movementsensor

package
v0.42.0-rc0 Latest Latest
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 Go to latest Published: Sep 16, 2024 License: AGPL-3.0 Imports: 20 Imported by: 14

Documentation

Overview

Package movementsensor defines the interfaces of a MovementSensor. For more information, see the movement sensor component docs.

Index

Constants

View Source 
const SubtypeName = "movement_sensor"

SubtypeName is a constant that identifies the component resource API string "movement_sensor".

Variables

View Source 
var (
	// ErrMethodUnimplementedAccuracy returns error if the Accuracy method is unimplemented.
	ErrMethodUnimplementedAccuracy = errors.New("Accuracy Unimplemented")
	// ErrMethodUnimplementedPosition returns error if the Position method is unimplemented.
	ErrMethodUnimplementedPosition = errors.New("Position Unimplemented")
	// ErrMethodUnimplementedOrientation returns error if the Orientation method is unimplemented.
	ErrMethodUnimplementedOrientation = errors.New("Orientation Unimplemented")
	// ErrMethodUnimplementedLinearVelocity returns error if the LinearVelocity method is unimplemented.
	ErrMethodUnimplementedLinearVelocity = errors.New("LinearVelocity Unimplemented")
	// ErrMethodUnimplementedAngularVelocity returns error if the AngularVelocity method is unimplemented.
	ErrMethodUnimplementedAngularVelocity = errors.New("AngularVelocity Unimplemented")
	// ErrMethodUnimplementedCompassHeading returns error if the CompassHeading method is unimplemented.
	ErrMethodUnimplementedCompassHeading = errors.New("CompassHeading Unimplemented")
	// ErrMethodUnimplementedReadings returns error if the Readings method is unimplemented.
	ErrMethodUnimplementedReadings = errors.New("Readings Unimplemented")
	// ErrMethodUnimplementedProperties returns error if the Properties method is unimplemented.
	ErrMethodUnimplementedProperties = errors.New("Properties Unimplemented")
	// ErrMethodUnimplementedLinearAcceleration returns error if Linear Acceleration is unimplemented.
	ErrMethodUnimplementedLinearAcceleration = errors.New("linear acceleration unimplemented")
)
View Source 
var API = resource.APINamespaceRDK.WithComponentType(SubtypeName)

API is a variable that identifies the component resource API.

Functions

func AddressReadError added in v0.2.49 

func AddressReadError(err error, address byte, bus string) error

AddressReadError returns a standard error for when we cannot read from an I2C bus.

func ArePointsEqual added in v0.20.0 

func ArePointsEqual(p1, p2 *geo.Point) bool

ArePointsEqual checks if two geo.Point instances are equal.

func DefaultAPIReadings added in v0.12.0 

func DefaultAPIReadings(ctx context.Context, g MovementSensor, extra map[string]interface{}) (map[string]interface{}, error)

DefaultAPIReadings is a helper for getting all readings from a MovementSensor.

func IsPositionNaN added in v0.20.0 

func IsPositionNaN(p *geo.Point) bool

IsPositionNaN checks if a geo.Point in math.NaN().

func IsZeroPosition added in v0.20.0 

func IsZeroPosition(p *geo.Point) bool

IsZeroPosition checks if a geo.Point represents the zero position (0, 0).

func Named 

func Named(name string) resource.Name

Named is a helper for getting the named MovementSensor's typed resource name.

func NamesFromRobot 

func NamesFromRobot(r robot.Robot) []string

NamesFromRobot is a helper for getting all MovementSensor names from the given Robot.

func NewRPCServiceServer added in v0.2.36 

func NewRPCServiceServer(coll resource.APIResourceCollection[MovementSensor]) interface{}

NewRPCServiceServer constructs an MovementSensor gRPC service serviceServer.

func PMTKAddChk added in v0.5.0 

func PMTKAddChk(data []byte) []byte

PMTKAddChk adds PMTK checksums to commands by XORing the bytes together.

func PMTKChecksum added in v0.5.0 

func PMTKChecksum(data []byte) byte

PMTKChecksum calculates the checksum of a byte array by performing an XOR operation on each byte.

func PropertiesToProtoResponse added in v0.3.0 

func PropertiesToProtoResponse(
	features *Properties,
) (*pb.GetPropertiesResponse, error)

PropertiesToProtoResponse takes a properties struct and converts it to a GetPropertiesResponse.

func UnexpectedDeviceError added in v0.2.49 

func UnexpectedDeviceError(address, response byte, deviceName string) error

UnexpectedDeviceError returns a standard error for we cannot find the expected device at the given address.

Types

type Accuracy added in v0.20.0 

type Accuracy struct {
	AccuracyMap        map[string]float32
	Hdop               float32
	Vdop               float32
	NmeaFix            int32
	CompassDegreeError float32
}

Accuracy defines the precision and reliability metrics of a movement sensor. It includes various parameters to assess the sensor's accuracy in different dimensions.

