Documentation
¶
Overview ¶
Package gpsutils contains GPS-related code shared between multiple components. This file describes data structures used to configure reading from NMEA devices.
Package gpsutils implements a GPS NMEA component. This file contains ways to read data from a PMTK device connected over the I2C bus.
Package gpsutils implements necessary functions to set and return NTRIP information here.
Package gpsutils contains code shared between multiple GPS implementations. This file is about how to interact with a PMTK device (a device which gets data from GPS satellites) connected by a serial port.
Package gpsutils implements functions that are used in the gpsrtkserial and gpsrtkpmtk.
Index ¶
- func ConnectToVirtualBase(ntripInfo *NtripInfo, logger logging.Logger) (*bufio.ReadWriter, error)
- func ContainsGGAMessage(data []byte) bool
- func GetGGAMessage(correctionWriter io.ReadWriteCloser, logger logging.Logger) ([]byte, error)
- func HasVRSStream(sourceTable *Sourcetable, mountPoint string) (bool, error)
- type CachedData
- func (g *CachedData) Accuracy(ctx context.Context, extra map[string]interface{}) (*movementsensor.Accuracy, error)
- func (g *CachedData) AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error)
- func (g *CachedData) Close(ctx context.Context) error
- func (g *CachedData) CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error)
- func (g *CachedData) LinearAcceleration(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)
- func (g *CachedData) LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)
- func (g *CachedData) Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error)
- func (g *CachedData) ParseAndUpdate(line string) error
- func (g *CachedData) Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error)
- func (g *CachedData) Properties(ctx context.Context, extra map[string]interface{}) (*movementsensor.Properties, error)
- func (g *CachedData) ReadFix(ctx context.Context) (int, error)
- func (g *CachedData) ReadSatsInView(ctx context.Context) (int, error)
- type DataReader
- type I2CConfig
- type NmeaParser
- type NtripConfig
- type NtripInfo
- type PmtkI2cDataReader
- type SerialConfig
- type SerialDataReader
- type Sourcetable
- type Stream
Constants ¶
This section is empty.
Variables ¶
This section is empty.
Functions ¶
func ConnectToVirtualBase ¶
ConnectToVirtualBase is responsible for establishing a connection to a virtual base station using the NTRIP protocol.
func ContainsGGAMessage ¶
ContainsGGAMessage returns true if data contains GGA message.
func GetGGAMessage ¶
GetGGAMessage checks if a GGA message exists in the buffer and returns it.
func HasVRSStream ¶ added in v0.24.0
func HasVRSStream(sourceTable *Sourcetable, mountPoint string) (bool, error)
HasVRSStream returns the NMEA field associated with the given mountpoint and whether it is a Virtual Reference Station.
Types ¶
type CachedData ¶
type CachedData struct {
// contains filtered or unexported fields
}
CachedData allows the use of any MovementSensor chip via a DataReader.
func NewCachedData ¶
func NewCachedData(dev DataReader, logger logging.Logger) *CachedData
NewCachedData creates a new CachedData object.
func (*CachedData) Accuracy ¶
func (g *CachedData) Accuracy( ctx context.Context, extra map[string]interface{}, ) (*movementsensor.Accuracy, error)
Accuracy returns the accuracy map, hDOP, vDOP, Fixquality and compass heading error.
func (*CachedData) AngularVelocity ¶
func (g *CachedData) AngularVelocity( ctx context.Context, extra map[string]interface{}, ) (spatialmath.AngularVelocity, error)
AngularVelocity returns the sensor's angular velocity.
func (*CachedData) Close ¶
func (g *CachedData) Close(ctx context.Context) error
Close shuts down the DataReader feeding this struct.
func (*CachedData) CompassHeading ¶
func (g *CachedData) CompassHeading( ctx context.Context, extra map[string]interface{}, ) (float64, error)
CompassHeading returns the heading, from the range 0->360.
func (*CachedData) LinearAcceleration ¶
func (g *CachedData) LinearAcceleration( ctx context.Context, extra map[string]interface{}, ) (r3.Vector, error)
LinearAcceleration returns the sensor's linear acceleration.
func (*CachedData) LinearVelocity ¶
func (g *CachedData) LinearVelocity( ctx context.Context, extra map[string]interface{}, ) (r3.Vector, error)
LinearVelocity returns the sensor's linear velocity. It requires having a compass heading, so we know which direction our speed is in. We assume all of this speed is horizontal, and not in gaining/losing altitude.
func (*CachedData) Orientation ¶
func (g *CachedData) Orientation( ctx context.Context, extra map[string]interface{}, ) (spatialmath.Orientation, error)
Orientation returns the sensor's orientation.
func (*CachedData) ParseAndUpdate ¶
func (g *CachedData) ParseAndUpdate(line string) error
ParseAndUpdate passes the provided message into the inner NmeaParser object, which parses the NMEA message and updates its state to match.
func (*CachedData) Position ¶
func (g *CachedData) Position( ctx context.Context, extra map[string]interface{}, ) (*geo.Point, float64, error)
Position returns the position and altitide of the sensor, or an error.
