movementsensor

package
v0.11.0-rc1 Latest Latest
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 Go to latest Published: Oct 16, 2023 License: AGPL-3.0 Imports: 22 Imported by: 14

Documentation

Overview

Package movementsensor defines the interfaces of a MovementSensor

Index

Constants

View Source 
const SubtypeName = "movement_sensor"

SubtypeName is a constant that identifies the component resource API string "movement_sensor".

Variables

View Source 
var (
	// ErrMethodUnimplementedAccuracy returns error if the Accuracy method is unimplemented.
	ErrMethodUnimplementedAccuracy = errors.New("Accuracy Unimplemented")
	// ErrMethodUnimplementedPosition returns error if the Position method is unimplemented.
	ErrMethodUnimplementedPosition = errors.New("Position Unimplemented")
	// ErrMethodUnimplementedOrientation returns error if the Orientation method is unimplemented.
	ErrMethodUnimplementedOrientation = errors.New("Orientation Unimplemented")
	// ErrMethodUnimplementedLinearVelocity returns error if the LinearVelocity method is unimplemented.
	ErrMethodUnimplementedLinearVelocity = errors.New("LinearVelocity Unimplemented")
	// ErrMethodUnimplementedAngularVelocity returns error if the AngularVelocity method is unimplemented.
	ErrMethodUnimplementedAngularVelocity = errors.New("AngularVelocity Unimplemented")
	// ErrMethodUnimplementedCompassHeading returns error if the CompassHeading method is unimplemented.
	ErrMethodUnimplementedCompassHeading = errors.New("CompassHeading Unimplemented")
	// ErrMethodUnimplementedReadings returns error if the Readings method is unimplemented.
	ErrMethodUnimplementedReadings = errors.New("Readings Unimplemented")
	// ErrMethodUnimplementedProperties returns error if the Properties method is unimplemented.
	ErrMethodUnimplementedProperties = errors.New("Properties Unimplemented")
	// ErrMethodUnimplementedLinearAcceleration returns error if Linear Acceleration is unimplemented.
	ErrMethodUnimplementedLinearAcceleration = errors.New("linear acceleration unimplemented")
)
View Source 
var API = resource.APINamespaceRDK.WithComponentType(SubtypeName)

API is a variable that identifies the component resource API.

Functions

func AddressReadError added in v0.2.49 

func AddressReadError(err error, address byte, bus, board string) error

AddressReadError returns a standard error for when we cannot read from an I2C bus.

func GetHeading 

func GetHeading(gps1, gps2 *geo.Point, yawOffset float64) (float64, float64, float64)

GetHeading calculates bearing and absolute heading angles given 2 MovementSensor coordinates 0 degrees indicate North, 90 degrees indicate East and so on.

func Named 

func Named(name string) resource.Name

Named is a helper for getting the named MovementSensor's typed resource name.

func NamesFromRobot 

func NamesFromRobot(r robot.Robot) []string

NamesFromRobot is a helper for getting all MovementSensor names from the given Robot.

func NewRPCServiceServer added in v0.2.36 

func NewRPCServiceServer(coll resource.APIResourceCollection[MovementSensor]) interface{}

NewRPCServiceServer constructs an MovementSensor gRPC service serviceServer.

func PMTKAddChk added in v0.5.0 

func PMTKAddChk(data []byte) []byte

PMTKAddChk adds PMTK checksums to commands by XORing the bytes together.

func PMTKChecksum added in v0.5.0 

func PMTKChecksum(data []byte) byte

PMTKChecksum calculates the checksum of a byte array by performing an XOR operation on each byte.

func PropertiesToProtoResponse added in v0.3.0 

func PropertiesToProtoResponse(
	features *Properties,
) (*pb.GetPropertiesResponse, error)

PropertiesToProtoResponse takes a properties struct and converts it to a GetPropertiesResponse.

func Readings 

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

Readings is a helper for getting all readings from a MovementSensor.

func UnexpectedDeviceError added in v0.2.49 

func UnexpectedDeviceError(address, response byte, deviceName string) error

UnexpectedDeviceError returns a standard error for we cannot find the expected device at the given address.

Types

type LastCompassHeading added in v0.7.3 

type LastCompassHeading struct {
	// contains filtered or unexported fields
}

LastCompassHeading store the last valid compass heading seen by the movement sensor. This is really just an atomic float64, analogous to the atomic ints provided in the "sync/atomic" package.

func NewLastCompassHeading added in v0.7.3 

func NewLastCompassHeading() LastCompassHeading

NewLastCompassHeading create a new LastCompassHeading.

func (*LastCompassHeading) GetLastCompassHeading added in v0.7.3 

func (lch *LastCompassHeading) GetLastCompassHeading() float64

GetLastCompassHeading returns the last compass heading stored.

func (*LastCompassHeading) SetLastCompassHeading added in v0.7.3 

func (lch *LastCompassHeading) SetLastCompassHeading(compassheading float64)

SetLastCompassHeading sets lastcompassheading to the value given in the function.

type LastError added in v0.2.19 

type LastError struct {
	// contains filtered or unexported fields
}

LastError is an object that stores recent errors. If there have been sufficiently many recent errors, you can retrieve the most recent one.

