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Versions in this module

v0

v0.9.4

Sep 9, 2026

Changes in this version

+ type InboundDropReason int

+ const InboundBackpressured

+ const InboundDropped

+ func (r InboundDropReason) String() string

v0.9.1

Sep 9, 2026

Changes in this version

type Config

+ OnSlowInbound func(env Envelope, cause InboundSlowCause, d time.Duration)

+ SlowInbound time.Duration

type Envelope

+ DispatchedAt time.Time

+ func (e Envelope) QueueWait() time.Duration

+ type InboundSlowCause int

+ const InboundSlowHandler

+ const InboundSlowQueue

+ func (c InboundSlowCause) String() string

v0.9.0

Aug 24, 2026

Changes in this version

+ const DefaultOrderQoS

+ const EventConnectionChanged

+ const EventDecodeFailed

+ const EventFactsheetReceived

+ const EventStateReceived

+ const EventVisualizationReceived

+ const MetaInboundDisposition

+ const ReasonActionIDEmpty

+ const ReasonHeaderIDZero

+ const ReasonIdentityMismatch

+ const ReasonOrderIDEmpty

+ const ReasonOrderUpdateIDZero

+ func IsOutboundValidationFailed(err error) bool

+ func IsPublishBrokerRejected(err error) bool

+ func IsPublishCanceled(err error) bool

+ func IsPublishNotStarted(err error) bool

+ func IsPublishQoSRejected(err error) bool

+ func IsPublishTimeout(err error) bool

+ func IsPublishValidationFailed(err error) bool

+ func MarkPublishAttempted(err error) error

+ func PublishAccepted(err error) bool

+ func QoSOf(q byte) *byte

+ type AGVHandle struct

+ func (a *AGVHandle) CancelOrder(ctx context.Context, headerID uint32, actionID string) (PublishResult, error)

+ func (a *AGVHandle) FactsheetRequest(ctx context.Context, headerID uint32, actionID string) (PublishResult, error)

+ func (a *AGVHandle) InitPosition(ctx context.Context, headerID uint32, actionID string, p InitPositionParams) (PublishResult, error)

+ func (a *AGVHandle) PublishInstantActions(ctx context.Context, ia *instant_actions.InstantActions) (PublishResult, error)

+ func (a *AGVHandle) PublishOrder(ctx context.Context, o *order.Order) (PublishResult, error)

+ func (a *AGVHandle) StartCharging(ctx context.Context, headerID uint32, actionID string) (PublishResult, error)

+ func (a *AGVHandle) StartPause(ctx context.Context, headerID uint32, actionID string) (PublishResult, error)

+ func (a *AGVHandle) StateRequest(ctx context.Context, headerID uint32, actionID string) (PublishResult, error)

+ func (a *AGVHandle) StopCharging(ctx context.Context, headerID uint32, actionID string) (PublishResult, error)

+ func (a *AGVHandle) StopPause(ctx context.Context, headerID uint32, actionID string) (PublishResult, error)

+ type Client struct

+ func New(cfg Config) (*Client, error)

+ func (c *Client) AGV(manufacturer, serial string) *AGVHandle

+ func (c *Client) Connected() bool

+ func (c *Client) Emit(event string, payload any) error

+ func (c *Client) EventBus() EventBus

+ func (c *Client) OnAGVOffline(h func(Identity))

+ func (c *Client) OnAGVOnline(h func(Identity))

+ func (c *Client) OnConnection(h ConnectionHandler)

+ func (c *Client) OnFactsheet(h FactsheetHandler)

+ func (c *Client) OnHandlerError(h HandlerErrorHandler)

+ func (c *Client) OnState(h StateHandler)

+ func (c *Client) OnSubscriptionsRestored(h func(error))

+ func (c *Client) OnTopic(filter string, h TopicHandler)

+ func (c *Client) OnTransportDown(h func(error))

+ func (c *Client) OnTransportUp(h func())

+ func (c *Client) OnVisualization(h VisualizationHandler)

+ func (c *Client) RestoreFleet(ctx context.Context) error

+ func (c *Client) Start(ctx context.Context) error

+ func (c *Client) Stop(ctx context.Context) error

+ func (c *Client) Subscribe(event string, h EventHandler) (Unsubscribe, error)

+ func (c *Client) Topics() topic.Resolver

+ func (c *Client) Track(ctx context.Context, manufacturer, serial string) error

+ func (c *Client) Transport() Transport

+ func (c *Client) Untrack(ctx context.Context, manufacturer, serial string) error

+ func (c *Client) UseEventBus(bus EventBus)

+ type Config struct

+ AutoReconnect bool

+ Broker string

+ Bus EventBus

+ CleanSession bool

+ ClientID string

+ ConnectTimeout time.Duration

+ Extensions *extend.Registry

+ Fleet *FleetOptions

+ HeaderVersion string

+ IdentityMapper IdentityMapper

+ InboundPolicy InboundPolicy

+ InboundQueueSize int

+ Interface string

+ KeepAlive time.Duration

+ Manufacturer string

+ OnDecodeError DecodeErrorHandler

+ OnHandlerError HandlerErrorHandler

+ OnInboundDrop func(topic string)

