tvolkmann/gyrogpsc
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unknown 2020-12-08 13:00:38 +01:00
commit 6dcfbd012f
24 changed files with 1566 additions and 396 deletions
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8
.idea/.gitignore generated vendored Normal file
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@ -0,0 +1,8 @@
# Default ignored files
/shelf/
/workspace.xml
# Datasource local storage ignored files
/dataSources/
/dataSources.local.xml
# Editor-based HTTP Client requests
/httpRequests/

2
.idea/misc.xml generated
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@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectRootManager">
<output url="file://$PROJECT_DIR$/out" />
<output url="file://$PROJECT_DIR$/out"/>
</component>
</project>

1
.idea/vcs.xml generated
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@ -2,6 +2,5 @@
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$" vcs="Git" />
<mapping directory="$PROJECT_DIR$/serial/SparkFun_Ublox_Arduino_Library" vcs="Git" />
</component>
</project>

27
.idea/workspace.xml generated
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@ -22,7 +22,32 @@
</select>
</component>
<component name="ChangeListManager">
<list default="true" id="99c957e4-aa42-481d-843d-3fbc901e0f79" name="Default Changelist" comment="" />
<list default="true" id="99c957e4-aa42-481d-843d-3fbc901e0f79" name="Default Changelist" comment="">
<change afterPath="$PROJECT_DIR$/.idea/.gitignore" afterDir="false" />
<change afterPath="$PROJECT_DIR$/cmd/tcp_only/tcp_only.go" afterDir="false" />
<change afterPath="$PROJECT_DIR$/core/collectors.go" afterDir="false" />
<change afterPath="$PROJECT_DIR$/core/dispatcher.go" afterDir="false" />
<change afterPath="$PROJECT_DIR$/core/format.go" afterDir="false" />
<change afterPath="$PROJECT_DIR$/core/http.go" afterDir="false" />
<change afterPath="$PROJECT_DIR$/core/pipeline.go" afterDir="false" />
<change afterPath="$PROJECT_DIR$/static/iphone.json" afterDir="false" />
<change beforePath="$PROJECT_DIR$/.idea/misc.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/misc.xml" afterDir="false" />
<change beforePath="$PROJECT_DIR$/.idea/vcs.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/vcs.xml" afterDir="false" />
<change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
<change beforePath="$PROJECT_DIR$/cmd/serial_only/serial_only.go" beforeDir="false" afterPath="$PROJECT_DIR$/cmd/serial_only/serial_only.go" afterDir="false" />
<change beforePath="$PROJECT_DIR$/cmd/server/server.go" beforeDir="false" afterPath="$PROJECT_DIR$/cmd/server/server.go" afterDir="false" />
<change beforePath="$PROJECT_DIR$/cmd/server_only/server_only.go" beforeDir="false" />
<change beforePath="$PROJECT_DIR$/dispatcher/dispatcher.go" beforeDir="false" />
<change beforePath="$PROJECT_DIR$/ex_websocketMessage.json" beforeDir="false" afterPath="$PROJECT_DIR$/static/ex_websocketMessage.json" afterDir="false" />
<change beforePath="$PROJECT_DIR$/go.mod" beforeDir="false" afterPath="$PROJECT_DIR$/go.mod" afterDir="false" />
<change beforePath="$PROJECT_DIR$/go.sum" beforeDir="false" afterPath="$PROJECT_DIR$/go.sum" afterDir="false" />
<change beforePath="$PROJECT_DIR$/hyperimu.json" beforeDir="false" afterPath="$PROJECT_DIR$/static/hyperimu.json" afterDir="false" />
<change beforePath="$PROJECT_DIR$/index.html" beforeDir="false" afterPath="$PROJECT_DIR$/static/index.html" afterDir="false" />
<change beforePath="$PROJECT_DIR$/net/net.go" beforeDir="false" />
<change beforePath="$PROJECT_DIR$/serial_ubx/serial.go" beforeDir="false" />
<change beforePath="$PROJECT_DIR$/ublox/decode.go" beforeDir="false" afterPath="$PROJECT_DIR$/ublox/decode.go" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ublox/messages.go" beforeDir="false" afterPath="$PROJECT_DIR$/ublox/messages.go" afterDir="false" />
</list>
<option name="SHOW_DIALOG" value="false" />
<option name="HIGHLIGHT_CONFLICTS" value="true" />
<option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />

21
cmd/serial_only/serial_only.go
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@ -1,14 +1,21 @@
package main
import (
"git.timovolkmann.de/gyrogpsc/serial_ubx"
"log"
"fmt"
"git.timovolkmann.de/gyrogpsc/core"
)
const (
SERIAL_PORT = "/dev/tty.usbmodem14201"
)
func main() {
r, err := serial_ubx.Setup("/dev/tty.usbmodem14201")
if err != nil {
log.Fatal(err)
}
r.Printloop()
core.SerialCollector(&printer{}, SERIAL_PORT)
}
type printer struct{}
func (p *printer) Process(data *core.Sensordata) error {
fmt.Println(data)
return nil
}

25
cmd/server/server.go
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@ -1,8 +1,8 @@
package main
import (
"git.timovolkmann.de/gyrogpsc/dispatcher"
gnet "git.timovolkmann.de/gyrogpsc/net"
"git.timovolkmann.de/gyrogpsc/core"
"log"
)
const (
@ -12,14 +12,19 @@ const (
)
func main() {
d := dispatcher.New()
collectRoutines(d)
gnet.NewHttpServer(d, HTTP_PORT)
log.Println("setup dispatcher")
dispatcher := core.NewDispatcher()
log.Println("initialize processing pipeline")
processor := core.NewPipeline(dispatcher, 50, 494)
processor.Run()
collectRoutines(processor)
log.Println("start http server")
core.HttpListenAndServe(dispatcher, HTTP_PORT)
}
func collectRoutines(d *dispatcher.Dispatcher) {
// collectRoutines Serial UBX Sensor Data
go gnet.SerialUbxCollector(d, SERIAL_PORT)
// collectRoutines TCP JSON Sensor Data
go gnet.TcpJsonCollector(d, TCP_PORT)
func collectRoutines(proc core.Processor) {
// collect Sensor data from Serial UBX in Goroutine
go core.SerialCollector(proc, SERIAL_PORT)
// collect Sensor data from JSON over TCP in Goroutine
go core.TcpCollector(proc, TCP_PORT)
}

25
cmd/server_only/server_only.go
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@ -1,25 +0,0 @@
package main
import (
"git.timovolkmann.de/gyrogpsc/dispatcher"
gnet "git.timovolkmann.de/gyrogpsc/net"
)
const (
TCP_PORT = ":3010"
HTTP_PORT = ":3011"
SERIAL_PORT = "/dev/tty.usbmodem14201"
)
func main() {
d := dispatcher.New()
collectRoutines(d)
gnet.NewHttpServer(d, HTTP_PORT)
}
func collectRoutines(d *dispatcher.Dispatcher) {
// collectRoutines Serial UBX Sensor Data
go gnet.SerialUbxCollector(d, SERIAL_PORT)
// collectRoutines TCP JSON Sensor Data
go gnet.TcpJsonCollector(d, TCP_PORT)
}

22
cmd/tcp_only/tcp_only.go Normal file
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@ -0,0 +1,22 @@
package main
import (
"git.timovolkmann.de/gyrogpsc/core"
)
const (
TCP_PORT = ":3010"
HTTP_PORT = ":3011"
)
func main() {
dispatcher := core.NewDispatcher()
processor := core.NewPipeline(dispatcher, 20, 10000)
collectRoutines(processor)
core.HttpListenAndServe(dispatcher, HTTP_PORT)
}
func collectRoutines(proc core.Processor) {
// collect Sensor data from JSON over TCP in Goroutine
go core.TcpCollector(proc, TCP_PORT)
}

