gpsnmea

package
v0.11.1 Latest Latest
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 Go to latest Published: Oct 18, 2023 License: AGPL-3.0 Imports: 21 Imported by: 0

Documentation

Overview

Package gpsnmea implements an NMEA serial gps.

Package gpsnmea implements an NMEA serial gps.

Index

Constants

This section is empty.

Variables

This section is empty.

Functions

This section is empty.

Types

type Config added in v0.2.36 

type Config struct {
	ConnectionType string `json:"connection_type"`
	DisableNMEA    bool   `json:"disable_nmea,omitempty"`

	*SerialConfig `json:"serial_attributes,omitempty"`
	*I2CConfig    `json:"i2c_attributes,omitempty"`
}

Config is used for converting NMEA Movement Sensor attibutes.

func (*Config) Validate added in v0.2.36 

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

Validate ensures all parts of the config are valid.

type GPSData added in v0.5.0 

type GPSData struct {
	Location   *geo.Point
	Alt        float64
	Speed      float64 // ground speed in m per sec
	VDOP       float64 // vertical accuracy
	HDOP       float64 // horizontal accuracy
	SatsInView int     // quantity satellites in view
	SatsInUse  int     // quantity satellites in view

	FixQuality     int
	CompassHeading float64 // true compass heading in degree
	// contains filtered or unexported fields
}

GPSData struct combines various attributes related to GPS.

func (*GPSData) ParseAndUpdate added in v0.5.0 

func (g *GPSData) ParseAndUpdate(line string) error

ParseAndUpdate will attempt to parse a line to an NMEA sentence, and if valid, will try to update the given struct with the values for that line. Nothing will be updated if there is not a valid gps fix.

type I2CConfig added in v0.2.36 

type I2CConfig struct {
	Board       string `json:"board"`
	I2CBus      string `json:"i2c_bus"`
	I2CAddr     int    `json:"i2c_addr"`
	I2CBaudRate int    `json:"i2c_baud_rate,omitempty"`
}

I2CConfig is used for converting Serial NMEA MovementSensor config attributes.

type NmeaMovementSensor 

type NmeaMovementSensor interface {
	movementsensor.MovementSensor
	Start(ctx context.Context) error          // Initialize and run MovementSensor
	Close(ctx context.Context) error          // Close MovementSensor
	ReadFix(ctx context.Context) (int, error) // Returns the fix quality of the current MovementSensor measurements
}

NmeaMovementSensor implements a gps that sends nmea messages for movement data.

func NewPmtkI2CGPSNMEA 

func NewPmtkI2CGPSNMEA(
	ctx context.Context,
	deps resource.Dependencies,
	name resource.Name,
	conf *Config,
	logger golog.Logger,
) (NmeaMovementSensor, error)

NewPmtkI2CGPSNMEA implements a gps that communicates over i2c.

func NewSerialGPSNMEA 

func NewSerialGPSNMEA(ctx context.Context, name resource.Name, conf *Config, logger golog.Logger) (NmeaMovementSensor, error)

NewSerialGPSNMEA gps that communicates over serial.

type PmtkI2CNMEAMovementSensor 

type PmtkI2CNMEAMovementSensor struct {
	resource.Named
	resource.AlwaysRebuild
	// contains filtered or unexported fields
}

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

func (*PmtkI2CNMEAMovementSensor) Accuracy 

func (g *PmtkI2CNMEAMovementSensor) Accuracy(ctx context.Context, extra map[string]interface{}) (map[string]float32, error)

Accuracy returns the accuracy, hDOP and vDOP.

func (*PmtkI2CNMEAMovementSensor) AngularVelocity 

func (g *PmtkI2CNMEAMovementSensor) AngularVelocity(
	ctx context.Context,
	extra map[string]interface{},
) (spatialmath.AngularVelocity, error)

AngularVelocity not supported.

func (*PmtkI2CNMEAMovementSensor) Close 

func (g *PmtkI2CNMEAMovementSensor) Close(ctx context.Context) error

Close shuts down the SerialNMEAMOVEMENTSENSOR.

