openrr_plugin/gen/
api.rs

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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::StableAbi;
8use arci::{
9    gamepad::GamepadEvent, BaseVelocity, Error, Isometry2, Isometry3, Scan2D,
10    TrajectoryPoint, WaitFuture,
11};
12use super::*;
13/// The plugin trait.
14pub trait Plugin: Send + Sync + 'static {
15    /// Creates a new instance of [`arci::Gamepad`] with the specified arguments.
16    fn new_gamepad(
17        &self,
18        args: String,
19    ) -> Result<Option<Box<dyn arci::Gamepad>>, arci::Error> {
20        let _ = args;
21        Ok(None)
22    }
23    /// Creates a new instance of [`arci::JointTrajectoryClient`] with the specified arguments.
24    fn new_joint_trajectory_client(
25        &self,
26        args: String,
27    ) -> Result<Option<Box<dyn arci::JointTrajectoryClient>>, arci::Error> {
28        let _ = args;
29        Ok(None)
30    }
31    /// Creates a new instance of [`arci::LaserScan2D`] with the specified arguments.
32    fn new_laser_scan2_d(
33        &self,
34        args: String,
35    ) -> Result<Option<Box<dyn arci::LaserScan2D>>, arci::Error> {
36        let _ = args;
37        Ok(None)
38    }
39    /// Creates a new instance of [`arci::Localization`] with the specified arguments.
40    fn new_localization(
41        &self,
42        args: String,
43    ) -> Result<Option<Box<dyn arci::Localization>>, arci::Error> {
44        let _ = args;
45        Ok(None)
46    }
47    /// Creates a new instance of [`arci::MotorDrivePosition`] with the specified arguments.
48    fn new_motor_drive_position(
49        &self,
50        args: String,
51    ) -> Result<Option<Box<dyn arci::MotorDrivePosition>>, arci::Error> {
52        let _ = args;
53        Ok(None)
54    }
55    /// Creates a new instance of [`arci::MotorDriveVelocity`] with the specified arguments.
56    fn new_motor_drive_velocity(
57        &self,
58        args: String,
59    ) -> Result<Option<Box<dyn arci::MotorDriveVelocity>>, arci::Error> {
60        let _ = args;
61        Ok(None)
62    }
63    /// Creates a new instance of [`arci::MotorDriveEffort`] with the specified arguments.
64    fn new_motor_drive_effort(
65        &self,
66        args: String,
67    ) -> Result<Option<Box<dyn arci::MotorDriveEffort>>, arci::Error> {
68        let _ = args;
69        Ok(None)
70    }
71    /// Creates a new instance of [`arci::MoveBase`] with the specified arguments.
72    fn new_move_base(
73        &self,
74        args: String,
75    ) -> Result<Option<Box<dyn arci::MoveBase>>, arci::Error> {
76        let _ = args;
77        Ok(None)
78    }
79    /// Creates a new instance of [`arci::Navigation`] with the specified arguments.
80    fn new_navigation(
81        &self,
82        args: String,
83    ) -> Result<Option<Box<dyn arci::Navigation>>, arci::Error> {
84        let _ = args;
85        Ok(None)
86    }
87    /// Creates a new instance of [`arci::Speaker`] with the specified arguments.
88    fn new_speaker(
89        &self,
90        args: String,
91    ) -> Result<Option<Box<dyn arci::Speaker>>, arci::Error> {
92        let _ = args;
93        Ok(None)
94    }
95    /// Creates a new instance of [`arci::TransformResolver`] with the specified arguments.
96    fn new_transform_resolver(
97        &self,
98        args: String,
99    ) -> Result<Option<Box<dyn arci::TransformResolver>>, arci::Error> {
100        let _ = args;
101        Ok(None)
102    }
103}
104/// FFI-safe equivalent of [`Box<dyn Plugin>`](Plugin).
105#[derive(StableAbi)]
106#[repr(C)]
107pub struct PluginProxy(pub(crate) crate::proxy::PluginTraitObject);
108impl PluginProxy {
109    /// Creates a new `PluginProxy`.
110    pub fn new<T>(inner: T) -> Self
111    where
112        T: Plugin + 'static,
113    {
114        Self(
115            crate::proxy::PluginTraitObject::from_value(
116                inner,
117                abi_stable::erased_types::TD_Opaque,
118            ),
119        )
120    }
121}
122impl PluginProxy {
123    /// Creates a new instance of [`arci::Gamepad`] with the specified arguments.
