datamanager

Documentation

Overview

Package datamanager contains a gRPC based datamanager service server

Package datamanager contains a service type that can be used to capture data from a robot's components. For more information, see the data management service docs.

Package datamanager contains a gRPC based datamanager service server

Index

• Constants
• Variables
• func ConvertImageToBytes(image image.Image, mimeType datasyncpb.MimeType) ([]byte, error)
• func CreateShouldSyncReading(toSync bool) map[string]interface{}
• func Named(name string) resource.Name
• func NamesFromRobot(r robot.Robot) []string
• func NewRPCServiceServer(coll resource.APIResourceGetter[Service], logger logging.Logger) interface{}
• type AssociatedConfig
  • func (ac *AssociatedConfig) Equals(other resource.AssociatedConfig) bool
  • func (ac *AssociatedConfig) Link(conf *resource.Config)
  • func (ac *AssociatedConfig) UpdateResourceNames(updater func(old resource.Name) resource.Name)
• type CaptureConfigReading
• type DataCaptureConfig
  • func (c *DataCaptureConfig) Equals(other *DataCaptureConfig) bool
• type Service
  • func FromDependencies(deps resource.Dependencies, name string) (Service, error)
  • func FromProvider(provider resource.Provider, name string) (Service, error)
  • func FromRobot(r robot.Robot, name string) (Service, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, remoteName string, ...) (Service, error)

Constants

const SubtypeName = "data_manager"

SubtypeName is the name of the type of service.

Variables

var API = resource.APINamespaceRDK.WithServiceType(SubtypeName)

API is a variable that identifies the data manager service resource API.

var ShouldSyncKey = "should_sync"

ShouldSyncKey is a special key we use within a modular sensor to pass a boolean that indicates to the datamanager whether or not we want to sync.

Functions

func ConvertImageToBytes

func ConvertImageToBytes(image image.Image, mimeType datasyncpb.MimeType) ([]byte, error)

ConvertImageToBytes converts an image.Image to a byte slice based on the specified MIME type.

func CreateShouldSyncReading

func CreateShouldSyncReading(toSync bool) map[string]interface{}

CreateShouldSyncReading is a helper for creating the expected reading for a modular sensor that passes a bool to the datamanager to indicate whether or not we want to sync.

func Named

func Named(name string) resource.Name

Named is a helper for getting the named datamanager's typed resource name.

func NamesFromRobot

func NamesFromRobot(r robot.Robot) []string

NamesFromRobot is a helper for getting all data manager services from the given Robot.

func NewRPCServiceServer

func NewRPCServiceServer(coll resource.APIResourceGetter[Service], logger logging.Logger) interface{}

NewRPCServiceServer constructs a datamanager gRPC service server. It is intentionally untyped to prevent use outside of tests.

Types

type AssociatedConfig

type AssociatedConfig struct {
	CaptureMethods []DataCaptureConfig `json:"capture_methods"`
}

AssociatedConfig specify a list of methods to capture on resources and implements the resource.AssociatedConfig interface.

func (*AssociatedConfig) Equals

func (ac *AssociatedConfig) Equals(other resource.AssociatedConfig) bool

Equals describes if an DataCaptureConfigs is equal to a given AssociatedConfig.

func (*AssociatedConfig) Link

func (ac *AssociatedConfig) Link(conf *resource.Config)

Link associates an AssociatedConfig to a specific resource model (e.g. builtin data capture).

func (*AssociatedConfig) UpdateResourceNames

func (ac *AssociatedConfig) UpdateResourceNames(updater func(old resource.Name) resource.Name)

UpdateResourceNames allows the caller to modify the resource names of data capture in place.

type CaptureConfigReading

type CaptureConfigReading struct {
	// ResourceName is the name of the resource (e.g. "camera-1").
	ResourceName string `json:"resource_name"`
	// Method is the capture method name (e.g. "GetImages").
	Method string `json:"method"`
	// CaptureFrequencyHz, when non-nil, overrides the capture frequency for this resource/method pair.
	// A value of 0 disables capture.
	CaptureFrequencyHz *float32 `json:"capture_frequency_hz,omitempty"`
	// Tags, when non-nil, overrides the data manager's tags for this resource/method pair.
	Tags []string `json:"tags"`
}

CaptureConfigReading defines a capture config reading for a specific resource/method pair, as emitted by the capture_control_sensor. Resource/method pairs should correspond with a configured data manager service.

type DataCaptureConfig

type DataCaptureConfig struct {
	Name               resource.Name          `json:"name"`
	Method             string                 `json:"method"`
	CaptureFrequencyHz float32                `json:"capture_frequency_hz"`
	CaptureQueueSize   int                    `json:"capture_queue_size"`
	CaptureBufferSize  int                    `json:"capture_buffer_size"`
	AdditionalParams   map[string]interface{} `json:"additional_params"`
	Disabled           bool                   `json:"disabled"`
	Tags               []string               `json:"tags,omitempty"`
	CaptureDirectory   string                 `json:"capture_directory"`
}

DataCaptureConfig is used to initialize a collector for a component or remote.

func (*DataCaptureConfig) Equals

func (c *DataCaptureConfig) Equals(other *DataCaptureConfig) bool

Equals checks if one capture config is equal to another.

type Service

type Service interface {
	resource.Resource
	// Sync will sync data stored on the machine to the cloud.
	Sync(ctx context.Context, extra map[string]interface{}) error
	UploadBinaryDataToDatasets(ctx context.Context, binaryData []byte, datasetIDs, tags []string,
		mimeType datasyncpb.MimeType, extra map[string]interface{}) error
	UploadImageToDatasets(ctx context.Context, image image.Image, datasetIDs, tags []string,
		mimeType datasyncpb.MimeType, extra map[string]interface{}) error
}

Service defines what a Data Manager Service should expose to the users. For more information, see the data management service docs.

Sync example:

data, err := datamanager.FromProvider(machine, "my_data_manager")
// Sync data stored on the machine to the cloud.
err := data.Sync(context.Background(), nil)

For more information, see the Sync method docs.

func FromDependencies

func FromDependencies(deps resource.Dependencies, name string) (Service, error)

Deprecated: FromDependencies is a helper for getting the named data manager service from a collection of dependencies. Use FromProvider instead.

func FromProvider

func FromProvider(provider resource.Provider, name string) (Service, error)

FromProvider is a helper for getting the named Data Manager service from a resource Provider (collection of Dependencies or a Robot).

func FromRobot

func FromRobot(r robot.Robot, name string) (Service, error)

Deprecated: FromRobot is a helper for getting the named data manager service from the given Robot. Use FromProvider instead.

func NewClientFromConn

func NewClientFromConn(
	ctx context.Context,
	conn rpc.ClientConn,
	remoteName string,
	name resource.Name,
	logger logging.Logger,
) (Service, error)

NewClientFromConn constructs a new Client from connection passed in.