gpsrtk

package
v0.1.6 Latest Latest
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 Go to latest Published: Oct 28, 2022 License: AGPL-3.0 Imports: 23 Imported by: 0

Documentation

Overview

Package gpsrtk defines a gps and an rtk correction source which sends rtcm data to a child gps This is an Experimental package

Package gpsrtk defines a gps and an rtk correction source which sends rtcm data to a child gps This is an Experimental package

Index

Constants

This section is empty.

Variables

This section is empty.

Functions

func ConfigureBaseRTKStation 

func ConfigureBaseRTKStation(cfg config.Component) error

ConfigureBaseRTKStation configures an RTK chip to act as a base station and send correction data.

func ConfigureRoverDefault 

func ConfigureRoverDefault(cfg config.Component) error

ConfigureRoverDefault sets up an RTK chip to act as a rover and receive correction data.

Types

type AttrConfig 

type AttrConfig struct {
	CorrectionSource string `json:"correction_source"`
	Board            string `json:"board,omitempty"`
	ConnectionType   string `json:"connection_type,omitempty"`

	*SerialAttrConfig `json:"serial_attributes,omitempty"`
	*I2CAttrConfig    `json:"i2c_attributes,omitempty"`
	*NtripAttrConfig  `json:"ntrip_attributes,omitempty"`
}

AttrConfig is used for converting NMEA MovementSensor with RTK capabilities config attributes.

func (*AttrConfig) Validate added in v0.1.6 

func (cfg *AttrConfig) Validate(path string) ([]string, error)

Validate ensures all parts of the config are valid.

type I2CAttrConfig 

type I2CAttrConfig struct {
	I2CBus      string `json:"i2c_bus"`
	I2cAddr     int    `json:"i2c_addr"`
	I2CBaudRate int    `json:"i2c_baud_rate,omitempty"`
}

I2CAttrConfig is used for converting attributes for a correction source.

func (*I2CAttrConfig) ValidateI2C 

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

ValidateI2C ensures all parts of the config are valid.

type NtripAttrConfig 

type NtripAttrConfig struct {
	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            int    `json:"ntrip_baud,omitempty"`
	NtripInputProtocol   string `json:"ntrip_input_protocol,omitempty"`
}

NtripAttrConfig is used for converting attributes for a correction source.

func (*NtripAttrConfig) ValidateNtrip 

func (cfg *NtripAttrConfig) ValidateNtrip(path string) error

ValidateNtrip ensures all parts of the config are valid.

type NtripInfo 

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.

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) Accuracy 

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

Accuracy passthrough.

func (*RTKMovementSensor) AngularVelocity 

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

AngularVelocity passthrough.

func (*RTKMovementSensor) Close 

func (g *RTKMovementSensor) Close() error

Close shuts down the RTKMOVEMENTSENSOR.

func (*RTKMovementSensor) CompassHeading 

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

CompassHeading passthrough.

func (*RTKMovementSensor) Connect 

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

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

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) LinearVelocity 

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

LinearVelocity passthrough.

func (*RTKMovementSensor) NtripStatus 

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

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

func (*RTKMovementSensor) Orientation 

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

Orientation passthrough.

func (*RTKMovementSensor) Position 

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

Position returns the current geographic location of the MOVEMENTSENSOR.

func (*RTKMovementSensor) Properties 

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

Properties passthrough.

func (*RTKMovementSensor) ReadFix 

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

ReadFix passthrough.

func (*RTKMovementSensor) Readings 

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

Readings will use the default MovementSensor Readings if not provided.

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) error

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

type SerialAttrConfig 

type SerialAttrConfig struct {
	SerialPath               string `json:"serial_path"`
	SerialBaudRate           int    `json:"serial_baud_rate,omitempty"`
	SerialCorrectionPath     string `json:"serial_correction_path,omitempty"`
	SerialCorrectionBaudRate int    `json:"serial_correction_baud_rate,omitempty"`
}

SerialAttrConfig is used for converting attributes for a correction source.

func (*SerialAttrConfig) ValidateSerial 

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

ValidateSerial ensures all parts of the config are valid.

type StationConfig 

type StationConfig struct {
	CorrectionSource string   `json:"correction_source"`
	Children         []string `json:"children,omitempty"`
	Board            string   `json:"board,omitempty"`

	// non ntrip
	SurveyIn         string  `json:"svin,omitempty"`
	RequiredAccuracy float64 `json:"required_accuracy,omitempty"` // fixed number 1-5, 5 being the highest accuracy
	RequiredTime     int     `json:"required_time_sec,omitempty"`

	*SerialAttrConfig `json:"serial_attributes,omitempty"`
	*I2CAttrConfig    `json:"i2c_attributes,omitempty"`
	*NtripAttrConfig  `json:"ntrip_attributes,omitempty"`
}

StationConfig is used for converting RTK MovementSensor config attributes.

func (*StationConfig) Validate 

func (cfg *StationConfig) Validate(path string) ([]string, error)

Validate ensures all parts of the config are valid.

Source Files

View all Source files

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