105
core/collectors.go Normal file
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package core
import (
"fmt"
"log"
"net"
"os"
"git.timovolkmann.de/gyrogpsc/ublox"
"go.bug.st/serial"
)
func TcpCollector(proc Processor, tcpPort string) {
log.Println("start tcp collectors")
listener, err := net.Listen("tcp", tcpPort)
if err != nil {
fmt.Println("Error listening:", err.Error())
os.Exit(1)
}
// Close the listener when the application closes.
defer listener.Close()
for {
// Listen for an incoming connection.
conn, err := listener.Accept()
if err != nil {
fmt.Println("Error accepting: ", err.Error())
os.Exit(1)
}
log.Println("...new incoming tcp connection...")
// Handle connections in a new goroutine.
go jsonHandler(conn, proc)
}
}
// handles incoming tcp connections with json payload.
func jsonHandler(conn net.Conn, proc Processor) {
defer conn.Close()
// TRY reader := bufio.NewReader(conn) OR NewScanner(conn)
buf := make([]byte, 2048)
for {
// Read the incoming connection into the buffer.
n, err := conn.Read(buf)
if err != nil {
fmt.Println("TCP error - reading from connection:", n, err.Error())
break
}
//json := pretty.Pretty(buf[:n])
//fmt.Println(string(json))
//fmt.Println(string(buf[:n]))
sd, err := ConvertSensorDataPhone(buf[:n])
if err != nil {
log.Println(err)
continue
}
err = proc.Process(sd)
if err != nil {
log.Println(err)
continue
}
}
}
func SerialCollector(proc Processor, serialPort string) {
log.Println("start serial collectors")
mode := &serial.Mode{
BaudRate: 115200,
}
port, err := serial.Open(serialPort, mode)
if err != nil {
log.Fatalln(err.Error())
}
decoder := ublox.NewDecoder(port)
for {
meas, err := decoder.Decode()
if err != nil {
if err.Error() == "NMEA not implemented" {
continue
}
log.Println(err)
continue
}
sd, err := ConvertUbxToSensorData(meas)
if err != nil {
log.Println("convert err:", err, meas)
continue
}
if sd == nil {
continue
}
err = proc.Process(sd)
if err != nil {
log.Println("process err:", err, *sd)
continue
}
}
}

52
core/dispatcher.go Normal file
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@ -0,0 +1,52 @@
package core
import (
"errors"
"log"
)
type Subscriber interface {
Subscribe() (int16, <-chan string)
Unsubscribe(id int16) error
}
type Publisher interface {
Publish(message string)
}
type dispatcher struct {
listeners map[int16]chan string
counter int16
}
func NewDispatcher() *dispatcher {
return &dispatcher{
listeners: make(map[int16]chan string),
counter: 0,
}
}
func (d *dispatcher) Publish(message string) {
log.Printf("publish to %v listeners:\n%v\n", len(d.listeners), message)
for _, ch := range d.listeners {
ch <- message
}
}
func (d *dispatcher) Subscribe() (id int16, receiver <-chan string) {
key := d.counter
d.counter++
rec := make(chan string)
d.listeners[key] = rec
return key, rec
}
func (d *dispatcher) Unsubscribe(id int16) error {
receiver, ok := d.listeners[id]
if !ok {
return errors.New("no subscription with id")
}
delete(d.listeners, id)
close(receiver)
return nil
}

178
core/format.go Normal file
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@ -0,0 +1,178 @@
package core
import (
"errors"
"git.timovolkmann.de/gyrogpsc/ublox"
"github.com/tidwall/gjson"
"log"
"math"
"time"
"github.com/m7shapan/njson"
)
/*{
"smartphone": {
// hier daten von hyperimu
},
"serial": {
// hier Daten von M8U:
"timestamp": 37539672354
"position": [0, 0, 0],
"orientation": [0, 0, 0]
}
}
*/
type sourceId string
const (
SOURCE_TCP sourceId = "SOURCE_TCP"
SOURCE_SERIAL sourceId = "SOURCE_SERIAL"
)
type Sensordata struct {
itow uint32
SourceId sourceId
Timestamp int64
Position [3]float64
Orientation [3]float64
}
func (s Sensordata) isSameEpoch(n Sensordata) bool {
if n.itow == 0 {
return false
}
return s.itow == n.itow
}
func (s Sensordata) Consolidate(n Sensordata) Sensordata {
if (s.SourceId != n.SourceId && s != Sensordata{}) {
log.Println(s)
log.Println(n)
log.Fatalln("Do not consolidate Sensordata from different Sources")
}
if s.isSameEpoch(n) {
null := Sensordata{}
//if s.Timestamp == null.Timestamp { s.Timestamp = n.Timestamp }
//if s.Position == null.Position { s.Position = n.Position }
//if s.Orientation == null.Orientation { s.Orientation = n.Orientation }
if n.Timestamp != null.Timestamp && s.Timestamp != n.Timestamp {
s.Timestamp = n.Timestamp
}
if n.Position != null.Position && s.Position != n.Position {
s.Position = n.Position
}
if n.Orientation != null.Orientation && s.Orientation != n.Orientation {
s.Orientation = n.Orientation
}
return s
}
return n
}
func (s Sensordata) Consolidate2(n Sensordata) Sensordata {
null := Sensordata{}
//if s.Timestamp == null.Timestamp { s.Timestamp = n.Timestamp }
//if s.Position == null.Position { s.Position = n.Position }
//if s.Orientation == null.Orientation { s.Orientation = n.Orientation }
//if n.Timestamp == null.Timestamp {
// n.Timestamp = s.Timestamp
//}
if n.Position == null.Position {
n.Position = s.Position
}
if n.Orientation == null.Orientation{
n.Orientation = s.Orientation
}
return n
}
var (
errNotImplemented = errors.New("message not implemented")
errRawMessage = errors.New("raw message")
)
func ConvertUbxToSensorData(msg interface{}) (*Sensordata, error) {
sd := &Sensordata{
SourceId: SOURCE_SERIAL,
}
switch v := msg.(type) {
case *ublox.NavPvt:
//log.Println("NAV-PVT")
sd.itow = v.ITOW_ms
sd.Timestamp = time.Date(int(v.Year_y), time.Month(v.Month_month), int(v.Day_d), int(v.Hour_h), int(v.Min_min), int(v.Sec_s), int(v.Nano_ns), time.UTC).UnixNano()
sd.Position[0] = float64(v.Lat_dege7) / 1e+7
sd.Position[1] = float64(v.Lon_dege7) / 1e+7
sd.Position[2] = float64(v.HMSL_mm) / 1e+3 // mm in m
case *ublox.HnrPvt:
//log.Println("HNR-PVT")
sd.itow = v.ITOW_ms
sd.Timestamp = time.Date(int(v.Year_y), time.Month(v.Month_month), int(v.Day_d), int(v.Hour_h), int(v.Min_min), int(v.Sec_s), int(v.Nano_ns), time.UTC).UnixNano()
sd.Position[0] = float64(v.Lat_dege7) / 1e+7
sd.Position[1] = float64(v.Lon_dege7) / 1e+7
sd.Position[2] = float64(v.HMSL_mm) / 1e+3 // mm in m
case *ublox.NavAtt:
//log.Println("NAV-ATT")
sd.itow = v.ITOW_ms
sd.Orientation[0] = float64(v.Pitch_deg) * 1e-5
sd.Orientation[1] = float64(v.Roll_deg) * 1e-5
sd.Orientation[2] = float64(v.Heading_deg) * 1e-5
case *ublox.RawMessage:
//class := make([]byte, 2)
//binary.LittleEndian.PutUint16(class, v.ClassID())
//log.Printf("%#v, %#v", class[0],class[1])
return nil, nil
default:
return nil, errNotImplemented
}
return sd, nil
}
func ConvertSensorDataPhone(jsonData []byte) (*Sensordata, error) {
if gjson.Get(string(jsonData), "os").String() == "hyperimu" {
return convertAndroidHyperImu(jsonData)
}
return convertIPhoneSensorLog(jsonData)
}
func convertIPhoneSensorLog(jsonData []byte) (*Sensordata, error) {
timestamp := gjson.Get(string(jsonData), "locationTimestamp_since1970").Float()
lat := gjson.Get(string(jsonData), "locationLatitude").Float()
lon := gjson.Get(string(jsonData), "locationLongitude").Float()
alt := gjson.Get(string(jsonData), "locationAltitude").Float()
pitch := gjson.Get(string(jsonData), "motionPitch").Float() * 180 / math.Pi
roll := gjson.Get(string(jsonData), "motionRoll").Float() * 180 / math.Pi
yaw := gjson.Get(string(jsonData), "motionYaw").Float() * 180 / math.Pi
sd := &Sensordata{
SourceId: SOURCE_TCP,
Timestamp: int64(timestamp * float64(time.Second)),
//Timestamp: time.Unix(0, prep.Timestamp * int64(time.Millisecond)),
Position: [3]float64{lat, lon, alt},
Orientation: [3]float64{pitch, roll, yaw},
}
//log.Println(string(pretty.Pretty(jsonData)))
//log.Println(sd)
return sd, nil
}
func convertAndroidHyperImu(jsonData []byte) (*Sensordata, error) {
prep := struct {
Timestamp int64 `njson:"Timestamp"`
Position [3]float64 `njson:"GPS"`
Orientation [3]float64 `njson:"orientation"`
}{}
err := njson.Unmarshal(jsonData, &prep)
if err != nil {
return nil, err
}
sd := &Sensordata{
Timestamp: prep.Timestamp * int64(time.Millisecond),
//Timestamp: time.Unix(0, prep.Timestamp * int64(time.Millisecond)),
Position: prep.Position,
Orientation: prep.Orientation,
}
return sd, nil
}

