Rsdk-2806: Movement sensor distance to meters (viamrobotics#2275)

components/movementsensor/adxl345/adxl345.go

@@ -478,8 +478,8 @@ func toLinearAcceleration(data []byte) r3.Vector {
 	y := int(rutils.Int16FromBytesLE(data[2:4]))
 	z := int(rutils.Int16FromBytesLE(data[4:6]))
 
-	// The default scale is +/- 2G's, but our units should be mm/sec/sec.
-	maxAcceleration := 2.0 * 9.81 /* m/sec/sec */ * 1000.0 /* mm/m */
+	// The default scale is +/- 2G's, but our units should be m/sec/sec.
+	maxAcceleration := 2.0 * 9.81 /* m/sec/sec */
 	return r3.Vector{
 		X: setScale(x, maxAcceleration),
 		Y: setScale(y, maxAcceleration),

components/movementsensor/client.go

@@ -55,7 +55,7 @@ func (c *client) Position(ctx context.Context, extra map[string]interface{}) (*g
 		return nil, 0, err
 	}
 	return geo.NewPoint(resp.Coordinate.Latitude, resp.Coordinate.Longitude),
-		float64(resp.AltitudeMm),
+		float64(resp.AltitudeM),
 		nil
 }
 
@@ -151,7 +151,7 @@ func (c *client) Accuracy(ctx context.Context, extra map[string]interface{}) (ma
 	if err != nil {
 		return nil, err
 	}
-	return resp.AccuracyMm, nil
+	return resp.Accuracy, nil
 }
 
 func (c *client) Properties(ctx context.Context, extra map[string]interface{}) (*Properties, error) {

components/movementsensor/gpsnmea/nmeaParser.go

@@ -11,14 +11,14 @@ import (
 )
 
 const (
-	knotsToMmPerSec = 514.44
-	kphToMmPerSec   = 277.78
+	knotsToMPerSec = 0.51444
+	kphToMPerSec   = 0.27778
 )
 
 type gpsData struct {
 	location   *geo.Point
 	alt        float64
-	speed      float64 // ground speed in mm per sec
+	speed      float64 // ground speed in m per sec
 	vDOP       float64 // vertical accuracy
 	hDOP       float64 // horizontal accuracy
 	satsInView int     // quantity satellites in view
@@ -60,7 +60,7 @@ func (g *gpsData) parseAndUpdate(line string) error {
 			errs = multierr.Combine(errs, errInvalidFix(rmc.Type, rmc.Validity, "A"))
 		}
 		if g.valid {
-			g.speed = rmc.Speed * knotsToMmPerSec
+			g.speed = rmc.Speed * knotsToMPerSec
 			g.location = geo.NewPoint(rmc.Latitude, rmc.Longitude)
 		}
 	} else if gsa, ok := s.(nmea.GSA); ok {
@@ -105,7 +105,7 @@ func (g *gpsData) parseAndUpdate(line string) error {
 		g.location = now
 	} else if vtg, ok := s.(nmea.VTG); ok {
 		// VTG provides ground speed
-		g.speed = vtg.GroundSpeedKPH * kphToMmPerSec
+		g.speed = vtg.GroundSpeedKPH * kphToMPerSec
 	} else if gns, ok := s.(nmea.GNS); ok {
 		// GNS Provides approximately the same information as GGA
 		for _, mode := range gns.Mode {

components/movementsensor/gpsnmea/nmeaParser_test.go

@@ -30,13 +30,13 @@ func TestParsing(t *testing.T) {
 	nmeaSentence = "$GNVTG,176.25,T,,M,0.13,N,0.25,K,A*21"
 	err = data.parseAndUpdate(nmeaSentence)
 	test.That(t, err, test.ShouldBeNil)
-	test.That(t, data.speed, test.ShouldEqual, 69.445)
+	test.That(t, data.speed, test.ShouldEqual, 0.069445)
 
 	// Test RMC, should update speed and position
 	nmeaSentence = "$GNRMC,191352.000,A,4503.4656,N,13118.7951,W,0.04,90.29,011021,,,A*59"
 	err = data.parseAndUpdate(nmeaSentence)
 	test.That(t, err, test.ShouldBeNil)
-	test.That(t, data.speed, test.ShouldAlmostEqual, 20.5776)
+	test.That(t, data.speed, test.ShouldAlmostEqual, 0.0205776)
 	test.That(t, data.location.Lat(), test.ShouldAlmostEqual, 45.05776, 0.001)
 	test.That(t, data.location.Lng(), test.ShouldAlmostEqual, -131.31325, 0.001)
 

components/movementsensor/movementsensor.go

@@ -73,14 +73,14 @@ func Named(name string) resource.Name {
 // A MovementSensor reports information about the robot's direction, position and speed.
 type MovementSensor interface {
 	sensor.Sensor
-	Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error)                // (lat, long), altitude (mm)
-	LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)                    // mm / sec
-	AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error) // radians / sec
+	Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error)                // (lat, long), altitude (m)
+	LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)                    // m / sec
+	AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error) // deg / sec
 	LinearAcceleration(ctx context.Context, extra map[string]interface{}) (r3.Vector, error)
 	CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error) // [0->360)
 	Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error)
 	Properties(ctx context.Context, extra map[string]interface{}) (*Properties, error)
-	Accuracy(ctx context.Context, extra map[string]interface{}) (map[string]float32, error) // in mm
+	Accuracy(ctx context.Context, extra map[string]interface{}) (map[string]float32, error)
 }
 
