tvolkmann/gyrogpsc
1
0
Fork 0
Code Issues Pull Requests Projects 1 Releases 1 Wiki Activity

fixed errors

Browse Source
This commit is contained in:
Timo Volkmann 2020-12-03 13:07:53 +01:00
parent cefb0153b2
commit e33761bc46
12 changed files with 141 additions and 64 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

82
.idea/workspace.xml generated
View File

@ -22,25 +22,18 @@
</component> </component>
<component name="ChangeListManager"> <component name="ChangeListManager">
<list default="true" id="99c957e4-aa42-481d-843d-3fbc901e0f79" name="Default Changelist" comment=""> <list default="true" id="99c957e4-aa42-481d-843d-3fbc901e0f79" name="Default Changelist" comment="">
<change afterPath="$PROJECT_DIR$/.idea/.gitignore" afterDir="false" />
<change afterPath="$PROJECT_DIR$/.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="$PROJECT_DIR$/.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/server.go" beforeDir="false" afterPath="$PROJECT_DIR$/cmd/server/server.go" afterDir="false" />
<change beforePath="$PROJECT_DIR$/cmd/server_only/server_only.go" beforeDir="false" /> <change beforePath="$PROJECT_DIR$/cmd/tcp_only/tcp_only.go" beforeDir="false" afterPath="$PROJECT_DIR$/cmd/tcp_only/tcp_only.go" afterDir="false" />
<change beforePath="$PROJECT_DIR$/gnet/dispatcher.go" beforeDir="false" afterPath="$PROJECT_DIR$/core/dispatcher.go" afterDir="false" /> <change beforePath="$PROJECT_DIR$/core/collectors.go" beforeDir="false" afterPath="$PROJECT_DIR$/core/collectors.go" afterDir="false" />
<change beforePath="$PROJECT_DIR$/gnet/net.go" beforeDir="false" /> <change beforePath="$PROJECT_DIR$/core/dispatcher.go" beforeDir="false" afterPath="$PROJECT_DIR$/core/dispatcher.go" afterDir="false" />
<change beforePath="$PROJECT_DIR$/go.mod" beforeDir="false" afterPath="$PROJECT_DIR$/go.mod" afterDir="false" /> <change beforePath="$PROJECT_DIR$/core/format.go" beforeDir="false" afterPath="$PROJECT_DIR$/core/format.go" afterDir="false" />
<change beforePath="$PROJECT_DIR$/go.sum" beforeDir="false" afterPath="$PROJECT_DIR$/go.sum" afterDir="false" /> <change beforePath="$PROJECT_DIR$/core/http.go" beforeDir="false" afterPath="$PROJECT_DIR$/core/http.go" afterDir="false" />
<change beforePath="$PROJECT_DIR$/serial_ubx/serial.go" beforeDir="false" /> <change beforePath="$PROJECT_DIR$/core/pipeline.go" beforeDir="false" afterPath="$PROJECT_DIR$/core/pipeline.go" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ex_websocketMessage.json" beforeDir="false" afterPath="$PROJECT_DIR$/static/ex_websocketMessage.json" afterDir="false" />
<change beforePath="$PROJECT_DIR$/hyperimu.json" beforeDir="false" afterPath="$PROJECT_DIR$/static/hyperimu.json" afterDir="false" />
<change beforePath="$PROJECT_DIR$/index.html" beforeDir="false" afterPath="$PROJECT_DIR$/static/index.html" afterDir="false" />
<change beforePath="$PROJECT_DIR$/ublox/decode.go" beforeDir="false" afterPath="$PROJECT_DIR$/ublox/decode.go" afterDir="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> </list>
<option name="SHOW_DIALOG" value="false" /> <option name="SHOW_DIALOG" value="false" />
<option name="HIGHLIGHT_CONFLICTS" value="true" /> <option name="HIGHLIGHT_CONFLICTS" value="true" />
@ -55,7 +48,7 @@
</list> </list>
</option> </option>
</component> </component>
<component name="GOROOT" path="/usr/local/Cellar/go/1.15.2/libexec" /> <component name="GOROOT" path="/usr/local/Cellar/go/1.15.5/libexec" />
<component name="Git.Settings"> <component name="Git.Settings">
<option name="RECENT_BRANCH_BY_REPOSITORY"> <option name="RECENT_BRANCH_BY_REPOSITORY">
<map> <map>
@ -85,14 +78,14 @@
</component> </component>
