refactor and implemented data pipeline
This commit is contained in:
parent
05946c3230
commit
cefb0153b2
8
.idea/.gitignore
generated
vendored
Normal file
8
.idea/.gitignore
generated
vendored
Normal file
@ -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/
|
||||
6
.idea/misc.xml
generated
Normal file
6
.idea/misc.xml
generated
Normal file
@ -0,0 +1,6 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="ProjectPlainTextFileTypeManager">
|
||||
<file url="file://$PROJECT_DIR$/gnet/net.go" />
|
||||
</component>
|
||||
</project>
|
||||
1
.idea/vcs.xml
generated
1
.idea/vcs.xml
generated
@ -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>
|
||||
103
.idea/workspace.xml
generated
103
.idea/workspace.xml
generated
@ -22,13 +22,25 @@
|
||||
</component>
|
||||
<component name="ChangeListManager">
|
||||
<list default="true" id="99c957e4-aa42-481d-843d-3fbc901e0f79" name="Default Changelist" comment="">
|
||||
<change afterPath="$PROJECT_DIR$/.idea/.gitignore" afterDir="false" />
|
||||
<change afterPath="$PROJECT_DIR$/.idea/misc.xml" 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/format.go" afterDir="false" />
|
||||
<change afterPath="$PROJECT_DIR$/core/http.go" afterDir="false" />
|
||||
<change afterPath="$PROJECT_DIR$/core/pipeline.go" 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" afterPath="$PROJECT_DIR$/cmd/server_only/server_only.go" afterDir="false" />
|
||||
<change beforePath="$PROJECT_DIR$/dispatcher/dispatcher.go" beforeDir="false" afterPath="$PROJECT_DIR$/gnet/dispatcher.go" afterDir="false" />
|
||||
<change beforePath="$PROJECT_DIR$/hyperimu.json" beforeDir="false" afterPath="$PROJECT_DIR$/hyperimu.json" afterDir="false" />
|
||||
<change beforePath="$PROJECT_DIR$/net/net.go" beforeDir="false" afterPath="$PROJECT_DIR$/gnet/net.go" afterDir="false" />
|
||||
<change beforePath="$PROJECT_DIR$/serial_ubx/serial.go" beforeDir="false" afterPath="$PROJECT_DIR$/serial_ubx/serial.go" afterDir="false" />
|
||||
<change beforePath="$PROJECT_DIR$/cmd/server_only/server_only.go" beforeDir="false" />
|
||||
<change beforePath="$PROJECT_DIR$/gnet/dispatcher.go" beforeDir="false" afterPath="$PROJECT_DIR$/core/dispatcher.go" afterDir="false" />
|
||||
<change beforePath="$PROJECT_DIR$/gnet/net.go" beforeDir="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="$PROJECT_DIR$/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" />
|
||||
@ -69,27 +81,18 @@
|
||||
<property name="go.sdk.automatically.set" value="true" />
|
||||
<property name="go.tried.to.enable.integration.vgo.integrator" value="true" />
|
||||
<property name="last_opened_file_path" value="$USER_HOME$" />
|
||||
<property name="settings.editor.selected.configurable" value="preferences.pluginManager" />
|
||||
<property name="settings.editor.selected.configurable" value="project.propVCSSupport.Mappings" />
|
||||
</component>
|
||||
<component name="RecentsManager">
|
||||
<key name="MoveFile.RECENT_KEYS">
|
||||
<recent name="$PROJECT_DIR$/core" />
|
||||
<recent name="$PROJECT_DIR$/net" />
|
||||
<recent name="$PROJECT_DIR$/cmd/server" />
|
||||
<recent name="$PROJECT_DIR$/serial_ubx" />
|
||||
<recent name="$PROJECT_DIR$" />
|
||||
<recent name="$PROJECT_DIR$/ublox" />
|
||||
</key>
|
||||
</component>
|
||||
<component name="RunManager" selected="Go Build.go build server.go (1)">
|
||||
<configuration default="true" type="GoApplicationRunConfiguration" factoryName="Go Application">
|
