gpsnmea

package
v0.2.0 Latest Latest
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 Go to latest Published: Nov 14, 2022 License: AGPL-3.0 Imports: 23 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 AttrConfig 

type AttrConfig struct {
	ConnectionType string `json:"connection_type"`
	Board          string `json:"board,omitempty"`
	DisableNMEA    bool   `json:"disable_nmea,omitempty"`

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

AttrConfig is used for converting NMEA Movement Sensor attibutes.

func (*AttrConfig) Validate 

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 Serial NMEA MovementSensor config attributes.

func (*I2CAttrConfig) ValidateI2C 

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

ValidateI2C ensures all parts of the config are valid.

type NmeaMovementSensor 

type NmeaMovementSensor interface {
	movementsensor.MovementSensor
	Start(ctx context.Context) error          // Initialize and run MovementSensor
	Close() 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 registry.Dependencies,
	attr *AttrConfig,
	logger golog.Logger,
) (NmeaMovementSensor, error)

NewPmtkI2CGPSNMEA implements a gps that communicates over i2c.

func NewSerialGPSNMEA 

func NewSerialGPSNMEA(ctx context.Context, attr *AttrConfig, logger golog.Logger) (NmeaMovementSensor, error)

NewSerialGPSNMEA gps that communicates over serial.

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) 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() error

Close shuts down the SerialNMEAMOVEMENTSENSOR.

func (*PmtkI2CNMEAMovementSensor) CompassHeading 

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

CompassHeading 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) 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)

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 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 Serial NMEA MovementSensor config attributes.

func (*SerialAttrConfig) ValidateSerial 

func (cfg *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) 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() 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) 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)

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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