<component name="RecentsManager"> <component name="RecentsManager">
<key name="MoveFile.RECENT_KEYS"> <key name="MoveFile.RECENT_KEYS">
<recent name="$PROJECT_DIR$/static" />
<recent name="$PROJECT_DIR$/core" /> <recent name="$PROJECT_DIR$/core" />
<recent name="$PROJECT_DIR$/net" /> <recent name="$PROJECT_DIR$/net" />
<recent name="$PROJECT_DIR$/cmd/server" /> <recent name="$PROJECT_DIR$/cmd/server" />
<recent name="$PROJECT_DIR$/serial_ubx" /> <recent name="$PROJECT_DIR$/serial_ubx" />
<recent name="$PROJECT_DIR$" />
</key> </key>
</component> </component>
<component name="RunManager"> <component name="RunManager" selected="Go Build.go build git.timovolkmann.de/gyrogpsc/cmd/server">
<configuration name="go build git.timovolkmann.de/gyrogpsc/cmd/serial_only" type="GoApplicationRunConfiguration" factoryName="Go Application" temporary="true" nameIsGenerated="true"> <configuration name="go build git.timovolkmann.de/gyrogpsc/cmd/serial_only" type="GoApplicationRunConfiguration" factoryName="Go Application" temporary="true" nameIsGenerated="true">
<module name="gyrogpsc" /> <module name="gyrogpsc" />
<working_directory value="$PROJECT_DIR$" /> <working_directory value="$PROJECT_DIR$" />
@ -193,7 +186,14 @@
<option name="project" value="LOCAL" /> <option name="project" value="LOCAL" />
<updated>1606332601566</updated> <updated>1606332601566</updated>
</task> </task>
<option name="localTasksCounter" value="7" /> <task id="LOCAL-00007" summary="refactor and implemented data pipeline">
<created>1606934501184</created>
<option name="number" value="00007" />
<option name="presentableId" value="LOCAL-00007" />
<option name="project" value="LOCAL" />
<updated>1606934501184</updated>
</task>
<option name="localTasksCounter" value="8" />
<servers /> <servers />
</component> </component>
<component name="TypeScriptGeneratedFilesManager"> <component name="TypeScriptGeneratedFilesManager">
@ -238,12 +238,17 @@
<MESSAGE value="switched to relative sensor data (gyroscope)" /> <MESSAGE value="switched to relative sensor data (gyroscope)" />
<MESSAGE value="changed orientation" /> <MESSAGE value="changed orientation" />
<MESSAGE value="refactored cmd &amp; server" /> <MESSAGE value="refactored cmd &amp; server" />
<option name="LAST_COMMIT_MESSAGE" value="refactored cmd &amp; server" /> <MESSAGE value="refactor and implemented data pipeline" />
<option name="LAST_COMMIT_MESSAGE" value="refactor and implemented data pipeline" />
</component> </component>
<component name="VgoProject"> <component name="VgoProject">
<integration-enabled>true</integration-enabled> <integration-enabled>true</integration-enabled>
</component> </component>
<component name="WindowStateProjectService"> <component name="WindowStateProjectService">
<state x="756" y="546" key="#GOROOT" timestamp="1606935753174">
<screen x="0" y="25" width="1920" height="1175" />
</state>
<state x="756" y="546" key="#GOROOT/0.25.1920.1175/0.-1415.2560.1415@0.25.1920.1175" timestamp="1606935753174" />
<state x="640" y="377" key="#Go_Modules" timestamp="1604584628285"> <state x="640" y="377" key="#Go_Modules" timestamp="1604584628285">
<screen x="0" y="23" width="1680" height="1027" /> <screen x="0" y="23" width="1680" height="1027" />
</state> </state>
@ -256,6 +261,10 @@
<screen x="0" y="23" width="1680" height="1027" /> <screen x="0" y="23" width="1680" height="1027" />
</state> </state>
<state x="603" y="247" key="#xdebugger.evaluate/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604750409547" /> <state x="603" y="247" key="#xdebugger.evaluate/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604750409547" />
<state width="595" height="466" key="DebuggerActiveHint" timestamp="1606953226425">
