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builtin.go
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builtin.go
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// Package builtin implements the default sensors service.
package builtin
import (
"context"
"sync"
"github.com/pkg/errors"
"go.viam.com/rdk/components/sensor"
"go.viam.com/rdk/logging"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/services/sensors"
)
func init() {
resource.RegisterDefaultService(
sensors.API,
resource.DefaultServiceModel,
resource.Registration[sensors.Service, resource.NoNativeConfig]{
Constructor: NewBuiltIn,
WeakDependencies: []resource.Matcher{resource.InterfaceMatcher{Interface: new(resource.Sensor)}},
},
)
}
// NewBuiltIn returns a new default sensor service for the given robot.
func NewBuiltIn(
ctx context.Context, deps resource.Dependencies, conf resource.Config, logger logging.Logger,
) (sensors.Service, error) {
s := &builtIn{
Named: conf.ResourceName().AsNamed(),
sensors: map[resource.Name]sensor.Sensor{},
logger: logger,
}
if err := s.Reconfigure(ctx, deps, conf); err != nil {
return nil, err
}
return s, nil
}
type builtIn struct {
resource.Named
resource.TriviallyCloseable
mu sync.RWMutex
sensors map[resource.Name]sensor.Sensor
logger logging.Logger
}
// Sensors returns all sensors in the robot.
func (s *builtIn) Sensors(ctx context.Context, extra map[string]interface{}) ([]resource.Name, error) {
s.mu.RLock()
defer s.mu.RUnlock()
names := make([]resource.Name, 0, len(s.sensors))
for name := range s.sensors {
names = append(names, name)
}
return names, nil
}
// Readings returns the readings of the resources specified.
func (s *builtIn) Readings(ctx context.Context, sensorNames []resource.Name, extra map[string]interface{}) ([]sensors.Readings, error) {
s.mu.RLock()
// make a copy of sensors and then unlock
sensorsMap := make(map[resource.Name]sensor.Sensor, len(s.sensors))
for name, sensor := range s.sensors {
sensorsMap[name] = sensor
}
s.mu.RUnlock()
// dedupe sensorNames
deduped := make(map[resource.Name]struct{}, len(sensorNames))
for _, val := range sensorNames {
deduped[val] = struct{}{}
}
readings := make([]sensors.Readings, 0, len(deduped))
for name := range deduped {
sensor, ok := sensorsMap[name]
if !ok {
return nil, errors.Errorf("resource %q not a registered sensor", name)
}
reading, err := sensor.Readings(ctx, extra)
if err != nil {
return nil, errors.Wrapf(err, "failed to get reading from %q", name)
}
readings = append(readings, sensors.Readings{Name: name, Readings: reading})
}
return readings, nil
}
func (s *builtIn) Reconfigure(ctx context.Context, deps resource.Dependencies, _ resource.Config) error {
s.mu.Lock()
defer s.mu.Unlock()
sensors := map[resource.Name]sensor.Sensor{}
for n, r := range deps {
if sensor, ok := r.(sensor.Sensor); ok {
sensors[n] = sensor
}
}
s.sensors = sensors
return nil
}