Documentation
¶
Overview ¶
Package rtkutils defines a gps and an rtk correction source which sends rtcm data to a child gps This is an Experimental package
Index ¶
- type NtripConfig
- type NtripInfo
- type RTKMovementSensor
- func (g *RTKMovementSensor) Accuracy(ctx context.Context, extra map[string]interface{}) (map[string]float32, error)
- func (g *RTKMovementSensor) AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error)
- func (g *RTKMovementSensor) Close(ctx context.Context) error
- func (g *RTKMovementSensor) CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error)
- func (g *RTKMovementSensor) GetStream(mountPoint string, maxAttempts int) error
- func (g *RTKMovementSensor) LinearAcceleration(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)
- func (g *RTKMovementSensor) LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)
- func (g *RTKMovementSensor) NtripStatus() (bool, error)
- func (g *RTKMovementSensor) Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error)
- func (g *RTKMovementSensor) Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error)
- func (g *RTKMovementSensor) Properties(ctx context.Context, extra map[string]interface{}) (*movementsensor.Properties, error)
- func (g *RTKMovementSensor) ReadFix(ctx context.Context) (int, error)
- func (g *RTKMovementSensor) Readings(ctx context.Context, extra map[string]interface{}) (map[string]interface{}, error)
Constants ¶
This section is empty.
Variables ¶
This section is empty.
Functions ¶
This section is empty.
Types ¶
type NtripConfig ¶
type NtripConfig struct { NtripURL string `json:"ntrip_url"` 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"` }
NtripConfig is used for converting attributes for a correction source.
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.
func NewNtripInfo ¶
func NewNtripInfo(cfg *NtripConfig, logger logging.Logger) (*NtripInfo, error)
NewNtripInfo function validates and sets NtripConfig arributes and returns NtripInfo.
type RTKMovementSensor ¶
type RTKMovementSensor struct { resource.Named resource.AlwaysRebuild Nmeamovementsensor gpsnmea.NmeaMovementSensor InputProtocol string CorrectionWriter io.ReadWriteCloser Bus board.I2C Wbaud int Addr byte // for i2c only Writepath string // 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, extra map[string]interface{}) (map[string]float32, error)
Accuracy passthrough.
func (*RTKMovementSensor) AngularVelocity ¶
func (g *RTKMovementSensor) AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error)
AngularVelocity passthrough.
func (*RTKMovementSensor) Close ¶
func (g *RTKMovementSensor) Close(ctx context.Context) error
Close shuts down the RTKMOVEMENTSENSOR.
func (*RTKMovementSensor) CompassHeading ¶
func (g *RTKMovementSensor) CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error)
CompassHeading passthrough.
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) LinearAcceleration ¶
func (g *RTKMovementSensor) LinearAcceleration(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)
LinearAcceleration passthrough.
func (*RTKMovementSensor) LinearVelocity ¶
func (g *RTKMovementSensor) LinearVelocity(ctx context.Context, extra map[string]interface{}) (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, extra map[string]interface{}) (spatialmath.Orientation, error)
Orientation passthrough.
func (*RTKMovementSensor) Position ¶
func (g *RTKMovementSensor) Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error)
Position returns the current geographic location of the MOVEMENTSENSOR.
func (*RTKMovementSensor) Properties ¶
func (g *RTKMovementSensor) Properties(ctx context.Context, extra map[string]interface{}) (*movementsensor.Properties, error)
Properties passthrough.