Fields:

AccuracyMap: A mapping of specific measurement parameters to their accuracy values. The keys are string identifiers for each measurement (e.g., "Hdop", "Vdop"), and the values are their corresponding accuracy levels as float32.

Hdop: Horizontal Dilution of Precision (HDOP) value. It indicates the level of accuracy of horizontal measurements. Lower values represent higher precision.

Vdop: Vertical Dilution of Precision (VDOP) value. Similar to HDOP, it denotes the accuracy level of vertical measurements. Lower VDOP values signify better precision.

NmeaFix: An integer value representing the quality of the NMEA fix. Higher values generally indicate a better quality fix, with specific meanings depending on the sensor and context. Generally a fix of 1 or 2 lends to large position errors, ideally we want a fix of 4-5. Other fixes are unsuitable for outdoor navigation. The meaning of each fix value is documented here https://docs.novatel.com/OEM7/Content/Logs/GPGGA.htm#GPSQualityIndicators

CompassDegreeError: The estimated error in compass readings, measured in degrees. It signifies the deviation or uncertainty in the sensor's compass measurements. A lower value implies a more accurate compass direction.

func UnimplementedOptionalAccuracies added in v0.26.0 

func UnimplementedOptionalAccuracies() *Accuracy

UnimplementedOptionalAccuracies returns accuracy values that will not show up on movement sensor's RC card or be useable for a caller of the GetAccuracies method. The RC card currently continuously polls accuracies, so a nil error must be rturned from the GetAccuracies call. It contains NaN definitiions for accuracies returned in floats, an invalid integer value for the NMEAFix of a gps and an empty map of other accuracies.

type LastCompassHeading added in v0.7.3 

type LastCompassHeading struct {
	// contains filtered or unexported fields
}

LastCompassHeading store the last valid compass heading seen by the movement sensor. This is really just an atomic float64, analogous to the atomic ints provided in the "sync/atomic" package.

func NewLastCompassHeading added in v0.7.3 

func NewLastCompassHeading() LastCompassHeading

NewLastCompassHeading create a new LastCompassHeading.

func (*LastCompassHeading) GetLastCompassHeading added in v0.7.3 

func (lch *LastCompassHeading) GetLastCompassHeading() float64

GetLastCompassHeading returns the last compass heading stored.

func (*LastCompassHeading) SetLastCompassHeading added in v0.7.3 

func (lch *LastCompassHeading) SetLastCompassHeading(compassheading float64)

SetLastCompassHeading sets lastcompassheading to the value given in the function.

type LastError added in v0.2.19 

type LastError struct {
	// contains filtered or unexported fields
}

LastError is an object that stores recent errors. If there have been sufficiently many recent errors, you can retrieve the most recent one.

func NewLastError added in v0.2.32 

func NewLastError(size, threshold int) LastError

NewLastError creates a LastError object which will let you retrieve the most recent error if at least `threshold` of the most recent `size` items put into it are non-nil.

func (*LastError) Get added in v0.2.19 

func (le *LastError) Get() error

Get returns the most-recently-stored non-nil error if we've had enough recent errors. If we're going to return a non-nil error, we also wipe out all other data so we don't return the same error again next time.

func (*LastError) Set added in v0.2.19 

func (le *LastError) Set(err error)

Set stores an error to be retrieved later.

type LastPosition added in v0.3.0 

type LastPosition struct {
	// contains filtered or unexported fields
}

LastPosition stores the last position seen by the movement sensor.

func NewLastPosition added in v0.3.0 

func NewLastPosition() LastPosition

NewLastPosition creates a new point that's (NaN, NaN) go-staticcheck.

func (*LastPosition) GetLastPosition added in v0.3.0 

func (lp *LastPosition) GetLastPosition() *geo.Point

GetLastPosition returns the last known position.

func (*LastPosition) SetLastPosition added in v0.3.0 

func (lp *LastPosition) SetLastPosition(position *geo.Point)

SetLastPosition updates the last known position.

type MovementSensor 

type MovementSensor interface {
	resource.Sensor
	resource.Resource
	// Position returns the current GeoPoint (latitude, longitude) and altitude of the movement sensor above sea level in meters.
	// Supported by GPS models.
	Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error) // (lat, long), altitude (m)

	// LinearVelocity returns the current linear velocity as a 3D vector in meters per second.
	LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error) // m / sec

	// AngularVelcoity returns the current angular velocity as a 3D vector in degrees per second.
	AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error) // deg / sec

	// LinearAcceleration returns the current linear acceleration as a 3D vector in meters per second per second.
	LinearAcceleration(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)

	// CompassHeading returns the current compass heading in degrees.
	CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error) // [0->360)

	// Orientation returns the current orientation of the movement sensor.
	Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error)

	// Properties returns the supported properties of the movement sensor.
	Properties(ctx context.Context, extra map[string]interface{}) (*Properties, error)

	// Accuracy returns the reliability metrics of the movement sensor,
	// including various parameters to access the sensor's accuracy and precision in different dimensions.
	Accuracy(ctx context.Context, extra map[string]interface{}) (*Accuracy, error)
}

A MovementSensor reports information about the robot's direction, position and speed. For more information, see the movement sensor component docs.