71
core/http.go Normal file
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@ -0,0 +1,71 @@
package core
import (
"fmt"
"github.com/gorilla/websocket"
"html/template"
"log"
"net/http"
)
func echo(sub Subscriber) func(w http.ResponseWriter, r *http.Request) {
var upgrader = websocket.Upgrader{} // use default options
return func(w http.ResponseWriter, r *http.Request) {
fmt.Println("upgrading to ws")
c, err := upgrader.Upgrade(w, r, nil)
if err != nil {
log.Print("upgrade:", err)
return
}
//defer c.Close()
go func() {
for {
if _, _, err := c.NextReader(); err != nil {
c.Close()
break
}
}
}()
dispatcherId, channel := sub.Subscribe()
defer sub.Unsubscribe(dispatcherId)
for {
//log.Println("")
//if err != nil {
// log.Println("read:", err)
// break
//}
cmsg := <-channel
err = c.WriteMessage(websocket.TextMessage, []byte(cmsg))
if err != nil {
log.Println("write:", err)
break
}
}
}
}
func home(w http.ResponseWriter, r *http.Request) {
//var homeTemplate = template.Must(template.NewDispatcher("").ParseFiles("index.html"))
tpl, err := template.ParseFiles("static/index.html")
if err != nil {
log.Fatalln(err)
}
err = tpl.Execute(w, "ws://"+r.Host+"/echo")
if err != nil {
log.Fatalln(err)
}
}
func HttpListenAndServe(sub Subscriber, httpPort string) {
log.Println("register websocket handler")
http.HandleFunc("/echo", echo(sub))
log.Println("register index handler")
http.HandleFunc("/", home)
log.Println("register static file handler")
http.Handle("/static/", http.FileServer(http.Dir(".")))
log.Println("start server")
log.Fatal(http.ListenAndServe(httpPort, nil))
}

169
core/pipeline.go Normal file
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@ -0,0 +1,169 @@
package core
import (
"encoding/json"
"errors"
"fmt"
"log"
"sync"
"time"
)
// TODO: adapt HNR-INS data to continue orientation stream
type Processor interface {
Process(data *Sensordata) error
}
type pipeline struct {
syn synchronizer
agr aggregator
pub Publisher
publishTicker *time.Ticker
}
func NewPipeline(d Publisher, publishIntervalMs int, delayUpdateIntervalMs int) *pipeline {
return &pipeline{
synchronizer{
//bufferSize: 100,
mutex: &sync.Mutex{},
updateTicker: time.NewTicker(time.Duration(delayUpdateIntervalMs) * time.Millisecond),
},
aggregator{
tcpMutex: &sync.Mutex{},
serialMutex: &sync.Mutex{},
},
d,
time.NewTicker(time.Duration(publishIntervalMs) * time.Millisecond),
}
}
func (p *pipeline) Run() {
go p.scheduleSynchronizer()
go func() {
for {
<-p.publishTicker.C
err := p.Publish()
if err != nil && err.Error() != "no data available" {
log.Println(err)
}
}
}()
log.Println("pipeline: processing service started")
}
func (p *pipeline) Publish() error {
p.agr.tcpMutex.Lock()
p.agr.serialMutex.Lock()
//log.Println(pub.tcpSensorData)
//log.Println(pub.serialSensorData)
if (p.agr.tcpSensorData == Sensordata{} && p.agr.serialSensorData == Sensordata{}) {
p.agr.tcpMutex.Unlock()
p.agr.serialMutex.Unlock()
return errors.New("no data available")
}
data := map[string]Sensordata{
string(SOURCE_TCP): p.agr.tcpSensorData,
string(SOURCE_SERIAL): p.agr.serialSensorData,
}
//p.agr.tcpSensorData = Sensordata{}
//p.agr.serialSensorData = Sensordata{}
p.agr.tcpMutex.Unlock()
p.agr.serialMutex.Unlock()
jdata, err := json.Marshal(data)
//log.Println(string(pretty.Pretty(jdata)))
if err != nil {
return err
}
p.pub.Publish(string(jdata))
return nil
}
type aggregator struct {
tcpSensorData Sensordata
serialSensorData Sensordata
tcpMutex *sync.Mutex
serialMutex *sync.Mutex
}
type UnixNanoTime int64
type synchronizer struct {
tcpSerialDelayMs int64
//tcpBuffer map[UnixNanoTime]Sensordata
//serialBuffer map[UnixNanoTime]Sensordata
//bufferSize int
mutex *sync.Mutex
updateTicker *time.Ticker
// should run concurrently
//
// Methods:
// pushSensordata(Sensordata), remove oldest if larger than bufferSize
// refreshDelay()
// Schedule()
}
func (p *pipeline) scheduleSynchronizer() {
log.Println("synchronizer: started")
for {
<-p.syn.updateTicker.C
err := p.refreshDelay()
if err != nil {
log.Println(err)
}
}
}
func (p *pipeline) refreshDelay() error {
log.Println("refreshing delay....")
fmt.Println("Delay TCP/SERIAL", p.syn.tcpSerialDelayMs)
p.agr.serialMutex.Lock()
p.agr.tcpMutex.Lock()
tcpTime := time.Unix(0, p.agr.tcpSensorData.Timestamp)
serTime := time.Unix(0, p.agr.serialSensorData.Timestamp)
p.agr.serialMutex.Unlock()
p.agr.tcpMutex.Unlock()
if tcpTime.UnixNano() == 0 || serTime.UnixNano() == 0 {
return errors.New("no sync possible. no data to compare")
}
log.Println("TCP", tcpTime.String())
log.Println("SER", serTime.String())
log.Println("Difference", tcpTime.Sub(serTime).Milliseconds())
delay := tcpTime.Sub(serTime).Milliseconds()
p.syn.tcpSerialDelayMs += delay
return nil
}
func (p *pipeline) Process(data *Sensordata) error {
if data == nil {
return errors.New("nil processing not allowed")
}
//log.Println(string(data.SourceId))
switch data.SourceId {
case SOURCE_TCP:
go p.pushTcpDataToBuffer(*data)
case SOURCE_SERIAL:
go p.pushSerialDataToBuffer(*data)
default:
return errors.New("invalid data source")
}
return nil
}
func (p *pipeline) pushTcpDataToBuffer(data Sensordata) {
if p.syn.tcpSerialDelayMs > 0 {
time.Sleep(time.Duration(p.syn.tcpSerialDelayMs) * time.Millisecond)
}
p.agr.tcpMutex.Lock()
p.agr.tcpSensorData = p.agr.tcpSensorData.Consolidate2(data)
p.agr.tcpMutex.Unlock()
}
func (p *pipeline) pushSerialDataToBuffer(data Sensordata) {
if p.syn.tcpSerialDelayMs < 0 {
time.Sleep(time.Duration(-p.syn.tcpSerialDelayMs) * time.Millisecond)
}
p.agr.serialMutex.Lock()
p.agr.serialSensorData = p.agr.serialSensorData.Consolidate2(data)
p.agr.serialMutex.Unlock()
}

