sensors

Documentation

Overview

Package sensors defines interfaces for sensors used by viam cartographer

Index

• Constants
• Variables
• func SetupDeps(lidarName, movementSensorName TestSensor) resource.Dependencies
• type Lidar
  • func (lidar Lidar) DataFrequencyHz() int
  • func (lidar Lidar) Name() string
  • func (lidar Lidar) TimedLidarReading(ctx context.Context) (TimedLidarReadingResponse, error)
• type MovementSensor
  • func (ms *MovementSensor) DataFrequencyHz() int
  • func (ms *MovementSensor) Name() string
  • func (ms *MovementSensor) Properties() MovementSensorProperties
  • func (ms *MovementSensor) TimedMovementSensorReading(ctx context.Context) (TimedMovementSensorReadingResponse, error)
• type MovementSensorProperties
• type TestSensor
• type TimedIMUReadingResponse
• type TimedLidar
  • func NewLidar(ctx context.Context, deps resource.Dependencies, cameraName string, ...) (TimedLidar, error)
• type TimedLidarReadingResponse
• type TimedMovementSensor
  • func NewMovementSensor(ctx context.Context, deps resource.Dependencies, movementSensorName string, ...) (TimedMovementSensor, error)
• type TimedMovementSensorReadingResponse
• type TimedOdometerReadingResponse

Constants

const BadTime = "NOT A TIME"

BadTime can be used to represent something that should cause an error while parsing it as a time.

Variables

var (

	// ErrMovementSensorNeitherIMUNorOdometer denotes that the provided movement sensor does neither support
	// an IMU nor a movement sensor.
	ErrMovementSensorNeitherIMUNorOdometer = errors.New("'movement_sensor' must either support both LinearAcceleration and " +
		"AngularVelocity, or both Position and Orientation")
	// ErrNoValidReadingObtained denotes that the attempt to obtain a valid IMU or odometer reading failed.
	ErrNoValidReadingObtained = errors.New("could not obtain a reading that satisfies the time tolerance requirement")
)

var (
	// TestTimestamp can be used to test specific timestamps provided by a replay sensor.
	TestTimestamp = time.Now().UTC().Format("2006-01-02T15:04:05.999999Z")
	// TestLinAcc is the successful mock linear acceleration result used for testing.
	TestLinAcc = r3.Vector{X: 1, Y: 2, Z: 3}
	// TestAngVel is the successful mock angular velocity result used for testing.
	TestAngVel = spatialmath.AngularVelocity{X: 1.1, Y: .5, Z: 0}
	// TestPosition is the successful mock position result used for testing.
	TestPosition = geo.NewPoint(5, 4)
	// TestOrientation is the successful mock orientation result used for testing.
	TestOrientation = &spatialmath.Quaternion{Real: 0.1, Imag: -0.2, Jmag: 2.5, Kmag: -9.1}
)

Functions

func SetupDeps

func SetupDeps(lidarName, movementSensorName TestSensor) resource.Dependencies

SetupDeps returns the dependencies based on the lidar and movement sensor names passed as arguments.

Types

type Lidar

type Lidar struct {
	Lidar camera.Camera
	// contains filtered or unexported fields
}

Lidar represents a LIDAR sensor.

func (Lidar) DataFrequencyHz

func (lidar Lidar) DataFrequencyHz() int

DataFrequencyHz returns the data rate in ms of the lidar.

func (Lidar) Name

func (lidar Lidar) Name() string

Name returns the name of the lidar.

func (Lidar) TimedLidarReading

func (lidar Lidar) TimedLidarReading(ctx context.Context) (TimedLidarReadingResponse, error)

TimedLidarReading returns data from the lidar and the time the reading is from & whether it was a replay sensor or not.

type MovementSensor

type MovementSensor struct {
	// contains filtered or unexported fields
}

MovementSensor represents a movement sensor.

func (*MovementSensor) DataFrequencyHz

func (ms *MovementSensor) DataFrequencyHz() int

DataFrequencyHz returns the data rate in ms of the movement sensor.

func (*MovementSensor) Name

func (ms *MovementSensor) Name() string

Name returns the name of the movement sensor.