+ OnSubscriptionsRestored func(error)

+ OnTransportDown func(error)

+ OnTransportUp func()

+ OutboundValidation *OutboundValidation

+ Password string

+ QoS *byte

+ RestoreSubscriptionsOnReconnect *bool

+ SerialNumber string

+ StrictIdentity *bool

+ TLS *tls.Config

+ Transport Transport

+ Username string

+ Version string

+ Will *LastWill

+ type ConnectionEvent struct

+ Connection *connection.Connection

+ Envelope Envelope

+ type ConnectionHandler func(ctx context.Context, env Envelope, msg *connection.Connection) error

+ type ConnectionLostAware interface

+ SetOnConnectionLost func(fn func(error))

+ type ConnectionStatus interface

+ Connected func() bool

+ type DecodeErrorHandler func(env Envelope, err error)

+ type DecodeFailedEvent struct

+ Envelope Envelope

+ Err error

+ type Envelope struct

+ AGV Identity

+ Channel topic.Channel

+ Header HeaderSummary

+ InboundDisposition InboundDisposition

+ Meta Meta

+ Raw []byte

+ ReceivedAt time.Time

+ RobotID string

+ Topic string

+ type EventBus interface

+ Publish func(ctx context.Context, event string, payload any) error

+ Subscribe func(event string, h EventHandler) (Unsubscribe, error)

+ func NewMemoryEventBus() EventBus

+ type EventHandler func(ctx context.Context, payload any) error

+ type FactsheetEvent struct

+ Envelope Envelope

+ Factsheet *factsheet.Factsheet

+ type FactsheetHandler func(ctx context.Context, env Envelope, msg *factsheet.Factsheet) error

+ type FleetOptions struct

+ AutoTrackFromConnection bool

+ SubscribeState bool

+ SubscribeVisualization bool

+ func DefaultFleetOptions() FleetOptions

+ type HandlerErrorHandler func(env Envelope, err error)

+ type HeaderSequencePolicy struct

+ func NewHeaderSequencePolicy() *HeaderSequencePolicy

+ func (p *HeaderSequencePolicy) Classify(agv Identity, channel topic.Channel, headerID uint32) InboundDisposition

+ type HeaderSummary struct

+ HeaderID uint32

+ Manufacturer string

+ SerialNumber string

+ Timestamp string

+ Version string

+ type Identity struct

+ Manufacturer string

+ SerialNumber string

+ func (id Identity) String() string

+ type IdentityMapper func(mfr, serial string) string

+ type InboundDisposition string

+ const InboundAccept

+ const InboundDuplicate

+ const InboundStale

+ type InboundPolicy interface

+ Classify func(agv Identity, channel topic.Channel, headerID uint32) InboundDisposition

+ type InitPositionParams struct

+ LastNodeID string

+ MapID string

+ Theta float64

+ X float64

+ Y float64

+ type LastWill struct

+ Payload []byte

+ QoS byte

+ Retain bool

+ Topic string

+ type Meta map[string]any

+ type OutboundValidation struct

+ AllowZeroHeaderID bool

+ Disabled bool

+ SkipIdentityCheck bool

+ type PublishOptions struct

+ QoS byte

+ Retain bool

+ type PublishOutcome int

+ const PublishOutcomeAccepted

+ const PublishOutcomeNotStarted

+ const PublishOutcomeUncertain

+ func ClassifyPublish(err error) PublishOutcome

+ func (o PublishOutcome) String() string

+ type PublishResult struct

+ ActionIDs []string

+ Channel topic.Channel

+ HeaderID uint32

+ Manufacturer string

+ OrderID string

+ OrderUpdateID uint32

+ Payload []byte

+ QoS byte

+ SerialNumber string

+ Topic string

+ type RawHandler func(ctx context.Context, topic string, payload []byte) error

+ type ReconnectAware interface

+ SetOnReconnect func(fn func())

+ type StateEvent struct

+ Envelope Envelope

+ State *state.State

+ type StateHandler func(ctx context.Context, env Envelope, msg *state.State) error

+ type TopicHandler func(ctx context.Context, env Envelope) error

+ type Transport interface

+ Publish func(ctx context.Context, topic string, payload []byte, opts PublishOptions) error

+ Start func(ctx context.Context) error

+ Stop func(ctx context.Context) error

+ Subscribe func(ctx context.Context, filter string, handler RawHandler) (Unsubscribe, error)

+ type Unsubscribe func(ctx context.Context) error

+ type VisualizationEvent struct

+ Envelope Envelope

+ Visualization *visualization.Visualization

+ type VisualizationHandler func(ctx context.Context, env Envelope, msg *visualization.Visualization) error

v0.8.0

Aug 21, 2026

v0.7.0

Aug 20, 2026

v0.6.0

Jul 21, 2026

v0.2.0

Jul 21, 2026