46
dispatcher/dispatcher.go
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@ -1,46 +0,0 @@
package dispatcher
import (
"errors"
"fmt"
)
type Dispatcher struct {
listeners map[int16]chan string
counter int16
}
func New() *Dispatcher {
fmt.Println("new dispatcher")
return &Dispatcher{
listeners: make(map[int16]chan string),
counter: 0,
}
}
func (d *Dispatcher) Publish(message string) {
fmt.Println("publish to listeners", len(d.listeners))
for _, ch := range d.listeners {
ch <- message
}
}
func (d *Dispatcher) Subscribe() (id int16, receiver <-chan string) {
fmt.Println("subscribe")
key := d.counter
d.counter++
rec := make(chan string)
d.listeners[key] = rec
return key, rec
}
func (d *Dispatcher) Unsubscribe(id int16) error {
fmt.Println("unsubscribe")
receiver, ok := d.listeners[id]
if !ok {
return errors.New("no subscription with id")
}
delete(d.listeners, id)
close(receiver)
return nil
}

5
go.mod
View File

@ -3,11 +3,10 @@ module git.timovolkmann.de/gyrogpsc
go 1.15
require (
github.com/daedaleanai/ublox v0.0.0-20201103121443-9befa131d32d
github.com/gorilla/websocket v1.4.2
github.com/sparkfun/SparkFun_Ublox_Arduino_Library v1.8.7 // indirect
github.com/m7shapan/njson v1.0.1
github.com/tidwall/gjson v1.6.0
github.com/tidwall/pretty v1.0.2
go.bug.st/serial v1.1.1
golang.org/x/sys v0.0.0-20201107080550-4d91cf3a1aaf // indirect
golang.org/x/tools v0.0.0-20201121010211-780cb80bd7fb // indirect
)

39
go.sum
View File

@ -1,50 +1,33 @@
github.com/creack/goselect v0.1.1 h1:tiSSgKE1eJtxs1h/VgGQWuXUP0YS4CDIFMp6vaI1ls0=
github.com/creack/goselect v0.1.1/go.mod h1:a/NhLweNvqIYMuxcMOuWY516Cimucms3DglDzQP3hKY=
github.com/daedaleanai/ublox v0.0.0-20201103121443-9befa131d32d h1:WbFmX8L79E02PgDJYWINhWvceaMGUzgmrwdE5CuUBBk=
github.com/daedaleanai/ublox v0.0.0-20201103121443-9befa131d32d/go.mod h1:pfcwlN8XUYXVYAkPU2LrFZnXIS4EvpZaXh+qRKCN9Sg=
github.com/davecgh/go-spew v1.1.0 h1:ZDRjVQ15GmhC3fiQ8ni8+OwkZQO4DARzQgrnXU1Liz8=
github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
github.com/gorilla/websocket v1.4.2 h1:+/TMaTYc4QFitKJxsQ7Yye35DkWvkdLcvGKqM+x0Ufc=
github.com/gorilla/websocket v1.4.2/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE=
github.com/m7shapan/njson v1.0.1 h1:s+odQrPkzcCCGRTp46cD0XCVYN3pvdoaVwbFVmjAvys=
github.com/m7shapan/njson v1.0.1/go.mod h1:4sidL3oRZO1KV5FkclRBPI7nqFzlIq3BwdxHRMlOa9U=
github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=
github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
github.com/sparkfun/SparkFun_Ublox_Arduino_Library v1.8.7 h1:T112CHmp+v1bh0W7sp49tZe8SUbw3viSGRTVLziZxfc=
github.com/sparkfun/SparkFun_Ublox_Arduino_Library v1.8.7/go.mod h1:FVoZAzJFrR5D6P8qd2rgpJAV/qF5oODtIT9YjVV+xzY=
github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=
github.com/stretchr/testify v1.4.0 h1:2E4SXV/wtOkTonXsotYi4li6zVWxYlZuYNCXe9XRJyk=
github.com/stretchr/testify v1.4.0/go.mod h1:j7eGeouHqKxXV5pUuKE4zz7dFj8WfuZ+81PSLYec5m4=
github.com/stretchr/testify v1.6.1 h1:hDPOHmpOpP40lSULcqw7IrRb/u7w6RpDC9399XyoNd0=
github.com/stretchr/testify v1.6.1/go.mod h1:6Fq8oRcR53rry900zMqJjRRixrwX3KX962/h/Wwjteg=
github.com/tidwall/gjson v1.6.0 h1:9VEQWz6LLMUsUl6PueE49ir4Ka6CzLymOAZDxpFsTDc=
github.com/tidwall/gjson v1.6.0/go.mod h1:P256ACg0Mn+j1RXIDXoss50DeIABTYK1PULOJHhxOls=
github.com/tidwall/match v1.0.1 h1:PnKP62LPNxHKTwvHHZZzdOAOCtsJTjo6dZLCwpKm5xc=
github.com/tidwall/match v1.0.1/go.mod h1:LujAq0jyVjBy028G1WhWfIzbpQfMO8bBZ6Tyb0+pL9E=
github.com/tidwall/pretty v1.0.0/go.mod h1:XNkn88O1ChpSDQmQeStsy+sBenx6DDtFZJxhVysOjyk=
github.com/tidwall/pretty v1.0.2 h1:Z7S3cePv9Jwm1KwS0513MRaoUe3S01WPbLNV40pwWZU=
github.com/tidwall/pretty v1.0.2/go.mod h1:XNkn88O1ChpSDQmQeStsy+sBenx6DDtFZJxhVysOjyk=
github.com/yuin/goldmark v1.2.1/go.mod h1:3hX8gzYuyVAZsxl0MRgGTJEmQBFcNTphYh9decYSb74=
go.bug.st/serial v1.1.1 h1:5J1DpaIaSIruBi7jVnKXnhRS+YQ9+2PLJMtIZKoIgnc=
go.bug.st/serial v1.1.1/go.mod h1:VmYBeyJWp5BnJ0tw2NUJHZdJTGl2ecBGABHlzRK1knY=
golang.org/x/crypto v0.0.0-20190308221718-c2843e01d9a2/go.mod h1:djNgcEr1/C05ACkg1iLfiJU5Ep61QUkGW8qpdssI0+w=
golang.org/x/crypto v0.0.0-20191011191535-87dc89f01550/go.mod h1:yigFU9vqHzYiE8UmvKecakEJjdnWj3jj499lnFckfCI=
golang.org/x/crypto v0.0.0-20200622213623-75b288015ac9/go.mod h1:LzIPMQfyMNhhGPhUkYOs5KpL4U8rLKemX1yGLhDgUto=
golang.org/x/mod v0.3.0 h1:RM4zey1++hCTbCVQfnWeKs9/IEsaBLA8vTkd0WVtmH4=
golang.org/x/mod v0.3.0/go.mod h1:s0Qsj1ACt9ePp/hMypM3fl4fZqREWJwdYDEqhRiZZUA=
golang.org/x/net v0.0.0-20190404232315-eb5bcb51f2a3/go.mod h1:t9HGtf8HONx5eT2rtn7q6eTqICYqUVnKs3thJo3Qplg=
golang.org/x/net v0.0.0-20190620200207-3b0461eec859/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s=
golang.org/x/net v0.0.0-20201021035429-f5854403a974/go.mod h1:sp8m0HH+o8qH0wwXwYZr8TS3Oi6o0r6Gce1SSxlDquU=
golang.org/x/sync v0.0.0-20190423024810-112230192c58/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
golang.org/x/sync v0.0.0-20201020160332-67f06af15bc9/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
golang.org/x/sys v0.0.0-20190412213103-97732733099d/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
golang.org/x/sys v0.0.0-20200909081042-eff7692f9009/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
golang.org/x/sys v0.0.0-20200930185726-fdedc70b468f/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
golang.org/x/sys v0.0.0-20201107080550-4d91cf3a1aaf h1:kt3wY1Lu5MJAnKTfoMR52Cu4gwvna4VTzNOiT8tY73s=
golang.org/x/sys v0.0.0-20201107080550-4d91cf3a1aaf/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
golang.org/x/text v0.3.3/go.mod h1:5Zoc/QRtKVWzQhOtBMvqHzDpF6irO9z98xDceosuGiQ=
golang.org/x/tools v0.0.0-20180917221912-90fa682c2a6e/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ=
golang.org/x/tools v0.0.0-20191119224855-298f0cb1881e/go.mod h1:b+2E5dAYhXwXZwtnZ6UAqBI28+e2cm9otk0dWdXHAEo=
golang.org/x/tools v0.0.0-20201121010211-780cb80bd7fb h1:z5+u0pkAUPUWd3taoTialQ2JAMo4Wo1Z3L25U4ZV9r0=
golang.org/x/tools v0.0.0-20201121010211-780cb80bd7fb/go.mod h1:emZCQorbCU4vsT4fOWvOPXz4eW1wZW4PmDk9uLelYpA=
golang.org/x/xerrors v0.0.0-20190717185122-a985d3407aa7/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
golang.org/x/xerrors v0.0.0-20191011141410-1b5146add898/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
golang.org/x/xerrors v0.0.0-20200804184101-5ec99f83aff1 h1:go1bK/D/BFZV2I8cIQd1NKEZ+0owSTG1fDTci4IqFcE=
golang.org/x/xerrors v0.0.0-20200804184101-5ec99f83aff1/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405 h1:yhCVgyC4o1eVCa2tZl7eS0r+SDo693bJlVdllGtEeKM=
gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
gopkg.in/yaml.v2 v2.2.2 h1:ZCJp+EgiOT7lHqUV2J862kp8Qj64Jo6az82+3Td9dZw=
gopkg.in/yaml.v2 v2.2.2/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
gopkg.in/yaml.v3 v3.0.0-20200313102051-9f266ea9e77c h1:dUUwHk2QECo/6vqA44rthZ8ie2QXMNeKRTHCNY2nXvo=
gopkg.in/yaml.v3 v3.0.0-20200313102051-9f266ea9e77c/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=