func (*PmtkI2CNMEAMovementSensor) CompassHeading 

func (g *PmtkI2CNMEAMovementSensor) CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error)

CompassHeading returns the compass heading in degree (0->360).

func (*PmtkI2CNMEAMovementSensor) GetBusAddr 

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

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

func (*PmtkI2CNMEAMovementSensor) LinearAcceleration added in v0.2.11 

func (g *PmtkI2CNMEAMovementSensor) LinearAcceleration(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)

LinearAcceleration returns the current linear acceleration of the MovementSensor.

func (*PmtkI2CNMEAMovementSensor) LinearVelocity 

func (g *PmtkI2CNMEAMovementSensor) LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)

LinearVelocity returns the current speed of the MovementSensor.

func (*PmtkI2CNMEAMovementSensor) Orientation 

func (g *PmtkI2CNMEAMovementSensor) Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error)

Orientation not supporter.

func (*PmtkI2CNMEAMovementSensor) Position 

func (g *PmtkI2CNMEAMovementSensor) Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error)

nolint Position returns the current geographic location of the MovementSensor.

func (*PmtkI2CNMEAMovementSensor) Properties 

func (g *PmtkI2CNMEAMovementSensor) Properties(ctx context.Context, extra map[string]interface{}) (*movementsensor.Properties, error)

Properties what can I do!

func (*PmtkI2CNMEAMovementSensor) ReadFix 

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

ReadFix returns quality.

func (*PmtkI2CNMEAMovementSensor) Readings 

func (g *PmtkI2CNMEAMovementSensor) Readings(ctx context.Context, extra map[string]interface{}) (map[string]interface{}, error)

Readings will use return all of the MovementSensor Readings.

func (*PmtkI2CNMEAMovementSensor) Start 

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

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

type SerialConfig added in v0.2.36 

type SerialConfig struct {
	SerialPath     string `json:"serial_path"`
	SerialBaudRate int    `json:"serial_baud_rate,omitempty"`

	// TestChan is a fake "serial" path for test use only
	TestChan chan []uint8 `json:"-"`
}

SerialConfig is used for converting Serial NMEA MovementSensor config attributes.

type SerialNMEAMovementSensor 

type SerialNMEAMovementSensor struct {
	resource.Named
	resource.AlwaysRebuild
	// contains filtered or unexported fields
}

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

func (*SerialNMEAMovementSensor) Accuracy 

func (g *SerialNMEAMovementSensor) Accuracy(ctx context.Context, extra map[string]interface{}) (map[string]float32, error)

Accuracy returns the accuracy, hDOP and vDOP.

func (*SerialNMEAMovementSensor) AngularVelocity 

func (g *SerialNMEAMovementSensor) AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error)

AngularVelocity angularvelocity.

func (*SerialNMEAMovementSensor) Close 

func (g *SerialNMEAMovementSensor) Close(ctx context.Context) error

Close shuts down the SerialNMEAMovementSensor.

func (*SerialNMEAMovementSensor) CompassHeading 

func (g *SerialNMEAMovementSensor) CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error)

CompassHeading 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) LinearAcceleration added in v0.2.11 

func (g *SerialNMEAMovementSensor) LinearAcceleration(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)

LinearAcceleration linear acceleration.

func (*SerialNMEAMovementSensor) LinearVelocity 

func (g *SerialNMEAMovementSensor) LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)

LinearVelocity linear velocity.

func (*SerialNMEAMovementSensor) Orientation 

func (g *SerialNMEAMovementSensor) Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error)

Orientation orientation.

func (*SerialNMEAMovementSensor) Position 

func (g *SerialNMEAMovementSensor) Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error)

nolint Position position, altitide.

func (*SerialNMEAMovementSensor) Properties 

func (g *SerialNMEAMovementSensor) Properties(ctx context.Context, extra map[string]interface{}) (*movementsensor.Properties, error)

Properties what do I do!

func (*SerialNMEAMovementSensor) ReadFix 

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

ReadFix returns Fix quality of MovementSensor measurements.

func (*SerialNMEAMovementSensor) Readings 

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

Readings will use return all of the MovementSensor Readings.

func (*SerialNMEAMovementSensor) Start 

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

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

Source Files

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