nmea

package
v0.0.7 Latest Latest
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 Go to latest Published: Aug 19, 2022 License: AGPL-3.0 Imports: 23 Imported by: 0

Documentation

Overview

Package nmea implements an NMEA serial gps.

Index

Constants

This section is empty.

Variables

This section is empty.

Functions

This section is empty.

Types

type I2CAttrConfig 

type I2CAttrConfig struct {
	// I2C
	Board   string `json:"board"`
	Bus     string `json:"bus"`
	I2cAddr int    `json:"i2c_addr"`
}

I2CAttrConfig is used for converting Serial NMEA MovementSensor config attributes.

func (*I2CAttrConfig) ValidateI2C 

func (config *I2CAttrConfig) ValidateI2C(path string) error

ValidateI2C ensures all parts of the config are valid.

type NtripInfo added in v0.0.7 

type NtripInfo struct {
	URL                string
	Username           string
	Password           string
	MountPoint         string
	Client             *ntrip.Client
	Stream             io.ReadCloser
	MaxConnectAttempts int
}

NtripInfo contains the information necessary to connect to a mountpoint.

func NewNtripInfo added in v0.0.7 

func NewNtripInfo(ctx context.Context, config config.Component, logger golog.Logger) (*NtripInfo, error)

NewNtripInfo creates a new NtripInfo object given ntrip information in the configuration.

type PmtkI2CNMEAMovementSensor 

type PmtkI2CNMEAMovementSensor struct {
	generic.Unimplemented
	// contains filtered or unexported fields
}

PmtkI2CNMEAMovementSensor allows the use of any MovementSensor chip that communicates over I2C using the PMTK protocol.

func (*PmtkI2CNMEAMovementSensor) Close 

func (g *PmtkI2CNMEAMovementSensor) Close() error

Close shuts down the SerialNMEAMOVEMENTSENSOR.

func (*PmtkI2CNMEAMovementSensor) GetAccuracy 

func (g *PmtkI2CNMEAMovementSensor) GetAccuracy(ctx context.Context) (map[string]float32, error)

GetAccuracy returns the accuracy, hDOP and vDOP.

func (*PmtkI2CNMEAMovementSensor) GetAngularVelocity 

func (g *PmtkI2CNMEAMovementSensor) GetAngularVelocity(ctx context.Context) (spatialmath.AngularVelocity, error)

GetAngularVelocity not supported.

func (*PmtkI2CNMEAMovementSensor) GetBusAddr 

func (g *PmtkI2CNMEAMovementSensor) GetBusAddr() (board.I2C, byte)

GetBusAddr returns the bus and address that takes in rtcm corrections.

func (*PmtkI2CNMEAMovementSensor) GetCompassHeading 

func (g *PmtkI2CNMEAMovementSensor) GetCompassHeading(ctx context.Context) (float64, error)

GetCompassHeading not supported.

func (*PmtkI2CNMEAMovementSensor) GetLinearVelocity 

func (g *PmtkI2CNMEAMovementSensor) GetLinearVelocity(ctx context.Context) (r3.Vector, error)

GetLinearVelocity returns the current speed of the MovementSensor.

func (*PmtkI2CNMEAMovementSensor) GetOrientation 

func (g *PmtkI2CNMEAMovementSensor) GetOrientation(ctx context.Context) (spatialmath.Orientation, error)

GetOrientation not supporter.

func (*PmtkI2CNMEAMovementSensor) GetPosition 

func (g *PmtkI2CNMEAMovementSensor) GetPosition(ctx context.Context) (*geo.Point, float64, error)

GetPosition returns the current geographic location of the MovementSensor.

func (*PmtkI2CNMEAMovementSensor) GetProperties 

func (g *PmtkI2CNMEAMovementSensor) GetProperties(ctx context.Context) (*movementsensor.Properties, error)

GetProperties what can I do!

func (*PmtkI2CNMEAMovementSensor) GetReadings 

func (g *PmtkI2CNMEAMovementSensor) GetReadings(ctx context.Context) ([]interface{}, error)

GetReadings will use return all of the MovementSensor Readings.