||||
<module name="gyrogpsc" />
|
||||
<working_directory value="$PROJECT_DIR$" />
|
||||
<go_parameters value="-i" />
|
||||
<kind value="FILE" />
|
||||
<filePath value="$PROJECT_DIR$" />
|
||||
<directory value="$PROJECT_DIR$" />
|
||||
<method v="2" />
|
||||
</configuration>
|
||||
<component name="RunManager">
|
||||
<configuration name="go build git.timovolkmann.de/gyrogpsc/cmd/serial_only" type="GoApplicationRunConfiguration" factoryName="Go Application" temporary="true" nameIsGenerated="true">
|
||||
<module name="gyrogpsc" />
|
||||
<working_directory value="$PROJECT_DIR$" />
|
||||
@ -99,6 +102,15 @@
|
||||
<directory value="$PROJECT_DIR$" />
|
||||
<method v="2" />
|
||||
</configuration>
|
||||
<configuration name="go build git.timovolkmann.de/gyrogpsc/cmd/server" type="GoApplicationRunConfiguration" factoryName="Go Application" temporary="true" nameIsGenerated="true">
|
||||
<module name="gyrogpsc" />
|
||||
<working_directory value="$PROJECT_DIR$" />
|
||||
<kind value="PACKAGE" />
|
||||
<filePath value="$PROJECT_DIR$/cmd/server/server.go" />
|
||||
<package value="git.timovolkmann.de/gyrogpsc/cmd/server" />
|
||||
<directory value="$PROJECT_DIR$" />
|
||||
<method v="2" />
|
||||
</configuration>
|
||||
<configuration name="go build git.timovolkmann.de/gyrogpsc/serial" type="GoApplicationRunConfiguration" factoryName="Go Application" temporary="true" nameIsGenerated="true">
|
||||
<module name="gyrogpsc" />
|
||||
<working_directory value="$PROJECT_DIR$" />
|
||||
@ -124,23 +136,9 @@
|
||||
<directory value="$PROJECT_DIR$" />
|
||||
<method v="2" />
|
||||
</configuration>
|
||||
<configuration default="true" type="GoTestRunConfiguration" factoryName="Go Test">
|
||||
<module name="gyrogpsc" />
|
||||
<working_directory value="$PROJECT_DIR$" />
|
||||
<go_parameters value="-i" />
|
||||
<framework value="gotest" />
|
||||
<kind value="DIRECTORY" />
|
||||
<directory value="$PROJECT_DIR$" />
|
||||
<filePath value="$PROJECT_DIR$" />
|
||||
<method v="2" />
|
||||
</configuration>
|
||||
<recent_temporary>
|
||||
<list>
|
||||
<item itemvalue="Go Build.go build server.go (1)" />
|
||||
<item itemvalue="Go Build.go build git.timovolkmann.de/gyrogpsc/cmd/serial_only" />
|
||||
<item itemvalue="Go Build.go build git.timovolkmann.de/gyrogpsc/serial" />
|
||||
<item itemvalue="Go Build.go build server.go" />
|
||||
<item itemvalue="Go Build.go build server.go" />
|
||||
<item itemvalue="Go Build.go build git.timovolkmann.de/gyrogpsc/cmd/server" />
|
||||
</list>
|
||||
</recent_temporary>
|
||||
</component>
|
||||
@ -231,6 +229,9 @@
|
||||
<option name="oldMeFiltersMigrated" value="true" />
|
||||
</component>
|
||||
<component name="VcsManagerConfiguration">
|
||||
<ignored-roots>
|
||||
<path value="$PROJECT_DIR$/serial/SparkFun_Ublox_Arduino_Library" />
|
||||
</ignored-roots>
|
||||
<MESSAGE value="initial working version" />
|
||||
<MESSAGE value="added dispatcher.go" />
|
||||
<MESSAGE value="3d orientation visualization html/css" />
|
||||
@ -247,6 +248,10 @@
|
||||
<screen x="0" y="23" width="1680" height="1027" />
|
||||
</state>
|
||||
<state x="640" y="377" key="#Go_Modules/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604584628285" />
|
||||
<state x="523" y="282" key="#com.intellij.openapi.keymap.impl.ui.EditKeymapsDialog" timestamp="1606822254644">
|
||||
<screen x="0" y="25" width="1920" height="1175" />
|
||||
</state>
|
||||