<screen x="0" y="25" width="1920" height="1175" />
</state>
<state width="595" height="466" key="DebuggerActiveHint/0.25.1920.1175/0.-1415.2560.1415@0.25.1920.1175" timestamp="1606953226425" />
<state x="100" y="123" width="1480" height="827" key="DiffContextDialog" timestamp="1604517986662"> <state x="100" y="123" width="1480" height="827" key="DiffContextDialog" timestamp="1604517986662">
<screen x="0" y="23" width="1680" height="1027" /> <screen x="0" y="23" width="1680" height="1027" />
</state> </state>
@ -280,7 +289,7 @@
<screen x="0" y="23" width="1680" height="1027" /> <screen x="0" y="23" width="1680" height="1027" />
</state> </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="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="402" key="GridCell.Tab.0.bottom" timestamp="1606933146182"> <state width="1878" height="402" key="GridCell.Tab.0.bottom" timestamp="1606957947578">
<screen x="0" y="25" width="1920" height="1175" /> <screen x="0" y="25" width="1920" height="1175" />
</state> </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.-1417.2560.1417/0.23.1680.1027@0.-1417.2560.1417" timestamp="1604948042531" />
@ -290,8 +299,8 @@
<state width="1638" height="273" key="GridCell.Tab.0.bottom/0.23.1920.1116@0.23.1920.1116" timestamp="1605380018474" /> <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="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="1638" height="273" key="GridCell.Tab.0.bottom/0.23.1920.1177@0.23.1920.1177" timestamp="1605533225921" />
<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.bottom/0.25.1920.1175/0.-1415.2560.1415@0.25.1920.1175" timestamp="1606957947578" />
<state width="1878" height="402" key="GridCell.Tab.0.center" timestamp="1606933146180"> <state width="1878" height="402" key="GridCell.Tab.0.center" timestamp="1606957947577">
<screen x="0" y="25" width="1920" height="1175" /> <screen x="0" y="25" width="1920" height="1175" />
</state> </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.-1417.2560.1417/0.23.1680.1027@0.-1417.2560.1417" timestamp="1604948042530" />
@ -301,8 +310,8 @@
<state width="1638" height="273" key="GridCell.Tab.0.center/0.23.1920.1116@0.23.1920.1116" timestamp="1605380018473" /> <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="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="1638" height="273" key="GridCell.Tab.0.center/0.23.1920.1177@0.23.1920.1177" timestamp="1605533225920" />
<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.center/0.25.1920.1175/0.-1415.2560.1415@0.25.1920.1175" timestamp="1606957947577" />
<state width="1878" height="402" key="GridCell.Tab.0.left" timestamp="1606933146180"> <state width="1878" height="402" key="GridCell.Tab.0.left" timestamp="1606957947577">
<screen x="0" y="25" width="1920" height="1175" /> <screen x="0" y="25" width="1920" height="1175" />
</state> </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.-1417.2560.1417/0.23.1680.1027@0.-1417.2560.1417" timestamp="1604948042530" />
@ -312,8 +321,8 @@
<state width="1638" height="273" key="GridCell.Tab.0.left/0.23.1920.1116@0.23.1920.1116" timestamp="1605380018472" /> <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="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="1638" height="273" key="GridCell.Tab.0.left/0.23.1920.1177@0.23.1920.1177" timestamp="1605533225919" />
<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.left/0.25.1920.1175/0.-1415.2560.1415@0.25.1920.1175" timestamp="1606957947577" />
<state width="1878" height="402" key="GridCell.Tab.0.right" timestamp="1606933146181"> <state width="1878" height="402" key="GridCell.Tab.0.right" timestamp="1606957947578">
