openrr_plugin/gen/
proxy.rs

1// This file is @generated by openrr-internal-codegen.
2// It is not intended for manual editing.
3
4#![allow(unused_variables)]
5#![allow(clippy::useless_conversion, clippy::unit_arg)]
6
7use abi_stable::{rtry, std_types::{RBox, RDuration, ROk, RResult, RStr}};
8use super::*;
9pub(crate) type PluginTraitObject = RPluginTrait_TO<RBox<()>>;
10#[sabi_trait]
11pub(crate) trait RPluginTrait: Send + Sync + 'static {
12    fn new_gamepad(
13        &self,
14        args: RString,
15    ) -> RResult<ROption<crate::GamepadProxy>, RError>;
16    fn new_joint_trajectory_client(
17        &self,
18        args: RString,
19    ) -> RResult<ROption<crate::JointTrajectoryClientProxy>, RError>;
20    fn new_localization(
21        &self,
22        args: RString,
23    ) -> RResult<ROption<crate::LocalizationProxy>, RError>;
24    fn new_motor_drive_position(
25        &self,
26        args: RString,
27    ) -> RResult<ROption<crate::MotorDrivePositionProxy>, RError>;
28    fn new_motor_drive_velocity(
29        &self,
30        args: RString,
31    ) -> RResult<ROption<crate::MotorDriveVelocityProxy>, RError>;
32    fn new_motor_drive_effort(
33        &self,
34        args: RString,
35    ) -> RResult<ROption<crate::MotorDriveEffortProxy>, RError>;
36    fn new_move_base(
37        &self,
38        args: RString,
39    ) -> RResult<ROption<crate::MoveBaseProxy>, RError>;
40    fn new_navigation(
41        &self,
42        args: RString,
43    ) -> RResult<ROption<crate::NavigationProxy>, RError>;
44    fn new_speaker(
45        &self,
46        args: RString,
47    ) -> RResult<ROption<crate::SpeakerProxy>, RError>;
48    fn new_transform_resolver(
49        &self,
50        args: RString,
51    ) -> RResult<ROption<crate::TransformResolverProxy>, RError>;
52}
53impl<T> RPluginTrait for T
54where
55    T: crate::Plugin,
56{
57    fn new_gamepad(
58        &self,
59        args: RString,
60    ) -> RResult<ROption<crate::GamepadProxy>, RError> {
61        ROk(
62            rtry!(crate ::Plugin::new_gamepad(self, args.into()))
63                .map(crate::GamepadProxy::new)
64                .into(),
65        )
66    }
67    fn new_joint_trajectory_client(
68        &self,
69        args: RString,
70    ) -> RResult<ROption<crate::JointTrajectoryClientProxy>, RError> {
71        ROk(
72            rtry!(crate ::Plugin::new_joint_trajectory_client(self, args.into()))
73                .map(crate::JointTrajectoryClientProxy::new)
74                .into(),
75        )
76    }
77    fn new_localization(
78        &self,
79        args: RString,
80    ) -> RResult<ROption<crate::LocalizationProxy>, RError> {
81        ROk(
82            rtry!(crate ::Plugin::new_localization(self, args.into()))
83                .map(crate::LocalizationProxy::new)
84                .into(),
85        )
86    }
87    fn new_motor_drive_position(
88        &self,
89        args: RString,
90    ) -> RResult<ROption<crate::MotorDrivePositionProxy>, RError> {
91        ROk(
92            rtry!(crate ::Plugin::new_motor_drive_position(self, args.into()))
93                .map(crate::MotorDrivePositionProxy::new)
94                .into(),
95        )
96    }
97    fn new_motor_drive_velocity(
98        &self,
99        args: RString,
100    ) -> RResult<ROption<crate::MotorDriveVelocityProxy>, RError> {
101        ROk(
102            rtry!(crate ::Plugin::new_motor_drive_velocity(self, args.into()))
103                .map(crate::MotorDriveVelocityProxy::new)
104                .into(),
105        )
106    }
107    fn new_motor_drive_effort(
108        &self,
109        args: RString,
110    ) -> RResult<ROption<crate::MotorDriveEffortProxy>, RError> {
111        ROk(
112            rtry!(crate ::Plugin::new_motor_drive_effort(self, args.into()))
