arci 0.0.3

Abstruct Robot Control Interface
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82

use crate::error::Error;
use crate::waits::CompleteCondition;
use async_trait::async_trait;
use auto_impl::auto_impl;

#[derive(Clone, Debug)]
pub struct TrajectoryPoint {
    pub positions: Vec<f64>,
    pub velocities: Option<Vec<f64>>,
    pub time_from_start: std::time::Duration,
}

impl TrajectoryPoint {
    pub fn new(positions: Vec<f64>, time_from_start: std::time::Duration) -> Self {
        Self {
            positions,
            velocities: None,
            time_from_start,
        }
    }
}

#[auto_impl(Box)]
pub trait SetCompleteCondition {
    fn set_complete_condition(&mut self, condition: Box<dyn CompleteCondition>);
}

#[async_trait]
#[auto_impl(Box, Arc)]
pub trait JointTrajectoryClient: Send + Sync {
    fn joint_names(&self) -> &[String];
    fn current_joint_positions(&self) -> Result<Vec<f64>, Error>;
    async fn send_joint_positions(
        &self,
        positions: Vec<f64>,
        duration: std::time::Duration,
    ) -> Result<(), Error>;
    async fn send_joint_trajectory(&self, trajectory: Vec<TrajectoryPoint>) -> Result<(), Error>;
}

#[cfg(test)]
mod tests {
    use super::*;
    use assert_approx_eq::assert_approx_eq;

    #[test]
    fn test_trajectory_point() {
        let mut tp = TrajectoryPoint::new(vec![1.0, -1.0], std::time::Duration::from_secs(1));
        assert_approx_eq!(tp.positions[0], 1.0);
        assert_approx_eq!(tp.positions[1], -1.0);
        assert!(tp.velocities.is_none());
        assert_eq!(tp.time_from_start, std::time::Duration::from_secs(1));
        tp.positions = vec![-1.0, 1.0];
        tp.velocities = Some(vec![1.0, -1.0]);
        tp.time_from_start = std::time::Duration::from_secs(2);
        assert_approx_eq!(tp.positions[0], -1.0);
        assert_approx_eq!(tp.positions[1], 1.0);
        let vels = tp.velocities.unwrap();
        assert_approx_eq!(vels[0], 1.0);
        assert_approx_eq!(vels[1], -1.0);
        assert_eq!(tp.time_from_start, std::time::Duration::from_secs(2));
    }

    #[test]
    fn test_trajectory_point_debug() {
        let tp = TrajectoryPoint::new(vec![1.0, -1.0], std::time::Duration::from_secs(1));
        assert_eq!(
            format!("{:?}", tp),
            "TrajectoryPoint { positions: [1.0, -1.0], velocities: None, time_from_start: 1s }"
        );
    }

    #[test]
    fn test_trajectory_point_clone() {
        let tp1 = TrajectoryPoint::new(vec![1.0, -1.0], std::time::Duration::from_secs(1));
        let tp2 = tp1.clone();
        assert_approx_eq!(tp2.positions[0], 1.0);
        assert_approx_eq!(tp2.positions[1], -1.0);
        assert_approx_eq!(tp1.positions[0], 1.0);
        assert_approx_eq!(tp1.positions[1], -1.0);
    }
}