132
net/net.go
View File

@ -1,132 +0,0 @@
package net
import (
"encoding/json"
"fmt"
"git.timovolkmann.de/gyrogpsc/dispatcher"
"git.timovolkmann.de/gyrogpsc/serial_ubx"
"github.com/gorilla/websocket"
"github.com/tidwall/pretty"
"html/template"
"log"
"net"
"net/http"
"os"
)
func echo(d *dispatcher.Dispatcher) func(w http.ResponseWriter, r *http.Request) {
var upgrader = websocket.Upgrader{} // use default options
return func(w http.ResponseWriter, r *http.Request) {
fmt.Println("upgrading to ws")
c, err := upgrader.Upgrade(w, r, nil)
if err != nil {
log.Print("upgrade:", err)
return
}
//defer c.Close()
go func() {
for {
if _, _, err := c.NextReader(); err != nil {
c.Close()
break
}
}
}()
dispatcherId, channel := d.Subscribe()
defer d.Unsubscribe(dispatcherId)
for {
log.Println("")
//if err != nil {
// log.Println("read:", err)
// break
//}
cmsg := <-channel
err = c.WriteMessage(websocket.TextMessage, []byte(cmsg))
if err != nil {
log.Println("write:", err)
break
}
}
}
}
func home(w http.ResponseWriter, r *http.Request) {
//var homeTemplate = template.Must(template.New("").ParseFiles("index.html"))
tpl, err := template.ParseFiles("index.html")
if err != nil {
log.Fatalln(err)
}
err = tpl.Execute(w, "ws://"+r.Host+"/echo")
if err != nil {
log.Fatalln(err)
}
}
func NewHttpServer(d *dispatcher.Dispatcher, httpPort string) {
http.HandleFunc("/echo", echo(d))
http.HandleFunc("/", home)
http.Handle("/static/", http.StripPrefix("/static/", http.FileServer(http.Dir("."))))
log.Fatal(http.ListenAndServe(httpPort, nil))
}
func SerialUbxCollector(d *dispatcher.Dispatcher, serialPort string) {
r, err := serial_ubx.Setup(serialPort)
if err != nil {
log.Fatalln(err)
}
for {
meas, err := r.NextMeasurement()
if err != nil {
continue
}
fmt.Println(meas)
measjson, err := json.Marshal(meas)
d.Publish(string(measjson))
}
}
func TcpJsonCollector(d *dispatcher.Dispatcher, tcpPort string) {
listener, err := net.Listen("tcp", tcpPort)
if err != nil {
fmt.Println("Error listening:", err.Error())
os.Exit(1)
}
// Close the listener when the application closes.
defer listener.Close()
for {
// Listen for an incoming connection.
conn, err := listener.Accept()
if err != nil {
fmt.Println("Error accepting: ", err.Error())
os.Exit(1)
}
// Handle connections in a new goroutine.
go handleTcpJsonSensorData(conn, d)
}
}
// Handles incoming requests.
func handleTcpJsonSensorData(conn net.Conn, d *dispatcher.Dispatcher) {
defer conn.Close()
// Make a buffer to hold incoming data.
for {
buf := make([]byte, 2048)
// Read the incoming connection into the buffer.
_, err := conn.Read(buf)
if err != nil {
fmt.Println("Error reading:", err.Error())
break
}
json := pretty.Pretty(buf)
fmt.Println(string(json))
d.Publish(string(json))
// Send a response back to person contacting us.
//conn.Write([]byte("success"))
// Close the connection when you're done with it.
}
}

124
serial_ubx/serial.go
View File

@ -1,124 +0,0 @@
package serial_ubx
import (
"errors"
"fmt"
"git.timovolkmann.de/gyrogpsc/ublox"
"go.bug.st/serial"
"log"
"time"
)
type Measurement struct {
//Timestamp int64 `json:"timestamp"`
Timestamp time.Time `json:"timestamp"`
Position [3]int32 `json:"position"` // Latitude, Longitude, Height
Orientation [3]int32 `json:"orientation"` // Pitch, Roll, Heading
}
type ubxReceiver struct {
decoder *ublox.Decoder
currentMeas Measurement
}
func Setup(portname string) (*ubxReceiver, error) {
mode := &serial.Mode{
BaudRate: 115200,
}
port, err := serial.Open(portname, mode)
if err != nil {
return nil, err
}
return &ubxReceiver{
decoder: ublox.NewDecoder(port),
}, nil
}
func (u *ubxReceiver) Next() (ublox.Message, error) {
return u.decoder.Decode()
}
var (
errNotImplemented = errors.New("message not implemented")
)
// TODO: additional callback with adjustable timing
func (u *ubxReceiver) NextMeasurement() (*Measurement, error) {
msg, err := u.decoder.Decode()
if err != nil {
return nil, err
}
//t := time.Time{}
switch v := msg.(type) {
case *ublox.NavPvt:
t, err := time.Parse(time.RFC3339Nano, formatTime(v.Year_y, v.Month_month, v.Day_d, v.Hour_h, v.Min_min, v.Sec_s, v.Nano_ns))
if err != nil {
log.Println(err)
}
//u.currentMeas.Timestamp = t.UnixNano()
u.currentMeas.Timestamp = t
u.currentMeas.Position[0] = v.Lat_dege7
u.currentMeas.Position[1] = v.Lon_dege7
u.currentMeas.Position[2] = v.Height_mm
fmt.Printf("%T %v\n", *v, *v)
case *ublox.HnrPvt:
t, err := time.Parse(time.RFC3339Nano, formatTime(v.Year_y, v.Month_month, v.Day_d, v.Hour_h, v.Min_min, v.Sec_s, v.Nano_ns))
if err != nil {
log.Println(err)
}
u.currentMeas.Timestamp = t
u.currentMeas.Position[0] = v.Lat_dege7
u.currentMeas.Position[1] = v.Lon_dege7
u.currentMeas.Position[2] = v.Height_mm
fmt.Printf("%T %v\n", *v, *v)
case *ublox.NavAtt:
u.currentMeas.Orientation[0] = v.Pitch_deg
u.currentMeas.Orientation[1] = v.Roll_deg
u.currentMeas.Orientation[2] = v.Heading_deg
fmt.Printf("%T %v\n", *v, *v)
//case *ublox.RawMessage:
// //fmt.Printf("%T %v\n\n", *v, *v)
default:
return nil, errNotImplemented
}
m := u.currentMeas
return &m, nil
}
func formatTime(Year_y uint16, Month_month byte, Day_d byte, Hour_h byte, Min_min byte, Sec_s byte, Nano_ns int32) string {
//Nano_ns *= 1e+3
if Nano_ns < 0 {
Nano_ns += int32(time.Second)
if Sec_s > 0 {
Sec_s--
} else if Min_min > 0 {
Sec_s = 59
Min_min--
} else if Hour_h > 0 {
Sec_s = 59
Min_min = 59
Hour_h--
} else if Day_d > 1 {
Sec_s = 59
Min_min = 59
Hour_h = 23
Day_d--
} // TODO: more cases for exact behavior! good for now...
}
//fmt.Printf("%04d-%02d-%02dT%02d:%02d:%02d.%09dZ00:00\n", Year_y, Month_month, Day_d, Hour_h, Min_min, Sec_s, Nano_ns )
return fmt.Sprintf("%04d-%02d-%02dT%02d:%02d:%02d.%09dZ", Year_y, Month_month, Day_d, Hour_h, Min_min, Sec_s, Nano_ns)
}
func (u *ubxReceiver) Printloop() {
for {
meas, err := u.NextMeasurement()
if err != nil {
continue
}
fmt.Println(meas)
}
}