113                .map(crate::MotorDriveEffortProxy::new)
114                .into(),
115        )
116    }
117    fn new_move_base(
118        &self,
119        args: RString,
120    ) -> RResult<ROption<crate::MoveBaseProxy>, RError> {
121        ROk(
122            rtry!(crate ::Plugin::new_move_base(self, args.into()))
123                .map(crate::MoveBaseProxy::new)
124                .into(),
125        )
126    }
127    fn new_navigation(
128        &self,
129        args: RString,
130    ) -> RResult<ROption<crate::NavigationProxy>, RError> {
131        ROk(
132            rtry!(crate ::Plugin::new_navigation(self, args.into()))
133                .map(crate::NavigationProxy::new)
134                .into(),
135        )
136    }
137    fn new_speaker(
138        &self,
139        args: RString,
140    ) -> RResult<ROption<crate::SpeakerProxy>, RError> {
141        ROk(
142            rtry!(crate ::Plugin::new_speaker(self, args.into()))
143                .map(crate::SpeakerProxy::new)
144                .into(),
145        )
146    }
147    fn new_transform_resolver(
148        &self,
149        args: RString,
150    ) -> RResult<ROption<crate::TransformResolverProxy>, RError> {
151        ROk(
152            rtry!(crate ::Plugin::new_transform_resolver(self, args.into()))
153                .map(crate::TransformResolverProxy::new)
154                .into(),
155        )
156    }
157}
158pub(crate) type LocalizationTraitObject = RLocalizationTrait_TO<RBox<()>>;
159#[abi_stable::sabi_trait]
160pub(crate) trait RLocalizationTrait: Send + Sync + 'static {
161    fn current_pose(&self, frame_id: RStr<'_>) -> RResult<RIsometry2F64, RError>;
162}
163impl<T> RLocalizationTrait for T
164where
165    T: arci::Localization + 'static,
166{
167    fn current_pose(&self, frame_id: RStr<'_>) -> RResult<RIsometry2F64, RError> {
168        ROk(rtry!(arci::Localization::current_pose(self, frame_id.into())).into())
169    }
170}
171pub(crate) type MotorDrivePositionTraitObject = RMotorDrivePositionTrait_TO<RBox<()>>;
172#[abi_stable::sabi_trait]
173pub(crate) trait RMotorDrivePositionTrait: Send + Sync + 'static {
174    fn set_motor_position(&self, position: Rf64) -> RResult<(), RError>;
175    fn get_motor_position(&self) -> RResult<Rf64, RError>;
176}
177impl<T> RMotorDrivePositionTrait for T
178where
179    T: arci::MotorDrivePosition + 'static,
180{
181    fn set_motor_position(&self, position: Rf64) -> RResult<(), RError> {
182        ROk(
183            rtry!(arci::MotorDrivePosition::set_motor_position(self, position.into()))
184                .into(),
185        )
186    }
187    fn get_motor_position(&self) -> RResult<Rf64, RError> {
188        ROk(rtry!(arci::MotorDrivePosition::get_motor_position(self)).into())
189    }
190}
191pub(crate) type MotorDriveVelocityTraitObject = RMotorDriveVelocityTrait_TO<RBox<()>>;
192#[abi_stable::sabi_trait]
193pub(crate) trait RMotorDriveVelocityTrait: Send + Sync + 'static {
194    fn set_motor_velocity(&self, velocity: Rf64) -> RResult<(), RError>;
195    fn get_motor_velocity(&self) -> RResult<Rf64, RError>;
196}
197impl<T> RMotorDriveVelocityTrait for T
198where
199    T: arci::MotorDriveVelocity + 'static,
200{
201    fn set_motor_velocity(&self, velocity: Rf64) -> RResult<(), RError> {
202        ROk(
203            rtry!(arci::MotorDriveVelocity::set_motor_velocity(self, velocity.into()))
204                .into(),
205        )
206    }
207    fn get_motor_velocity(&self) -> RResult<Rf64, RError> {
208        ROk(rtry!(arci::MotorDriveVelocity::get_motor_velocity(self)).into())
209    }
210}
211pub(crate) type MotorDriveEffortTraitObject = RMotorDriveEffortTrait_TO<RBox<()>>;
212#[abi_stable::sabi_trait]
