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fake.go
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fake.go
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// Package fake implements a fake base.
package fake
import (
"context"
"github.com/golang/geo/r3"
"go.viam.com/rdk/components/base"
"go.viam.com/rdk/logging"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/spatialmath"
)
func init() {
resource.RegisterComponent(
base.API,
resource.DefaultModelFamily.WithModel("fake"),
resource.Registration[base.Base, resource.NoNativeConfig]{Constructor: NewBase},
)
}
const (
defaultWidthMm = 600
defaultMinimumTurningRadiusM = 0
defaultWheelCircumferenceM = 3
)
// Base is a fake base that returns what it was provided in each method.
type Base struct {
resource.Named
resource.TriviallyReconfigurable
CloseCount int
WidthMeters float64
TurningRadius float64
WheelCircumferenceMeters float64
Geometry []spatialmath.Geometry
logger logging.Logger
}
// NewBase instantiates a new base of the fake model type.
func NewBase(_ context.Context, _ resource.Dependencies, conf resource.Config, logger logging.Logger) (base.Base, error) {
b := &Base{
Named: conf.ResourceName().AsNamed(),
Geometry: []spatialmath.Geometry{},
logger: logger,
}
if conf.Frame != nil && conf.Frame.Geometry != nil {
geometry, err := conf.Frame.Geometry.ParseConfig()
if err != nil {
return nil, err
}
b.Geometry = []spatialmath.Geometry{geometry}
}
b.WidthMeters = defaultWidthMm * 0.001
b.TurningRadius = defaultMinimumTurningRadiusM
return b, nil
}
// MoveStraight does nothing.
func (b *Base) MoveStraight(ctx context.Context, distanceMm int, mmPerSec float64, extra map[string]interface{}) error {
return nil
}
// Spin does nothing.
func (b *Base) Spin(ctx context.Context, angleDeg, degsPerSec float64, extra map[string]interface{}) error {
return nil
}
// SetPower does nothing.
func (b *Base) SetPower(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error {
return nil
}
// SetVelocity does nothing.
func (b *Base) SetVelocity(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error {
return nil
}
// Stop does nothing.
func (b *Base) Stop(ctx context.Context, extra map[string]interface{}) error {
return nil
}
// IsMoving always returns false.
func (b *Base) IsMoving(ctx context.Context) (bool, error) {
return false, nil
}
// Close does nothing.
func (b *Base) Close(ctx context.Context) error {
b.CloseCount++
return nil
}
// Properties returns the base's properties.
func (b *Base) Properties(ctx context.Context, extra map[string]interface{}) (base.Properties, error) {
return base.Properties{
TurningRadiusMeters: b.TurningRadius,
WidthMeters: b.WidthMeters,
WheelCircumferenceMeters: b.WheelCircumferenceMeters,
}, nil
}
// Geometries returns the geometries associated with the fake base.
func (b *Base) Geometries(ctx context.Context, extra map[string]interface{}) ([]spatialmath.Geometry, error) {
return b.Geometry, nil
}