<screen x="0" y="25" width="1920" height="1175" /> <screen x="0" y="25" width="1920" height="1175" />
</state> </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.-1417.2560.1417/0.23.1680.1027@0.-1417.2560.1417" timestamp="1604948042531" />
@ -323,7 +332,7 @@
<state width="1638" height="273" key="GridCell.Tab.0.right/0.23.1920.1116@0.23.1920.1116" timestamp="1605380018473" /> <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="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="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="1878" height="402" key="GridCell.Tab.0.right/0.25.1920.1175/0.-1415.2560.1415@0.25.1920.1175" timestamp="1606957947578" />
<state width="1638" height="346" key="GridCell.Tab.1.bottom" timestamp="1604750442086"> <state width="1638" height="346" key="GridCell.Tab.1.bottom" timestamp="1604750442086">
<screen x="0" y="23" width="1680" height="1027" /> <screen x="0" y="23" width="1680" height="1027" />
</state> </state>
@ -354,22 +363,29 @@
<screen x="0" y="23" width="1680" height="1027" /> <screen x="0" y="23" width="1680" height="1027" />
</state> </state>
<state width="840" height="513" key="XDebugger.FullValuePopup/0.23.1680.1027/0.-1417.2560.1417@0.23.1680.1027" timestamp="1604750505120" /> <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"> <state x="661" y="245" width="597" height="735" key="find.popup" timestamp="1606955246024">
<screen x="0" y="25" width="1920" height="1175" /> <screen x="0" y="25" width="1920" height="1175" />
</state> </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="661" y="245" width="597" height="735" key="find.popup/0.25.1920.1175/0.-1415.2560.1415@0.25.1920.1175" timestamp="1606955246024" />
<state x="694" y="331" key="git4idea.branch.GitSmartOperationDialog" timestamp="1606335339469"> <state x="694" y="331" key="git4idea.branch.GitSmartOperationDialog" timestamp="1606335339469">
<screen x="0" y="23" width="1920" height="1177" /> <screen x="0" y="23" width="1920" height="1177" />
</state> </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="694" y="331" key="git4idea.branch.GitSmartOperationDialog/0.23.1920.1177/0.-1417.2560.1417@0.23.1920.1177" timestamp="1606335339469" />
<state x="577" y="285" width="766" height="774" key="search.everywhere.popup" timestamp="1606932588292"> <state x="577" y="285" width="766" height="774" key="search.everywhere.popup" timestamp="1606957420261">
<screen x="0" y="25" width="1920" height="1175" /> <screen x="0" y="25" width="1920" height="1175" />
</state> </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="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="577" y="285" width="766" height="774" key="search.everywhere.popup/0.25.1920.1175/0.-1415.2560.1415@0.25.1920.1175" timestamp="1606957420261" />
<state x="596" y="393" key="vcs.readOnlyHandler.ReadOnlyStatusDialog" timestamp="1605566567276"> <state x="596" y="393" key="vcs.readOnlyHandler.ReadOnlyStatusDialog" timestamp="1605566567276">
<screen x="0" y="23" width="1920" height="1177" /> <screen x="0" y="23" width="1920" height="1177" />
</state> </state>
<state x="596" y="393" key="vcs.readOnlyHandler.ReadOnlyStatusDialog/0.23.1920.1177/0.-1417.2560.1417@0.23.1920.1177" timestamp="1605566567276" /> <state x="596" y="393" key="vcs.readOnlyHandler.ReadOnlyStatusDialog/0.23.1920.1177/0.-1417.2560.1417@0.23.1920.1177" timestamp="1605566567276" />
</component> </component>
<component name="XDebuggerManager">
<watches-manager>
<configuration name="GoApplicationRunConfiguration">
<watch expression="*(*&quot;&lt;-chan time.Time&quot;)(824634171712)" />
</configuration>
</watches-manager>
</component>
</project> </project>

