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base.go
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base.go
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package inject
import (
"context"
"github.com/golang/geo/r3"
"go.viam.com/utils"
"go.viam.com/rdk/components/base"
)
// Base is an injected base.
type Base struct {
base.LocalBase
DoFunc func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
MoveStraightFunc func(ctx context.Context, distanceMm int, mmPerSec float64, extra map[string]interface{}) error
SpinFunc func(ctx context.Context, angleDeg, degsPerSec float64, extra map[string]interface{}) error
WidthFunc func(ctx context.Context) (int, error)
StopFunc func(ctx context.Context, extra map[string]interface{}) error
IsMovingFunc func(context.Context) (bool, error)
CloseFunc func(ctx context.Context) error
SetPowerFunc func(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error
}
// MoveStraight calls the injected MoveStraight or the real version.
func (b *Base) MoveStraight(ctx context.Context, distanceMm int, mmPerSec float64, extra map[string]interface{}) error {
if b.MoveStraightFunc == nil {
return b.LocalBase.MoveStraight(ctx, distanceMm, mmPerSec, extra)
}
return b.MoveStraightFunc(ctx, distanceMm, mmPerSec, extra)
}
// Spin calls the injected Spin or the real version.
func (b *Base) Spin(ctx context.Context, angleDeg, degsPerSec float64, extra map[string]interface{}) error {
if b.SpinFunc == nil {
return b.LocalBase.Spin(ctx, angleDeg, degsPerSec, extra)
}
return b.SpinFunc(ctx, angleDeg, degsPerSec, extra)
}
// Width calls the injected Width or the real version.
func (b *Base) Width(ctx context.Context) (int, error) {
if b.WidthFunc == nil {
return b.LocalBase.Width(ctx)
}
return b.WidthFunc(ctx)
}
// Stop calls the injected Stop or the real version.
func (b *Base) Stop(ctx context.Context, extra map[string]interface{}) error {
if b.StopFunc == nil {
return b.LocalBase.Stop(ctx, extra)
}
return b.StopFunc(ctx, extra)
}
// IsMoving calls the injected IsMoving or the real version.
func (b *Base) IsMoving(ctx context.Context) (bool, error) {
if b.IsMovingFunc == nil {
return b.LocalBase.IsMoving(ctx)
}
return b.IsMovingFunc(ctx)
}
// Close calls the injected Close or the real version.
func (b *Base) Close(ctx context.Context) error {
if b.CloseFunc == nil {
return utils.TryClose(ctx, b.LocalBase)
}
return b.CloseFunc(ctx)
}
// DoCommand calls the injected DoCommand or the real version.
func (b *Base) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error) {
if b.DoFunc == nil {
return b.LocalBase.DoCommand(ctx, cmd)
}
return b.DoFunc(ctx, cmd)
}
// SetPower calls the injected SetPower or the real version.
func (b *Base) SetPower(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error {
if b.SetPowerFunc == nil {
return b.LocalBase.SetPower(ctx, linear, angular, extra)
}
return b.SetPowerFunc(ctx, linear, angular, extra)
}