add driver code

.canon.yaml

@@ -1,5 +1,5 @@
 # This file provides project-level configuration for the canon dev environment utility. https://github.com/viamrobotics/canon
-MODULE:
+wit-motion:
     default: true
     image_amd64: ghcr.io/viamrobotics/rdk-devenv:amd64-cache
     image_arm64: ghcr.io/viamrobotics/rdk-devenv:arm64-cache
@@ -9,7 +9,7 @@ MODULE:
     group: testbot
     persistent: true
 
-MODULE-antique:
+wit-motion-antique:
     image_amd64: ghcr.io/viamrobotics/antique2:amd64-cache
     image_arm64: ghcr.io/viamrobotics/antique2:arm64-cache
     minimum_date: 2023-10-26T20:00:00.0Z

.github/workflows/pr-labeler.yml

@@ -21,14 +21,14 @@ jobs:
           script: |
             let prNumber = context.payload.pull_request && context.payload.pull_request.number;
             try {
-              await github.rest.issues.removeLabel({owner: "viam-modules", repo: "MODULE", issue_number: prNumber, name: "safe to test"});
+              await github.rest.issues.removeLabel({owner: "viam-modules", repo: "wit-motion", issue_number: prNumber, name: "safe to test"});
             } catch (err) {
               core.info(`Non-fatal error ${err}, while trying to remove 'safe to test' label.`);
             }
             let orgResp = await github.rest.orgs.checkMembershipForUser({org: "viam-modules", username: context.payload.sender.login});
             if (orgResp.status === 204) {
               // order of labeling events must be preserved, so two seperate calls
-              await github.rest.issues.addLabels({owner: "viam-modules", repo: "MODULE", issue_number: prNumber, labels: ["safe to test"]});
+              await github.rest.issues.addLabels({owner: "viam-modules", repo: "wit-motion", issue_number: prNumber, labels: ["safe to test"]});
               return true;
             }
             return false;

.github/workflows/pullrequest-trusted.yml

@@ -12,10 +12,10 @@ on:
 jobs:
   test:
     if: (github.event.label.name == 'safe to test' || github.event.label.name == 'appimage')
-    uses: viam-modules/MODULE/.github/workflows/test.yml@main
+    uses: viam-modules/wit-motion/.github/workflows/test.yml@main
     secrets:
       MONGODB_TEST_OUTPUT_URI: ${{ secrets.MONGODB_TEST_OUTPUT_URI }}
       DOCKER_PUBLIC_READONLY_PAT: ${{ secrets.DOCKER_PUBLIC_READONLY_PAT }}
 
   license_finder:
-    uses: viam-modules/MODULE/.github/workflows/license_finder.yml@main
+    uses: viam-modules/wit-motion/.github/workflows/license_finder.yml@main

.github/workflows/release.yml

@@ -46,10 +46,10 @@ jobs:
 
     - name: Build and package
       run: |
-        canon --profile MODULE
+        canon --profile wit-motion
         TARGET_OS=${{ matrix.platform }} TARGET_ARCH=${{ matrix.arch }} make module
 
-    - name: Upload MODULE module to registry
+    - name: Upload wit-motion module to registry
       uses: viamrobotics/upload-module@main
       with:
         meta-path: meta.json

Makefile

@@ -9,13 +9,13 @@ endif
 
 module: build
 	rm -f $(BIN_OUTPUT_PATH)/module.tar.gz
-	tar czf $(BIN_OUTPUT_PATH)/module.tar.gz $(BIN_OUTPUT_PATH)/MODULE meta.json
+	tar czf $(BIN_OUTPUT_PATH)/module.tar.gz $(BIN_OUTPUT_PATH)/wit-motion meta.json
 
