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RSDK-1024-linear-acceleration #1721

Merged
merged 25 commits into from
Jan 5, 2023
Merged

RSDK-1024-linear-acceleration #1721

merged 25 commits into from
Jan 5, 2023

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susmitaSanyal
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Adding linear acceleration to movementsensor

@viambot viambot added the safe to test This pull request is marked safe to test from a trusted zone label Dec 29, 2022
penguinland
penguinland requested changes Jan 3, 2023
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My 6 comments are really, like, 3 suggestions repeated twice each.

For sensors that implement the new method and don't just return an Unimplemented error, you should also modify Properties() to indicate that they support it.

When you're ready to try this out on actual hardware, I'd be happy to lend you a breadboard with ADXL and MPU accelerometers wired up (or maybe you already have your own).

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@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 3, 2023
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I just realized that no one was tagged as a reviewer yet on this! Sorry if I jumped the gun and you weren't ready for a review yet. 😖

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 3, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 3, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 3, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 3, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 3, 2023
@susmitaSanyal susmitaSanyal requested a review from randhid January 3, 2023 22:46
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 4, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 4, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 4, 2023
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Will handle vue changes in a separate PR.

penguinland
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Oops! Sorry I forgot about this part before! Now that you've added a new boolean to movementsensor.Properties, we need to set it for the sensors that support it.

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penguinland
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The ADXL and MPU sensors still need their Properties updated.

The rule is that if you do something besides returning movementsensor.ErrMethodUnimplementedLinearVelocity, that's when you support linear acceleration.

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@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 4, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 4, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 4, 2023
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Code Coverage

