sapient

package
v0.0.0-...-19ce36a Latest Latest
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 Go to latest Published: May 15, 2026 License: Apache-2.0 Imports: 14 Imported by: 0

Documentation

Overview

Package sapient implements the SAPIENT protocol (BSI Flex 335 v2.0).

It provides a TCP transport layer with the length-prefixed framing specified in AEDP-4869 §6.3, and typed client connections for the Child (edge node/GCS), Peer (fusion node/C2), and Parent (higher echelon) roles.

Index

Constants

View Source 
const ICDVersion = "BSI Flex 335 v2.0"

Variables

This section is empty.

Functions

func Ack 

func Ack(conn *Conn, middlewareID, destinationID string, accept bool, reasons ...string) error

Ack sends a RegistrationAck to a node that just registered.

func AckV1 

func AckV1(conn *Conn, middlewareID, destinationID string, accept bool, reason string) error

AckV1 sends a v1-compatible RegistrationAck.

func ContentType 

func ContentType(msg *pb.SapientMessage) string

ContentType returns the name of the content oneof field set on a message, or "none" if no content is set.

func IsConnectionClosed 

func IsConnectionClosed(err error) bool

IsConnectionClosed returns true if the error indicates a closed connection.

func IsV1 

func IsV1(icdVersion string) bool

IsV1 returns true if the registration's icd_version indicates v1 or v7.

func Msg 

func Msg(nodeID string) *pb.SapientMessage

Msg creates a new SapientMessage with timestamp and node_id pre-filled.

func NewAlert 

func NewAlert(alertType pb.Alert_AlertType, status pb.Alert_AlertStatus, priority pb.Alert_DiscretePriority, description string) *pb.Alert

NewAlert creates an Alert with a generated alert_id.

func NewAlertAck 

func NewAlertAck(alertID string, status pb.AlertAck_AlertAckStatus, reasons ...string) *pb.AlertAck

NewAlertAck creates an AlertAck for the given alert_id.

func NewTaskAck 

func NewTaskAck(taskID string, status pb.TaskAck_TaskStatus, reasons ...string) *pb.TaskAck

NewTaskAck creates a TaskAck for the given task_id.

func NewULID 

func NewULID() string

NewULID generates a new ULID string.

func NewUUID 

func NewUUID() string

NewUUID generates a new random UUID v4 string.

func Now 

func Now() *timestamppb.Timestamp

Now returns the current time as a protobuf Timestamp.

func Register 

func Register(conn *Conn, reg *pb.Registration) (nodeID string, err error)

Register sends a Registration on conn and waits for a RegistrationAck. Returns the assigned node_id on success.

Types

type Conn 

type Conn struct {
	// contains filtered or unexported fields
}

Conn wraps a TCP connection with SAPIENT length-prefixed framing. Messages are serialized as: [4-byte little-endian length][protobuf bytes].

func Dial 

func Dial(addr string) (*Conn, error)

Dial connects to a SAPIENT node at addr (host:port) and returns a Conn.

func NewConn 

func NewConn(conn net.Conn) *Conn

NewConn wraps an existing net.Conn for SAPIENT message exchange.

func (*Conn) Close 

func (c *Conn) Close() error

Close closes the underlying TCP connection.

func (*Conn) LocalAddr 

func (c *Conn) LocalAddr() net.Addr

LocalAddr returns the local address of the connection.

func (*Conn) Recv 

func (c *Conn) Recv() (*pb.SapientMessage, error)

Recv reads and deserializes the next message as a v2 SapientMessage.

func (*Conn) RecvRaw 

func (c *Conn) RecvRaw() ([]byte, error)

RecvRaw reads the next framed message and returns the raw protobuf bytes.

func (*Conn) RecvV1 

func (c *Conn) RecvV1() (*v1.SapientMessage, error)

RecvV1 reads a message as v1. Only needed if you specifically need v1 struct access. Recv() works for both versions in most cases.

func (*Conn) RemoteAddr 

func (c *Conn) RemoteAddr() net.Addr

RemoteAddr returns the remote address of the connection.

func (*Conn) Send 

func (c *Conn) Send(msg *pb.SapientMessage) error

Send serializes and sends a v2 SapientMessage.

func (*Conn) SendAlert 

func (c *Conn) SendAlert(nodeID string, a *pb.Alert) error

SendAlert sends an Alert from nodeID.

func (*Conn) SendAlertAck 

func (c *Conn) SendAlertAck(nodeID, destinationID string, aa *pb.AlertAck) error

SendAlertAck sends an AlertAck from nodeID to destinationID.

func (*Conn) SendAlertAckV1 

func (c *Conn) SendAlertAckV1(nodeID, destinationID string, alertID string, status v1.AlertAck_AlertStatus, reason string) error

SendAlertAckV1 sends a v1-compatible AlertAck.

func (*Conn) SendDetection 

func (c *Conn) SendDetection(nodeID string, dr *pb.DetectionReport) error

SendDetection sends a DetectionReport from nodeID.

func (*Conn) SendRaw 

func (c *Conn) SendRaw(data []byte) error

SendRaw sends pre-serialized protobuf bytes with the length-prefix header.

func (*Conn) SendStatus 

func (c *Conn) SendStatus(nodeID string, sr *pb.StatusReport) error

SendStatus sends a StatusReport from nodeID.

func (*Conn) SendTask 

func (c *Conn) SendTask(nodeID, destinationID string, t *pb.Task) error

SendTask sends a Task from nodeID to destinationID.

func (*Conn) SendTaskAck 

func (c *Conn) SendTaskAck(nodeID string, ta *pb.TaskAck) error

SendTaskAck sends a TaskAck from nodeID.