func (*CachedData) Properties ¶
func (g *CachedData) Properties( ctx context.Context, extra map[string]interface{}, ) (*movementsensor.Properties, error)
Properties returns what movement sensor capabilities we have.
func (*CachedData) ReadFix ¶
func (g *CachedData) ReadFix(ctx context.Context) (int, error)
ReadFix returns Fix quality of MovementSensor measurements.
func (*CachedData) ReadSatsInView ¶
func (g *CachedData) ReadSatsInView(ctx context.Context) (int, error)
ReadSatsInView returns the number of satellites in view.
type DataReader ¶
DataReader represents a way to get data from a GPS NMEA device. We can read data from it using the channel in Messages, and we can close the device when we're done.
func NewI2cDataReader ¶
NewI2cDataReader constructs a new DataReader that gets its NMEA messages over an I2C bus.
func NewSerialDataReader ¶
func NewSerialDataReader(config *SerialConfig, logger logging.Logger) (DataReader, error)
NewSerialDataReader constructs a new DataReader that gets its NMEA messages over a serial port.
type I2CConfig ¶
type I2CConfig struct { 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 NmeaParser ¶
type NmeaParser 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 }
NmeaParser struct combines various attributes related to GPS.
func (*NmeaParser) ParseAndUpdate ¶
func (g *NmeaParser) 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 NtripConfig ¶
type NtripConfig struct { NtripURL string `json:"ntrip_url"` NtripConnectAttempts int `json:"ntrip_connect_attempts,omitempty"` NtripMountpoint string `json:"ntrip_mountpoint,omitempty"` NtripUser string `json:"ntrip_username,omitempty"` NtripPass string `json:"ntrip_password,omitempty"` }
NtripConfig is used for converting attributes for a correction source.
type NtripInfo ¶
type NtripInfo struct { URL string MountPoint string Client *ntrip.Client Stream io.ReadCloser MaxConnectAttempts int // contains filtered or unexported fields }
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.
func (*NtripInfo) Connect ¶
Connect attempts to initialize a new ntrip client. If we're unable to connect after multiple attempts, we return the last error.
func (*NtripInfo) ParseSourcetable ¶
func (n *NtripInfo) ParseSourcetable(logger logging.Logger) (*Sourcetable, error)
ParseSourcetable gets the sourcetable and parses it.
type PmtkI2cDataReader ¶
type PmtkI2cDataReader struct {
// contains filtered or unexported fields
}
PmtkI2cDataReader implements the DataReader interface for a PMTK device by communicating with it over an I2C bus.
func (*PmtkI2cDataReader) Close ¶
func (dr *PmtkI2cDataReader) Close() error
Close is part of the DataReader interface. It shuts everything down.
func (*PmtkI2cDataReader) Messages ¶
func (dr *PmtkI2cDataReader) Messages() chan string
Messages returns the channel of complete NMEA sentences we have read off of the device. It's part of the DataReader interface.
type SerialConfig ¶
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.
func (*SerialConfig) Validate ¶
func (cfg *SerialConfig) Validate(path string) error
Validate ensures all parts of the config are valid.
type SerialDataReader ¶
type SerialDataReader struct {
// contains filtered or unexported fields
}
SerialDataReader implements the DataReader interface (defined in component.go) by interacting with the device over a serial port.
func (*SerialDataReader) Close ¶
func (dr *SerialDataReader) Close() error
Close is part of the DataReader interface. It shuts everything down, including our connection to the serial port.
func (*SerialDataReader) Messages ¶
func (dr *SerialDataReader) Messages() chan string
Messages returns the channel of complete NMEA sentences we have read off of the device. It's part of the DataReader interface.
type Sourcetable ¶
type Sourcetable struct {
Streams []Stream
}
Sourcetable struct contains the stream.
type Stream ¶
type Stream struct { MP string // Datastream mountpoint Identifier string // Source identifier (most time nearest city) Format string // Data format of generic type (https://software.rtcm-ntrip.org/wiki/STR#DataFormats) FormatDetails string // Specifics of data format (https://software.rtcm-ntrip.org/wiki/STR#DataFormats) Carrier int // Phase information about GNSS correction (https://software.rtcm-ntrip.org/wiki/STR#Carrier) Network string // Network record in sourcetable (https://software.rtcm-ntrip.org/wiki/NET) Country string // ISO 3166 country code (https://en.wikipedia.org/wiki/ISO_3166-1) Latitude float32 // Position, Latitude in degree Longitude float32 // Position, Longitude in degree Nmea bool // Caster requires NMEA input (1) or not (0) Solution int // Generated by single base (0) or network (1) Generator string // Generating soft- or hardware Compression string // Compression algorithm Authentication string // Access protection for data streams None (N), Basic (B) or Digest (D) Fee bool // User fee for data access: yes (Y) or no (N) BitRate int // Datarate in bits per second Misc string // Miscellaneous information }
Stream contrains a stream record in sourcetable. https://software.rtcm-ntrip.org/wiki/STR