Usage

Output

This service produces a distance stream, containing an output value from the sensor in meters. It is contained in DistanceSensorOutput within a SensorOutput_DistanceOutput object. Code responsible for writing this object can be seen below:

err = writeStream.Write(
    &pb_outputs.SensorOutput{
        SensorId:  2,
        Status: 0,
        Timestamp: uint64(time.Now().UnixMilli()),
        SensorOutput: &pb_outputs.SensorOutput_DistanceOutput{
            DistanceOutput: &pb_outputs.DistanceSensorOutput{
                Distance: float32(distance) / 100.0,
            },
        },
    },
)

Implementation Details

We have implemented the communication with the URM09 sensor directly in Go which can be found under src/urm09.go. It thus does not deppend on any 3rd party drivers.