124    pub fn new_gamepad(
125        &self,
126        args: String,
127    ) -> Result<Option<GamepadProxy>, arci::Error> {
128        Ok(self.0.new_gamepad(args.into()).into_result()?.into_option())
129    }
130    /// Creates a new instance of [`arci::JointTrajectoryClient`] with the specified arguments.
131    pub fn new_joint_trajectory_client(
132        &self,
133        args: String,
134    ) -> Result<Option<JointTrajectoryClientProxy>, arci::Error> {
135        Ok(self.0.new_joint_trajectory_client(args.into()).into_result()?.into_option())
136    }
137    /// Creates a new instance of [`arci::LaserScan2D`] with the specified arguments.
138    pub fn new_laser_scan2_d(
139        &self,
140        args: String,
141    ) -> Result<Option<LaserScan2DProxy>, arci::Error> {
142        Ok(self.0.new_laser_scan2_d(args.into()).into_result()?.into_option())
143    }
144    /// Creates a new instance of [`arci::Localization`] with the specified arguments.
145    pub fn new_localization(
146        &self,
147        args: String,
148    ) -> Result<Option<LocalizationProxy>, arci::Error> {
149        Ok(self.0.new_localization(args.into()).into_result()?.into_option())
150    }
151    /// Creates a new instance of [`arci::MotorDrivePosition`] with the specified arguments.
152    pub fn new_motor_drive_position(
153        &self,
154        args: String,
155    ) -> Result<Option<MotorDrivePositionProxy>, arci::Error> {
156        Ok(self.0.new_motor_drive_position(args.into()).into_result()?.into_option())
157    }
158    /// Creates a new instance of [`arci::MotorDriveVelocity`] with the specified arguments.
159    pub fn new_motor_drive_velocity(
160        &self,
161        args: String,
162    ) -> Result<Option<MotorDriveVelocityProxy>, arci::Error> {
163        Ok(self.0.new_motor_drive_velocity(args.into()).into_result()?.into_option())
164    }
165    /// Creates a new instance of [`arci::MotorDriveEffort`] with the specified arguments.
166    pub fn new_motor_drive_effort(
167        &self,
168        args: String,
169    ) -> Result<Option<MotorDriveEffortProxy>, arci::Error> {
170        Ok(self.0.new_motor_drive_effort(args.into()).into_result()?.into_option())
171    }
172    /// Creates a new instance of [`arci::MoveBase`] with the specified arguments.
173    pub fn new_move_base(
174        &self,
175        args: String,
176    ) -> Result<Option<MoveBaseProxy>, arci::Error> {
177        Ok(self.0.new_move_base(args.into()).into_result()?.into_option())
178    }
179    /// Creates a new instance of [`arci::Navigation`] with the specified arguments.
180    pub fn new_navigation(
181        &self,
182        args: String,
183    ) -> Result<Option<NavigationProxy>, arci::Error> {
184        Ok(self.0.new_navigation(args.into()).into_result()?.into_option())
185    }
186    /// Creates a new instance of [`arci::Speaker`] with the specified arguments.
187    pub fn new_speaker(
188        &self,
189        args: String,
190    ) -> Result<Option<SpeakerProxy>, arci::Error> {
191        Ok(self.0.new_speaker(args.into()).into_result()?.into_option())
192    }
193    /// Creates a new instance of [`arci::TransformResolver`] with the specified arguments.
194    pub fn new_transform_resolver(
195        &self,
196        args: String,
197    ) -> Result<Option<TransformResolverProxy>, arci::Error> {
198        Ok(self.0.new_transform_resolver(args.into()).into_result()?.into_option())
199    }
200}
201/// FFI-safe equivalent of [`Box<dyn arci::Gamepad>`](arci::Gamepad).
202#[derive(StableAbi)]
203#[repr(C)]
204pub struct GamepadProxy(pub(crate) crate::proxy::GamepadTraitObject);
205impl GamepadProxy {
206    /// Creates a new `GamepadProxy`.
207    pub fn new<T>(inner: T) -> Self
208    where
209        T: arci::Gamepad + 'static,
210    {
211        Self(
212            crate::proxy::GamepadTraitObject::from_value(
213                Arc::new(inner),
214                abi_stable::erased_types::TD_Opaque,
215            ),
216        )
217    }
218}
219#[arci::async_trait]
220impl arci::Gamepad for GamepadProxy {
221    async fn next_event(&self) -> GamepadEvent {
222        self.0.next_event().await.into()
223    }
224    fn stop(&self) {
225        self.0.stop().into()
226    }
227}
228impl std::fmt::Debug for GamepadProxy {
229    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
230        f.debug_struct("GamepadProxy").finish()
231    }
232}
233/// FFI-safe equivalent of [`Box<dyn arci::JointTrajectoryClient>`](arci::JointTrajectoryClient).
