From 04969ecb5210dc57d13531b4b407256ce03cecbb Mon Sep 17 00:00:00 2001 From: William Petit Date: Tue, 30 Jul 2024 14:28:39 +0200 Subject: [PATCH] feat: initial commit --- LICENSE | 661 ++++++++++++++++++ Makefile | 4 + README.md | 9 + cmd/broadcast/main.go | 61 ++ go.mod | 21 + go.sum | 36 + reach/client/client.go | 96 +++ reach/client/helper.go | 54 ++ reach/client/operations.go | 140 ++++ reach/client/options.go | 47 ++ reach/client/protocol/error.go | 9 + reach/client/protocol/operations.go | 34 + reach/client/protocol/protocol.go | 13 + reach/client/protocol/registry.go | 54 ++ reach/client/protocol/set_base.go | 49 ++ reach/client/protocol/testsuite/operations.go | 182 +++++ .../client/protocol/v1/model/configuration.go | 243 +++++++ reach/client/protocol/v1/protocol.go | 29 + reach/client/protocol/v2/http.go | 127 ++++ reach/client/protocol/v2/init.go | 7 + reach/client/protocol/v2/model/action.go | 5 + reach/client/protocol/v2/model/base.go | 14 + .../client/protocol/v2/model/configuration.go | 563 +++++++++++++++ reach/client/protocol/v2/model/info.go | 166 +++++ reach/client/protocol/v2/model/updater.go | 55 ++ reach/client/protocol/v2/operations.go | 261 +++++++ reach/client/protocol/v2/operations_test.go | 31 + reach/client/protocol/v2/protocol.go | 54 ++ reach/client/socketio/client.go | 137 ++++ reach/client/socketio/endpoint.go | 9 + reach/client/socketio/options.go | 62 ++ reach/discovery/discovery.go | 56 ++ reach/discovery/discovery_test.go | 53 ++ reach/integration.go | 30 + 34 files changed, 3372 insertions(+) create mode 100644 LICENSE create mode 100644 Makefile create mode 100644 README.md create mode 100644 cmd/broadcast/main.go create mode 100644 go.mod create mode 100644 go.sum create mode 100644 reach/client/client.go create mode 100644 reach/client/helper.go create mode 100644 reach/client/operations.go create mode 100644 reach/client/options.go create mode 100644 reach/client/protocol/error.go create mode 100644 reach/client/protocol/operations.go create mode 100644 reach/client/protocol/protocol.go create mode 100644 reach/client/protocol/registry.go create mode 100644 reach/client/protocol/set_base.go create mode 100644 reach/client/protocol/testsuite/operations.go create mode 100644 reach/client/protocol/v1/model/configuration.go create mode 100644 reach/client/protocol/v1/protocol.go create mode 100644 reach/client/protocol/v2/http.go create mode 100644 reach/client/protocol/v2/init.go create mode 100644 reach/client/protocol/v2/model/action.go create mode 100644 reach/client/protocol/v2/model/base.go create mode 100644 reach/client/protocol/v2/model/configuration.go create mode 100644 reach/client/protocol/v2/model/info.go create mode 100644 reach/client/protocol/v2/model/updater.go create mode 100644 reach/client/protocol/v2/operations.go create mode 100644 reach/client/protocol/v2/operations_test.go create mode 100644 reach/client/protocol/v2/protocol.go create mode 100644 reach/client/socketio/client.go create mode 100644 reach/client/socketio/endpoint.go create mode 100644 reach/client/socketio/options.go create mode 100644 reach/discovery/discovery.go create mode 100644 reach/discovery/discovery_test.go create mode 100644 reach/integration.go diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..bae94e1 --- /dev/null +++ b/LICENSE @@ -0,0 +1,661 @@ + GNU AFFERO GENERAL PUBLIC LICENSE + Version 3, 19 November 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU Affero General Public License is a free, copyleft license for +software and other kinds of works, specifically designed to ensure +cooperation with the community in the case of network server software. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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Limitation of Liability. + + IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING +WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS +THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY +GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE +USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF +DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD +PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), +EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF +SUCH DAMAGES. + + 17. Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. + + END OF TERMS AND CONDITIONS + + How to Apply These Terms to Your New Programs + + If you develop a new program, and you want it to be of the greatest +possible use to the public, the best way to achieve this is to make it +free software which everyone can redistribute and change under these terms. + + To do so, attach the following notices to the program. It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + + Copyright (C) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU Affero General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU Affero General Public License for more details. + + You should have received a copy of the GNU Affero General Public License + along with this program. If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If your software can interact with users remotely through a computer +network, you should also make sure that it provides a way for users to +get its source. For example, if your program is a web application, its +interface could display a "Source" link that leads users to an archive +of the code. There are many ways you could offer source, and different +solutions will be better for different programs; see section 13 for the +specific requirements. + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU AGPL, see +. \ No newline at end of file diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..0bcadb5 --- /dev/null +++ b/Makefile @@ -0,0 +1,4 @@ +GOTEST_ARGS ?= -v -count=1 + +test: + go test $(GOTEST_ARGS) ./... \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..1a057f1 --- /dev/null +++ b/README.md @@ -0,0 +1,9 @@ +# `forge.cadoles.com/cadoles/go-emlid` + +[![Go Reference](https://pkg.go.dev/badge/forge.cadoles.com/Cadoles/go-emlid.svg)](https://pkg.go.dev/forge.cadoles.com/Cadoles/go-emlid) + +Librairie Golang d'interaction avec les produits [Emlid](https://emlid.com/). + +## Licence + +[AGPL-3.0](./LICENSE) diff --git a/cmd/broadcast/main.go b/cmd/broadcast/main.go new file mode 100644 index 0000000..e81b365 --- /dev/null +++ b/cmd/broadcast/main.go @@ -0,0 +1,61 @@ +package main + +import ( + "context" + "encoding/json" + "flag" + "fmt" + "os" + + reach "forge.cadoles.com/cadoles/go-emlid/reach/client" + "github.com/pkg/errors" +) + +var ( + host string = "192.168.42.1" + filter string = "" +) + +func init() { + flag.StringVar(&host, "host", host, "the reachrs module host") + flag.StringVar(&filter, "filter", filter, "filter the broadcast messages by name") +} + +func main() { + flag.Parse() + + ctx := context.Background() + client := reach.NewClient(host) + + if err := client.Connect(ctx); err != nil { + fmt.Printf("[FATAL] %+v", errors.WithStack(err)) + os.Exit(1) + } + + defer func() { + if err := client.Close(ctx); err != nil { + fmt.Printf("[FATAL] %+v", errors.WithStack(err)) + os.Exit(1) + } + }() + + broadcasts, err := reach.OnBroadcast(ctx, client) + if err != nil { + fmt.Printf("[FATAL] %+v", errors.WithStack(err)) + os.Exit(1) + } + + for b := range broadcasts { + if filter != "" && b.Name != filter { + continue + } + + data, err := json.MarshalIndent(b, "", " ") + if err != nil { + fmt.Printf("[ERROR] %+v", errors.WithStack(err)) + continue + } + + fmt.Println(string(data)) + } +} diff --git a/go.mod b/go.mod new file mode 100644 index 0000000..5038c2f --- /dev/null +++ b/go.mod @@ -0,0 +1,21 @@ +module forge.cadoles.com/cadoles/go-emlid + +go 1.22.5 + +require ( + forge.cadoles.com/Pyxis/golang-socketio v0.0.0-20180919100209-bb857ced6b95 + github.com/Masterminds/semver/v3 v3.2.1 + github.com/davecgh/go-spew v1.1.1 + github.com/grandcat/zeroconf v1.0.0 + github.com/mitchellh/mapstructure v1.5.0 + github.com/pkg/errors v0.9.1 +) + +require ( + github.com/cenkalti/backoff v2.2.1+incompatible // indirect + github.com/gorilla/websocket v1.5.3 // indirect + github.com/miekg/dns v1.1.27 // indirect + golang.org/x/crypto v0.0.0-20191011191535-87dc89f01550 // indirect + golang.org/x/net v0.0.0-20200114155413-6afb5195e5aa // indirect + golang.org/x/sys v0.0.0-20190924154521-2837fb4f24fe // indirect +) diff --git a/go.sum b/go.sum new file mode 100644 index 0000000..ca67ce8 --- /dev/null +++ b/go.sum @@ -0,0 +1,36 @@ +forge.cadoles.com/Pyxis/golang-socketio v0.0.0-20180919100209-bb857ced6b95 h1:o3G5+9RjczCK1xAYFaRMknk1kY9Ule6PNfiW6N6hEpg= +forge.cadoles.com/Pyxis/golang-socketio v0.0.0-20180919100209-bb857ced6b95/go.mod h1:I6kYOFWNkFlNeQLI7ZqfTRz4NdPHZxX0Bzizmzgchs0= +github.com/Masterminds/semver/v3 v3.2.1 h1:RN9w6+7QoMeJVGyfmbcgs28Br8cvmnucEXnY0rYXWg0= +github.com/Masterminds/semver/v3 v3.2.1/go.mod h1:qvl/7zhW3nngYb5+80sSMF+FG2BjYrf8m9wsX0PNOMQ= +github.com/cenkalti/backoff v2.2.1+incompatible h1:tNowT99t7UNflLxfYYSlKYsBpXdEet03Pg2g16Swow4= +github.com/cenkalti/backoff v2.2.1+incompatible/go.mod h1:90ReRw6GdpyfrHakVjL/QHaoyV4aDUVVkXQJJJ3NXXM= +github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c= +github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38= +github.com/gorilla/websocket v1.5.3 h1:saDtZ6Pbx/0u+bgYQ3q96pZgCzfhKXGPqt7kZ72aNNg= +github.com/gorilla/websocket v1.5.3/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE= +github.com/grandcat/zeroconf v1.0.0 h1:uHhahLBKqwWBV6WZUDAT71044vwOTL+McW0mBJvo6kE= +github.com/grandcat/zeroconf v1.0.0/go.mod h1:lTKmG1zh86XyCoUeIHSA4FJMBwCJiQmGfcP2PdzytEs= +github.com/miekg/dns v1.1.27 h1:aEH/kqUzUxGJ/UHcEKdJY+ugH6WEzsEBBSPa8zuy1aM= +github.com/miekg/dns v1.1.27/go.mod h1:KNUDUusw/aVsxyTYZM1oqvCicbwhgbNgztCETuNZ7xM= +github.com/mitchellh/mapstructure v1.5.0 h1:jeMsZIYE/09sWLaz43PL7Gy6RuMjD2eJVyuac5Z2hdY= +github.com/mitchellh/mapstructure v1.5.0/go.mod h1:bFUtVrKA4DC2yAKiSyO/QUcy7e+RRV2QTWOzhPopBRo= +github.com/pkg/errors v0.9.1 h1:FEBLx1zS214owpjy7qsBeixbURkuhQAwrK5UwLGTwt4= +github.com/pkg/errors v0.9.