10
cmd/server/server.go
View File

@ -2,6 +2,7 @@ package main
import ( import (
"git.timovolkmann.de/gyrogpsc/core" "git.timovolkmann.de/gyrogpsc/core"
"log"
) )
const ( const (
@ -11,10 +12,15 @@ const (
) )
func main() { func main() {
log.Println("setup dispatcher")
dispatcher := core.NewDispatcher() dispatcher := core.NewDispatcher()
processor := core.NewPipeline(dispatcher, 20, 10000) log.Println("initialize processing pipeline")
processor := core.NewPipeline(dispatcher, 50, 1000)
processor.Run()
log.Println("start data collectors")
collectRoutines(processor) collectRoutines(processor)
core.NewHttpServer(dispatcher, HTTP_PORT) log.Println("start http server")
core.HttpListenAndServe(dispatcher, HTTP_PORT)
} }
func collectRoutines(proc core.Processor) { func collectRoutines(proc core.Processor) {

2
cmd/tcp_only/tcp_only.go
View File

@ -13,7 +13,7 @@ func main() {
dispatcher := core.NewDispatcher() dispatcher := core.NewDispatcher()
processor := core.NewPipeline(dispatcher, 20, 10000) processor := core.NewPipeline(dispatcher, 20, 10000)
collectRoutines(processor) collectRoutines(processor)
core.NewHttpServer(dispatcher, HTTP_PORT) core.HttpListenAndServe(dispatcher, HTTP_PORT)
} }
func collectRoutines(proc core.Processor) { func collectRoutines(proc core.Processor) {

13
core/collectors.go
View File

@ -66,7 +66,7 @@ func SerialCollector(proc Processor, serialPort string) {
} }
port, err := serial.Open(serialPort, mode) port, err := serial.Open(serialPort, mode)
if err != nil { if err != nil {
log.Fatalln(err) log.Fatalln(err.Error())
} }
decoder := ublox.NewDecoder(port) decoder := ublox.NewDecoder(port)
@ -74,20 +74,25 @@ func SerialCollector(proc Processor, serialPort string) {
for { for {
meas, err := decoder.Decode() meas, err := decoder.Decode()
if err != nil { if err != nil {
if err.Error() == "NMEA not implemented" {
continue
}
log.Println(err) log.Println(err)
continue continue
} }
sd, err := ConvertUbxToSensorData(meas) sd, err := ConvertUbxToSensorData(meas)
if err != nil { if err != nil {
log.Println(err) log.Println("convert err:", err, meas)
continue
}
if sd == nil {
continue continue
} }
err = proc.Process(sd) err = proc.Process(sd)
if err != nil { if err != nil {
log.Println(err) log.Println("process err:", err, *sd)
continue continue
} }
} }
} }

7
core/dispatcher.go
View File

@ -2,7 +2,7 @@ package core
import ( import (
"errors" "errors"
"fmt" "log"
) )
type Subscriber interface { type Subscriber interface {
@ -20,7 +20,6 @@ type dispatcher struct {
} }
func NewDispatcher() *dispatcher { func NewDispatcher() *dispatcher {
fmt.Println("new dispatcher")
return &dispatcher{ return &dispatcher{
listeners: make(map[int16]chan string), listeners: make(map[int16]chan string),
counter: 0, counter: 0,
@ -28,14 +27,13 @@ func NewDispatcher() *dispatcher {
} }
func (d *dispatcher) Publish(message string) { func (d *dispatcher) Publish(message string) {
//fmt.Println("publish to listeners", len(d.listeners)) log.Printf("publish to %v listeners:\n%v\n", len(d.listeners), message)
for _, ch := range d.listeners { for _, ch := range d.listeners {
ch <- message 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 key := d.counter
d.counter++ d.counter++
rec := make(chan string) rec := make(chan string)
@ -44,7 +42,6 @@ func (d *dispatcher) Subscribe() (id int16, receiver <-chan string) {
} }
func (d *dispatcher) Unsubscribe(id int16) error { func (d *dispatcher) Unsubscribe(id int16) error {
fmt.Println("unsubscribe")
receiver, ok := d.listeners[id] receiver, ok := d.listeners[id]
if !ok { if !ok {
return errors.New("no subscription with id") return errors.New("no subscription with id")