<state x="523" y="282" key="#com.intellij.openapi.keymap.impl.ui.EditKeymapsDialog/0.25.1920.1175/0.-1415.2560.1415@0.25.1920.1175" timestamp="1606822254644" />
|
||||
<state x="603" y="247" key="#xdebugger.evaluate" timestamp="1604750409547">
|
||||
<screen x="0" y="23" width="1680" height="1027" />
|
||||
</state>
|
||||
@ -275,8 +280,8 @@
|
||||
<screen x="0" y="23" width="1680" height="1027" />
|
||||
</state>
|
||||
<state width="1638" height="346" key="GridCell.Tab.-1.right/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604750445987" />
|
||||
<state width="1878" height="406" key="GridCell.Tab.0.bottom" timestamp="1606335310969">
|
||||
<screen x="0" y="23" width="1920" height="1177" />
|
||||
<state width="1878" height="402" key="GridCell.Tab.0.bottom" timestamp="1606933146182">
|
||||
<screen x="0" y="25" width="1920" height="1175" />
|
||||
</state>
|
||||
<state width="1638" height="273" key="GridCell.Tab.0.bottom/0.-1417.2560.1417/0.23.1680.1027@0.-1417.2560.1417" timestamp="1604948042531" />
|
||||
<state width="1638" height="273" key="GridCell.Tab.0.bottom/0.23.1680.1027/0.-1417.2560.1417@0.-1417.2560.1417" timestamp="1604913985770" />
|
||||
@ -285,8 +290,9 @@
|
||||
<state width="1638" height="273" key="GridCell.Tab.0.bottom/0.23.1920.1116@0.23.1920.1116" timestamp="1605380018474" />
|
||||
<state width="1878" height="406" key="GridCell.Tab.0.bottom/0.23.1920.1177/0.-1417.2560.1417@0.23.1920.1177" timestamp="1606335310969" />
|
||||
<state width="1638" height="273" key="GridCell.Tab.0.bottom/0.23.1920.1177@0.23.1920.1177" timestamp="1605533225921" />
|
||||
<state width="1878" height="406" key="GridCell.Tab.0.center" timestamp="1606335310968">
|
||||
<screen x="0" y="23" width="1920" height="1177" />
|
||||
<state width="1878" height="402" key="GridCell.Tab.0.bottom/0.25.1920.1175/0.-1415.2560.1415@0.25.1920.1175" timestamp="1606933146182" />
|
||||
<state width="1878" height="402" key="GridCell.Tab.0.center" timestamp="1606933146180">
|
||||
<screen x="0" y="25" width="1920" height="1175" />
|
||||
</state>
|
||||
<state width="1638" height="273" key="GridCell.Tab.0.center/0.-1417.2560.1417/0.23.1680.1027@0.-1417.2560.1417" timestamp="1604948042530" />
|
||||
<state width="1638" height="273" key="GridCell.Tab.0.center/0.23.1680.1027/0.-1417.2560.1417@0.-1417.2560.1417" timestamp="1604913985769" />
|
||||
@ -295,8 +301,9 @@
|
||||
<state width="1638" height="273" key="GridCell.Tab.0.center/0.23.1920.1116@0.23.1920.1116" timestamp="1605380018473" />
|
||||
<state width="1878" height="406" key="GridCell.Tab.0.center/0.23.1920.1177/0.-1417.2560.1417@0.23.1920.1177" timestamp="1606335310968" />
|
||||
<state width="1638" height="273" key="GridCell.Tab.0.center/0.23.1920.1177@0.23.1920.1177" timestamp="1605533225920" />
|
||||
<state width="1878" height="406" key="GridCell.Tab.0.left" timestamp="1606335310967">
|
||||
<screen x="0" y="23" width="1920" height="1177" />
|
||||
<state width="1878" height="402" key="GridCell.Tab.0.center/0.25.1920.1175/0.-1415.2560.1415@0.25.1920.1175" timestamp="1606933146180" />
|
||||
<state width="1878" height="402" key="GridCell.Tab.0.left" timestamp="1606933146180">
|
||||
<screen x="0" y="25" width="1920" height="1175" />
|
||||
</state>
|
||||
<state width="1638" height="273" key="GridCell.Tab.0.left/0.-1417.2560.1417/0.23.1680.1027@0.-1417.2560.1417" timestamp="1604948042530" />
|
||||
