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serial.go
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serial.go
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// Package gpsnmea implements an NMEA serial gps.
package gpsnmea
import (
"bufio"
"context"
"fmt"
"io"
"math"
"sync"
"github.com/adrianmo/go-nmea"
"github.com/edaniels/golog"
"github.com/golang/geo/r3"
"github.com/jacobsa/go-serial/serial"
geo "github.com/kellydunn/golang-geo"
"github.com/pkg/errors"
"go.viam.com/utils"
"go.viam.com/rdk/components/movementsensor"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/spatialmath"
)
var errNilLocation = errors.New("nil gps location, check nmea message parsing")
// SerialNMEAMovementSensor allows the use of any MovementSensor chip that communicates over serial.
type SerialNMEAMovementSensor struct {
resource.Named
resource.AlwaysRebuild
mu sync.RWMutex
cancelCtx context.Context
cancelFunc func()
logger golog.Logger
data GPSData
activeBackgroundWorkers sync.WaitGroup
disableNmea bool
err movementsensor.LastError
lastPosition movementsensor.LastPosition
lastCompassHeading movementsensor.LastCompassHeading
isClosed bool
dev io.ReadWriteCloser
path string
baudRate uint
correctionBaudRate uint
correctionPath string
}
// NewSerialGPSNMEA gps that communicates over serial.
func NewSerialGPSNMEA(ctx context.Context, name resource.Name, conf *Config, logger golog.Logger) (NmeaMovementSensor, error) {
serialPath := conf.SerialConfig.SerialPath
if serialPath == "" {
return nil, fmt.Errorf("SerialNMEAMovementSensor expected non-empty string for %q", conf.SerialConfig.SerialPath)
}
baudRate := conf.SerialConfig.SerialBaudRate
if baudRate == 0 {
baudRate = 38400
logger.Info("SerialNMEAMovementSensor: serial_baud_rate using default 38400")
}
disableNmea := conf.DisableNMEA
if disableNmea {
logger.Info("SerialNMEAMovementSensor: NMEA reading disabled")
}
options := serial.OpenOptions{
PortName: serialPath,
BaudRate: uint(baudRate),
DataBits: 8,
StopBits: 1,
MinimumReadSize: 4,
}
dev, err := serial.Open(options)
if err != nil {
return nil, err
}
cancelCtx, cancelFunc := context.WithCancel(context.Background())
g := &SerialNMEAMovementSensor{
Named: name.AsNamed(),
dev: dev,
cancelCtx: cancelCtx,
cancelFunc: cancelFunc,
logger: logger,
path: serialPath,
baudRate: uint(baudRate),
disableNmea: disableNmea,
err: movementsensor.NewLastError(1, 1),
lastPosition: movementsensor.NewLastPosition(),
lastCompassHeading: movementsensor.NewLastCompassHeading(),
}
if err := g.Start(ctx); err != nil {
g.logger.Errorf("Did not create nmea gps with err %#v", err.Error())
}
return g, err
}
// Start begins reading nmea messages from module and updates gps data.
func (g *SerialNMEAMovementSensor) Start(ctx context.Context) error {
g.activeBackgroundWorkers.Add(1)
utils.PanicCapturingGo(func() {
defer g.activeBackgroundWorkers.Done()
r := bufio.NewReader(g.dev)
for {
select {
case <-g.cancelCtx.Done():
return
default:
}
if !g.disableNmea && !g.isClosed {
line, err := r.ReadString('\n')
if err != nil {
g.logger.Errorf("can't read gps serial %s", err)
g.err.Set(err)
return
}
// Update our struct's gps data in-place
g.mu.Lock()
err = g.data.ParseAndUpdate(line)
g.mu.Unlock()
if err != nil {
g.logger.Warnf("can't parse nmea sentence: %#v", err)
}
}
}
})
return g.err.Get()
}
// GetCorrectionInfo returns the serial path that takes in rtcm corrections and baudrate for reading.
func (g *SerialNMEAMovementSensor) GetCorrectionInfo() (string, uint) {
return g.correctionPath, g.correctionBaudRate
}
//nolint
// Position position, altitide.
