sensorprocess

Documentation

Overview

Package sensorprocess contains the logic to add lidar or replay sensor readings to cartographer's cartofacade

Package sensorprocess contains the logic to add lidar or replay sensor readings to cartographer's cartofacade

Package sensorprocess contains the logic to add lidar or replay sensor readings to cartographer's cartofacade

Index

• type Config
  • func (config *Config) StartLidar(ctx context.Context)
  • func (config *Config) StartMovementSensor(ctx context.Context)
  • func (config *Config) StartOfflineSensorProcess(ctx context.Context) bool

Types

type Config

type Config struct {
	CartoFacade cartofacade.Interface
	IsOnline    bool

	Lidar          s.TimedLidar
	MovementSensor s.TimedMovementSensor

	Timeout         time.Duration
	InternalTimeout time.Duration
	Logger          logging.Logger
}

Config holds config needed throughout the process of adding a sensor reading to the cartofacade.

func (*Config) StartLidar

func (config *Config) StartLidar(ctx context.Context)

StartLidar polls the lidar to get the next sensor reading and adds it to the cartofacade. Stops when the context is Done.

func (*Config) StartMovementSensor

func (config *Config) StartMovementSensor(ctx context.Context)

StartMovementSensor polls the movement sensor to get the next sensor reading and adds it to the cartofacade. Stops when the context is Done.

func (*Config) StartOfflineSensorProcess

func (config *Config) StartOfflineSensorProcess(ctx context.Context) bool

StartOfflineSensorProcess starts the process of adding lidar and movement sensor data in a deterministically defined order to cartographer. Returns a bool that indicates whether or not the end of either the lidar or movement sensor datasets have been reached.