<state width="1638" height="273" key="GridCell.Tab.0.left/0.23.1680.1027/0.-1417.2560.1417@0.-1417.2560.1417" timestamp="1604913985768" />
|
||||
@ -305,8 +312,9 @@
|
||||
<state width="1638" height="273" key="GridCell.Tab.0.left/0.23.1920.1116@0.23.1920.1116" timestamp="1605380018472" />
|
||||
<state width="1878" height="406" key="GridCell.Tab.0.left/0.23.1920.1177/0.-1417.2560.1417@0.23.1920.1177" timestamp="1606335310967" />
|
||||
<state width="1638" height="273" key="GridCell.Tab.0.left/0.23.1920.1177@0.23.1920.1177" timestamp="1605533225919" />
|
||||
<state width="1878" height="406" key="GridCell.Tab.0.right" timestamp="1606335310968">
|
||||
<screen x="0" y="23" width="1920" height="1177" />
|
||||
<state width="1878" height="402" key="GridCell.Tab.0.left/0.25.1920.1175/0.-1415.2560.1415@0.25.1920.1175" timestamp="1606933146180" />
|
||||
<state width="1878" height="402" key="GridCell.Tab.0.right" timestamp="1606933146181">
|
||||
<screen x="0" y="25" width="1920" height="1175" />
|
||||
</state>
|
||||
<state width="1638" height="273" key="GridCell.Tab.0.right/0.-1417.2560.1417/0.23.1680.1027@0.-1417.2560.1417" timestamp="1604948042531" />
|
||||
<state width="1638" height="273" key="GridCell.Tab.0.right/0.23.1680.1027/0.-1417.2560.1417@0.-1417.2560.1417" timestamp="1604913985770" />
|
||||
@ -315,6 +323,7 @@
|
||||
<state width="1638" height="273" key="GridCell.Tab.0.right/0.23.1920.1116@0.23.1920.1116" timestamp="1605380018473" />
|
||||
<state width="1878" height="406" key="GridCell.Tab.0.right/0.23.1920.1177/0.-1417.2560.1417@0.23.1920.1177" timestamp="1606335310968" />
|
||||
<state width="1638" height="273" key="GridCell.Tab.0.right/0.23.1920.1177@0.23.1920.1177" timestamp="1605533225920" />
|
||||
<state width="1878" height="402" key="GridCell.Tab.0.right/0.25.1920.1175/0.-1415.2560.1415@0.25.1920.1175" timestamp="1606933146181" />
|
||||
<state width="1638" height="346" key="GridCell.Tab.1.bottom" timestamp="1604750442086">
|
||||
<screen x="0" y="23" width="1680" height="1027" />
|
||||
</state>
|
||||
@ -331,11 +340,12 @@
|
||||
<screen x="0" y="23" width="1680" height="1027" />
|
||||
</state>
|
||||
<state width="1638" height="346" key="GridCell.Tab.1.right/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604750442085" />
|
||||
<state x="204" y="155" width="1501" height="766" key="SettingsEditor" timestamp="1605609479939">
|
||||
<screen x="0" y="23" width="1920" height="1177" />
|
||||
<state x="204" y="157" width="1501" height="766" key="SettingsEditor" timestamp="1606924055987">
|
||||
<screen x="0" y="25" width="1920" height="1175" />
|
||||
</state>
|
||||
<state x="179" y="138" width="1501" height="766" key="SettingsEditor/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604757277174" />
|
||||
<state x="204" y="155" key="SettingsEditor/0.23.1920.1177/0.-1417.2560.1417@0.23.1920.1177" timestamp="1605609479939" />
|
||||
<state x="204" y="157" key="SettingsEditor/0.25.1920.1175/0.-1415.2560.1415@0.25.1920.1175" timestamp="1606924055987" />
|
||||
<state x="560" y="351" key="Vcs.Push.Dialog.v2" timestamp="1606332623194">
|
||||
<screen x="0" y="23" width="1920" height="1177" />
|
||||
</state>
|
||||
@ -344,14 +354,19 @@
|
||||
<screen x="0" y="23" width="1680" height="1027" />
|
||||
</state>
|
||||
<state width="840" height="513" key="XDebugger.FullValuePopup/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604750505120" />
|
||||
<state x="661" y="245" width="597" height="735" key="find.popup" timestamp="1606932454676">