234#[derive(StableAbi)]
235#[repr(C)]
236pub struct JointTrajectoryClientProxy(
237    pub(crate) crate::proxy::JointTrajectoryClientTraitObject,
238);
239impl JointTrajectoryClientProxy {
240    /// Creates a new `JointTrajectoryClientProxy`.
241    pub fn new<T>(inner: T) -> Self
242    where
243        T: arci::JointTrajectoryClient + 'static,
244    {
245        Self(
246            crate::proxy::JointTrajectoryClientTraitObject::from_value(
247                inner,
248                abi_stable::erased_types::TD_Opaque,
249            ),
250        )
251    }
252}
253impl arci::JointTrajectoryClient for JointTrajectoryClientProxy {
254    fn joint_names(&self) -> Vec<String> {
255        self.0.joint_names().into_iter().map(Into::into).collect()
256    }
257    fn current_joint_positions(&self) -> Result<Vec<f64>, Error> {
258        Ok(self.0.current_joint_positions().into_result()?.into())
259    }
260    fn send_joint_positions(
261        &self,
262        positions: Vec<f64>,
263        duration: std::time::Duration,
264    ) -> Result<WaitFuture, Error> {
265        Ok(
266            self
267                .0
268                .send_joint_positions(positions.into(), duration.into())
269                .into_result()?
270                .into(),
271        )
272    }
273    fn send_joint_trajectory(
274        &self,
275        trajectory: Vec<TrajectoryPoint>,
276    ) -> Result<WaitFuture, Error> {
277        Ok(
278            self
279                .0
280                .send_joint_trajectory(trajectory.into_iter().map(Into::into).collect())
281                .into_result()?
282                .into(),
283        )
284    }
285}
286impl std::fmt::Debug for JointTrajectoryClientProxy {
287    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
288        f.debug_struct("JointTrajectoryClientProxy").finish()
289    }
290}
291/// FFI-safe equivalent of [`Box<dyn arci::LaserScan2D>`](arci::LaserScan2D).
292#[derive(StableAbi)]
293#[repr(C)]
294pub struct LaserScan2DProxy(pub(crate) crate::proxy::LaserScan2DTraitObject);
295impl LaserScan2DProxy {
296    /// Creates a new `LaserScan2DProxy`.
297    pub fn new<T>(inner: T) -> Self
298    where
299        T: arci::LaserScan2D + 'static,
300    {
301        Self(
302            crate::proxy::LaserScan2DTraitObject::from_value(
303                inner,
304                abi_stable::erased_types::TD_Opaque,
305            ),
306        )
307    }
308}
309impl arci::LaserScan2D for LaserScan2DProxy {
310    fn current_scan(&self) -> Result<Scan2D, Error> {
311        Ok(self.0.current_scan().into_result()?.into())
312    }
313}
314impl std::fmt::Debug for LaserScan2DProxy {
315    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
316        f.debug_struct("LaserScan2DProxy").finish()
317    }
318}
319/// FFI-safe equivalent of [`Box<dyn arci::Localization>`](arci::Localization).
320#[derive(StableAbi)]
321#[repr(C)]
322pub struct LocalizationProxy(pub(crate) crate::proxy::LocalizationTraitObject);
323impl LocalizationProxy {
324    /// Creates a new `LocalizationProxy`.
325    pub fn new<T>(inner: T) -> Self
326    where
327        T: arci::Localization + 'static,
328    {
329        Self(
330            crate::proxy::LocalizationTraitObject::from_value(
331                inner,
332                abi_stable::erased_types::TD_Opaque,
333            ),
334        )
335    }
336}
337impl arci::Localization for LocalizationProxy {
338    fn current_pose(&self, frame_id: &str) -> Result<Isometry2<f64>, Error> {
339        Ok(self.0.current_pose(frame_id.into()).into_result()?.into())
340    }
341}
342impl std::fmt::Debug for LocalizationProxy {
343    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
344        f.debug_struct("LocalizationProxy").finish()
345    }
346}
347/// FFI-safe equivalent of [`Box<dyn arci::MotorDrivePosition>`](arci::MotorDrivePosition).