func (*Conn) SendTaskAckV1 

func (c *Conn) SendTaskAckV1(nodeID string, taskID string, status v1.TaskAck_TaskStatus, reason string) error

SendTaskAckV1 sends a v1-compatible TaskAck.

func (*Conn) SendV1 

func (c *Conn) SendV1(msg *v1.SapientMessage) error

SendV1 sends an arbitrary v1 SapientMessage.

type DetectionBuilder 

type DetectionBuilder struct {
	// contains filtered or unexported fields
}

DetectionBuilder helps construct DetectionReport messages.

func NewDetection 

func NewDetection(objectID string) *DetectionBuilder

NewDetection starts building a DetectionReport. objectID should be consistent for the same tracked object across updates.

func (*DetectionBuilder) Behaviour 

func (b *DetectionBuilder) Behaviour(typ string, confidence float32) *DetectionBuilder

func (*DetectionBuilder) Build 

func (b *DetectionBuilder) Build() *pb.DetectionReport

func (*DetectionBuilder) Classification 

func (b *DetectionBuilder) Classification(typ string, confidence float32) *DetectionBuilder

func (*DetectionBuilder) Confidence 

func (b *DetectionBuilder) Confidence(c float32) *DetectionBuilder

func (*DetectionBuilder) Location 

func (b *DetectionBuilder) Location(lat, lng, alt float64) *DetectionBuilder

func (*DetectionBuilder) ObjectInfo 

func (b *DetectionBuilder) ObjectInfo(typ, value string) *DetectionBuilder

func (*DetectionBuilder) RangeBearing 

func (b *DetectionBuilder) RangeBearing(az, el, rng float64) *DetectionBuilder

func (*DetectionBuilder) Signal 

func (b *DetectionBuilder) Signal(amplitude, centreFreq float32) *DetectionBuilder

func (*DetectionBuilder) SubClassification 

func (b *DetectionBuilder) SubClassification(typ string, confidence float32, subType string, subConf float32, level int32) *DetectionBuilder

func (*DetectionBuilder) TaskID 

func (b *DetectionBuilder) TaskID(taskID string) *DetectionBuilder

func (*DetectionBuilder) TrackInfo 

func (b *DetectionBuilder) TrackInfo(typ, value string) *DetectionBuilder

func (*DetectionBuilder) Velocity 

func (b *DetectionBuilder) Velocity(east, north, up float64) *DetectionBuilder

type Listener 

type Listener struct {
	// contains filtered or unexported fields
}

Listener accepts incoming SAPIENT TCP connections.

func Listen 

func Listen(addr string) (*Listener, error)

Listen starts a SAPIENT TCP listener on addr (e.g. ":5020").

func (*Listener) Accept 

func (l *Listener) Accept() (*Conn, error)

Accept waits for and returns the next SAPIENT connection.

func (*Listener) Addr 

func (l *Listener) Addr() net.Addr

Addr returns the listener's network address (useful when using ":0" for a random port).

func (*Listener) Close 

func (l *Listener) Close() error

Close stops the listener.

type StatusReportBuilder 

type StatusReportBuilder struct {
	// contains filtered or unexported fields
}

StatusReportBuilder helps construct StatusReport messages.

func NewStatusReport 

func NewStatusReport(system pb.StatusReport_System, info pb.StatusReport_Info, mode string) *StatusReportBuilder

NewStatusReport starts building a StatusReport with required fields.

func (*StatusReportBuilder) ActiveTask 

func (b *StatusReportBuilder) ActiveTask(taskID string) *StatusReportBuilder

func (*StatusReportBuilder) Build 

func (b *StatusReportBuilder) Build() *pb.StatusReport

func (*StatusReportBuilder) FieldOfView 

func (b *StatusReportBuilder) FieldOfView(az, el, hExtent, vExtent float64) *StatusReportBuilder

func (*StatusReportBuilder) Location 

func (b *StatusReportBuilder) Location(lat, lng, alt float64) *StatusReportBuilder

func (*StatusReportBuilder) Power 

func (b *StatusReportBuilder) Power(source pb.StatusReport_PowerSource, status pb.StatusReport_PowerStatus, level int32) *StatusReportBuilder

func (*StatusReportBuilder) Status 

func (b *StatusReportBuilder) Status(level pb.StatusReport_StatusLevel, typ pb.StatusReport_StatusType, value string) *StatusReportBuilder

type TaskBuilder 

type TaskBuilder struct {
	// contains filtered or unexported fields
}

TaskBuilder helps construct Task messages.

func NewTask 

func NewTask(control pb.Task_Control) *TaskBuilder

NewTask starts building a Task with a generated task_id.

func (*TaskBuilder) Build 

func (b *TaskBuilder) Build() *pb.Task

func (*TaskBuilder) Follow 

func (b *TaskBuilder) Follow(objectID string) *TaskBuilder

func (*TaskBuilder) LookAt 

func (b *TaskBuilder) LookAt(lat, lng, alt float64) *TaskBuilder

func (*TaskBuilder) ModeChange 

func (b *TaskBuilder) ModeChange(mode string) *TaskBuilder

func (*TaskBuilder) Name 

func (b *TaskBuilder) Name(name string) *TaskBuilder

func (*TaskBuilder) Region 

func (b *TaskBuilder) Region(name string, typ pb.Task_RegionType, lat, lng, alt float64) *TaskBuilder

func (*TaskBuilder) Request 

func (b *TaskBuilder) Request(req string) *TaskBuilder

func (*TaskBuilder) TimeRange 

func (b *TaskBuilder) TimeRange(start, end *timestamppb.Timestamp) *TaskBuilder

Source Files

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