 // FromDependencies is a helper for getting the named movementsensor from a collection of

components/movementsensor/mpu6050/mpu6050.go

@@ -276,8 +276,8 @@ func toLinearAcceleration(data []byte) r3.Vector {
 	y := int(rutils.Int16FromBytesBE(data[2:4]))
 	z := int(rutils.Int16FromBytesBE(data[4:6]))
 
-	// The scale is +/- 2G's, but our units should be mm/sec/sec.
-	maxAcceleration := 2.0 * 9.81 /* m/sec/sec */ * 1000.0 /* mm/m */
+	// The scale is +/- 2G's, but our units should be m/sec/sec.
+	maxAcceleration := 2.0 * 9.81 /* m/sec/sec */
 	return r3.Vector{
 		X: setScale(x, maxAcceleration),
 		Y: setScale(y, maxAcceleration),

components/movementsensor/mpu6050/mpu6050_test.go

@@ -226,15 +226,15 @@ func TestLinearAcceleration(t *testing.T) {
 	// x-accel
 	linearAccelMockData[0] = 64
 	linearAccelMockData[1] = 0
-	expectedAccelX := 9810.0
+	expectedAccelX := 9.81
 	// y-accel
 	linearAccelMockData[2] = 32
 	linearAccelMockData[3] = 0
-	expectedAccelY := 4905.0
+	expectedAccelY := 4.905
 	// z-accel
 	linearAccelMockData[4] = 16
 	linearAccelMockData[5] = 0
-	expectedAccelZ := 2452.5
+	expectedAccelZ := 2.4525
 
 	logger := golog.NewTestLogger(t)
 	cfg, deps := setupDependencies(linearAccelMockData)

components/movementsensor/server.go

@@ -35,7 +35,7 @@ func (s *serviceServer) GetPosition(
 	}
 	return &pb.GetPositionResponse{
 		Coordinate: &commonpb.GeoPoint{Latitude: loc.Lat(), Longitude: loc.Lng()},
-		AltitudeMm: float32(altitide),
+		AltitudeM:  float32(altitide),
 	}, nil
 }
 
@@ -128,7 +128,7 @@ func (s *serviceServer) GetAccuracy(
 		return nil, err
 	}
 	acc, err := msDevice.Accuracy(ctx, req.Extra.AsMap())
-	return &pb.GetAccuracyResponse{AccuracyMm: acc}, err
+	return &pb.GetAccuracyResponse{Accuracy: acc}, err
 }
 
 func (s *serviceServer) GetLinearAcceleration(

components/movementsensor/server_test.go

@@ -51,7 +51,7 @@ func TestServer(t *testing.T) {
 		resp, err := gpsServer.GetPosition(context.Background(), &pb.GetPositionRequest{Name: testMovementSensorName, Extra: ext})
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, resp.Coordinate, test.ShouldResemble, &commonpb.GeoPoint{Latitude: loc.Lat(), Longitude: loc.Lng()})
-		test.That(t, resp.AltitudeMm, test.ShouldEqual, alt)
+		test.That(t, resp.AltitudeM, test.ShouldEqual, alt)
 		test.That(t, injectMovementSensor.PositionFuncExtraCap, test.ShouldResemble, map[string]interface{}{"foo": "bar"})
 
 		_, err = gpsServer.GetPosition(context.Background(), &pb.GetPositionRequest{Name: failMovementSensorName})
@@ -201,7 +201,7 @@ func TestServer(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 		resp, err := gpsServer.GetAccuracy(context.Background(), &pb.GetAccuracyRequest{Name: testMovementSensorName, Extra: ext})
 		test.That(t, err, test.ShouldBeNil)
-		test.That(t, resp.AccuracyMm, test.ShouldResemble, acc)
+		test.That(t, resp.Accuracy, test.ShouldResemble, acc)
 		test.That(t, injectMovementSensor.AccuracyFuncExtraCap, test.ShouldResemble, map[string]interface{}{"foo": "bar"})
 
