Package com.viam.sdk.core.resource

Class Registry

java.lang.Object

com.viam.sdk.core.resource.Registry

public class Registry
extends Object

The global registry of robotic parts. **NB** The Registry should almost never be used directly The Registry keeps track of the types of Resources that are available on robots using this SDK. All the base resource types are pre-registered (e.g. Arm, Motor). If you create a new resource type that is not an extension of any of the existing base resource types, then you must register said resource using Registry.register(...)

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Registry.SubtypeModel

Constructor Summary

Constructors

Constructor	Description
Registry()

Method Summary

Modifier and Type	Method	Description
static ResourceCreator	lookupResourceCreator(Subtype subtype, Model model)
static ResourceRegistration<?>	lookupSubtype(Subtype subtype)	Lookup and retrieve a registered Subtype by its name
static Optional<Function<Robot.ComponentConfig,Set<String>>>	lookupValidator(Subtype subtype, Model model)	Lookup and retrieve a registered validator function by its subtype and model.
static Map<Registry.SubtypeModel,ResourceCreatorRegistration>	registeredResourceCreators()	The dictionary of all registered resources - Key: subtype/model - Value: The ResourceCreatorRegistration for the resource
static Map<Subtype,ResourceRegistration<?>>	registeredSubtypes()	The dictionary of all registered resources - Key: Subtype of the resource - Value: The registration object for the resource
static void	registerResourceCreator(Subtype subtype, Model model, ResourceCreatorRegistration registration)	Register a specific Model and validator function for the specific resource Subtype with the Registry
static <ResourceT extends Resource> void	registerSubtype(ResourceRegistration<ResourceT> registration)	Register a Subtype with the Registry

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

Registry

public Registry()

Method Details

registerSubtype

public static <ResourceT extends Resource> void registerSubtype(ResourceRegistration<ResourceT> registration)
                                                         throws DuplicateResourceSubtypeException

Register a Subtype with the Registry

Type Parameters:

ResourceT - The resource type

Parameters:

registration - Object containing registration data for the subtype

Throws:

DuplicateResourceSubtypeException - Thrown if the Subtype to register is already in the registry

registerResourceCreator

public static void registerResourceCreator(Subtype subtype,
 Model model,
 ResourceCreatorRegistration registration)
                                    throws DuplicateModelException

Register a specific Model and validator function for the specific resource Subtype with the Registry

Parameters:

subtype - The Subtype of the resource

model - The Model of the resource

registration - The registration functions of the model

Throws:

DuplicateModelException - Thrown if the Subtype and Model pairing is already registered

lookupSubtype

public static ResourceRegistration<?> lookupSubtype(Subtype subtype)

Lookup and retrieve a registered Subtype by its name

Parameters:

subtype - The subtype of the resource

Returns:

The registration object of the resource

lookupResourceCreator

public static ResourceCreator lookupResourceCreator(Subtype subtype,
 Model model)

lookupValidator

public static Optional<Function<Robot.ComponentConfig,Set<String>>> lookupValidator(Subtype subtype,
 Model model)

Lookup and retrieve a registered validator function by its subtype and model. If there is none, return None

Parameters:

subtype - The Subtype of the resource

model - The Model of the resource

Returns:

The function to validate the resource

registeredSubtypes

public static Map<Subtype,ResourceRegistration<?>> registeredSubtypes()

The dictionary of all registered resources - Key: Subtype of the resource - Value: The registration object for the resource

Returns:

All registered resources

registeredResourceCreators

public static Map<Registry.SubtypeModel,ResourceCreatorRegistration> registeredResourceCreators()

The dictionary of all registered resources - Key: subtype/model - Value: The ResourceCreatorRegistration for the resource

Returns:

All registered resources