gpsnmea

Documentation

Overview

Package gpsnmea implements an NMEA gps.

Package gpsnmea implements an NMEA serial gps.

Package gpsnmea implements a GPS NMEA component.

Package gpsnmea implements an NMEA gps.

Index

• func MakePmtkI2cGpsNmea(ctx context.Context, deps resource.Dependencies, name resource.Name, ...) (movementsensor.MovementSensor, error)
• func NewPmtkI2CGPSNMEA(ctx context.Context, deps resource.Dependencies, name resource.Name, ...) (movementsensor.MovementSensor, error)
• func NewSerialGPSNMEA(ctx context.Context, name resource.Name, conf *Config, logger logging.Logger) (movementsensor.MovementSensor, error)
• type Config
  • func (cfg *Config) Validate(path string) ([]string, error)
• type NMEAMovementSensor
  • func (g *NMEAMovementSensor) Accuracy(ctx context.Context, extra map[string]interface{}) (*movementsensor.Accuracy, error)
  • func (g *NMEAMovementSensor) AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error)
  • func (g *NMEAMovementSensor) Close(ctx context.Context) error
  • func (g *NMEAMovementSensor) CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error)
  • func (g *NMEAMovementSensor) LinearAcceleration(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)
  • func (g *NMEAMovementSensor) LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)
  • func (g *NMEAMovementSensor) Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error)
  • func (g *NMEAMovementSensor) Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error)
  • func (g *NMEAMovementSensor) Properties(ctx context.Context, extra map[string]interface{}) (*movementsensor.Properties, error)
  • func (g *NMEAMovementSensor) Readings(ctx context.Context, extra map[string]interface{}) (map[string]interface{}, error)

Functions

func MakePmtkI2cGpsNmea

func MakePmtkI2cGpsNmea(
	ctx context.Context,
	deps resource.Dependencies,
	name resource.Name,
	conf *Config,
	logger logging.Logger,
	i2cBus buses.I2C,
) (movementsensor.MovementSensor, error)

MakePmtkI2cGpsNmea is only split out for ease of testing: you can pass in your own mock I2C bus, or pass in nil to have it create a real one. It is public so it can also be called from within the gpsrtkpmtk package.

func NewPmtkI2CGPSNMEA

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

NewPmtkI2CGPSNMEA implements a gps that communicates over i2c.

func NewSerialGPSNMEA

func NewSerialGPSNMEA(ctx context.Context, name resource.Name, conf *Config, logger logging.Logger) (movementsensor.MovementSensor, error)

NewSerialGPSNMEA creates a component that communicates over a serial port.

Types

type Config

type Config struct {
	ConnectionType string `json:"connection_type"`

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

Config is used for converting NMEA Movement Sensor attibutes.

func (*Config) Validate

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

Validate ensures all parts of the config are valid.

type NMEAMovementSensor

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

NMEAMovementSensor allows the use of any MovementSensor chip via a DataReader.

func (*NMEAMovementSensor) Accuracy

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

Accuracy returns the accuracy map, hDOP, vDOP, Fixquality and compass heading error.

func (*NMEAMovementSensor) AngularVelocity

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

AngularVelocity returns the sensor's angular velocity.

func (*NMEAMovementSensor) Close

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

Close shuts down the NMEAMovementSensor.

func (*NMEAMovementSensor) CompassHeading

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

CompassHeading returns the heading, from the range 0->360.

func (*NMEAMovementSensor) LinearAcceleration

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

LinearAcceleration returns the sensor's linear acceleration.

func (*NMEAMovementSensor) LinearVelocity

func (g *NMEAMovementSensor) 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 (*NMEAMovementSensor) Orientation

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

Orientation returns the sensor's orientation.

func (*NMEAMovementSensor) Position

func (g *NMEAMovementSensor) 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 (*NMEAMovementSensor) Properties

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

Properties returns what movement sensor capabilities we have.

func (*NMEAMovementSensor) Readings

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

Readings will use return all of the MovementSensor Readings.