0
ex_websocketMessage.json → static/ex_websocketMessage.json
View File

2
hyperimu.json → static/hyperimu.json
View File

@ -63,4 +63,4 @@
-0.006618400104343891
],
"tmd3702_proximity proximity sensor": [5, 0, 0]
}
}

0
index.html → static/index.html
View File

869
static/iphone.json Normal file
View File

@ -0,0 +1,869 @@
[
{
"accelerometerAccelerationX" : "0.037598",
"accelerometerAccelerationY" : "-0.007950",
"accelerometerAccelerationZ" : "-1.003952",
"accelerometerTimestamp_sinceReboot" : "77700.804899",
"avAudioRecorderAveragePower" : "-34.990307",
"avAudioRecorderPeakPower" : "-30.574509",
"batteryLevel" : "0.660000",
"batteryState" : "1",
"deviceID" : "my_iOS_device",
"deviceOrientation" : "5",
"gyroRotationX" : "0.008506",
"gyroRotationY" : "-0.076335",
"gyroRotationZ" : "0.000154",
"gyroTimestamp_sinceReboot" : "77700.794635",
"identifierForVendor" : "1B07EE58-F14E-4E47-ABF8-7E919F119960",
"IP_en0" : "10.41.8.38",
"IP_pdp_ip0" : "100.78.225.228",
"label" : "0",
"locationHeadingAccuracy" : "14.876174",
"locationHeadingTimestamp_since1970" : "1607291137.949005",
"locationHeadingX" : "-36.616150",
"locationHeadingY" : "-2.895218",
"locationHeadingZ" : "-25.625000",
"locationMagneticHeading" : "85.920738",
"locationTrueHeading" : "89.001564",
"loggingTime" : "2020-12-06 22:45:37.964 +0100",
"logSampleNr" : "765",
"magnetometerTimestamp_sinceReboot" : "77700.802641",
"magnetometerX" : "187.223969",
"magnetometerY" : "188.439392",
"magnetometerZ" : "-710.010864"
},
{
"accelerometerAccelerationX" : "0.036438",
"accelerometerAccelerationY" : "-0.008789",
"accelerometerAccelerationZ" : "-1.003464",
"accelerometerTimestamp_sinceReboot" : "77700.821012",
"avAudioRecorderAveragePower" : "-35.768673",
"avAudioRecorderPeakPower" : "-30.574509",
"batteryLevel" : "0.660000",
"batteryState" : "1",
"deviceID" : "my_iOS_device",
"deviceOrientation" : "5",
"identifierForVendor" : "1B07EE58-F14E-4E47-ABF8-7E919F119960",
"IP_en0" : "10.41.8.38",
"IP_pdp_ip0" : "100.78.225.228",
"label" : "0",
"locationHeadingAccuracy" : "14.876176",
"locationHeadingTimestamp_since1970" : "1607291137.968956",
"locationHeadingX" : "-36.500809",
"locationHeadingY" : "-2.983276",
"locationHeadingZ" : "-25.554626",
"locationMagneticHeading" : "85.920799",
"locationTrueHeading" : "89.001625",
"loggingTime" : "2020-12-06 22:45:37.989 +0100",
"logSampleNr" : "766",
"motionAttitudeReferenceFrame" : "XTrueNorthZVertical",
"motionGravityX" : "0.034999",
"motionGravityY" : "-0.009051",
"motionGravityZ" : "-0.999346",
"motionMagneticFieldCalibrationAccuracy" : "2.000000",
"motionMagneticFieldX" : "-36.500809",
"motionMagneticFieldY" : "-2.983276",
"motionMagneticFieldZ" : "-25.554626",
"motionPitch" : "0.009051",
"motionQuaternionW" : "-0.008792",
"motionQuaternionX" : "-0.017541",
"motionQuaternionY" : "0.004372",
"motionQuaternionZ" : "0.999798",
"motionRoll" : "0.035007",
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"motionUserAccelerationY" : "0.000175",
"motionUserAccelerationZ" : "-0.000272",
"motionYaw" : "-3.124209"
},
{
"accelerometerAccelerationX" : "0.037369",
"accelerometerAccelerationY" : "-0.007599",
"accelerometerAccelerationZ" : "-1.002563",
"accelerometerTimestamp_sinceReboot" : "77701.046537",
"avAudioRecorderAveragePower" : "-35.218269",
"avAudioRecorderPeakPower" : "-29.852339",
"batteryLevel" : "0.660000",
"batteryState" : "1",
"deviceID" : "my_iOS_device",
"deviceOrientation" : "5",
"gyroRotationX" : "0.006077",
"gyroRotationY" : "-0.077056",
"gyroRotationZ" : "0.001649",
"gyroTimestamp_sinceReboot" : "77701.034442",
"identifierForVendor" : "1B07EE58-F14E-4E47-ABF8-7E919F119960",
"IP_en0" : "10.41.8.38",
"IP_pdp_ip0" : "100.78.225.228",
"label" : "0",
"locationHeadingAccuracy" : "14.876190",
"locationHeadingTimestamp_since1970" : "1607291138.188685",
"locationHeadingX" : "-36.715759",
"locationHeadingY" : "-2.925949",
"locationHeadingZ" : "-25.069214",
"locationMagneticHeading" : "85.923744",
"locationTrueHeading" : "89.004570",
"loggingTime" : "2020-12-06 22:45:38.206 +0100",
"logSampleNr" : "780",
"magnetometerTimestamp_sinceReboot" : "77701.035215",
"magnetometerX" : "187.234955",
"magnetometerY" : "188.355042",
"magnetometerZ" : "-709.823547"
},
{
"accelerometerAccelerationX" : "0.035263",
"accelerometerAccelerationY" : "-0.011368",
"accelerometerAccelerationZ" : "-1.005341",
"accelerometerTimestamp_sinceReboot" : "77701.062620",
"avAudioRecorderAveragePower" : "-35.783520",
"avAudioRecorderPeakPower" : "-29.852339",
"batteryLevel" : "0.660000",
"batteryState" : "1",
"deviceID" : "my_iOS_device",
"deviceOrientation" : "5",
"identifierForVendor" : "1B07EE58-F14E-4E47-ABF8-7E919F119960",
"IP_en0" : "10.41.8.38",
"IP_pdp_ip0" : "100.78.225.228",
"label" : "0",
"locationHeadingAccuracy" : "14.876191",
"locationHeadingTimestamp_since1970" : "1607291138.208948",
"locationHeadingX" : "-36.388031",
"locationHeadingY" : "-3.009003",
"locationHeadingZ" : "-25.307068",
"locationMagneticHeading" : "85.924210",
"locationTrueHeading" : "89.005035",
"loggingTime" : "2020-12-06 22:45:38.228 +0100",
"logSampleNr" : "781",
"motionAttitudeReferenceFrame" : "XTrueNorthZVertical",
"motionGravityX" : "0.035031",
"motionGravityY" : "-0.009005",
"motionGravityZ" : "-0.999346",
"motionMagneticFieldCalibrationAccuracy" : "2.000000",
"motionMagneticFieldX" : "-36.388031",
"motionMagneticFieldY" : "-3.009003",
"motionMagneticFieldZ" : "-25.307068",
"motionPitch" : "0.009005",
"motionQuaternionW" : "-0.008762",
"motionQuaternionX" : "-0.017557",
"motionQuaternionY" : "0.004350",
"motionQuaternionZ" : "0.999798",
"motionRoll" : "0.035040",
"motionRotationRateX" : "-0.002688",
"motionRotationRateY" : "0.001089",
"motionRotationRateZ" : "0.000186",
"motionTimestamp_sinceReboot" : "77701.044452",
"motionUserAccelerationX" : "0.002337",
"motionUserAccelerationY" : "0.001406",
"motionUserAccelerationZ" : "-0.003218",
"motionYaw" : "-3.124224"
},
{
"accelerometerAccelerationX" : "0.033936",
"accelerometerAccelerationY" : "-0.008270",
"accelerometerAccelerationZ" : "-1.008591",
"accelerometerTimestamp_sinceReboot" : "77701.078733",
"avAudioRecorderAveragePower" : "-35.894341",
"avAudioRecorderPeakPower" : "-29.852339",
"batteryLevel" : "0.660000",
"batteryState" : "1",
"deviceID" : "my_iOS_device",
"deviceOrientation" : "5",
"gyroRotationX" : "0.006742",
"gyroRotationY" : "-0.078071",
"gyroRotationZ" : "0.000371",
"gyroTimestamp_sinceReboot" : "77701.064441",
"identifierForVendor" : "1B07EE58-F14E-4E47-ABF8-7E919F119960",
"IP_en0" : "10.41.8.38",
