gpsrtk

Documentation

Overview

Package gpsrtk defines a gps and an rtk correction source which sends rtcm data to a child gps This is an Experimental package

Index

• type Config
  • func (cfg *Config) Validate(path string) ([]string, error)
• type I2CConfig
  • func (cfg *I2CConfig) ValidateI2C(path string) error
• type NtripConfig
  • func (cfg *NtripConfig) ValidateNtrip(path string) error
• 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) Connect(casterAddr, user, pwd string, maxAttempts int) 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)
• type SerialConfig
  • func (cfg *SerialConfig) ValidateSerial(path string) error

Types

type Config

type Config struct {
	CorrectionSource string `json:"correction_source"`
	ConnectionType   string `json:"connection_type,omitempty"`

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

Config is used for converting NMEA MovementSensor with RTK capabilities config attributes.

func (*Config) Validate

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

Validate ensures all parts of the config are valid.

type I2CConfig

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 attributes for a correction source.

func (*I2CConfig) ValidateI2C

func (cfg *I2CConfig) ValidateI2C(path string) error

ValidateI2C ensures all parts of the config are valid.

type NtripConfig

type NtripConfig struct {
	NtripAddr            string `json:"ntrip_addr"`
	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"`
	NtripPath            string `json:"ntrip_path,omitempty"`
	NtripBaud            int    `json:"ntrip_baud,omitempty"`
	NtripInputProtocol   string `json:"ntrip_input_protocol,omitempty"`
}

NtripConfig is used for converting attributes for a correction source.

func (*NtripConfig) ValidateNtrip

func (cfg *NtripConfig) ValidateNtrip(path string) error

ValidateNtrip ensures all parts of the config are valid.

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.

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) Connect

func (g *RTKMovementSensor) Connect(casterAddr, user, pwd string, maxAttempts int) error

Connect attempts to connect to ntrip client until successful connection or timeout.

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.

func (*RTKMovementSensor) ReadFix

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

ReadFix passthrough.

func (*RTKMovementSensor) Readings

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

Readings will use the default MovementSensor Readings if not provided.

type SerialConfig

type SerialConfig 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"`

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

SerialConfig is used for converting attributes for a correction source.

func (*SerialConfig) ValidateSerial

func (cfg *SerialConfig) ValidateSerial(path string) error

ValidateSerial ensures all parts of the config are valid.