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0= +golang.org/x/crypto v0.0.0-20190308221718-c2843e01d9a2/go.mod h1:djNgcEr1/C05ACkg1iLfiJU5Ep61QUkGW8qpdssI0+w= +golang.org/x/crypto v0.0.0-20191011191535-87dc89f01550 h1:ObdrDkeb4kJdCP557AjRjq69pTHfNouLtWZG7j9rPN8= +golang.org/x/crypto v0.0.0-20191011191535-87dc89f01550/go.mod h1:yigFU9vqHzYiE8UmvKecakEJjdnWj3jj499lnFckfCI= +golang.org/x/mod v0.1.1-0.20191105210325-c90efee705ee/go.mod h1:QqPTAvyqsEbceGzBzNggFXnrqF1CaUcvgkdR5Ot7KZg= +golang.org/x/net v0.0.0-20190404232315-eb5bcb51f2a3/go.mod h1:t9HGtf8HONx5eT2rtn7q6eTqICYqUVnKs3thJo3Qplg= +golang.org/x/net v0.0.0-20190620200207-3b0461eec859/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s= +golang.org/x/net v0.0.0-20190923162816-aa69164e4478/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s= +golang.org/x/net v0.0.0-20200114155413-6afb5195e5aa h1:F+8P+gmewFQYRk6JoLQLwjBCTu3mcIURZfNkVweuRKA= +golang.org/x/net v0.0.0-20200114155413-6afb5195e5aa/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s= +golang.org/x/sync v0.0.0-20190423024810-112230192c58 h1:8gQV6CLnAEikrhgkHFbMAEhagSSnXWGV915qUMm9mrU= +golang.org/x/sync v0.0.0-20190423024810-112230192c58/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM= +golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY= +golang.org/x/sys v0.0.0-20190412213103-97732733099d/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs= +golang.org/x/sys v0.0.0-20190924154521-2837fb4f24fe h1:6fAMxZRR6sl1Uq8U61gxU+kPTs2tR8uOySCbBP7BN/M= +golang.org/x/sys v0.0.0-20190924154521-2837fb4f24fe/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs= +golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ= +golang.org/x/tools v0.0.0-20191216052735-49a3e744a425/go.mod h1:TB2adYChydJhpapKDTa4BR/hXlZSLoq2Wpct/0txZ28= +golang.org/x/xerrors v0.0.0-20191011141410-1b5146add898/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0= diff --git a/reach/client/client.go b/reach/client/client.go new file mode 100644 index 0000000..8f8cc6a --- /dev/null +++ b/reach/client/client.go @@ -0,0 +1,96 @@ +package client + +import ( + "context" + "sync" + + "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol" + "github.com/pkg/errors" +) + +type Client struct { + addr string + opts *Options + + proto protocol.Identifier + ops protocol.Operations + + getProtocolOnce sync.Once + getProtocolOnceErr error +} + +func (c *Client) Protocol(ctx context.Context) (protocol.Identifier, protocol.Operations, error) { + id, ops, err := c.getProtocol(ctx) + if err != nil { + return "", nil, errors.WithStack(err) + } + + return id, ops, nil +} + +func (c *Client) getProtocol(ctx context.Context) (protocol.Identifier, protocol.Operations, error) { + c.getProtocolOnce.Do(func() { + availables, err := c.opts.Protocols.Availables(ctx, c.addr) + if err != nil { + c.getProtocolOnceErr = errors.WithStack(err) + return + } + + var preferred protocol.Protocol + var fallback protocol.Protocol + + for _, proto := range availables { + if proto.Identifier() == c.opts.FallbackProtocol { + fallback = proto + } + + if proto.Identifier() == c.opts.PreferredProtocol { + preferred = proto + break + } + } + + if preferred != nil { + c.proto = preferred.Identifier() + c.ops = preferred.Operations(c.addr) + return + } + + if fallback != nil { + c.proto = fallback.Identifier() + c.ops = fallback.Operations(c.addr) + return + } + + for _, proto := range availables { + if proto.Identifier() != c.opts.FallbackProtocol { + continue + } + + fallback = proto + break + } + + if fallback == nil { + c.getProtocolOnceErr = errors.Errorf("neither preferred protocol '%v' or fallback '%v' are available", c.opts.PreferredProtocol, c.opts.FallbackProtocol) + return + } + + c.proto = fallback.Identifier() + c.ops = fallback.Operations(c.addr) + }) + if c.getProtocolOnceErr != nil { + return "", nil, errors.WithStack(c.getProtocolOnceErr) + } + + return c.proto, c.ops, nil +} + +func NewClient(addr string, funcs ...OptionFunc) *Client { + opts := NewOptions(funcs...) + client := &Client{ + addr: addr, + opts: opts, + } + return client +} diff --git a/reach/client/helper.go b/reach/client/helper.go new file mode 100644 index 0000000..2e37c29 --- /dev/null +++ b/reach/client/helper.go @@ -0,0 +1,54 @@ +package client + +import ( + "context" + + "github.com/mitchellh/mapstructure" + "github.com/pkg/errors" +) + +func