37
core/format.go
View File

@ -37,47 +37,74 @@ type Sensordata struct {
Orientation [3]float64 Orientation [3]float64
} }
func (s *Sensordata) isSameEpoch(n *Sensordata) bool { func (s Sensordata) isSameEpoch(n Sensordata) bool {
if n.itow == 0 { if n.itow == 0 {
return false return false
} }
return s.itow == n.itow return s.itow == n.itow
} }
func (s *Sensordata) Consolidate(n *Sensordata) *Sensordata { func (s Sensordata) Consolidate(n Sensordata) Sensordata {
if s.SourceId != n.SourceId { if (s.SourceId != n.SourceId && s != Sensordata{}) {
log.Println(s)
log.Println(n)
log.Fatalln("Do not consolidate Sensordata from different Sources") log.Fatalln("Do not consolidate Sensordata from different Sources")
} }
if s.isSameEpoch(n) { if s.isSameEpoch(n) {
// TODO: implement epoch consolidation logic 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 return n
} }
var ( var (
errNotImplemented = errors.New("message not implemented") errNotImplemented = errors.New("message not implemented")
errRawMessage = errors.New("raw message")
) )
func ConvertUbxToSensorData(msg interface{}) (*Sensordata, error) { func ConvertUbxToSensorData(msg interface{}) (*Sensordata, error) {
sd := &Sensordata{} sd := &Sensordata{
SourceId: SOURCE_SERIAL,
}
switch v := msg.(type) { switch v := msg.(type) {
case *ublox.NavPvt: case *ublox.NavPvt:
//log.Println("NAV-PVT")
sd.itow = v.ITOW_ms 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.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[0] = float64(v.Lat_dege7)
sd.Position[1] = float64(v.Lon_dege7) sd.Position[1] = float64(v.Lon_dege7)
sd.Position[2] = float64(v.Height_mm) sd.Position[2] = float64(v.Height_mm)
case *ublox.HnrPvt: case *ublox.HnrPvt:
//log.Println("HNR-PVT")
sd.itow = v.ITOW_ms 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.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[0] = float64(v.Lat_dege7)
sd.Position[1] = float64(v.Lon_dege7) sd.Position[1] = float64(v.Lon_dege7)
sd.Position[2] = float64(v.Height_mm) sd.Position[2] = float64(v.Height_mm)
case *ublox.NavAtt: case *ublox.NavAtt:
//log.Println("NAV-ATT")
sd.itow = v.ITOW_ms sd.itow = v.ITOW_ms
sd.Orientation[0] = float64(v.Pitch_deg) sd.Orientation[0] = float64(v.Pitch_deg)
sd.Orientation[1] = float64(v.Roll_deg) sd.Orientation[1] = float64(v.Roll_deg)
sd.Orientation[2] = float64(v.Heading_deg) sd.Orientation[2] = float64(v.Heading_deg)
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: default:
return nil, errNotImplemented return nil, errNotImplemented
} }

8
core/http.go
View File

@ -48,7 +48,7 @@ func echo(sub Subscriber) func(w http.ResponseWriter, r *http.Request) {
func home(w http.ResponseWriter, r *http.Request) { func home(w http.ResponseWriter, r *http.Request) {
//var homeTemplate = template.Must(template.NewDispatcher("").ParseFiles("index.html")) //var homeTemplate = template.Must(template.NewDispatcher("").ParseFiles("index.html"))
tpl, err := template.ParseFiles("index.html") tpl, err := template.ParseFiles("static/index.html")
if err != nil { if err != nil {
log.Fatalln(err) log.Fatalln(err)
} }
@ -58,10 +58,14 @@ func home(w http.ResponseWriter, r *http.Request) {
} }
} }
func NewHttpServer(sub Subscriber, httpPort string) { func HttpListenAndServe(sub Subscriber, httpPort string) {
log.Println("register websocket handler")
http.HandleFunc("/echo", echo(sub)) http.HandleFunc("/echo", echo(sub))
log.Println("register index handler")
http.HandleFunc("/", home) http.HandleFunc("/", home)
log.Println("register static file handler")
http.Handle("/static/", http.FileServer(http.Dir("."))) http.Handle("/static/", http.FileServer(http.Dir(".")))
log.Println("start server")
log.Fatal(http.ListenAndServe(httpPort, nil)) log.Fatal(http.ListenAndServe(httpPort, nil))
} }