213pub(crate) trait RMotorDriveEffortTrait: Send + Sync + 'static {
214    fn set_motor_effort(&self, effort: Rf64) -> RResult<(), RError>;
215    fn get_motor_effort(&self) -> RResult<Rf64, RError>;
216}
217impl<T> RMotorDriveEffortTrait for T
218where
219    T: arci::MotorDriveEffort + 'static,
220{
221    fn set_motor_effort(&self, effort: Rf64) -> RResult<(), RError> {
222        ROk(rtry!(arci::MotorDriveEffort::set_motor_effort(self, effort.into())).into())
223    }
224    fn get_motor_effort(&self) -> RResult<Rf64, RError> {
225        ROk(rtry!(arci::MotorDriveEffort::get_motor_effort(self)).into())
226    }
227}
228pub(crate) type MoveBaseTraitObject = RMoveBaseTrait_TO<RBox<()>>;
229#[abi_stable::sabi_trait]
230pub(crate) trait RMoveBaseTrait: Send + Sync + 'static {
231    fn send_velocity(&self, velocity: RBaseVelocity) -> RResult<(), RError>;
232    fn current_velocity(&self) -> RResult<RBaseVelocity, RError>;
233}
234impl<T> RMoveBaseTrait for T
235where
236    T: arci::MoveBase + 'static,
237{
238    fn send_velocity(&self, velocity: RBaseVelocity) -> RResult<(), RError> {
239        ROk(rtry!(arci::MoveBase::send_velocity(self, & velocity.into())).into())
240    }
241    fn current_velocity(&self) -> RResult<RBaseVelocity, RError> {
242        ROk(rtry!(arci::MoveBase::current_velocity(self)).into())
243    }
244}
245pub(crate) type NavigationTraitObject = RNavigationTrait_TO<RBox<()>>;
246#[abi_stable::sabi_trait]
247pub(crate) trait RNavigationTrait: Send + Sync + 'static {
248    fn send_goal_pose(
249        &self,
250        goal: RIsometry2F64,
251        frame_id: RStr<'_>,
252        timeout: RDuration,
253    ) -> RResult<RBlockingWait, RError>;
254    fn cancel(&self) -> RResult<(), RError>;
255}
256impl<T> RNavigationTrait for T
257where
258    T: arci::Navigation + 'static,
259{
260    fn send_goal_pose(
261        &self,
262        goal: RIsometry2F64,
263        frame_id: RStr<'_>,
264        timeout: RDuration,
265    ) -> RResult<RBlockingWait, RError> {
266        ROk(
267            rtry!(
268                arci::Navigation::send_goal_pose(self, goal.into(), frame_id.into(),
269                timeout.into())
270            )
271                .into(),
272        )
273    }
274    fn cancel(&self) -> RResult<(), RError> {
275        ROk(rtry!(arci::Navigation::cancel(self)).into())
276    }
277}
278pub(crate) type SpeakerTraitObject = RSpeakerTrait_TO<RBox<()>>;
279#[abi_stable::sabi_trait]
280pub(crate) trait RSpeakerTrait: Send + Sync + 'static {
281    fn speak(&self, message: RStr<'_>) -> RResult<RBlockingWait, RError>;
282}
283impl<T> RSpeakerTrait for T
284where
285    T: arci::Speaker + 'static,
286{
287    fn speak(&self, message: RStr<'_>) -> RResult<RBlockingWait, RError> {
288        ROk(rtry!(arci::Speaker::speak(self, message.into())).into())
289    }
290}
291pub(crate) type TransformResolverTraitObject = RTransformResolverTrait_TO<RBox<()>>;
292#[abi_stable::sabi_trait]
293pub(crate) trait RTransformResolverTrait: Send + Sync + 'static {
294    fn resolve_transformation(
295        &self,
296        from: RStr<'_>,
297        to: RStr<'_>,
298        time: RSystemTime,
299    ) -> RResult<RIsometry3F64, RError>;
300}
301impl<T> RTransformResolverTrait for T
302where
303    T: arci::TransformResolver + 'static,
304{
305    fn resolve_transformation(
306        &self,
307        from: RStr<'_>,
308        to: RStr<'_>,
309        time: RSystemTime,
310    ) -> RResult<RIsometry3F64, RError> {
311        ROk(
312            rtry!(
313                arci::TransformResolver::resolve_transformation(self, from.into(), to
314                .into(), rtry!(time.try_into()))
315            )
316                .into(),
317        )
318    }
319}
openrr_plugin/gen/proxy.rs

openrr_plugin/gen/
proxy.rs