func (*MovementSensor) Properties

func (ms *MovementSensor) Properties() MovementSensorProperties

Properties returns MovementSensorProperties, which holds information about whether or not an IMU and/or odometer are supported.

func (*MovementSensor) TimedMovementSensorReading

func (ms *MovementSensor) TimedMovementSensorReading(ctx context.Context) (TimedMovementSensorReadingResponse, error)

TimedMovementSensorReading returns data from the movement sensor and the time the reading is from & whether it was a replay sensor or not.

type MovementSensorProperties

type MovementSensorProperties struct {
	IMUSupported      bool
	OdometerSupported bool
}

MovementSensorProperties contains information whether or not an IMU and/or odometer are supported.

type TestSensor

type TestSensor string

TestSensor represents sensors used for testing.

const (
	// InvalidSensorTestErrMsg represents an error message that indicates that the sensor is invalid.
	InvalidSensorTestErrMsg = "invalid test sensor"

	// GoodLidar is a lidar that works as expected and returns a pointcloud.
	GoodLidar TestSensor = "good_lidar"
	// WarmingUpLidar is a lidar whose NextPointCloud function returns a "warming up" error.
	WarmingUpLidar TestSensor = "warming_up_lidar"
	// LidarWithErroringFunctions is a lidar whose functions return errors.
	LidarWithErroringFunctions TestSensor = "lidar_with_erroring_functions"
	// LidarWithInvalidProperties is a lidar whose properties are invalid.
	LidarWithInvalidProperties TestSensor = "lidar_with_invalid_properties"
	// GibberishLidar is a lidar that can't be found in the dependencies.
	GibberishLidar TestSensor = "gibberish_lidar"
	// NoLidar is a lidar that represents that no lidar is set up or added.
	NoLidar TestSensor = ""

	// ReplayLidar is a lidar that works as expected and returns a pointcloud.
	ReplayLidar TestSensor = "replay_lidar"
	// InvalidReplayLidar is a lidar whose meta timestamp is invalid.
	InvalidReplayLidar TestSensor = "invalid_replay_lidar"
	// FinishedReplayLidar is a lidar whose NextPointCloud function returns an end of dataset error.
	FinishedReplayLidar TestSensor = "finished_replay_lidar"

	// GoodIMU is an IMU that works as expected and returns linear acceleration and angular velocity values.
	GoodIMU TestSensor = "good_imu"
	// IMUWithErroringFunctions is an IMU whose functions return errors.
	IMUWithErroringFunctions TestSensor = "imu_with_erroring_functions"

	// ReplayIMU is an IMU that works as expected and returns linear acceleration and angular velocity values.
	ReplayIMU TestSensor = "replay_imu"
	// InvalidReplayIMU is an IMU whose meta timestamp is invalid.
	InvalidReplayIMU TestSensor = "invalid_replay_imu"
	// FinishedReplayIMU is an IMU whose LinearAcceleration and AngularVelocity functions return an end of
	// dataset error.
	FinishedReplayIMU TestSensor = "finished_replay_imu"

	// GoodOdometer is an odometer that works as expected and returns position and orientation values.
	GoodOdometer TestSensor = "good_odometer"
	// OdometerWithErroringFunctions is an Odometer whose functions return errors.
	OdometerWithErroringFunctions TestSensor = "odometer_with_erroring_functions"

	// ReplayOdometer is an odometer that works as expected and returns position and orientation values.
	ReplayOdometer TestSensor = "replay_odometer"
	// InvalidReplayOdometer is an odometer whose meta timestamp is invalid.
	InvalidReplayOdometer TestSensor = "invalid_replay_odometer"
	// FinishedReplayOdometer is an odometer whose Position and Orientation functions return an end of
	// dataset error.
	FinishedReplayOdometer TestSensor = "finished_replay_odometer"