43
core/pipeline.go
View File

@ -8,6 +8,8 @@ import (
"time" "time"
) )
// TODO: adapt HNR-INS data to continue orientation stream
type Processor interface { type Processor interface {
Process(data *Sensordata) error Process(data *Sensordata) error
} }
@ -23,11 +25,15 @@ func NewPipeline(d Publisher, publishIntervalMs int, delayUpdateIntervalMs int)
return &pipeline{ return &pipeline{
synchronizer{ synchronizer{
bufferSize: 100, bufferSize: 100,
updateTicker: time.NewTicker(time.Duration(delayUpdateIntervalMs) * time.Second), mutex: &sync.Mutex{},
updateTicker: time.NewTicker(time.Duration(delayUpdateIntervalMs) * time.Millisecond),
},
aggregator{
tcpMutex: &sync.Mutex{},
serialMutex: &sync.Mutex{},
}, },
aggregator{},
d, d,
time.NewTicker(time.Duration(publishIntervalMs) * time.Second), time.NewTicker(time.Duration(publishIntervalMs) * time.Millisecond),
} }
} }
@ -37,22 +43,35 @@ func (p *pipeline) Run() {
for { for {
<-p.publishTicker.C <-p.publishTicker.C
err := p.Publish() err := p.Publish()
if err != nil { if err != nil /*&& err.Error() != "no data available"*/ {
log.Println(err) log.Println(err)
} }
} }
}() }()
log.Println("pipeline: processing service started")
} }
func (p *pipeline) Publish() error { func (p *pipeline) Publish() error {
p.tcpMutex.Lock()
p.serialMutex.Lock()
//log.Println(p.tcpSensorData)
//log.Println(p.serialSensorData)
if (p.tcpSensorData == Sensordata{} && p.serialSensorData == Sensordata{}) { if (p.tcpSensorData == Sensordata{} && p.serialSensorData == Sensordata{}) {
return errors.New("No Data available") p.tcpMutex.Unlock()
p.serialMutex.Unlock()
return errors.New("no data available")
} }
data := map[string]Sensordata{ data := map[string]Sensordata{
string(p.tcpSensorData.SourceId): p.tcpSensorData, string(SOURCE_TCP): p.tcpSensorData,
string(p.serialSensorData.SourceId): p.serialSensorData, string(SOURCE_SERIAL): p.serialSensorData,
} }
p.tcpSensorData = Sensordata{}
p.serialSensorData = Sensordata{}
p.tcpMutex.Unlock()
p.serialMutex.Unlock()
jdata, err := json.Marshal(data) jdata, err := json.Marshal(data)
log.Println(string(jdata))
if err != nil { if err != nil {
return err return err
} }
@ -86,6 +105,7 @@ type synchronizer struct {
} }
func (s *synchronizer) schedule() { func (s *synchronizer) schedule() {
log.Println("synchronizer: started")
for { for {
<-s.updateTicker.C <-s.updateTicker.C
err := s.refreshDelay() err := s.refreshDelay()
@ -101,16 +121,19 @@ func (s *synchronizer) refreshDelay() error {
} }
func (p *pipeline) Process(data *Sensordata) error { 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 { switch data.SourceId {
case SOURCE_TCP: case SOURCE_TCP:
go p.pushTcpDataToBuffer(*data) go p.pushTcpDataToBuffer(*data)
return nil
case SOURCE_SERIAL: case SOURCE_SERIAL:
go p.pushSerialDataToBuffer(*data) go p.pushSerialDataToBuffer(*data)
return nil
default: default:
return errors.New("invalid data source") return errors.New("invalid data source")
} }
return nil
} }
func (p *pipeline) pushTcpDataToBuffer(data Sensordata) { func (p *pipeline) pushTcpDataToBuffer(data Sensordata) {
@ -122,6 +145,6 @@ func (p *pipeline) pushTcpDataToBuffer(data Sensordata) {
func (p *pipeline) pushSerialDataToBuffer(data Sensordata) { func (p *pipeline) pushSerialDataToBuffer(data Sensordata) {
time.Sleep(time.Duration(p.serialDelayMs)) time.Sleep(time.Duration(p.serialDelayMs))
p.serialMutex.Lock() p.serialMutex.Lock()
p.serialSensorData = data p.serialSensorData = p.serialSensorData.Consolidate(data)
p.serialMutex.Unlock() p.serialMutex.Unlock()
} }

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

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

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

3
ublox/decode.go
View File

@ -85,8 +85,7 @@ func (d *decoder) Decode() (msg interface{}, err error) {
switch d.s.Bytes()[0] { switch d.s.Bytes()[0] {
case '$': case '$':
//fmt.Println("NMEA message: skipping!") return nil, errors.New("NMEA not implemented")
return nil, err
//return nmea.Decode(d.s.Bytes()) //return nmea.Decode(d.s.Bytes())
case 0xB5: case 0xB5:
return decodeUbx(d.s.Bytes()) return decodeUbx(d.s.Bytes())