diff --git a/.idea/.gitignore b/.idea/.gitignore
new file mode 100644
index 0000000..73f69e0
--- /dev/null
+++ b/.idea/.gitignore
@@ -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/
diff --git a/.idea/misc.xml b/.idea/misc.xml
index 639900d..37abf4b 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,6 +1,6 @@
-
+
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
index ac4ad06..94a25f7 100644
--- a/.idea/vcs.xml
+++ b/.idea/vcs.xml
@@ -2,6 +2,5 @@
-
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 384241d..35bcfb8 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -22,7 +22,32 @@
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/cmd/serial_only/serial_only.go b/cmd/serial_only/serial_only.go
index 3cd3139..352585e 100644
--- a/cmd/serial_only/serial_only.go
+++ b/cmd/serial_only/serial_only.go
@@ -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
}
diff --git a/cmd/server/server.go b/cmd/server/server.go
index a4be449..0ccdd93 100644
--- a/cmd/server/server.go
+++ b/cmd/server/server.go
@@ -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)
}
diff --git a/cmd/server_only/server_only.go b/cmd/server_only/server_only.go
deleted file mode 100644
index a4be449..0000000
--- a/cmd/server_only/server_only.go
+++ /dev/null
@@ -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)
-}
diff --git a/cmd/tcp_only/tcp_only.go b/cmd/tcp_only/tcp_only.go
new file mode 100644
index 0000000..5e21bac
--- /dev/null
+++ b/cmd/tcp_only/tcp_only.go
@@ -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)
+}
diff --git a/core/collectors.go b/core/collectors.go
new file mode 100644
index 0000000..923d6fe
--- /dev/null
+++ b/core/collectors.go
@@ -0,0 +1,105 @@
+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
+ }
+ }
+}
diff --git a/core/dispatcher.go b/core/dispatcher.go
new file mode 100644
index 0000000..e6a97b7
--- /dev/null
+++ b/core/dispatcher.go
@@ -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
+}
diff --git a/core/format.go b/core/format.go
new file mode 100644
index 0000000..8440163
--- /dev/null
+++ b/core/format.go
@@ -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
+}
diff --git a/core/http.go b/core/http.go
new file mode 100644
index 0000000..8e9468d
--- /dev/null
+++ b/core/http.go
@@ -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))
+}
diff --git a/core/pipeline.go b/core/pipeline.go
new file mode 100644
index 0000000..4be7863
--- /dev/null
+++ b/core/pipeline.go
@@ -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()
+}
diff --git a/dispatcher/dispatcher.go b/dispatcher/dispatcher.go
deleted file mode 100644
index 05bcce4..0000000
--- a/dispatcher/dispatcher.go
+++ /dev/null
@@ -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
-}
diff --git a/go.mod b/go.mod
index 2773932..1b52ad7 100644
--- a/go.mod
+++ b/go.mod
@@ -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
)
diff --git a/go.sum b/go.sum
index 8877819..6d0f678 100644
--- a/go.sum
+++ b/go.sum
@@ -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=
diff --git a/net/net.go b/net/net.go
deleted file mode 100644
index 51f8d9d..0000000
--- a/net/net.go
+++ /dev/null
@@ -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.