func NewLastError added in v0.2.32 

func NewLastError(size, threshold int) LastError

NewLastError creates a LastError object which will let you retrieve the most recent error if at least `threshold` of the most recent `size` items put into it are non-nil.

func (*LastError) Get added in v0.2.19 

func (le *LastError) Get() error

Get returns the most-recently-stored non-nil error if we've had enough recent errors. If we're going to return a non-nil error, we also wipe out all other data so we don't return the same error again next time.

func (*LastError) Set added in v0.2.19 

func (le *LastError) Set(err error)

Set stores an error to be retrieved later.

type LastPosition added in v0.3.0 

type LastPosition struct {
	// contains filtered or unexported fields
}

LastPosition stores the last position seen by the movement sensor.

func NewLastPosition added in v0.3.0 

func NewLastPosition() LastPosition

NewLastPosition creates a new point that's (NaN, NaN) go-staticcheck.

func (*LastPosition) ArePointsEqual added in v0.3.0 

func (lp *LastPosition) ArePointsEqual(p1, p2 *geo.Point) bool

ArePointsEqual checks if two geo.Point instances are equal.

func (*LastPosition) GetLastPosition added in v0.3.0 

func (lp *LastPosition) GetLastPosition() *geo.Point

GetLastPosition returns the last known position.

func (*LastPosition) IsPositionNaN added in v0.3.0 

func (lp *LastPosition) IsPositionNaN(p *geo.Point) bool

IsPositionNaN checks if a geo.Point in math.NaN().

func (*LastPosition) IsZeroPosition added in v0.3.0 

func (lp *LastPosition) IsZeroPosition(p *geo.Point) bool

IsZeroPosition checks if a geo.Point represents the zero position (0, 0).

func (*LastPosition) SetLastPosition added in v0.3.0 

func (lp *LastPosition) SetLastPosition(position *geo.Point)

SetLastPosition updates the last known position.

type MovementSensor 

type MovementSensor interface {
	sensor.Sensor
	Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error)                // (lat, long), altitude (m)
	LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)                    // m / sec
	AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error) // deg / sec
	LinearAcceleration(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)
	CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error) // [0->360)
	Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error)
	Properties(ctx context.Context, extra map[string]interface{}) (*Properties, error)
	Accuracy(ctx context.Context, extra map[string]interface{}) (map[string]float32, error)
}

A MovementSensor reports information about the robot's direction, position and speed.

func FromDependencies 

func FromDependencies(deps resource.Dependencies, name string) (MovementSensor, error)

FromDependencies is a helper for getting the named movementsensor from a collection of dependencies.

func FromRobot 

func FromRobot(r robot.Robot, name string) (MovementSensor, error)

FromRobot is a helper for getting the named MovementSensor from the given Robot.

func NewClientFromConn 

func NewClientFromConn(
	ctx context.Context,
	conn rpc.ClientConn,
	remoteName string,
	name resource.Name,
	logger golog.Logger,
) (MovementSensor, error)

NewClientFromConn constructs a new Client from connection passed in.

type Properties 

type Properties struct {
	PositionSupported           bool
	LinearVelocitySupported     bool
	AngularVelocitySupported    bool
	LinearAccelerationSupported bool
	CompassHeadingSupported     bool
	OrientationSupported        bool
}

Properties is a structure representing features of a movementsensor.

func ProtoFeaturesToProperties added in v0.3.0 

func ProtoFeaturesToProperties(resp *pb.GetPropertiesResponse) *Properties

ProtoFeaturesToProperties takes a GetPropertiesResponse and returns an equivalent Properties struct.

Source Files

View all Source files

Directories

Path Synopsis
Package adxl345 implements the MovementSensor interface for the ADXL345 accelerometer.
 Package adxl345 implements the MovementSensor interface for the ADXL345 accelerometer.
Package fake is a fake MovementSensor for testing
 Package fake is a fake MovementSensor for testing
Package gpsnmea implements an NMEA serial gps.
 Package gpsnmea implements an NMEA serial gps.
Package gpsrtkpmtk implements a gps using serial connection
 Package gpsrtkpmtk implements a gps using serial connection
Package gpsrtkserial implements a gps using serial connection
 Package gpsrtkserial implements a gps using serial connection
Package imuvectornav implement vectornav imu
 Package imuvectornav implement vectornav imu
Package imuwit implements wit imus.
 Package imuwit implements wit imus.
Package merged implements a movementsensor combining movement data from other sensors
 Package merged implements a movementsensor combining movement data from other sensors
Package mpu6050 implements the movementsensor interface for an MPU-6050 6-axis accelerometer.
 Package mpu6050 implements the movementsensor interface for an MPU-6050 6-axis accelerometer.
Package register registers all relevant MovementSensors
 Package register registers all relevant MovementSensors
Package replay implements a replay movement sensor that can return motion data.
 Package replay implements a replay movement sensor that can return motion data.
Package rtkutils defines a gps and an rtk correction source which sends rtcm data to a child gps This is an Experimental package
 Package rtkutils defines a gps and an rtk correction source which sends rtcm data to a child gps This is an Experimental package
Package wheeledodometry implements an odometery estimate from an encoder wheeled base.
 Package wheeledodometry implements an odometery estimate from an encoder wheeled base.

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