OnMessage[T any](ctx context.Context, client *Client, mType string) (chan T, error) { + ch := make(chan T) + + rawChan, err := client.On(ctx, mType) + if err != nil { + return nil, errors.WithStack(err) + } + + go func() { + defer close(ch) + + for { + select { + case <-ctx.Done(): + return + + case rawMsg := <-rawChan: + var msg T + if err := mapstructure.Decode(rawMsg, &msg); err != nil { + panic(errors.WithStack(err)) + } + + ch <- msg + } + } + }() + + return ch, nil +} + +// Broadcast is a broadcasted message containing module realtime informations. +type Broadcast struct { + Name string `mapstructure:"name" json:"name"` + Payload any `mapstructure:"payload" json:"payload"` +} + +// OnBroadcast listens for ReachView "broadcast" messages +func OnBroadcast(ctx context.Context, client *Client) (chan Broadcast, error) { + ch, err := OnMessage[Broadcast](ctx, client, "broadcast") + if err != nil { + return nil, errors.WithStack(err) + } + + return ch, nil +} diff --git a/reach/client/operations.go b/reach/client/operations.go new file mode 100644 index 0000000..0ef77a9 --- /dev/null +++ b/reach/client/operations.go @@ -0,0 +1,140 @@ +package client + +import ( + "context" + + "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol" + "github.com/pkg/errors" +) + +// Emit implements protocol.Operations. +func (c *Client) Emit(ctx context.Context, mType string, message any) error { + _, ops, err := c.getProtocol(ctx) + if err != nil { + return errors.WithStack(err) + } + + if err := ops.Emit(ctx, mType, message); err != nil { + return errors.WithStack(err) + } + + return nil +} + +// Configuration implements protocol.Operations. +func (c *Client) Configuration(ctx context.Context) (any, error) { + _, ops, err := c.getProtocol(ctx) + if err != nil { + return nil, errors.WithStack(err) + } + + config, err := ops.Configuration(ctx) + if err != nil { + return nil, errors.WithStack(err) + } + + return config, nil +} + +// Version implements protocol.Operations. +func (c *Client) Version(ctx context.Context) (string, bool, error) { + _, ops, err := c.getProtocol(ctx) + if err != nil { + return "", false, errors.WithStack(err) + } + + version, stable, err := ops.Version(ctx) + if err != nil { + return "", false, errors.WithStack(err) + } + + return version, stable, nil +} + +// Close implements protocol.Operations. +func (c *Client) Close(ctx context.Context) error { + _, ops, err := c.getProtocol(ctx) + if err != nil { + return errors.WithStack(err) + } + + if err := ops.Close(ctx); err != nil { + return errors.WithStack(err) + } + + return nil +} + +// Connect implements protocol.Operations. +func (c *Client) Connect(ctx context.Context) error { + _, ops, err := c.getProtocol(ctx) + if err != nil { + return errors.WithStack(err) + } + + if err := ops.Connect(ctx); err != nil { + return errors.WithStack(err) + } + + return nil +} + +// Alive implements protocol.Operations. +func (c *Client) Alive(ctx context.Context) (bool, error) { + _, ops, err := c.getProtocol(ctx) + if err != nil { + return false, errors.WithStack(err) + } + + alive, err := ops.Alive(ctx) + if err != nil { + return false, errors.WithStack(err) + } + + return alive, nil +} + +// On implements protocol.Operations. +func (c *Client) On(ctx context.Context, messageType string) (chan any, error) { + _, ops, err := c.getProtocol(ctx) + if err != nil { + return nil, errors.WithStack(err) + } + + ch, err := ops.On(ctx, messageType) + if err != nil { + return nil, errors.WithStack(err) + } + + return ch, nil +} + +// SetBase implements protocol.Operations. +func (c *Client) SetBase(ctx context.Context, funcs ...protocol.SetBaseOptionFunc) error { + _, ops, err := c.getProtocol(ctx) + if err != nil { + return errors.WithStack(err) + } + + if err := ops.SetBase(ctx, funcs...); err != nil { + return errors.WithStack(err) + } + + return nil +} + +// Reboot implements protocol.Operations. +func (c *Client) Reboot(ctx context.Context) error { + _, ops, err := c.getProtocol(ctx) + if err != nil { + return errors.WithStack(err) + } + + if err := ops.Reboot(ctx); err != nil { + return errors.WithStack(err) + } + + return nil +} + +var _ protocol.Operations = &Client{} diff --git a/reach/client/options.go b/reach/client/options.go new file mode 100644 index 0000000..946ebea --- /dev/null +++ b/reach/client/options.go @@ -0,0 +1,47 @@ +package client + +import ( + "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol" + v1 "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol/v1" + v2 "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol/v2" +) + +type Options struct { + Protocols *protocol.Registry + PreferredProtocol protocol.Identifier + FallbackProtocol protocol.Identifier +} + +type OptionFunc func(opts *Options) + +func NewOptions(funcs ...OptionFunc) *Options { + opts := &Options{ + PreferredProtocol: v2.Identifier, + FallbackProtocol: v1.Identifier, + Protocols: protocol.DefaultRegistry(), + } + + for _, fn := range funcs { + fn(opts) + } + + return opts +} + +func WithPreferredProtocol(identifier protocol.Identifier) OptionFunc { + return func(opts *Options) { + opts.PreferredProtocol = identifier + } +} + +func WithFallbackProtocol(identifier protocol.Identifier) OptionFunc { + return func(opts *Options) { + opts.FallbackProtocol = identifier + } +} + +func WithProtocols(protocols *protocol.Registry) OptionFunc { + return func(opts *Options) { + opts.Protocols = protocols + } +} diff --git a/reach/client/protocol/error.go b/reach/client/protocol/error.go new file mode 100644 index 0000000..2f4257e --- /dev/null +++ b/reach/client/protocol/error.go @@ -0,0 +1,9 @@ +package protocol + +import "errors" + +var ( + ErrNotFound = errors.New("not found") + ErrClosed = errors.New("closed") + ErrUnimplemented = errors.New("unimplemented") +) diff --git a/reach/client/protocol/operations.go b/reach/client/protocol/operations.go new file mode 100644 index 0000000..dfcc4e0 --- /dev/null +++ b/reach/client/protocol/operations.go @@ -0,0 +1,34 @@ +package protocol + +import "context" + +type Operations interface { + // Connect initiates a new connection to the ReachView service + // It should be called before any other operation + Connect(ctx context.Context) error + + // Close closes the current connection to the ReachView service + Close(ctx context.Context) error + + // Alive returns true if the ReachView websocket connection is alive, false otherwise + Alive(ctx context.Context) (bool, error) + + // Version returns the current ReachView version, + // true if the module uses the stable channel or an error + Version(ctx context.Context) (string, bool, error) + + // On listens for messages of the given type on ReachView websocket connection + On(ctx context.Context, mType string) (chan any, error) + + // Emit sends the given message on the ReachView websocket connection + Emit(ctx context.Context, mType string, message any) error + + // Configuration retrieves the module's configuration + Configuration(ctx context.Context) (any, error) + + // SetBase updates the base configuration + SetBase(ctx context.Context, funcs ...SetBaseOptionFunc) error + + // Reboot restarts the module + Reboot(ctx context.Context) error +} diff --git a/reach/client/protocol/protocol.go b/reach/client/protocol/protocol.go new file mode 100644 index 0000000..14319b5 --- /dev/null +++ b/reach/client/protocol/protocol.go @@ -0,0 +1,13 @@ +package protocol + +import ( + "context" +) + +type Identifier string + +type Protocol interface { + Identifier() Identifier + Available(ctx context.Context, addr string) (bool, error) + Operations(addr string) Operations +} diff --git a/reach/client/protocol/registry.go b/reach/client/protocol/registry.go new file mode 100644 index 0000000..e550b4f --- /dev/null +++ b/reach/client/protocol/registry.go @@ -0,0 +1,54 @@ +package protocol + +import ( + "context" + + "github.com/pkg/errors" +) + +type Registry struct { + protocols map[Identifier]Protocol +} + +func (r *Registry) Register(protocol Protocol) { + r.protocols[protocol.Identifier()] = protocol +} + +func (r *Registry) Availables(ctx context.Context, addr string) ([]Protocol, error) { + availables := make([]Protocol, 0) + + for _, proto := range r.protocols { + available, err := proto.Available(ctx, addr) + if err != nil { + return nil, errors.WithStack(err) + } + + if !available { + continue + } + + availables = append(availables, proto) + } + + return availables, nil +} + +func NewRegistry() *Registry { + return &Registry{ + protocols: make(map[Identifier]Protocol), + } +} + +var defaultRegistry = NewRegistry() + +func DefaultRegistry() *Registry { + return defaultRegistry +} + +func Register(protocol Protocol) { + defaultRegistry.Register(protocol) +} + +func Availables(ctx context.Context, addr string) ([]Protocol, error) { + return defaultRegistry.Availables(ctx, addr) +} diff --git a/reach/client/protocol/set_base.go b/reach/client/protocol/set_base.go new file mode 100644 index 0000000..882780d --- /dev/null +++ b/reach/client/protocol/set_base.go @@ -0,0 +1,49 @@ +package protocol + +type SetBaseOptions struct { + Mode *string + AntennaOffset *float64 + Latitude *float64 + Longitude *float64 + Height *float64 +} + +type SetBaseOptionFunc func(opts *SetBaseOptions) + +func NewSetBaseOptions(funcs ...SetBaseOptionFunc) *SetBaseOptions { + opts := &SetBaseOptions{} + for _, fn := range funcs { + fn(opts) + } + return opts +} + +func WithBaseMode(value string) SetBaseOptionFunc { + return func(opts *SetBaseOptions) { + opts.Mode = &value + } +} + +func WithBaseAntennaOffset(value