func (*PmtkI2CNMEAMovementSensor) ReadFix 

func (g *PmtkI2CNMEAMovementSensor) ReadFix(ctx context.Context) (int, error)

ReadFix returns quality.

func (*PmtkI2CNMEAMovementSensor) Start 

func (g *PmtkI2CNMEAMovementSensor) Start(ctx context.Context)

Start begins reading nmea messages from module and updates gps data.

type RTKAttrConfig 

type RTKAttrConfig struct {
	// Serial
	SerialPath     string `json:"path"`
	CorrectionPath string `json:"correction_path"`

	// I2C
	Board   string `json:"board"`
	Bus     string `json:"bus"`
	I2cAddr int    `json:"i2c_addr"`

	// Ntrip
	NtripAddr            string `json:"ntrip_addr"`
	NtripConnectAttempts int    `json:"ntrip_connect_attempts,omitempty"`
	NtripMountpoint      string `json:"ntrip_mountpoint,omitempty"`
	NtripPass            string `json:"ntrip_password,omitempty"`
	NtripUser            string `json:"ntrip_username,omitempty"`
	NtripPath            string `json:"ntrip_path,omitempty"`
	NtripBaud            string `json:"ntrip_baud,omitempty"`
	NtripInputProtocol   string `json:"ntrip_input_protocol,omitempty"`
}

RTKAttrConfig is used for converting Serial NMEA MovementSensor config attributes.

func (*RTKAttrConfig) ValidateRTK 

func (config *RTKAttrConfig) ValidateRTK(path string) error

ValidateRTK ensures all parts of the config are valid.

type RTKMovementSensor 

type RTKMovementSensor struct {
	generic.Unimplemented
	// contains filtered or unexported fields
}

A RTKMovementSensor is an NMEA MovementSensor model that can intake RTK correction data.

func (*RTKMovementSensor) Close 

func (g *RTKMovementSensor) Close() error

Close shuts down the RTKMOVEMENTSENSOR.

func (*RTKMovementSensor) Connect 

func (g *RTKMovementSensor) Connect(casterAddr string, user string, pwd string, maxAttempts int) error

Connect attempts to connect to ntrip client until successful connection or timeout.

func (*RTKMovementSensor) GetAccuracy 

func (g *RTKMovementSensor) GetAccuracy(ctx context.Context) (map[string]float32, error)

GetAccuracy passthrough.

func (*RTKMovementSensor) GetAngularVelocity 

func (g *RTKMovementSensor) GetAngularVelocity(ctx context.Context) (spatialmath.AngularVelocity, error)

GetAngularVelocity passthrough.

func (*RTKMovementSensor) GetCompassHeading 

func (g *RTKMovementSensor) GetCompassHeading(ctx context.Context) (float64, error)

GetCompassHeading passthrough.

func (*RTKMovementSensor) GetLinearVelocity 

func (g *RTKMovementSensor) GetLinearVelocity(ctx context.Context) (r3.Vector, error)

GetLinearVelocity passthrough.

func (*RTKMovementSensor) GetOrientation 

func (g *RTKMovementSensor) GetOrientation(ctx context.Context) (spatialmath.Orientation, error)

GetOrientation passthrough.

func (*RTKMovementSensor) GetPosition 

func (g *RTKMovementSensor) GetPosition(ctx context.Context) (*geo.Point, float64, error)

GetPosition returns the current geographic location of the MOVEMENTSENSOR.

func (*RTKMovementSensor) GetProperties 

func (g *RTKMovementSensor) GetProperties(ctx context.Context) (*movementsensor.Properties, error)

GetProperties passthrough.

func (*RTKMovementSensor) GetReadings 

func (g *RTKMovementSensor) GetReadings(ctx context.Context) ([]interface{}, error)

GetReadings will use the default MovementSensor GetReadings if not provided.

func (*RTKMovementSensor) GetStream 

func (g *RTKMovementSensor) GetStream(mountPoint string, maxAttempts int) error

GetStream attempts to connect to ntrip streak until successful connection or timeout.

func (*RTKMovementSensor) NtripStatus 

func (g *RTKMovementSensor) NtripStatus() (bool, error)

NtripStatus returns true if connection to NTRIP stream is OK, false if not.