|
||||
<screen x="0" y="25" width="1920" height="1175" />
|
||||
</state>
|
||||
<state x="661" y="245" width="597" height="735" key="find.popup/0.25.1920.1175/0.-1415.2560.1415@0.25.1920.1175" timestamp="1606932454676" />
|
||||
<state x="694" y="331" key="git4idea.branch.GitSmartOperationDialog" timestamp="1606335339469">
|
||||
<screen x="0" y="23" width="1920" height="1177" />
|
||||
</state>
|
||||
<state x="694" y="331" key="git4idea.branch.GitSmartOperationDialog/0.23.1920.1177/0.-1417.2560.1417@0.23.1920.1177" timestamp="1606335339469" />
|
||||
<state x="505" y="250" width="670" height="676" key="search.everywhere.popup" timestamp="1604757918385">
|
||||
<screen x="0" y="23" width="1680" height="1027" />
|
||||
<state x="577" y="285" width="766" height="774" key="search.everywhere.popup" timestamp="1606932588292">
|
||||
<screen x="0" y="25" width="1920" height="1175" />
|
||||
</state>
|
||||
<state x="505" y="250" width="670" height="676" key="search.everywhere.popup/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604757918385" />
|
||||
<state x="577" y="285" width="766" height="774" key="search.everywhere.popup/0.25.1920.1175/0.-1415.2560.1415@0.25.1920.1175" timestamp="1606932588292" />
|
||||
<state x="596" y="393" key="vcs.readOnlyHandler.ReadOnlyStatusDialog" timestamp="1605566567276">
|
||||
<screen x="0" y="23" width="1920" height="1177" />
|
||||
</state>
|
||||
|
||||
@ -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
|
||||
}
|
||||
|
||||
@ -1,161 +1,25 @@
|
||||
package main
|
||||
|
||||
import (
|
||||
<<<<<<< Updated upstream
|
||||
"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"
|
||||
"git.timovolkmann.de/gyrogpsc/core"
|
||||
)
|
||||
|
||||
const (
|
||||
TCP_PORT = ":3010"
|
||||
HTTP_PORT = ":3011"
|
||||
SERIAL_PORT = "/dev/tty.usbmodem14201"
|
||||
=======
|
||||
"git.timovolkmann.de/gyrogpsc/gnet"
|
||||
)
|
||||
|
||||
const (
|
||||
TCP_PORT = ":3010"
|
||||
HTTP_PORT = ":3011"
|
||||
SERIAL_PORT = "/dev/tty.usbmodem14201"
|
||||
MAX_WS_DELAY = 20
|
||||
>>>>>>> Stashed changes
|
||||
)
|
||||
|
||||
var upgrader = websocket.Upgrader{} // use default options
|
||||
|
||||
func echo(d *dispatcher.Dispatcher) func(w http.ResponseWriter, r *http.Request) {
|
||||
fmt.Println("echo")
|
||||
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 main() {
|
||||
d := gnet.NewDispatcher()
|
||||
collectRoutines(d)
|
||||
http.HandleFunc("/echo", echo(d))
|
||||
http.HandleFunc("/", home)
|
||||
http.Handle("/static/", http.StripPrefix("/static/", http.FileServer(http.Dir("."))))
|
||||
|
||||
log.Fatal(http.ListenAndServe(":3011", nil))
|
||||
dispatcher := core.NewDispatcher()
|
||||
processor := core.NewPipeline(dispatcher, 20, 10000)
|
||||
collectRoutines(processor)
|
||||
core.NewHttpServer(dispatcher, HTTP_PORT)
|
||||
}
|
||||
|
||||
func collectRoutines(d *gnet.Dispatcher) {
|
||||
// TODO: Hier die Sensordaten zwischenspeichern und per
|
||||
|
||||
// collectRoutines Serial UBX Sensor Data
|
||||
go serialUbxCollector(d)
|
||||
// collectRoutines TCP JSON Sensor Data
|
||||
go tcpJsonCollector(d)
|
||||
}
|
||||
|
||||
func serialUbxCollector(d *dispatcher.Dispatcher) {
|
||||
r, err := serial_ubx.Setup(SERIAL_PORT)
|
||||
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) {
|
||||
listener, err := net.Listen("tcp", TCP_PORT)
|
||||
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.