	// MovementSensorNotIMUNotOdometer is a movement sensor that does neither support an IMU nor an odometer.
	MovementSensorNotIMUNotOdometer TestSensor = "movement_sensor_not_imu_not_odometer"
	// GoodMovementSensorBothIMUAndOdometer is a movement sensor that supports both an IMU nor an odometer.
	GoodMovementSensorBothIMUAndOdometer TestSensor = "good_movement_sensor_imu_and_odometer"
	// MovementSensorBothIMUAndOdometerWithErroringFunctions is a movement sensor whose functions return errors.
	MovementSensorBothIMUAndOdometerWithErroringFunctions TestSensor = "movement_sensor_imu_and_odometer_with_erroring_functions"
	// MovementSensorWithErroringPropertiesFunc is a movement sensor whose Properties function returns an error.
	MovementSensorWithErroringPropertiesFunc TestSensor = "movement_sensor_with_erroring_properties_function"
	// MovementSensorWithInvalidProperties is a movement sensor whose properties are invalid.
	MovementSensorWithInvalidProperties TestSensor = "movement_sensor_with_invalid_properties"
	// GibberishMovementSensor is a movement sensor that can't be found in the dependencies.
	GibberishMovementSensor TestSensor = "gibberish_movement_sensor"
	// NoMovementSensor is a movement sensor that represents that no movement sensor is set up or added.
	NoMovementSensor TestSensor = ""

	// ReplayMovementSensorBothIMUAndOdometer is a replay movement sensor that supports both an IMU nor an odometer.
	ReplayMovementSensorBothIMUAndOdometer TestSensor = "replay_movement_sensor_imu_and_odometer"
	// InvalidReplayMovementSensorBothIMUAndOdometer is a replay movement sensor that supports both an IMU nor an odometer.
	InvalidReplayMovementSensorBothIMUAndOdometer TestSensor = "invalid_replay_movement_sensor_imu_and_odometer"
	// FinishedReplayMovementSensor is a movement sensor whose LinearAcceleration, AngularVelocity, Position, and Orientation
	//  functions return an end of dataset error.
	FinishedReplayMovementSensor TestSensor = "finished_replay_movement_sensor"
)

type TimedIMUReadingResponse

type TimedIMUReadingResponse struct {
	AngularVelocity    spatialmath.AngularVelocity // We set the values in radians/s instead of deg/s
	LinearAcceleration r3.Vector
	ReadingTime        time.Time
}

TimedIMUReadingResponse represents an IMU sensor reading with a time.

type TimedLidar

type TimedLidar interface {
	Name() string
	DataFrequencyHz() int
	TimedLidarReading(ctx context.Context) (TimedLidarReadingResponse, error)
}

TimedLidar describes a sensor that reports the time the reading is from & whether or not it is rom a replay sensor.

func NewLidar

func NewLidar(
	ctx context.Context,
	deps resource.Dependencies,
	cameraName string,
	dataFrequencyHz int,
	logger logging.Logger,
) (TimedLidar, error)

NewLidar returns a new Lidar.

type TimedLidarReadingResponse

type TimedLidarReadingResponse struct {
	Reading            []byte
	ReadingTime        time.Time
	TestIsReplaySensor bool
}

TimedLidarReadingResponse represents a lidar reading with a time & allows the caller to know if the reading is from a replay camera.

type TimedMovementSensor

type TimedMovementSensor interface {
	Name() string
	DataFrequencyHz() int
	TimedMovementSensorReading(ctx context.Context) (TimedMovementSensorReadingResponse, error)
	Properties() MovementSensorProperties
}

TimedMovementSensor describes a sensor that reports the time the reading is from & whether or not it is from a replay sensor.

func NewMovementSensor

func NewMovementSensor(
	ctx context.Context,
	deps resource.Dependencies,
	movementSensorName string,
	dataFrequencyHz int,
	logger logging.Logger,
) (TimedMovementSensor, error)

NewMovementSensor returns a new movement sensor.

type TimedMovementSensorReadingResponse

type TimedMovementSensorReadingResponse struct {
	TimedIMUResponse      *TimedIMUReadingResponse
	TimedOdometerResponse *TimedOdometerReadingResponse
	TestIsReplaySensor    bool
}

TimedMovementSensorReadingResponse contains IMU and odometer sensor reading responses as well as information about whether or not the readings are from a replay movement sensor.

type TimedOdometerReadingResponse

type TimedOdometerReadingResponse struct {
	Position    *geo.Point
	Orientation spatialmath.Orientation
	ReadingTime time.Time
}

TimedOdometerReadingResponse represents an odometer sensor reading with a time.