"IP_pdp_ip0" : "100.78.225.228",
"label" : "0",
"locationHeadingAccuracy" : "14.876193",
"locationHeadingTimestamp_since1970" : "1607291138.229093",
"locationHeadingX" : "-36.477371",
"locationHeadingY" : "-3.081924",
"locationHeadingZ" : "-25.343933",
"locationMagneticHeading" : "85.924126",
"locationTrueHeading" : "89.004951",
"loggingTime" : "2020-12-06 22:45:38.238 +0100",
"logSampleNr" : "782"
},
{
"accelerometerAccelerationX" : "0.034683",
"accelerometerAccelerationY" : "-0.010590",
"accelerometerAccelerationZ" : "-1.008743",
"accelerometerTimestamp_sinceReboot" : "77701.094846",
"avAudioRecorderAveragePower" : "-36.771626",
"avAudioRecorderPeakPower" : "-29.852339",
"batteryLevel" : "0.660000",
"batteryState" : "1",
"deviceID" : "my_iOS_device",
"deviceOrientation" : "5",
"identifierForVendor" : "1B07EE58-F14E-4E47-ABF8-7E919F119960",
"IP_en0" : "10.41.8.38",
"IP_pdp_ip0" : "100.78.225.228",
"label" : "0",
"locationHeadingAccuracy" : "14.876195",
"locationHeadingTimestamp_since1970" : "1607291138.248836",
"locationHeadingX" : "-36.430481",
"locationHeadingY" : "-2.969254",
"locationHeadingZ" : "-25.259521",
"locationMagneticHeading" : "85.924248",
"locationTrueHeading" : "89.005074",
"loggingTime" : "2020-12-06 22:45:38.254 +0100",
"logSampleNr" : "783",
"magnetometerTimestamp_sinceReboot" : "77701.093351",
"magnetometerX" : "186.871170",
"magnetometerY" : "188.533890",
"magnetometerZ" : "-709.817078",
"motionAttitudeReferenceFrame" : "XTrueNorthZVertical",
"motionGravityX" : "0.035061",
"motionGravityY" : "-0.009031",
"motionGravityZ" : "-0.999344",
"motionMagneticFieldCalibrationAccuracy" : "2.000000",
"motionMagneticFieldX" : "-36.430481",
"motionMagneticFieldY" : "-2.969254",
"motionMagneticFieldZ" : "-25.259521",
"motionPitch" : "0.009031",
"motionQuaternionW" : "-0.008761",
"motionQuaternionX" : "-0.017572",
"motionQuaternionY" : "0.004362",
"motionQuaternionZ" : "0.999798",
"motionRoll" : "0.035070",
"motionRotationRateX" : "0.002348",
"motionRotationRateY" : "0.000247",
"motionRotationRateZ" : "0.000621",
"motionTimestamp_sinceReboot" : "77701.074420",
"motionUserAccelerationX" : "-0.000393",
"motionUserAccelerationY" : "-0.000308",
"motionUserAccelerationZ" : "-0.008239",
"motionYaw" : "-3.124226"
},
{
"accelerometerAccelerationX" : "0.033768",
"accelerometerAccelerationY" : "-0.008774",
"accelerometerAccelerationZ" : "-1.005692",
"accelerometerTimestamp_sinceReboot" : "77701.110960",
"avAudioRecorderAveragePower" : "-36.771626",
"avAudioRecorderPeakPower" : "-29.852339",
"batteryLevel" : "0.660000",
"batteryState" : "1",
"deviceID" : "my_iOS_device",
"deviceOrientation" : "5",
"gyroRotationX" : "0.002831",
"gyroRotationY" : "-0.076265",
"gyroRotationZ" : "0.001715",
"gyroTimestamp_sinceReboot" : "77701.094409",
"identifierForVendor" : "1B07EE58-F14E-4E47-ABF8-7E919F119960",
"IP_en0" : "10.41.8.38",
"IP_pdp_ip0" : "100.78.225.228",
"label" : "0",
"locationHeadingAccuracy" : "14.876197",
"locationHeadingTimestamp_since1970" : "1607291138.268665",
"locationHeadingX" : "-36.766403",
"locationHeadingY" : "-2.885361",
"locationHeadingZ" : "-25.336365",
"locationMagneticHeading" : "85.924141",
"locationTrueHeading" : "89.004967",
"loggingTime" : "2020-12-06 22:45:38.270 +0100",
"logSampleNr" : "784",
"motionAttitudeReferenceFrame" : "XTrueNorthZVertical",
"motionGravityX" : "0.035022",
"motionGravityY" : "-0.008936",
"motionGravityZ" : "-0.999347",
"motionMagneticFieldCalibrationAccuracy" : "2.000000",
"motionMagneticFieldX" : "-36.766403",
"motionMagneticFieldY" : "-2.885361",
"motionMagneticFieldZ" : "-25.336365",
"motionPitch" : "0.008936",
"motionQuaternionW" : "-0.008761",
"motionQuaternionX" : "-0.017552",
"motionQuaternionY" : "0.004315",
"motionQuaternionZ" : "0.999798",
"motionRoll" : "0.035031",
"motionRotationRateX" : "-0.001589",
"motionRotationRateY" : "-0.001877",
"motionRotationRateZ" : "-0.000561",
"motionTimestamp_sinceReboot" : "77701.104388",
"motionUserAccelerationX" : "0.000745",
"motionUserAccelerationY" : "0.000620",
"motionUserAccelerationZ" : "-0.007642",
"motionYaw" : "-3.124223"
},
{
"accelerometerAccelerationX" : "0.035889",
"accelerometerAccelerationY" : "-0.009491",
"accelerometerAccelerationZ" : "-1.000381",
"accelerometerTimestamp_sinceReboot" : "77701.127073",
"avAudioRecorderAveragePower" : "-37.050854",
"avAudioRecorderPeakPower" : "-29.852339",
"batteryLevel" : "0.660000",
"batteryState" : "1",
"deviceID" : "my_iOS_device",
"deviceOrientation" : "5",
"identifierForVendor" : "1B07EE58-F14E-4E47-ABF8-7E919F119960",
"IP_en0" : "10.41.8.38",
"IP_pdp_ip0" : "100.78.225.228",
"label" : "0",
"loggingTime" : "2020-12-06 22:45:38.290 +0100",
"logSampleNr" : "785"
},
{
"accelerometerAccelerationX" : "0.035278",
"accelerometerAccelerationY" : "-0.008865",
"accelerometerAccelerationZ" : "-1.004211",
"accelerometerTimestamp_sinceReboot" : "77701.143186",
"avAudioRecorderAveragePower" : "-37.257305",
"avAudioRecorderPeakPower" : "-29.852339",
"batteryLevel" : "0.660000",
"batteryState" : "1",
"deviceID" : "my_iOS_device",
"deviceOrientation" : "5",
"gyroRotationX" : "0.001609",
"gyroRotationY" : "-0.076717",
"gyroRotationZ" : "0.001673",
"gyroTimestamp_sinceReboot" : "77701.124377",
"identifierForVendor" : "1B07EE58-F14E-4E47-ABF8-7E919F119960",
"IP_en0" : "10.41.8.38",
"IP_pdp_ip0" : "100.78.225.228",
"label" : "0",
"locationHeadingAccuracy" : "14.876198",
"locationHeadingTimestamp_since1970" : "1607291138.288638",
"locationHeadingX" : "-36.884933",
"locationHeadingY" : "-3.087875",
"locationHeadingZ" : "-25.284058",
"locationMagneticHeading" : "85.924454",
"locationTrueHeading" : "89.005280",
"loggingTime" : "2020-12-06 22:45:38.302 +0100",
"logSampleNr" : "786",
"motionAttitudeReferenceFrame" : "XTrueNorthZVertical",
"motionGravityX" : "0.035028",
"motionGravityY" : "-0.008846",
"motionGravityZ" : "-0.999347",
"motionMagneticFieldCalibrationAccuracy" : "2.000000",
"motionMagneticFieldX" : "-36.644531",
"motionMagneticFieldY" : "-2.917130",
"motionMagneticFieldZ" : "-25.302368",
"motionPitch" : "0.008846",
"motionQuaternionW" : "-0.008759",
"motionQuaternionX" : "-0.017555",
"motionQuaternionY" : "0.004270",
"motionQuaternionZ" : "0.999798",
"motionRoll" : "0.035037",
"motionRotationRateX" : "-0.003860",
"motionRotationRateY" : "-0.000956",
"motionRotationRateZ" : "-0.001445",
"motionTimestamp_sinceReboot" : "77701.134387",
"motionUserAccelerationX" : "0.002051",
"motionUserAccelerationY" : "0.000881",
"motionUserAccelerationZ" : "-0.002896",
"motionYaw" : "-3.124227"
}
]

