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imuhwt905.go
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imuhwt905.go
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// Package imuwit implements wit imu
package imuwit
/*
Sensor Manufacturer: Wit-motion
Supported Sensor Models: HWT905
Supported OS: Linux
This driver only supports HWT905-TTL model of Wit imu.
Tested Sensor Models and User Manuals:
HWT905 TTL: https://drive.google.com/file/d/1RV7j8yzZjPsPmvQY--1UHr_FhBzc2YwO/view
*/
import (
"bufio"
"context"
"errors"
"time"
slib "github.com/jacobsa/go-serial/serial"
"go.viam.com/utils"
"go.viam.com/rdk/components/movementsensor"
"go.viam.com/rdk/logging"
"go.viam.com/rdk/resource"
)
var model905 = resource.DefaultModelFamily.WithModel("imu-wit-hwt905")
func init() {
resource.RegisterComponent(movementsensor.API, model905, resource.Registration[movementsensor.MovementSensor, *Config]{
Constructor: newWit905,
})
}
// newWit creates a new Wit IMU.
func newWit905(
ctx context.Context,
deps resource.Dependencies,
conf resource.Config,
logger logging.Logger,
) (movementsensor.MovementSensor, error) {
newConf, err := resource.NativeConfig[*Config](conf)
if err != nil {
return nil, err
}
cancelCtx, cancelFunc := context.WithCancel(context.Background())
i := wit{
Named: conf.ResourceName().AsNamed(),
logger: logger,
err: movementsensor.NewLastError(1, 1),
cancelFunc: cancelFunc,
cancelCtx: cancelCtx,
baudRate: newConf.BaudRate,
serialPath: newConf.Port,
}
options := slib.OpenOptions{
PortName: i.serialPath,
BaudRate: i.baudRate,
DataBits: 8,
StopBits: 1,
MinimumReadSize: 1,
}
if err := i.Reconfigure(ctx, deps, conf); err != nil {
return nil, err
}
logger.Debugf("initializing wit serial connection with parameters: %+v", options)
i.port, err = slib.Open(options)
if err != nil {
return nil, err
}
portReader := bufio.NewReader(i.port)
i.start905UpdateLoop(portReader, logger)
return &i, nil
}
func (imu *wit) start905UpdateLoop(portReader *bufio.Reader, logger logging.Logger) {
imu.hasMagnetometer = false
imu.activeBackgroundWorkers.Add(1)
utils.PanicCapturingGo(func() {
defer imu.activeBackgroundWorkers.Done()
for {
if imu.cancelCtx.Err() != nil {
return
}
select {
case <-imu.cancelCtx.Done():
return
case <-time.After(10 * time.Second):
logger.Warn("ReadString timeout exceeded")
return
default:
line, err := readWithTimeout(portReader, 'U')
if err != nil {
logger.Error(err)
continue
}
switch {
case len(line) != 11:
imu.numBadReadings++
default:
imu.err.Set(imu.parseWIT(line))
}
}
}
})
}
// readWithTimeout tries to read from the buffer until the delimiter is found or timeout occurs.
func readWithTimeout(r *bufio.Reader, delim byte) (string, error) {
lineChan := make(chan string)
errChan := make(chan error)
go func() {
line, err := r.ReadString(delim)
if err != nil {
errChan <- err
return
}
lineChan <- line
}()
select {
case line := <-lineChan:
return line, nil
case err := <-errChan:
return "", err
case <-time.After(10 * time.Second):
return "", errors.New("timeout exceeded while reading from serial port")
}
}