rrtk 0.6.1

Rust Robotics ToolKit
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
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174

// SPDX-License-Identifier: BSD-3-Clause
// Copyright 2024 UxuginPython
//!Streams for control flow.
use crate::streams::*;
///Propagates its input if a `Getter<bool, _>` returns `Ok(Some(true))`, otherwise returns
///`Ok(None)`.
pub struct IfStream<T, GC: Getter<bool, E> + ?Sized, GI: Getter<T, E> + ?Sized, E: Copy + Debug> {
    condition: Reference<GC>,
    input: Reference<GI>,
    phantom_t: PhantomData<T>,
    phantom_e: PhantomData<E>,
}
impl<T, GC: Getter<bool, E> + ?Sized, GI: Getter<T, E> + ?Sized, E: Copy + Debug>
    IfStream<T, GC, GI, E>
{
    ///Constructor for [`IfStream`].
    pub const fn new(condition: Reference<GC>, input: Reference<GI>) -> Self {
        Self {
            condition: condition,
            input: input,
            phantom_t: PhantomData,
            phantom_e: PhantomData,
        }
    }
}
impl<T, GC: Getter<bool, E> + ?Sized, GI: Getter<T, E> + ?Sized, E: Copy + Debug> Getter<T, E>
    for IfStream<T, GC, GI, E>
{
    fn get(&self) -> Output<T, E> {
        let condition = match self.condition.borrow().get()? {
            Some(output) => output.value,
            None => false,
        };
        if condition {
            self.input.borrow().get()
        } else {
            Ok(None)
        }
    }
}
impl<T, GC: Getter<bool, E> + ?Sized, GI: Getter<T, E> + ?Sized, E: Copy + Debug> Updatable<E>
    for IfStream<T, GC, GI, E>
{
    fn update(&mut self) -> NothingOrError<E> {
        Ok(())
    }
}
///Returns the output of one input if a `Getter<bool, _>` returns `Ok(Some(true))` and another if
///it returns `Ok(Some(false))`. Returns `Ok(None)` if the `Getter<bool, _>` does.
pub struct IfElseStream<
    T,
    GC: Getter<bool, E> + ?Sized,
    GT: Getter<T, E> + ?Sized,
    GF: Getter<T, E> + ?Sized,
    E: Copy + Debug,
> {
    condition: Reference<GC>,
    true_output: Reference<GT>,
    false_output: Reference<GF>,
    phantom_t: PhantomData<T>,
    phantom_e: PhantomData<E>,
}
impl<
        T,
        GC: Getter<bool, E> + ?Sized,
        GT: Getter<T, E> + ?Sized,
        GF: Getter<T, E> + ?Sized,
        E: Copy + Debug,
    > IfElseStream<T, GC, GT, GF, E>
{
    ///Constructor for [`IfElseStream`].
    pub const fn new(
        condition: Reference<GC>,
        true_output: Reference<GT>,
        false_output: Reference<GF>,
    ) -> Self {
        Self {
            condition: condition,
            true_output: true_output,
            false_output: false_output,
            phantom_t: PhantomData,
            phantom_e: PhantomData,
        }
    }
}
impl<
        T,
        GC: Getter<bool, E> + ?Sized,
        GT: Getter<T, E> + ?Sized,
        GF: Getter<T, E> + ?Sized,
        E: Copy + Debug,
    > Getter<T, E> for IfElseStream<T, GC, GT, GF, E>
{
    fn get(&self) -> Output<T, E> {
        let condition = match self.condition.borrow().get()? {
            Some(output) => output.value,
            None => return Ok(None),
        };
        if condition {
            self.true_output.borrow().get()
        } else {
            self.false_output.borrow().get()
        }
    }
}
impl<
        T,
        GC: Getter<bool, E> + ?Sized,
        GT: Getter<T, E> + ?Sized,
        GF: Getter<T, E> + ?Sized,
        E: Copy + Debug,
    > Updatable<E> for IfElseStream<T, GC, GT, GF, E>
{
    fn update(&mut self) -> NothingOrError<E> {
        Ok(())
    }
}
///Returns the last value that a getter returned while another getter, a boolean, returned false.
///Passes the getter's value through if the boolean getter is false.
pub struct FreezeStream<
    T: Clone,
    GC: Getter<bool, E> + ?Sized,
    GI: Getter<T, E> + ?Sized,
    E: Copy + Debug,
> {
    condition: Reference<GC>,
    input: Reference<GI>,
    freeze_value: Output<T, E>,
}
impl<T: Clone, GC: Getter<bool, E> + ?Sized, GI: Getter<T, E> + ?Sized, E: Copy + Debug>
    FreezeStream<T, GC, GI, E>
{
    ///Constructor for [`FreezeStream`].
    pub const fn new(condition: Reference<GC>, input: Reference<GI>) -> Self {
        Self {
            condition: condition,
            input: input,
            freeze_value: Ok(None),
        }
    }
}
impl<T: Clone, GC: Getter<bool, E> + ?Sized, GI: Getter<T, E> + ?Sized, E: Copy + Debug>
    Getter<T, E> for FreezeStream<T, GC, GI, E>
{
    fn get(&self) -> Output<T, E> {
        self.freeze_value.clone()
    }
}
impl<T: Clone, GC: Getter<bool, E> + ?Sized, GI: Getter<T, E> + ?Sized, E: Copy + Debug>
    Updatable<E> for FreezeStream<T, GC, GI, E>
{
    fn update(&mut self) -> NothingOrError<E> {
        let condition = match self.condition.borrow().get() {
            Err(error) => {
                self.freeze_value = Err(error);
                return Err(error);
            }
            Ok(None) => {
                self.freeze_value = Ok(None);
                return Ok(());
            }
            Ok(Some(condition)) => condition.value,
        };
        if !condition {
            let gotten = self.input.borrow().get();
            self.freeze_value = gotten.clone();
            match gotten {
                Ok(_) => {}
                Err(error) => return Err(error),
            }
        }
        Ok(())
    }
}