|
||||
}
|
||||
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)
|
||||
}
|
||||
|
||||
@ -1,25 +0,0 @@
|
||||
package main
|
||||
|
||||
import (
|
||||
"git.timovolkmann.de/gyrogpsc/gnet"
|
||||
)
|
||||
|
||||
const (
|
||||
TCP_PORT = ":3010"
|
||||
HTTP_PORT = ":3011"
|
||||
SERIAL_PORT = "/dev/tty.usbmodem14201"
|
||||
MAX_WS_DELAY = 20
|
||||
)
|
||||
|
||||
func main() {
|
||||
d := gnet.NewDispatcher()
|
||||
collectRoutines(d)
|
||||
gnet.NewHttpServer(d, HTTP_PORT)
|
||||
}
|
||||
|
||||
func collectRoutines(d *gnet.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
22
cmd/tcp_only/tcp_only.go
Normal file
@ -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.NewHttpServer(dispatcher, HTTP_PORT)
|
||||
}
|
||||
|
||||
func collectRoutines(proc core.Processor) {
|
||||
// collect Sensor data from JSON over TCP in Goroutine
|
||||
go core.TcpCollector(proc, TCP_PORT)
|
||||
}
|
||||
93
core/collectors.go
Normal file
93
core/collectors.go
Normal file
@ -0,0 +1,93 @@
|
||||
package core
|
||||
|
||||
import (
|
||||
"fmt"
|
||||
"git.timovolkmann.de/gyrogpsc/ublox"
|
||||
"go.bug.st/serial"
|
||||
"log"
|
||||
"net"
|
||||
"os"
|
||||
)
|
||||
|
||||
func TcpCollector(proc Processor, 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 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) {
|
||||
mode := &serial.Mode{
|
||||
BaudRate: 115200,
|
||||
}
|
||||
port, err := serial.Open(serialPort, mode)
|
||||
if err != nil {
|
||||
log.Fatalln(err)
|
||||
}
|
||||
|
||||
decoder := ublox.NewDecoder(port)
|
||||
|
||||
for {
|
||||
meas, err := decoder.Decode()
|
||||
if err != nil {
|
||||
log.Println(err)
|
||||
continue
|
||||
}
|
||||
sd, err := ConvertUbxToSensorData(meas)
|
||||
if err != nil {
|
||||
log.Println(err)
|
||||
continue
|
||||
}
|
||||
|
||||
err = proc.Process(sd)
|
||||
if err != nil {
|
||||
log.Println(err)
|
||||
continue
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@ -1,31 +1,40 @@
|
||||
package gnet
|
||||
package core
|
||||
|
||||
import (
|
||||
"errors"
|
||||
"fmt"
|
||||
)
|
||||
|
||||
type Dispatcher struct {
|
||||
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 {
|
||||
func NewDispatcher() *dispatcher {
|
||||
fmt.Println("new dispatcher")
|
||||
return &Dispatcher{
|
||||
return &dispatcher{
|
||||
listeners: make(map[int16]chan string),
|
||||
counter: 0,
|
||||
}
|
||||
}
|
||||
|
||||
func (d *Dispatcher) Publish(message string) {
|
||||
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) {
|
||||
func (d *dispatcher) Subscribe() (id int16, receiver <-chan string) {
|
||||
fmt.Println("subscribe")
|
||||
key := d.counter
|
||||
d.counter++
|
||||
@ -34,7 +43,7 @@ func (d *Dispatcher) Subscribe() (id int16, receiver <-chan string) {
|
||||
return key, rec
|
||||
}
|
||||
|
||||
func (d *Dispatcher) Unsubscribe(id int16) error {
|
||||
func (d *dispatcher) Unsubscribe(id int16) error {
|
||||
fmt.Println("unsubscribe")
|
||||
receiver, ok := d.listeners[id]
|
||||
if !ok {
|
||||
108
core/format.go
Normal file
108
core/format.go
Normal file
@ -0,0 +1,108 @@
|
||||
package core
|
||||
|
||||
import (
|
||||
"errors"
|
||||
"git.timovolkmann.de/gyrogpsc/ublox"
|
||||
"log"
|
||||
"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 {
|
||||
log.Fatalln("Do not consolidate Sensordata from different Sources")
|
||||
}
|
||||
if s.isSameEpoch(n) {
|
||||