Package Line Rate Delta Health
go.viam.com/rdk/components/arm 56% 0.00% ➖
go.viam.com/rdk/components/arm/universalrobots 41% 0.00% ❌
go.viam.com/rdk/components/arm/xarm 2% 0.00% ❌
go.viam.com/rdk/components/arm/yahboom 7% 0.00% ❌
go.viam.com/rdk/components/audioinput 55% 0.00% ➖
go.viam.com/rdk/components/base 63% 0.00% ➖
go.viam.com/rdk/components/base/agilex 62% 0.00% ➖
go.viam.com/rdk/components/base/boat 41% 0.00% ❌
go.viam.com/rdk/components/base/wheeled 76% 0.00% ✅
go.viam.com/rdk/components/board 68% 0.00% ➖
go.viam.com/rdk/components/board/arduino 10% 0.00% ❌
go.viam.com/rdk/components/board/commonsysfs 47% 0.00% ❌
go.viam.com/rdk/components/board/fake 38% 0.00% ❌
go.viam.com/rdk/components/board/numato 19% 0.00% ❌
go.viam.com/rdk/components/board/pi 50% 0.00% ➖
go.viam.com/rdk/components/camera 65% 0.00% ➖
go.viam.com/rdk/components/camera/align 63% 0.00% ➖
go.viam.com/rdk/components/camera/fake 67% 0.00% ➖
go.viam.com/rdk/components/camera/ffmpeg 77% 0.00% ✅
go.viam.com/rdk/components/camera/transformpipeline 77% -1.00% ✅
go.viam.com/rdk/components/camera/videosource 50% -0.21% ❌
go.viam.com/rdk/components/encoder/fake 77% 0.00% ✅
go.viam.com/rdk/components/gantry 60% 0.00% ➖
go.viam.com/rdk/components/gantry/multiaxis 84% 0.00% ✅
go.viam.com/rdk/components/gantry/oneaxis 86% 0.00% ✅
go.viam.com/rdk/components/generic 83% 0.00% ✅
go.viam.com/rdk/components/gripper 68% 0.00% ➖
go.viam.com/rdk/components/input 87% 0.00% ✅
go.viam.com/rdk/components/input/gpio 84% 0.00% ✅
go.viam.com/rdk/components/motor 77% 0.00% ✅
go.viam.com/rdk/components/motor/dimensionengineering 63% 0.00% ➖
go.viam.com/rdk/components/motor/dmc4000 69% 0.00% ➖
go.viam.com/rdk/components/motor/fake 57% 0.00% ➖
go.viam.com/rdk/components/motor/gpio 64% 0.00% ➖
go.viam.com/rdk/components/motor/gpiostepper 57% 0.00% ➖
go.viam.com/rdk/components/motor/tmcstepper 62% 0.00% ➖
go.viam.com/rdk/components/movementsensor 75% -0.30% ✅
go.viam.com/rdk/components/movementsensor/cameramono 40% +0.58% ❌
go.viam.com/rdk/components/movementsensor/gpsnmea 36% -0.68% ❌
go.viam.com/rdk/components/movementsensor/gpsrtk 28% -0.13% ❌
go.viam.com/rdk/components/posetracker 86% 0.00% ✅
go.viam.com/rdk/components/sensor 86% 0.00% ✅
go.viam.com/rdk/components/sensor/ultrasonic 34% 0.00% ❌
go.viam.com/rdk/components/servo 68% 0.00% ➖
go.viam.com/rdk/components/servo/gpio 71% 0.00% ✅
go.viam.com/rdk/config 76% 0.00% ✅
go.viam.com/rdk/control 57% 0.00% ➖
go.viam.com/rdk/data 79% 0.00% ✅
go.viam.com/rdk/examples/customresources/demos/complexmodule 0% 0.00% ❌
go.viam.com/rdk/examples/customresources/demos/remoteserver 0% 0.00% ❌
go.viam.com/rdk/grpc 25% 0.00% ❌
go.viam.com/rdk/ml 67% 0.00% ➖
go.viam.com/rdk/ml/inference 70% 0.00% ✅
go.viam.com/rdk/module 64% 0.00% ➖
go.viam.com/rdk/module/modmanager 79% 0.00% ✅
go.viam.com/rdk/motionplan 71% +11.40% ✅
go.viam.com/rdk/octree 98% 0.00% ✅
go.viam.com/rdk/operation 82% 0.00% ✅
go.viam.com/rdk/pointcloud 71% 0.00% ✅
go.viam.com/rdk/protoutils 59% 0.00% ➖
go.viam.com/rdk/referenceframe 70% 0.00% ✅
go.viam.com/rdk/registry 89% 0.00% ✅
go.viam.com/rdk/resource 84% 0.00% ✅
go.viam.com/rdk/rimage 78% 0.00% ✅
go.viam.com/rdk/rimage/depthadapter 94% 0.00% ✅
go.viam.com/rdk/rimage/transform 73% 0.00% ✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration 67% 0.00% ➖
go.viam.com/rdk/robot 85% 0.00% ✅
go.viam.com/rdk/robot/client 82% 0.00% ✅
go.viam.com/rdk/robot/framesystem 68% 0.00% ➖
go.viam.com/rdk/robot/impl 81% 0.00% ✅
go.viam.com/rdk/robot/server 59% 0.00% ➖
go.viam.com/rdk/robot/web 62% 0.00% ➖
go.viam.com/rdk/robot/web/stream 87% 0.00% ✅
go.viam.com/rdk/services/armremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/armremotecontrol/builtin 52% 0.00% ➖
go.viam.com/rdk/services/baseremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/baseremotecontrol/builtin 79% 0.00% ✅
go.viam.com/rdk/services/datamanager 79% 0.00% ✅
go.viam.com/rdk/services/datamanager/builtin 78% 0.00% ✅
go.viam.com/rdk/services/datamanager/datacapture 70% 0.00% ✅
go.viam.com/rdk/services/datamanager/datasync 0% 0.00% ❌
go.viam.com/rdk/services/motion 63% 0.00% ➖
go.viam.com/rdk/services/motion/builtin 88% 0.00% ✅
go.viam.com/rdk/services/navigation 53% 0.00% ➖
go.viam.com/rdk/services/sensors 77% 0.00% ✅
go.viam.com/rdk/services/sensors/builtin 97% 0.00% ✅
go.viam.com/rdk/services/shell 14% 0.00% ❌
go.viam.com/rdk/services/slam 84% 0.00% ✅
go.viam.com/rdk/services/slam/builtin 73% 0.00% ✅
go.viam.com/rdk/services/vision 80% 0.00% ✅
go.viam.com/rdk/services/vision/builtin 74% 0.00% ✅
go.viam.com/rdk/session 97% 0.00% ✅
go.viam.com/rdk/spatialmath 83% 0.00% ✅
go.viam.com/rdk/subtype 92% 0.00% ✅
go.viam.com/rdk/utils 72% 0.00% ✅
go.viam.com/rdk/vision 26% 0.00% ❌
go.viam.com/rdk/vision/chess 80% 0.00% ✅
go.viam.com/rdk/vision/delaunay 87% 0.00% ✅
go.viam.com/rdk/vision/keypoints 92% 0.00% ✅
go.viam.com/rdk/vision/objectdetection 82% 0.00% ✅
go.viam.com/rdk/vision/odometry 60% 0.00% ➖
go.viam.com/rdk/vision/odometry/cmd 0% 0.00% ❌
go.viam.com/rdk/vision/segmentation 49% 0.00% ❌
go.viam.com/rdk/web/server 25% 0.00% ❌
Summary 66% (20962 / 31655) +0.68% ➖

@susmitaSanyal susmitaSanyal merged commit 4d62c01 into main Jan 5, 2023
@edaniels edaniels deleted the RSDK-1024-linear-acceleration branch January 9, 2023 15:48
@bazile-clyde bazile-clyde mentioned this pull request Feb 7, 2023
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@randhid randhid randhid approved these changes

@gvaradarajan gvaradarajan gvaradarajan approved these changes

@penguinland penguinland penguinland approved these changes

@npmenard npmenard Awaiting requested review from npmenard

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@susmitaSanyal @penguinland @randhid @gvaradarajan @viambot