 build: build-go
 
 build-go:
-	rm -f $(BIN_OUTPUT_PATH)/MODULE
-	go build -tags no_cgo,osusergo,netgo -ldflags="-extldflags=-static $(COMMON_LDFLAGS)"  -o $(BIN_OUTPUT_PATH)/MODULE main.go
+	rm -f $(BIN_OUTPUT_PATH)/wit-motion
+	go build -tags no_cgo,osusergo,netgo -ldflags="-extldflags=-static $(COMMON_LDFLAGS)"  -o $(BIN_OUTPUT_PATH)/wit-motion main.go
 
 tool-install:
 	GOBIN=`pwd`/$(TOOL_BIN) go install \

README.md

@@ -1,16 +1,16 @@
-# [`MODULE` module](https://github.com/viam-modules/MODULE)
+# [`wit-motion` module](https://github.com/viam-modules/wit-motion)
 
-This [MODULE module](https://app.viam.com/module/viam/MODULE) implements a MODULE [MODEL COMPONENT](<LINK TO HARDWARE>), used for <DESCRIPTION> using the [`rdk:component:COMPONENT` API](https://docs.viam.com/appendix/apis/components/COMPONENT/).
+This [wit-motion module](https://app.viam.com/module/viam/wit-motion) implements a wit-motion [imu-wit movement_sensor](<LINK TO HARDWARE>), used for <DESCRIPTION> using the [`rdk:component:movement_sensor` API](https://docs.viam.com/appendix/apis/components/movement_sensor/).
 
 > [!NOTE]
-> Before configuring your COMPONENT, you must [create a machine](https://docs.viam.com/cloud/machines/#add-a-new-machine).
+> Before configuring your movement_sensor, you must [create a machine](https://docs.viam.com/cloud/machines/#add-a-new-machine).
 
-## Configure your MODEL COMPONENT
+## Configure your imu-wit movement_sensor
 
 Navigate to the [**CONFIGURE** tab](https://docs.viam.com/configure/) of your [machine](https://docs.viam.com/fleet/machines/) in the [Viam app](https://app.viam.com/).
-[Add COMPONENT / MODULE:MODEL to your machine](https://docs.viam.com/configure/#components).
+[Add movement_sensor / wit-motion:imu-wit to your machine](https://docs.viam.com/configure/#components).
 