348#[derive(StableAbi)]
349#[repr(C)]
350pub struct MotorDrivePositionProxy(
351    pub(crate) crate::proxy::MotorDrivePositionTraitObject,
352);
353impl MotorDrivePositionProxy {
354    /// Creates a new `MotorDrivePositionProxy`.
355    pub fn new<T>(inner: T) -> Self
356    where
357        T: arci::MotorDrivePosition + 'static,
358    {
359        Self(
360            crate::proxy::MotorDrivePositionTraitObject::from_value(
361                inner,
362                abi_stable::erased_types::TD_Opaque,
363            ),
364        )
365    }
366}
367impl arci::MotorDrivePosition for MotorDrivePositionProxy {
368    fn set_motor_position(&self, position: f64) -> Result<(), Error> {
369        Ok(self.0.set_motor_position(position.into()).into_result()?.into())
370    }
371    fn get_motor_position(&self) -> Result<f64, Error> {
372        Ok(self.0.get_motor_position().into_result()?.into())
373    }
374}
375impl std::fmt::Debug for MotorDrivePositionProxy {
376    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
377        f.debug_struct("MotorDrivePositionProxy").finish()
378    }
379}
380/// FFI-safe equivalent of [`Box<dyn arci::MotorDriveVelocity>`](arci::MotorDriveVelocity).
381#[derive(StableAbi)]
382#[repr(C)]
383pub struct MotorDriveVelocityProxy(
384    pub(crate) crate::proxy::MotorDriveVelocityTraitObject,
385);
386impl MotorDriveVelocityProxy {
387    /// Creates a new `MotorDriveVelocityProxy`.
388    pub fn new<T>(inner: T) -> Self
389    where
390        T: arci::MotorDriveVelocity + 'static,
391    {
392        Self(
393            crate::proxy::MotorDriveVelocityTraitObject::from_value(
394                inner,
395                abi_stable::erased_types::TD_Opaque,
396            ),
397        )
398    }
399}
400impl arci::MotorDriveVelocity for MotorDriveVelocityProxy {
401    fn set_motor_velocity(&self, velocity: f64) -> Result<(), Error> {
402        Ok(self.0.set_motor_velocity(velocity.into()).into_result()?.into())
403    }
404    fn get_motor_velocity(&self) -> Result<f64, Error> {
405        Ok(self.0.get_motor_velocity().into_result()?.into())
406    }
407}
408impl std::fmt::Debug for MotorDriveVelocityProxy {
409    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
410        f.debug_struct("MotorDriveVelocityProxy").finish()
411    }
412}
413/// FFI-safe equivalent of [`Box<dyn arci::MotorDriveEffort>`](arci::MotorDriveEffort).
414#[derive(StableAbi)]
415#[repr(C)]
416pub struct MotorDriveEffortProxy(pub(crate) crate::proxy::MotorDriveEffortTraitObject);
417impl MotorDriveEffortProxy {
418    /// Creates a new `MotorDriveEffortProxy`.
419    pub fn new<T>(inner: T) -> Self
420    where
421        T: arci::MotorDriveEffort + 'static,
422    {
423        Self(
424            crate::proxy::MotorDriveEffortTraitObject::from_value(
425                inner,
426                abi_stable::erased_types::TD_Opaque,
427            ),
428        )
429    }
430}
431impl arci::MotorDriveEffort for MotorDriveEffortProxy {
432    fn set_motor_effort(&self, effort: f64) -> Result<(), Error> {
433        Ok(self.0.set_motor_effort(effort.into()).into_result()?.into())
434    }
435    fn get_motor_effort(&self) -> Result<f64, Error> {
436        Ok(self.0.get_motor_effort().into_result()?.into())
437    }
438}
439impl std::fmt::Debug for MotorDriveEffortProxy {
440    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
441        f.debug_struct("MotorDriveEffortProxy").finish()
442    }
443}
444/// FFI-safe equivalent of [`Box<dyn arci::MoveBase>`](arci::MoveBase).
445#[derive(StableAbi)]
446#[repr(C)]
447pub struct MoveBaseProxy(pub(crate) crate::proxy::MoveBaseTraitObject);
448impl MoveBaseProxy {
449    /// Creates a new `MoveBaseProxy`.
