, e.cfg.Type)
}
if !motorOk && !baseOk {
return errors.Errorf("endpoint %s should have a motor_name field", e.cfg.Name)
}
return nil
}
func (e *endpoint) Reset(ctx context.Context) error {
e.mu.Lock()
defer e.mu.Unlock()
return e.reset()
}
func (e *endpoint) UpdateConfig(ctx context.Context, config BlockConfig) error {
e.mu.Lock()
defer e.mu.Unlock()
e.cfg = config
return e.reset()
}
func (e *endpoint) Output(ctx context.Context) []*Signal {
return e.y
}
func (e *endpoint) Config(ctx context.Context) BlockConfig {
return e.cfg
}