-On the new component panel, copy and paste the following attribute template into your COMPONENT's attributes field:
+On the new component panel, copy and paste the following attribute template into your movement_sensor's attributes field:
 
 ```json
 {
@@ -20,22 +20,22 @@ On the new component panel, copy and paste the following attribute template into
 
 ### Attributes
 
-The following attributes are available for `viam:MODULE:MODEL` COMPONENTs:
+The following attributes are available for `viam:wit-motion:imu-wit` movement_sensors:
 
 <EXAMPLE !!>
 | Attribute | Type | Required? | Description |
 | --------- | ---- | --------- | ----------  |
-| `i2c_bus` | string | **Required** | The index of the I<sup>2</sup>C bus on the board that the COMPONENT is wired to. |
-| `i2c_address` | string | Optional | Default: `0x77`. The [I<sup>2</sup>C device address](https://learn.adafruit.com/i2c-addresses/overview) of the COMPONENT. |
+| `i2c_bus` | string | **Required** | The index of the I<sup>2</sup>C bus on the board that the movement_sensor is wired to. |
+| `i2c_address` | string | Optional | Default: `0x77`. The [I<sup>2</sup>C device address](https://learn.adafruit.com/i2c-addresses/overview) of the movement_sensor. |
 
 ## Example configuration
 
-### `viam:MODULE:MODEL`
+### `viam:wit-motion:imu-wit`
 ```json
   {
-      "name": "<your-MODULE-MODEL-COMPONENT-name>",
-      "model": "viam:MODULE:MODEL",
-      "type": "COMPONENT",
+      "name": "<your-wit-motion-imu-wit-movement_sensor-name>",
+      "model": "viam:wit-motion:imu-wit",
+      "type": "movement_sensor",
       "namespace": "rdk",
       "attributes": {
       },
@@ -44,6 +44,6 @@ The following attributes are available for `viam:MODULE:MODEL` COMPONENTs:
 ```
 
 ### Next Steps
-- To test your COMPONENT, expand the **TEST** section of its configuration pane or go to the [**CONTROL** tab](https://docs.viam.com/fleet/control/).
-- To write code against your COMPONENT, use one of the [available SDKs](https://docs.viam.com/sdks/).
-- To view examples using a COMPONENT component, explore [these tutorials](https://docs.viam.com/tutorials/).
+- To test your movement_sensor, expand the **TEST** section of its configuration pane or go to the [**CONTROL** tab](https://docs.viam.com/fleet/control/).
+- To write code against your movement_sensor, use one of the [available SDKs](https://docs.viam.com/sdks/).
+- To view examples using a movement_sensor component, explore [these tutorials](https://docs.viam.com/tutorials/).

go.mod

@@ -1,4 +1,4 @@
-module MODULE
+module wit-motion
 
 go 1.23.0
 
@@ -7,7 +7,11 @@ require (
 	github.com/axw/gocov v1.1.0
 	github.com/edaniels/golinters v0.0.5-0.20220906153528-641155550742
 	github.com/fullstorydev/grpcurl v1.8.6
+	github.com/golang/geo v0.0.0-20210211234256-740aa86cb551
 	github.com/golangci/golangci-lint v1.61.0
+	github.com/jacobsa/go-serial v0.0.0-20180131005756-15cf729a72d4
+	github.com/kellydunn/golang-geo v0.7.0
+	github.com/pkg/errors v0.9.1
 	github.com/rhysd/actionlint v1.6.24
 	go.viam.com/rdk v0.48.2
 	go.viam.com/utils v0.1.110
@@ -44,6 +48,7 @@ require (
 	github.com/alingse/asasalint v0.0.11 // indirect
 	github.com/ashanbrown/forbidigo v1.6.0 // indirect
 	github.com/ashanbrown/makezero v1.1.1 // indirect
+	github.com/benbjohnson/clock v1.3.5 // indirect
 	github.com/beorn7/perks v1.0.1 // indirect
 	github.com/bep/debounce v1.2.1 // indirect
 	github.com/bkielbasa/cyclop v1.2.1 // indirect
@@ -111,7 +116,6 @@ require (
 	github.com/gofrs/flock v0.12.1 // indirect
 	github.com/golang-jwt/jwt/v4 v4.5.0 // indirect
 	github.com/golang/freetype v0.0.0-20170609003504-e2365dfdc4a0 // indirect
-	github.com/golang/geo v0.0.0-20210211234256-740aa86cb551 // indirect
 	github.com/golang/groupcache v0.0.0-20210331224755-41bb18bfe9da // indirect
 	github.com/golang/protobuf v1.5.4 // indirect
 	github.com/golang/snappy v0.0.4 // indirect
@@ -150,7 +154,6 @@ require (
 	github.com/jjti/go-spancheck v0.6.2 // indirect
 	github.com/julz/importas v0.1.0 // indirect
 	github.com/karamaru-alpha/copyloopvar v1.1.0 // indirect
-	github.com/kellydunn/golang-geo v0.7.0 // indirect
 	github.com/kisielk/errcheck v1.7.0 // indirect
 	github.com/kkHAIKE/contextcheck v1.1.5 // indirect
 	github.com/klauspost/compress v1.16.5 // indirect
@@ -208,7 +211,6 @@ require (
 	github.com/pion/stun v0.6.1 // indirect
 	github.com/pion/transport/v2 v2.2.10 // indirect
 	github.com/pion/turn/v2 v2.1.6 // indirect
-	github.com/pkg/errors v0.9.1 // indirect
 	github.com/planetscale/vtprotobuf v0.6.1-0.20240319094008-0393e58bdf10 // indirect
 	github.com/pmezard/go-difflib v1.0.0 // indirect
 	github.com/polyfloyd/go-errorlint v1.6.0 // indirect