450    pub fn new<T>(inner: T) -> Self
451    where
452        T: arci::MoveBase + 'static,
453    {
454        Self(
455            crate::proxy::MoveBaseTraitObject::from_value(
456                inner,
457                abi_stable::erased_types::TD_Opaque,
458            ),
459        )
460    }
461}
462impl arci::MoveBase for MoveBaseProxy {
463    fn send_velocity(&self, velocity: &BaseVelocity) -> Result<(), Error> {
464        Ok(self.0.send_velocity((*velocity).into()).into_result()?.into())
465    }
466    fn current_velocity(&self) -> Result<BaseVelocity, Error> {
467        Ok(self.0.current_velocity().into_result()?.into())
468    }
469}
470impl std::fmt::Debug for MoveBaseProxy {
471    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
472        f.debug_struct("MoveBaseProxy").finish()
473    }
474}
475/// FFI-safe equivalent of [`Box<dyn arci::Navigation>`](arci::Navigation).
476#[derive(StableAbi)]
477#[repr(C)]
478pub struct NavigationProxy(pub(crate) crate::proxy::NavigationTraitObject);
479impl NavigationProxy {
480    /// Creates a new `NavigationProxy`.
481    pub fn new<T>(inner: T) -> Self
482    where
483        T: arci::Navigation + 'static,
484    {
485        Self(
486            crate::proxy::NavigationTraitObject::from_value(
487                inner,
488                abi_stable::erased_types::TD_Opaque,
489            ),
490        )
491    }
492}
493impl arci::Navigation for NavigationProxy {
494    fn send_goal_pose(
495        &self,
496        goal: Isometry2<f64>,
497        frame_id: &str,
498        timeout: std::time::Duration,
499    ) -> Result<WaitFuture, Error> {
500        Ok(
501            self
502                .0
503                .send_goal_pose(goal.into(), frame_id.into(), timeout.into())
504                .into_result()?
505                .into(),
506        )
507    }
508    fn cancel(&self) -> Result<(), Error> {
509        Ok(self.0.cancel().into_result()?.into())
510    }
511}
512impl std::fmt::Debug for NavigationProxy {
513    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
514        f.debug_struct("NavigationProxy").finish()
515    }
516}
517/// FFI-safe equivalent of [`Box<dyn arci::Speaker>`](arci::Speaker).
518#[derive(StableAbi)]
519#[repr(C)]
520pub struct SpeakerProxy(pub(crate) crate::proxy::SpeakerTraitObject);
521impl SpeakerProxy {
522    /// Creates a new `SpeakerProxy`.
523    pub fn new<T>(inner: T) -> Self
524    where
525        T: arci::Speaker + 'static,
526    {
527        Self(
528            crate::proxy::SpeakerTraitObject::from_value(
529                inner,
530                abi_stable::erased_types::TD_Opaque,
531            ),
532        )
533    }
534}
535impl arci::Speaker for SpeakerProxy {
536    fn speak(&self, message: &str) -> Result<WaitFuture, Error> {
537        Ok(self.0.speak(message.into()).into_result()?.into())
538    }
539}
540impl std::fmt::Debug for SpeakerProxy {
541    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
542        f.debug_struct("SpeakerProxy").finish()
543    }
544}
545/// FFI-safe equivalent of [`Box<dyn arci::TransformResolver>`](arci::TransformResolver).
546#[derive(StableAbi)]
547#[repr(C)]
548pub struct TransformResolverProxy(pub(crate) crate::proxy::TransformResolverTraitObject);
549impl TransformResolverProxy {
550    /// Creates a new `TransformResolverProxy`.
551    pub fn new<T>(inner: T) -> Self
552    where
553        T: arci::TransformResolver + 'static,
554    {
555        Self(
556            crate::proxy::TransformResolverTraitObject::from_value(
557                inner,
558                abi_stable::erased_types::TD_Opaque,
559            ),
560        )
561    }
562}
563impl arci::TransformResolver for TransformResolverProxy {
564    fn resolve_transformation(
565        &self,
566        from: &str,
567        to: &str,
568        time: std::time::SystemTime,
569    ) -> Result<Isometry3<f64>, Error> {
570        Ok(
571            self
572                .0
573                .resolve_transformation(from.into(), to.into(), time.try_into()?)
574                .into_result()?
575                .into(),
576        )
577    }
578}
579impl std::fmt::Debug for TransformResolverProxy {
580    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
581        f.debug_struct("TransformResolverProxy").finish()
582    }
583}
openrr_plugin/gen/api.rs

openrr_plugin/gen/
api.rs