// TODO: implement epoch consolidation logic
|
||||
}
|
||||
return n
|
||||
}
|
||||
|
||||
var (
|
||||
errNotImplemented = errors.New("message not implemented")
|
||||
)
|
||||
|
||||
func ConvertUbxToSensorData(msg interface{}) (*Sensordata, error) {
|
||||
sd := &Sensordata{}
|
||||
switch v := msg.(type) {
|
||||
case *ublox.NavPvt:
|
||||
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)
|
||||
sd.Position[1] = float64(v.Lon_dege7)
|
||||
sd.Position[2] = float64(v.Height_mm)
|
||||
case *ublox.HnrPvt:
|
||||
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)
|
||||
sd.Position[1] = float64(v.Lon_dege7)
|
||||
sd.Position[2] = float64(v.Height_mm)
|
||||
case *ublox.NavAtt:
|
||||
sd.itow = v.ITOW_ms
|
||||
sd.Orientation[0] = float64(v.Pitch_deg)
|
||||
sd.Orientation[1] = float64(v.Roll_deg)
|
||||
sd.Orientation[2] = float64(v.Heading_deg)
|
||||
default:
|
||||
return nil, errNotImplemented
|
||||
}
|
||||
return sd, nil
|
||||
}
|
||||
|
||||
func ConvertSensorDataPhone(jsonData []byte) (*Sensordata, error) {
|
||||
return convertAndroidHyperImu(jsonData)
|
||||
}
|
||||
|
||||
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
|
||||
}
|
||||
67
core/http.go
Normal file
67
core/http.go
Normal file
@ -0,0 +1,67 @@
|
||||
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("index.html")
|
||||
if err != nil {
|
||||
log.Fatalln(err)
|
||||
}
|
||||
err = tpl.Execute(w, "ws://"+r.Host+"/echo")
|
||||
if err != nil {
|
||||
log.Fatalln(err)
|
||||
}
|
||||
}
|
||||
|
||||
func NewHttpServer(sub Subscriber, httpPort string) {
|
||||
http.HandleFunc("/echo", echo(sub))
|
||||
http.HandleFunc("/", home)
|
||||
http.Handle("/static/", http.FileServer(http.Dir(".")))
|
||||
|
||||
log.Fatal(http.ListenAndServe(httpPort, nil))
|
||||
}
|
||||
127
core/pipeline.go
Normal file
127
core/pipeline.go
Normal file
@ -0,0 +1,127 @@
|
||||
package core
|
||||
|
||||
import (
|
||||
"encoding/json"
|
||||
"errors"
|
||||
"log"
|
||||
"sync"
|
||||
"time"
|
||||
)
|
||||
|
||||
type Processor interface {
|
||||
Process(data *Sensordata) error
|
||||
}
|
||||
|
||||
type pipeline struct {
|
||||
synchronizer
|
||||
aggregator
|
||||
Publisher
|
||||
publishTicker *time.Ticker
|
||||
}
|
||||
|
||||
func NewPipeline(d Publisher, publishIntervalMs int, delayUpdateIntervalMs int) *pipeline {
|
||||
return &pipeline{
|
||||
synchronizer{
|
||||
bufferSize: 100,
|
||||
updateTicker: time.NewTicker(time.Duration(delayUpdateIntervalMs) * time.Second),
|
||||
},
|
||||
aggregator{},
|
||||
d,
|
||||
time.NewTicker(time.Duration(publishIntervalMs) * time.Second),
|
||||
}
|
||||
}
|
||||
|
||||
func (p *pipeline) Run() {
|
||||
go p.schedule()
|
||||
go func() {
|
||||
for {
|
||||
<-p.publishTicker.C
|
||||
err := p.Publish()
|
||||
if err != nil {
|
||||
log.Println(err)
|
||||
}
|
||||
}
|
||||
}()
|
||||
}
|
||||
|
||||
func (p *pipeline) Publish() error {
|
||||
if (p.tcpSensorData == Sensordata{} && p.serialSensorData == Sensordata{}) {
|
||||
return errors.New("No Data available")
|
||||
}
|
||||
data := map[string]Sensordata{
|
||||
string(p.tcpSensorData.SourceId): p.tcpSensorData,
|
||||
string(p.serialSensorData.SourceId): p.serialSensorData,
|
||||
}
|
||||
jdata, err := json.Marshal(data)
|
||||
if err != nil {
|
||||
return err
|
||||
}
|
||||
p.Publisher.Publish(string(jdata))
|
||||
return nil
|
||||
}
|
||||
|
||||
type aggregator struct {
|
||||