func (*RTKMovementSensor) ReadFix 

func (g *RTKMovementSensor) ReadFix(ctx context.Context) (int, error)

ReadFix passthrough.

func (*RTKMovementSensor) ReceiveAndWriteI2C 

func (g *RTKMovementSensor) ReceiveAndWriteI2C(ctx context.Context)

ReceiveAndWriteI2C connects to NTRIP receiver and sends correction stream to the MovementSensor through I2C protocol.

func (*RTKMovementSensor) ReceiveAndWriteSerial 

func (g *RTKMovementSensor) ReceiveAndWriteSerial()

ReceiveAndWriteSerial connects to NTRIP receiver and sends correction stream to the MovementSensor through serial.

func (*RTKMovementSensor) Start 

func (g *RTKMovementSensor) Start(ctx context.Context)

Start begins NTRIP receiver with specified protocol and begins reading/updating MovementSensor measurements.

type SerialAttrConfig 

type SerialAttrConfig struct {
	// Serial
	SerialPath     string `json:"path"`
	CorrectionPath string `json:"correction_path"`
}

SerialAttrConfig is used for converting Serial NMEA MovementSensor config attributes.

func (*SerialAttrConfig) ValidateSerial 

func (config *SerialAttrConfig) ValidateSerial(path string) error

ValidateSerial ensures all parts of the config are valid.

type SerialNMEAMovementSensor 

type SerialNMEAMovementSensor struct {
	generic.Unimplemented
	// contains filtered or unexported fields
}

SerialNMEAMovementSensor allows the use of any MovementSensor chip that communicates over serial.

func (*SerialNMEAMovementSensor) Close 

func (g *SerialNMEAMovementSensor) Close() error

Close shuts down the SerialNMEAMovementSensor.

func (*SerialNMEAMovementSensor) GetAccuracy 

func (g *SerialNMEAMovementSensor) GetAccuracy(ctx context.Context) (map[string]float32, error)

GetAccuracy returns the accuracy, hDOP and vDOP.

func (*SerialNMEAMovementSensor) GetAngularVelocity 

func (g *SerialNMEAMovementSensor) GetAngularVelocity(ctx context.Context) (spatialmath.AngularVelocity, error)

GetAngularVelocity angularvelocity.

func (*SerialNMEAMovementSensor) GetCompassHeading 

func (g *SerialNMEAMovementSensor) GetCompassHeading(ctx context.Context) (float64, error)

GetCompassHeading 0->360.

func (*SerialNMEAMovementSensor) GetCorrectionInfo 

func (g *SerialNMEAMovementSensor) GetCorrectionInfo() (string, uint)

GetCorrectionInfo returns the serial path that takes in rtcm corrections and baudrate for reading.

func (*SerialNMEAMovementSensor) GetLinearVelocity 

func (g *SerialNMEAMovementSensor) GetLinearVelocity(ctx context.Context) (r3.Vector, error)

GetLinearVelocity linear velocity.

func (*SerialNMEAMovementSensor) GetOrientation 

func (g *SerialNMEAMovementSensor) GetOrientation(ctx context.Context) (spatialmath.Orientation, error)

GetOrientation orientation.

func (*SerialNMEAMovementSensor) GetPosition 

func (g *SerialNMEAMovementSensor) GetPosition(ctx context.Context) (*geo.Point, float64, error)

GetPosition position, altitide.

func (*SerialNMEAMovementSensor) GetProperties 

func (g *SerialNMEAMovementSensor) GetProperties(ctx context.Context) (*movementsensor.Properties, error)

GetProperties what do I do!

func (*SerialNMEAMovementSensor) GetReadings 

func (g *SerialNMEAMovementSensor) GetReadings(ctx context.Context) ([]interface{}, error)

GetReadings will use return all of the MovementSensor Readings.

func (*SerialNMEAMovementSensor) ReadFix 

func (g *SerialNMEAMovementSensor) ReadFix(ctx context.Context) (int, error)

ReadFix returns Fix quality of MovementSensor measurements.

func (*SerialNMEAMovementSensor) Start 

func (g *SerialNMEAMovementSensor) Start(ctx context.Context)

Start begins reading nmea messages from module and updates gps data.

Source Files

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