 		_, err = gpsServer.GetAccuracy(context.Background(), &pb.GetAccuracyRequest{Name: failMovementSensorName})

go.mod

@@ -81,7 +81,7 @@ require (
 	go.uber.org/atomic v1.10.0
 	go.uber.org/multierr v1.11.0
 	go.uber.org/zap v1.24.0
-	go.viam.com/api v0.1.115
+	go.viam.com/api v0.1.116
 	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2
 	go.viam.com/utils v0.1.20-0.20230424163529-ce35a14fc60f
 	goji.io v2.0.2+incompatible

go.sum

@@ -1565,8 +1565,8 @@ go.uber.org/zap v1.18.1/go.mod h1:xg/QME4nWcxGxrpdeYfq7UvYrLh66cuVKdrbD1XF/NI=
 go.uber.org/zap v1.23.0/go.mod h1:D+nX8jyLsMHMYrln8A0rJjFt/T/9/bGgIhAqxv5URuY=
 go.uber.org/zap v1.24.0 h1:FiJd5l1UOLj0wCgbSE0rwwXHzEdAZS6hiiSnxJN/D60=
 go.uber.org/zap v1.24.0/go.mod h1:2kMP+WWQ8aoFoedH3T2sq6iJ2yDWpHbP0f6MQbS9Gkg=
-go.viam.com/api v0.1.115 h1:IxAYIeqmXa50rDoxzYJFFgnnahvkUw+IZSPrG12NLEM=
-go.viam.com/api v0.1.115/go.mod h1:NQC9FZnerAfIPJLJ42vgzQMoe1WAQRuVoQEf1JauxtQ=
+go.viam.com/api v0.1.116 h1:SCbdbupYffojulWFcVfNjXXxqvPm0czytfCg4H2ZbE0=
+go.viam.com/api v0.1.116/go.mod h1:NQC9FZnerAfIPJLJ42vgzQMoe1WAQRuVoQEf1JauxtQ=
 go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 h1:oBiK580EnEIzgFLU4lHOXmGAE3MxnVbeR7s1wp/F3Ps=
 go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2/go.mod h1:XM0tej6riszsiNLT16uoyq1YjuYPWlRBweTPRDanIts=
 go.viam.com/utils v0.1.20-0.20230424163529-ce35a14fc60f h1:wvJ/Au+UfSgXRj9RgoapLGYK/ZLj2pSKbq6DbPw3tqM=

web/frontend/package.json

@@ -14,7 +14,7 @@
     }
   },
   "peerDependencies": {
-    "@viamrobotics/sdk": "0.0.44"
+    "@viamrobotics/sdk": "^0.0.47"
   },
   "dependencies": {
     "@fontsource/space-mono": "^4.5.12",
@@ -33,7 +33,7 @@
     "@types/google.maps": "^3.52.4",
     "@types/three": "^0.150.1",
     "@typescript-eslint/eslint-plugin": "^5.57.1",
-    "@viamrobotics/sdk": "0.0.44",
+    "@viamrobotics/sdk": "^0.0.47",
     "@vitejs/plugin-vue": "^4.1.0",
     "cypress": "^10.10.0",
     "eslint": "^8.37.0",
@@ -68,4 +68,4 @@
     "cypress": "cypress open",
     "test:unit": "echo \"no tests exist yet\""
   }
-}
+}

web/frontend/src/components/movement-sensor.vue

@@ -18,7 +18,7 @@ let linearVelocity = $ref<commonApi.Vector3.AsObject | undefined>();
 let linearAcceleration = $ref<commonApi.Vector3.AsObject | undefined>();
 let compassHeading = $ref<number | undefined>();
 let coordinate = $ref<commonApi.GeoPoint.AsObject | undefined>();
-let altitudeMm = $ref<number | undefined>();
+let altitudeM = $ref<number | undefined>();
 let properties = $ref<movementsensorApi.GetPropertiesResponse.AsObject | undefined>();
 
 let refreshId = -1;
@@ -151,7 +151,7 @@ const refresh = async () => {
 
         const temp = resp!.toObject();
         coordinate = temp.coordinate;
-        altitudeMm = temp.altitudeMm;
+        altitudeM = temp.altitudeM;
       }
     );
   }
@@ -206,10 +206,10 @@ onUnmounted(() => {
             </tr>
             <tr>
               <th class="border-border-1 border p-2">
-                Altitide
+                Altitide (m)
               </th>
               <td class="border-border-1 border p-2">
-                {{ altitudeMm?.toFixed(2) }}
+                {{ altitudeM?.toFixed(2) }}
               </td>
             </tr>
           </table>
@@ -304,7 +304,7 @@ onUnmounted(() => {
           class="overflow-auto"
         >
           <h3 class="mb-1">
-            Linear Velocity
+            Linear Velocity (m/s)
           </h3>
           <table class="border-border-1 w-full border border-t-0 p-4">
             <tr>
@@ -339,7 +339,7 @@ onUnmounted(() => {
           class="overflow-auto"
         >
           <h3 class="mb-1">
-            Linear Acceleration (mm/second^2)
+            Linear Acceleration (m/second^2)
           </h3>
           <table class="border-border-1 w-full border border-t-0 p-4">
             <tr>