Position example: 

// Get the current position of the movement sensor above sea level in meters.
position, altitude, err := myMovementSensor.Position(context.Background(), nil)

LinearVelocity example: 

// Get the current linear velocity of the movement sensor.
linVel, err := myMovementSensor.LinearVelocity(context.Background(), nil)

AngularVelocity example: 

// Get the current angular velocity of the movement sensor.
angVel, err := myMovementSensor.AngularVelocity(context.Background(), nil)

// Get the y component of angular velocity.
yAngVel := angVel.Y

LinearAcceleration example: 

// Get the current linear acceleration of the movement sensor.
linVel, err := myMovementSensor.LinearVelocity(context.Background(), nil)

CompassHeading example: 

// Get the current compass heading of the movement sensor.
heading, err := myMovementSensor.CompassHeading(context.Background(), nil)

Orientation example: 

// Get the current orientation of the movement sensor.
sensorOrientation, err := myMovementSensor.Orientation(context.Background(), nil)

// Get the orientation vector.
orientation := sensorOrientation.OrientationVectorDegrees()

// Print out the orientation vector.
logger.Info("The x component of the orientation vector: ", orientation.0X)
logger.Info("The y component of the orientation vector: ", orientation.0Y)
logger.Info("The z component of the orientation vector: ", orientation.0Z)
logger.Info("The number of degrees that the movement sensor is rotated about the vector: ", orientation.Theta)

Properties example: 

// Get the supported properties of the movement sensor.
properties, err := myMovementSensor.Properties(context.Background(), nil)

Accuracy example: 

// Get the accuracy of the movement sensor.
accuracy, err := myMovementSensor.Accuracy(context.Background(), nil)

func FromDependencies 

func FromDependencies(deps resource.Dependencies, name string) (MovementSensor, error)

FromDependencies is a helper for getting the named movementsensor from a collection of dependencies.

func FromRobot 

func FromRobot(r robot.Robot, name string) (MovementSensor, error)

FromRobot is a helper for getting the named MovementSensor from the given Robot.

func NewClientFromConn 

func NewClientFromConn(
	ctx context.Context,
	conn rpc.ClientConn,
	remoteName string,
	name resource.Name,
	logger logging.Logger,
) (MovementSensor, error)

NewClientFromConn constructs a new Client from connection passed in.

type Properties 

type Properties struct {
	PositionSupported           bool
	OrientationSupported        bool
	CompassHeadingSupported     bool
	LinearVelocitySupported     bool
	AngularVelocitySupported    bool
	LinearAccelerationSupported bool
}

Properties is a structure representing features of a movementsensor. The order is in terms of order of derivatives in time with position, orientation, compassheading at the top (zeroth derivative) linear and angular velocities next (first derivative) linear acceleration last (second derivative).

func ProtoFeaturesToProperties added in v0.3.0 

func ProtoFeaturesToProperties(resp *pb.GetPropertiesResponse) *Properties

ProtoFeaturesToProperties takes a GetPropertiesResponse and returns an equivalent Properties struct.

Source Files

View all Source files

Directories

Path Synopsis
Package adxl345 implements the MovementSensor interface for the ADXL345 accelerometer.
 Package adxl345 implements the MovementSensor interface for the ADXL345 accelerometer.
Package dualgps implements a movement sensor that calculates compass heading from two gps movement sensors
 Package dualgps implements a movement sensor that calculates compass heading from two gps movement sensors
Package fake is a fake MovementSensor for testing
 Package fake is a fake MovementSensor for testing
Package gpsnmea implements an NMEA gps.
 Package gpsnmea implements an NMEA gps.
Package gpsrtk implements a GPS RTK that we communicate with via either serial port or I2C.
 Package gpsrtk implements a GPS RTK that we communicate with via either serial port or I2C.
Package gpsutils contains GPS-related code shared between multiple components.
 Package gpsutils contains GPS-related code shared between multiple components.
Package imuvectornav implements a component for a vectornav IMU.
 Package imuvectornav implements a component for a vectornav IMU.
Package imuwit implements wit imus.
 Package imuwit implements wit imus.
Package merged implements a movementsensor combining movement data from other sensors
 Package merged implements a movementsensor combining movement data from other sensors
Package mpu6050 implements the movementsensor interface for an MPU-6050 6-axis accelerometer.
 Package mpu6050 implements the movementsensor interface for an MPU-6050 6-axis accelerometer.
Package register registers all relevant MovementSensors
 Package register registers all relevant MovementSensors
Package replay implements a replay movement sensor that can return motion data.
 Package replay implements a replay movement sensor that can return motion data.
Package wheeledodometry implements an odometery estimate from an encoder wheeled base.
 Package wheeledodometry implements an odometery estimate from an encoder wheeled base.

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