From f90689b1707dc9f5f07a823dcb95175d6a0e3903 Mon Sep 17 00:00:00 2001
From: randhid <35934754+randhid@users.noreply.github.com>
Date: Wed, 6 Nov 2024 12:05:18 -0500
Subject: [PATCH] Add check for Position Supported in dualgps creator (#4527)

Co-authored-by: martha-johnston <106617924+martha-johnston@users.noreply.github.com>
---
 components/movementsensor/dualgps/dualgps.go | 29 ++++++++++++++++++++
 1 file changed, 29 insertions(+)

diff --git a/components/movementsensor/dualgps/dualgps.go b/components/movementsensor/dualgps/dualgps.go
index 19f99a409d3..8fdde97b398 100644
--- a/components/movementsensor/dualgps/dualgps.go
+++ b/components/movementsensor/dualgps/dualgps.go
@@ -5,11 +5,13 @@ package dualgps
 import (
 	"context"
 	"errors"
+	"fmt"
 	"math"
 	"sync"
 
 	"github.com/golang/geo/r3"
 	geo "github.com/kellydunn/golang-geo"
+	"go.uber.org/multierr"
 
 	"go.viam.com/rdk/components/movementsensor"
 	"go.viam.com/rdk/logging"
@@ -114,14 +116,41 @@ func (dg *dualGPS) Reconfigure(ctx context.Context, deps resource.Dependencies,
 	if err != nil {
 		return err
 	}
+
+	firstProps, err := first.Properties(ctx, nil)
+	if err != nil {
+		return err
+	}
 	dg.gps1 = first
 
 	second, err := movementsensor.FromDependencies(deps, newConf.Gps2)
 	if err != nil {
 		return err
 	}
+	secondProps, err := second.Properties(ctx, nil)
+	if err != nil {
+		return err
+	}
 	dg.gps2 = second
 
+	var errs error
+	if !firstProps.PositionSupported {
+		errs = multierr.Combine(
+			errs,
+			fmt.Errorf(
+				"configured movement sensor %v does not support reporting its Position, it cannot be used for dual-gps calculations",
+				first.Name().ShortName()))
+	}
+	if !secondProps.PositionSupported {
+		errs = multierr.Combine(errs,
+			fmt.Errorf(
+				"configured movement sensor %v does not support reporting its Position, it cannot be used for dual-gps calculations",
+				second.Name().ShortName()))
+	}
+	if errs != nil {
+		return errs
+	}
+
 	dg.offset = defaultOffsetDegrees
 	if newConf.Offset != nil {
 		dg.offset = *newConf.Offset