tcpSensorData Sensordata
|
||||
serialSensorData Sensordata
|
||||
tcpMutex *sync.Mutex
|
||||
serialMutex *sync.Mutex
|
||||
}
|
||||
|
||||
type UnixNanoTime int64
|
||||
|
||||
type synchronizer struct {
|
||||
tcpDelayMs int
|
||||
serialDelayMs int
|
||||
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 (s *synchronizer) schedule() {
|
||||
for {
|
||||
<-s.updateTicker.C
|
||||
err := s.refreshDelay()
|
||||
if err != nil {
|
||||
log.Println(err)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
func (s *synchronizer) refreshDelay() error {
|
||||
// TODO: implement
|
||||
return nil
|
||||
}
|
||||
|
||||
func (p *pipeline) Process(data *Sensordata) error {
|
||||
switch data.SourceId {
|
||||
case SOURCE_TCP:
|
||||
go p.pushTcpDataToBuffer(*data)
|
||||
return nil
|
||||
case SOURCE_SERIAL:
|
||||
go p.pushSerialDataToBuffer(*data)
|
||||
return nil
|
||||
default:
|
||||
return errors.New("invalid data source")
|
||||
}
|
||||
}
|
||||
|
||||
func (p *pipeline) pushTcpDataToBuffer(data Sensordata) {
|
||||
time.Sleep(time.Duration(p.tcpDelayMs))
|
||||
p.tcpMutex.Lock()
|
||||
p.tcpSensorData = data
|
||||
p.tcpMutex.Unlock()
|
||||
}
|
||||
func (p *pipeline) pushSerialDataToBuffer(data Sensordata) {
|
||||
time.Sleep(time.Duration(p.serialDelayMs))
|
||||
p.serialMutex.Lock()
|
||||
p.serialSensorData = data
|
||||
p.serialMutex.Unlock()
|
||||
}
|
||||
131
gnet/net.go
131
gnet/net.go
@ -1,131 +0,0 @@
|
||||
package gnet
|
||||
|
||||
import (
|
||||
"encoding/json"
|
||||
"fmt"
|
||||
"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) 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.NewDispatcher("").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, 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, serialPort string) {
|
||||
r, err := serial_ubx.Setup(serialPort)
|
||||
if err != nil {
|
||||
log.Fatalln(err)
|
||||
}
|
||||
|
||||
for {
|
||||
meas, err := r.NextMeasurement()
|
||||
if err != nil {
|
||||
continue
|
||||
}
|
||||
measjson, err := json.Marshal(meas)
|
||||
fmt.Println(string(pretty.Pretty(measjson)))
|
||||
d.Publish(string(measjson))
|
||||
}
|
||||
}
|
||||
|
||||
func TcpJsonCollector(d *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) {
|
||||
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(buf))
|
||||
// Send a response back to person contacting us.
|
||||
//conn.Write([]byte("success"))
|
||||
// Close the connection when you're done with it.
|
||||
}
|
||||
}
|
||||
4
go.mod
4
go.mod
@ -3,11 +3,9 @@ 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/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
39
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=
|
||||
|
||||
@ -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)
|
||||
}
|
||||
|
||||
}
|
||||
@ -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
|
||||
@ -89,7 +89,7 @@ func (d *Decoder) Decode() (msg Message, err error) {
|
||||
return nil, err
|
||||
//return nmea.Decode(d.s.Bytes())
|
||||
case 0xB5:
|
||||
return DecodeUbx(d.s.Bytes())
|
||||
return decodeUbx(d.s.Bytes())
|
||||
}
|
||||
panic("impossible frame")
|
||||
}
|
||||
@ -99,7 +99,7 @@ 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 +149,7 @@ 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)
|
||||
|
||||
|
||||
@ -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
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user