- }
-}
diff --git a/serial_ubx/serial.go b/serial_ubx/serial.go
deleted file mode 100644
index 6201a0f..0000000
--- a/serial_ubx/serial.go
+++ /dev/null
@@ -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)
- }
-
-}
diff --git a/ex_websocketMessage.json b/static/ex_websocketMessage.json
similarity index 100%
rename from ex_websocketMessage.json
rename to static/ex_websocketMessage.json
diff --git a/hyperimu.json b/static/hyperimu.json
similarity index 99%
rename from hyperimu.json
rename to static/hyperimu.json
index 1567da8..c5b6bfa 100644
--- a/hyperimu.json
+++ b/static/hyperimu.json
@@ -63,4 +63,4 @@
-0.006618400104343891
],
"tmd3702_proximity proximity sensor": [5, 0, 0]
-}
+}
\ No newline at end of file
diff --git a/index.html b/static/index.html
similarity index 100%
rename from index.html
rename to static/index.html
diff --git a/static/iphone.json b/static/iphone.json
new file mode 100644
index 0000000..e245032
--- /dev/null
+++ b/static/iphone.json
@@ -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",
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+ "locationTrueHeading" : "89.003868",
+ "loggingTime" : "2020-12-06 22:45:38.168 +0100",
+ "logSampleNr" : "777",
+ "motionAttitudeReferenceFrame" : "XTrueNorthZVertical",
+ "motionGravityX" : "0.034977",
+ "motionGravityY" : "-0.009047",
+ "motionGravityZ" : "-0.999347",
+ "motionMagneticFieldCalibrationAccuracy" : "2.000000",
+ "motionMagneticFieldX" : "-36.706497",
+ "motionMagneticFieldY" : "-3.118759",
+ "motionMagneticFieldZ" : "-25.621033",
+ "motionPitch" : "0.009047",
+ "motionQuaternionW" : "-0.008772",
+ "motionQuaternionX" : "-0.017530",
+ "motionQuaternionY" : "0.004370",
+ "motionQuaternionZ" : "0.999798",
+ "motionRoll" : "0.034985",
+ "motionRotationRateX" : "0.000625",
+ "motionRotationRateY" : "-0.000442",
+ "motionRotationRateZ" : "0.000817",
+ "motionTimestamp_sinceReboot" : "77700.984485",
+ "motionUserAccelerationX" : "0.001827",
+ "motionUserAccelerationY" : "-0.000368",
+ "motionUserAccelerationZ" : "-0.007046",
+ "motionYaw" : "-3.124204"
+ },
+ {
+ "accelerometerAccelerationX" : "0.034225",
+ "accelerometerAccelerationY" : "-0.008728",
+ "accelerometerAccelerationZ" : "-1.000931",
+ "accelerometerTimestamp_sinceReboot" : "77701.014310",
+ "avAudioRecorderAveragePower" : "-34.738995",
+ "avAudioRecorderPeakPower" : "-29.852339",
+ "batteryLevel" : "0.660000",
+ "batteryState" : "1",
+ "deviceID" : "my_iOS_device",
+ "deviceOrientation" : "5",
+ "gyroRotationX" : "0.003781",
+ "gyroRotationY" : "-0.076643",
+ "gyroRotationZ" : "0.000894",
+ "gyroTimestamp_sinceReboot" : "77701.004474",
+ "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" : "1607291138.168952",
+ "locationHeadingX" : "-36.616852",
+ "locationHeadingY" : "-2.912506",
+ "locationHeadingZ" : "-25.239990",
+ "locationMagneticHeading" : "85.923080",
+ "locationTrueHeading" : "89.003906",
+ "loggingTime" : "2020-12-06 22:45:38.173 +0100",
+ "logSampleNr" : "778"
+ },
+ {
+ "accelerometerAccelerationX" : "0.033676",
+ "accelerometerAccelerationY" : "-0.007309",
+ "accelerometerAccelerationZ" : "-1.001099",
+ "accelerometerTimestamp_sinceReboot" : "77701.030424",
+ "avAudioRecorderAveragePower" : "-35.218269",
+ "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 22:45:38.189 +0100",
+ "logSampleNr" : "779",
+ "motionAttitudeReferenceFrame" : "XTrueNorthZVertical",
+ "motionGravityX" : "0.035004",
+ "motionGravityY" : "-0.008995",
+ "motionGravityZ" : "-0.999347",
+ "motionMagneticFieldCalibrationAccuracy" : "2.000000",
+ "motionMagneticFieldX" : "-36.715759",
+ "motionMagneticFieldY" : "-2.925949",
+ "motionMagneticFieldZ" : "-25.069214",
+ "motionPitch" : "0.008995",
+ "motionQuaternionW" : "-0.008769",
+ "motionQuaternionX" : "-0.017544",
+ "motionQuaternionY" : "0.004344",
+ "motionQuaternionZ" : "0.999798",
+ "motionRoll" : "0.035013",
+ "motionRotationRateX" : "-0.003867",
+ "motionRotationRateY" : "0.001772",
+ "motionRotationRateZ" : "0.000104",
+ "motionTimestamp_sinceReboot" : "77701.014453",
+ "motionUserAccelerationX" : "-0.000825",
+ "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"
+ }
+]
\ No newline at end of file
diff --git a/ublox/decode.go b/ublox/decode.go
index ba019af..3e0ccab 100644
--- a/ublox/decode.go
+++ b/ublox/decode.go
@@ -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)
diff --git a/ublox/messages.go b/ublox/messages.go
index ad3a078..610f7b2 100644
--- a/ublox/messages.go
+++ b/ublox/messages.go
@@ -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