21
ublox/decode.go
View File

@ -14,17 +14,17 @@ import (
"io"
)
// A Decoder scans an io stream into UBX (0xB5-0x62 separated) or NMEA ("$xxx,,,,*FF\r\n") frames.
// A decoder scans an io stream into UBX (0xB5-0x62 separated) or NMEA ("$xxx,,,,*FF\r\n") frames.
// If you have an unmixed stream of NMEA-only data you can use nmea.Decode() on bufio.Scanner.Bytes() directly.
type Decoder struct {
type decoder struct {
s *bufio.Scanner
}
// NewDecoder creates a new bufio Scanner with a splitfunc that can handle both UBX and NMEA frames.
func NewDecoder(r io.Reader) *Decoder {
func NewDecoder(r io.Reader) *decoder {
d := bufio.NewScanner(r)
d.Split(splitFunc)
return &Decoder{s: d}
return &decoder{s: d}
}
// Assume we're either at the start of an NMEA sentence or at the start of a UBX message
@ -74,8 +74,8 @@ func splitFunc(data []byte, atEOF bool) (advance int, token []byte, err error) {
return 1 + i1, nil, nil
}
// Decode reads on NMEA or UBX frame and calls DecodeUbx accordingly to parse the message. Skips NMEA.
func (d *Decoder) Decode() (msg Message, err error) {
// Decode reads on NMEA or UBX frame and calls decodeUbx accordingly to parse the message, while skipping NMEA.
func (d *decoder) Decode() (msg interface{}, err error) {
if !d.s.Scan() {
if err = d.s.Err(); err == nil {
err = io.EOF
@ -85,11 +85,10 @@ func (d *Decoder) Decode() (msg Message, err error) {
switch d.s.Bytes()[0] {
case '$':
//fmt.Println("NMEA message: skipping!")
return nil, err
return nil, errors.New("NMEA not implemented")
//return nmea.Decode(d.s.Bytes())
case 0xB5:
return DecodeUbx(d.s.Bytes())
return decodeUbx(d.s.Bytes())
}
panic("impossible frame")
}
@ -99,7 +98,7 @@ var (
errInvalidChkSum = errors.New("invalid UBX checksum")
)
func DecodeUbx(frame []byte) (msg Message, err error) {
func decodeUbx(frame []byte) (msg Message, err error) {
buf := bytes.NewReader(frame)
@ -149,7 +148,7 @@ func DecodeUbx(frame []byte) (msg Message, err error) {
if msg != nil {
err = binary.Read(buf, binary.LittleEndian, msg)
} else {
msg = &RawMessage{ClassID: header.ClassID, Data: append([]byte(nil), frame[6:len(frame)-2]...)}
msg = &RawMessage{classID: header.ClassID, Data: append([]byte(nil), frame[6:len(frame)-2]...)}
}
//fmt.Println(msg)

18
ublox/messages.go
View File

@ -1,15 +1,21 @@
package ublox
type Message interface {
classID() uint16
ClassID() uint16
}
//type UbxMessage interface {
// Timestamp() (time.Time, error)
// Position() ([3]float64, error)
// Orientation() ([3]float64, error)
//}
type RawMessage struct {
ClassID uint16
classID uint16
Data []byte
}
func (msg *RawMessage) classID() uint16 { return msg.ClassID }
func (msg *RawMessage) ClassID() uint16 { return msg.classID }
type NavPvt struct {
ITOW_ms uint32 // - GPS time of week of the navigation epoch. See the description of iTOW for details.
@ -47,7 +53,7 @@ type NavPvt struct {
MagAcc_deg2e uint16 // 1e-2 Magnetic declination accuracy. Only supported in ADR 4.10 and later.
}
func (NavPvt) classID() uint16 { return 0x0701 }
func (NavPvt) ClassID() uint16 { return 0x0701 }
type HnrPvt struct {
ITOW_ms uint32 // - GPS time of week of the navigation epoch. See the description of iTOW for details.
@ -77,7 +83,7 @@ type HnrPvt struct {
Reserved1 [4]byte // - Reserved
}
func (HnrPvt) classID() uint16 { return 0x0028 }
func (HnrPvt) ClassID() uint16 { return 0x0028 }
type NavAtt struct {
ITOW_ms uint32 // - GPS time of week of the navigation epoch. See the description of iTOW for details.
@ -91,7 +97,7 @@ type NavAtt struct {
AccHeading_deg uint32
}
func (NavAtt) classID() uint16 { return 0x0501 }
func (NavAtt) ClassID() uint16 { return 0x0501 }
//go:generate stringer -output=strings_navpvt.go -trimprefix NavPVT -type=NavPVTFixType,NavPVTValid,NavPVTFlags,NavPVTFlags2,NavPVTFlags3