func (g *SerialNMEAMovementSensor) Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error) {
lastPosition := g.lastPosition.GetLastPosition()
g.mu.RLock()
defer g.mu.RUnlock()
currentPosition := g.data.Location
if currentPosition == nil {
return lastPosition, 0, errNilLocation
}
// if current position is (0,0) we will return the last non zero position
if g.lastPosition.IsZeroPosition(currentPosition) && !g.lastPosition.IsZeroPosition(lastPosition) {
return lastPosition, g.data.Alt, g.err.Get()
}
// updating lastPosition if it is different from the current position
if !g.lastPosition.ArePointsEqual(currentPosition, lastPosition) {
g.lastPosition.SetLastPosition(currentPosition)
}
// updating the last known valid position if the current position is non-zero
if !g.lastPosition.IsZeroPosition(currentPosition) && !g.lastPosition.IsPositionNaN(currentPosition) {
g.lastPosition.SetLastPosition(currentPosition)
}
return currentPosition, g.data.Alt, g.err.Get()
}
// Accuracy returns the accuracy, hDOP and vDOP.
func (g *SerialNMEAMovementSensor) Accuracy(ctx context.Context, extra map[string]interface{}) (map[string]float32, error) {
g.mu.RLock()
defer g.mu.RUnlock()
return map[string]float32{"hDOP": float32(g.data.HDOP), "vDOP": float32(g.data.VDOP)}, nil
}
// LinearVelocity linear velocity.
func (g *SerialNMEAMovementSensor) LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error) {
g.mu.RLock()
defer g.mu.RUnlock()
headingInRadians := g.data.CompassHeading * (math.Pi / 180)
xVelocity := g.data.Speed * math.Sin(headingInRadians)
yVelocity := g.data.Speed * math.Cos(headingInRadians)
return r3.Vector{X: xVelocity, Y: yVelocity, Z: 0}, g.err.Get()
}
// LinearAcceleration linear acceleration.
func (g *SerialNMEAMovementSensor) LinearAcceleration(ctx context.Context, extra map[string]interface{}) (r3.Vector, error) {
g.mu.RLock()
defer g.mu.RUnlock()
return r3.Vector{}, movementsensor.ErrMethodUnimplementedLinearAcceleration
}
// AngularVelocity angularvelocity.
func (g *SerialNMEAMovementSensor) AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error) {
g.mu.RLock()
defer g.mu.RUnlock()
return spatialmath.AngularVelocity{}, movementsensor.ErrMethodUnimplementedAngularVelocity
}
// Orientation orientation.
func (g *SerialNMEAMovementSensor) Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error) {
return spatialmath.NewOrientationVector(), movementsensor.ErrMethodUnimplementedOrientation
}
// CompassHeading 0->360.
func (g *SerialNMEAMovementSensor) CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error) {
lastHeading := g.lastCompassHeading.GetLastCompassHeading()
g.mu.RLock()
defer g.mu.RUnlock()
currentHeading := g.data.CompassHeading
if !math.IsNaN(lastHeading) && math.IsNaN(currentHeading) {
return lastHeading, nil
}
if !math.IsNaN(currentHeading) && currentHeading != lastHeading {
g.lastCompassHeading.SetLastCompassHeading(currentHeading)
}
return currentHeading, nil
}
// ReadFix returns Fix quality of MovementSensor measurements.
func (g *SerialNMEAMovementSensor) ReadFix(ctx context.Context) (int, error) {
g.mu.RLock()
defer g.mu.RUnlock()
return g.data.FixQuality, nil
}
// Readings will use return all of the MovementSensor Readings.
func (g *SerialNMEAMovementSensor) Readings(ctx context.Context, extra map[string]interface{}) (map[string]interface{}, error) {
readings, err := movementsensor.Readings(ctx, g, extra)
if err != nil {
return nil, err
}
fix, err := g.ReadFix(ctx)
if err != nil {
return nil, err
}
readings["fix"] = fix
return readings, nil
}
// Properties what do I do!
func (g *SerialNMEAMovementSensor) Properties(ctx context.Context, extra map[string]interface{}) (*movementsensor.Properties, error) {
return &movementsensor.Properties{
LinearVelocitySupported: true,
PositionSupported: true,
CompassHeadingSupported: true,
}, nil
}
// Close shuts down the SerialNMEAMovementSensor.
func (g *SerialNMEAMovementSensor) Close(ctx context.Context) error {
g.logger.Debug("Closing SerialNMEAMovementSensor")
g.cancelFunc()
g.activeBackgroundWorkers.Wait()
g.mu.Lock()
defer g.mu.Unlock()
g.isClosed = true
if g.dev != nil {
if err := g.dev.Close(); err != nil {
return err
}
g.dev = nil
g.logger.Debug("SerialNMEAMovementSensor Closed")
}
return nil
}
// toPoint converts a nmea.GLL to a geo.Point.
func toPoint(a nmea.GLL) *geo.Point {
return geo.NewPoint(a.Latitude, a.Longitude)
}