float64) SetBaseOptionFunc { + return func(opts *SetBaseOptions) { + opts.AntennaOffset = &value + } +} + +func WithBaseLatitude(value float64) SetBaseOptionFunc { + return func(opts *SetBaseOptions) { + opts.Latitude = &value + } +} + +func WithBaseLongitude(value float64) SetBaseOptionFunc { + return func(opts *SetBaseOptions) { + opts.Longitude = &value + } +} + +func WithBaseHeight(value float64) SetBaseOptionFunc { + return func(opts *SetBaseOptions) { + opts.Height = &value + } +} diff --git a/reach/client/protocol/testsuite/operations.go b/reach/client/protocol/testsuite/operations.go new file mode 100644 index 0000000..e26646c --- /dev/null +++ b/reach/client/protocol/testsuite/operations.go @@ -0,0 +1,182 @@ +package testsuite + +import ( + "context" + "os" + "testing" + "time" + + "forge.cadoles.com/cadoles/go-emlid/reach" + "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol" + "github.com/davecgh/go-spew/spew" + "github.com/pkg/errors" +) + +type OperationsFactoryFunc func(addr string) (protocol.Operations, error) + +type operationTestCase struct { + Name string + Run func(t *testing.T, ops protocol.Operations) +} + +var testCases = []operationTestCase{ + { + Name: "Connect to ReachView", + Run: func(t *testing.T, ops protocol.Operations) { + ctx := context.Background() + + if err := ops.Connect(ctx); err != nil { + t.Errorf("%+v", errors.WithStack(err)) + return + } + + defer func() { + if err := ops.Close(ctx); err != nil { + t.Errorf("%+v", errors.WithStack(err)) + } + }() + + alive, err := ops.Alive(ctx) + if err != nil { + t.Errorf("%+v", errors.WithStack(err)) + return + } + + if e, g := true, alive; e != g { + t.Errorf("alive: expected '%v', got '%v'", e, g) + } + }, + }, + { + Name: "Retrieve ReachView version", + Run: func(t *testing.T, ops protocol.Operations) { + ctx := context.Background() + + version, stable, err := ops.Version(ctx) + if err != nil { + t.Errorf("%+v", errors.WithStack(err)) + return + } + + t.Logf("ReachView version: %s", version) + t.Logf("ReachView stable channel: %v", stable) + }, + }, + { + Name: "Listen to ReachView 'broadcast' messages", + Run: func(t *testing.T, ops protocol.Operations) { + ctx := context.Background() + + if err := ops.Connect(ctx); err != nil { + t.Errorf("%+v", errors.WithStack(err)) + return + } + + defer func() { + if err := ops.Close(ctx); err != nil { + t.Errorf("%+v", errors.WithStack(err)) + } + }() + + broadcastCtx, cancel := context.WithTimeout(ctx, 5*time.Second) + defer cancel() + + messages, err := ops.On(broadcastCtx, "broadcast") + if err != nil { + t.Errorf("%+v", errors.WithStack(err)) + return + } + + count := 0 + + for m := range messages { + t.Logf("new message: %s", spew.Sdump(m)) + count++ + } + + if e, g := 1, count; g < e { + t.Errorf("expected total messages > %d, got %d", e, g) + } + }, + }, + { + Name: "Retrieve module configuration", + Run: func(t *testing.T, ops protocol.Operations) { + ctx := context.Background() + + config, err := ops.Configuration(ctx) + if err != nil { + t.Errorf("%+v", errors.WithStack(err)) + return + } + + t.Logf("Module configuration: %s", spew.Sdump(config)) + }, + }, + { + Name: "Set base", + Run: func(t *testing.T, ops protocol.Operations) { + ctx := context.Background() + + opts := []protocol.SetBaseOptionFunc{ + protocol.WithBaseLatitude(47.72769), + protocol.WithBaseLongitude(4.72783), + protocol.WithBaseHeight(101), + protocol.WithBaseMode("manual"), + } + + if err := ops.SetBase(ctx, opts...); err != nil { + t.Errorf("%+v", errors.WithStack(err)) + return + } + + }, + }, + + { + Name: "Reboot", + Run: func(t *testing.T, ops protocol.Operations) { + ctx := context.Background() + + if err := ops.Connect(ctx); err != nil { + t.Errorf("%+v", errors.WithStack(err)) + return + } + + defer func() { + if err := ops.Close(ctx); err != nil { + t.Errorf("%+v", errors.WithStack(err)) + } + }() + + if err := ops.Reboot(ctx); err != nil { + t.Errorf("%+v", errors.WithStack(err)) + return + } + + }, + }, +} + +func TestOperations(t *testing.T, opsFactory OperationsFactoryFunc) { + reach.AssertIntegrationTests(t) + + addr := os.Getenv("REACHRS_HOST") + if addr == "" { + addr = "192.168.42.1" + t.Logf("Targeting '%s'. You can modify targeted host by specifying environment variable REACHRS_HOST", addr) + } else { + t.Logf("Targeting '%s'", addr) + } + + for _, tc := range testCases { + t.Run(tc.Name, func(t *testing.T) { + ops, err := opsFactory(addr) + if err != nil { + t.Fatalf("could not initialize protocol operations: %+v", errors.WithStack(err)) + } + + tc.Run(t, ops) + }) + } +} diff --git a/reach/client/protocol/v1/model/configuration.go b/reach/client/protocol/v1/model/configuration.go new file mode 100644 index 0000000..2c5779f --- /dev/null +++ b/reach/client/protocol/v1/model/configuration.go @@ -0,0 +1,243 @@ +package model + +var ( + // On - + On = String("on") + // Off - + Off = String("off") + // True - + True = Bool(true) + // False - + False = Bool(false) + // GPSARModeFixAndHold - + GPSARModeFixAndHold = String("fix-and-hold") + // GPSARModeContinuous - + GPSARModeContinuous = String("continuous") + // PositionningModeKinematic - + PositionningModeKinematic = String("kinematic") + // PositionningModeSingle - + PositionningModeSingle = String("single") + // PositionningModeStatic - + PositionningModeStatic = String("static") + // IOFormatRTCM3 - + IOFormatRTCM3 = String("rtcm3") + // IOTypeLoRa - + IOTypeLoRa = String("lora") + // BaseCoordinatesModeManual - + BaseCoordinatesModeManual = String("manual") + // BaseCoordinatesModeAverageFix - + BaseCoordinatesModeAverageFix = String("fix-and-hold") + // BaseCoordinatesModeAverageSingle - + BaseCoordinatesModeAverageSingle = String("single-and-hold") + // BaseCoordinatesModeAverageFloat - + BaseCoordinatesModeAverageFloat = String("float-and-hold") + // BaseCoordinatesFormatLLH - + BaseCoordinatesFormatLLH = String("llh") + // BaseCoordinatesFormatXYZ - + BaseCoordinatesFormatXYZ = String("xyz") +) + +// String returns an string pointer +// This is a helper to constructs partials configations objects +// for the ApplyConfiguration() method +func String(v string) *string { + return &v +} + +// Int returns an int pointer +// This is a helper to constructs partials configations objects +// for the ApplyConfiguration() method +func Int(v int) *int { + return &v +} + +// Bool returns a bool pointer +// This is a helper to constructs partials configations objects +// for the ApplyConfiguration() method +func Bool(v bool) *bool { + return &v +} + +// Float returns a float64 pointer +// This is a helper to constructs partials configations objects +// for the ApplyConfiguration() method +func Float(v float64) *float64 { + return &v +} + +// Configuration - +type Configuration struct { + RTKSettings *RTKSettings `mapstructure:"rtk settings,omitempty" json:"rtk settings,omitempty"` + CorrectionInput *CorrectionInput `mapstructure:"correction input,omitempty" json:"correction input,omitempty"` + PositionOutput *PositionOutput `mapstructure:"position output,omitempty" json:"position output,omitempty"` + BaseMode *BaseMode `mapstructure:"base mode,omitempty" json:"base mode,omitempty"` + Logging *Logging `mapstructure:"logging,omitempty" json:"logging,omitempty"` + Bluetooth *Bluetooth `mapstructure:"bluetooth,omitempty" json:"bluetooth,omitempty"` + LoRa *LoRa `mapstructure:"lora,omitempty" json:"lora,omitempty"` + Constraints *Constraints `mapstructure:"constraints,omitempty" json:"constraints,omitempty"` +} + +// RTKSettings - +type RTKSettings struct { + GLONASSARMode *string `mapstructure:"glonass ar mode,omitempty" json:"glonass ar mode,omitempty"` + UpdateRate *float64 `mapstructure:"update rate,omitempty" json:"update rate,omitempty"` + ElevationMaskAngle *string `mapstructure:"elevation mask angle,omitempty" json:"elevation mask angle,omitempty"` + MaxHorizontalAcceleration *string `mapstructure:"max horizontal acceleration,omitempty" json:"max horizontal acceleration,omitempty"` + SNRMask *string `mapstructure:"snr mask,omitempty" json:"snr mask,omitempty"` + GPSARMode *string `mapstructure:"gps ar mode,omitempty" json:"gps ar mode,omitempty"` + PositionningMode *string `mapstructure:"positioning mode,omitempty" json:"positioning mode,omitempty"` + PositioningSystems *PositionningSystems `mapstructure:"positioning systems,omitempty" json:"positioning systems,omitempty"` + MaxVerticalAcceleration *string `mapstructure:"max vertical acceleration,omitempty" json:"max vertical acceleration,omitempty"` +} + +// PositionningSystems - +type PositionningSystems struct { + GLONASS *bool `mapstructure:"glonass,omitempty" json:"glonass,omitempty"` + SBAS *bool `mapstructure:"sbas,omitempty" json:"sbas,omitempty"` + QZS *bool `mapstructure:"qzs,omitempty" json:"qzs,omitempty"` + QZSS *bool `mapstructure:"qzss,omitempty" json:"qzss,omitempty"` + Compass *bool `mapstructure:"compass,omitempty" json:"compass,omitempty"` + Galileo *bool `mapstructure:"galileo,omitempty" json:"galileo,omitempty"` + GPS *bool `mapstructure:"gps,omitempty" json:"gps,omitempty"` +} + +// CorrectionInput - +type CorrectionInput struct { + Input2 *Input2 `mapstructure:"input2,omitempty" json:"input2,omitempty"` + Input3 *Input3 `mapstructure:"input3,omitempty" json:"input3,omitempty"` +} + +// Input - +type Input struct { + Path *string `mapstructure:"path,omitempty" json:"path,omitempty"` + Type *string `mapstructure:"type,omitempty" json:"type,omitempty"` + Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"` + Format *string `mapstructure:"format,omitempty" json:"format,omitempty"` +} + +// Input2 - +type Input2 struct { + Input `mapstructure:",squash"` + SendPositionToBase *string `mapstructure:"send position to base,omitempty" json:"send position to base,omitempty"` +} + +// Input3 - +type Input3 struct { + Input `mapstructure:",squash"` +} + +// PositionOutput - +type PositionOutput struct { + Output1 *Output `mapstructure:"output1,omitempty" json:"output1,omitempty"` + Output2 *Output `mapstructure:"output2,omitempty" json:"output2,omitempty"` + Output3 *Output `mapstructure:"output3,omitempty" json:"output3,omitempty"` + Output4 *Output `mapstructure:"output4,omitempty" json:"output4,omitempty"` +} + +// Output - +type Output struct { + Path *string `mapstructure:"path,omitempty" json:"path,omitempty"` + Type *string `mapstructure:"type,omitempty" json:"type,omitempty"` + Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"` + Format *string `mapstructure:"format,omitempty" json:"format,omitempty"` +} + +// BaseMode - +type BaseMode struct { + Output *Output `mapstructure:"output,omitempty" json:"output,omitempty"` + BaseCoordinates *BaseCoordinates `mapstructure:"base coordinates,omitempty" json:"base coordinates,omitempty"` + RTCM3Messages *RTCM3Messages `mapstructure:"rtcm3 messages,omitempty" json:"rtcm3 messages,omitempty"` +} + +// BaseCoordinates - +type BaseCoordinates struct { + Format *string `mapstructure:"format,omitempty" json:"format,omitempty"` + AntennaOffset *AntennaOffset `mapstructure:"antenna offset,omitempty" json:"antenna offset,omitempty"` + Accumulation *string `mapstructure:"accumulation,omitempty" json:"accumulation,omitempty"` + Coordinates []*string `mapstructure:"coordinates,omitempty" json:"coordinates,omitempty"` + Mode *string `mapstructure:"mode,omitempty" json:"mode,omitempty"` +} + +// AntennaOffset - +type AntennaOffset struct { + East *string `mapstructure:"east,omitempty" json:"east,omitempty"` + North *string `mapstructure:"north,omitempty" json:"north,omitempty"` + Up *string `mapstructure:"up,omitempty" json:"up,omitempty"` +} + +// RTCM3Messages - +type RTCM3Messages struct { + // GPS L1 code and phase and ambiguities and carrier-to-noise ratio + Type1002 *RTCMMessageType `mapstructure:"1002,omitemtpy" json:"1002,omitemtpy"` + // Station coordinates XYZ for antenna reference point and antenna height. + Type1006 *RTCMMessageType `mapstructure:"1006,omitemtpy" json:"1006,omitemtpy"` + // Antenna serial number. + Type1008 *RTCMMessageType `mapstructure:"1008,omitemtpy" json:"1008,omitemtpy"` + // GLONASS L1 code and phase and ambiguities and carrier-to-noise ratio. + Type1010 *RTCMMessageType `mapstructure:"1010,omitemtpy" json:"1010,omitemtpy"` + // GPS ephemeris. + Type1019 *RTCMMessageType `mapstructure:"1019,omitemtpy" json:"1019,omitemtpy"` + // GLONASS ephemeris. + Type1020 *RTCMMessageType `mapstructure:"1020,omitemtpy" json:"1020,omitemtpy"` + // The type 7 Multiple Signal Message format for Europe’s Galileo system + Type1097 *RTCMMessageType `mapstructure:"1097,omitemtpy" json:"1097,omitemtpy"` + // Full SBAS pseudo-ranges, carrier phases, Doppler and signal strength (high resolution) + Type1107 *RTCMMessageType `mapstructure:"1107,omitemtpy" json:"1107,omitemtpy"` + // Full QZSS pseudo-ranges, carrier phases, Doppler and signal strength (high resolution) + Type1117 *RTCMMessageType `mapstructure:"1117,omitemtpy" json:"1117,omitemtpy"` + // Full BeiDou pseudo-ranges, carrier phases, Doppler and signal strength (high resolution) + Type1127 *RTCMMessageType `mapstructure:"1127,omitemtpy" json:"1127,omitemtpy"` +} + +// RTCMMessageType - +type RTCMMessageType struct { + Frequency *string `mapstructure:"frequency,omitempty" json:"frequency,omitempty"` + Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"` +} + +// Logging - +type Logging struct { + Correction *LoggingService `mapstructure:"correction,omitempty" json:"correction,omitempty"` + Interval *int `mapstructure:"interval,omitempty" json:"interval,omitempty"` + Solution *LoggingService `mapstructure:"solution,omitempty" json:"solution,omitempty"` + Raw *LoggingService `mapstructure:"raw,omitempty" json:"raw,omitempty"` + Base *LoggingService `mapstructure:"base,omitempty" json:"base,omitempty"` + Overwrite *bool `mapstructure:"overwrite,omitempty" json:"overwrite,omitempty"` +} + +// LoggingService - +type LoggingService struct { + Started *bool `mapstructure:"started,omitempty" json:"started,omitempty"` + Version *string `mapstructure:"version,omitempty" json:"version,omitempty"` + Format *string `mapstructure:"format,omitempty" json:"format,omitempty"` +} + +// Bluetooth - +type Bluetooth struct { + Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"` + Discoverable *bool `mapstructure:"discoverable,omitempty" json:"discoverable,omitempty"` + Pin *int `mapstructure:"pin,omitempty" json:"pin,omitempty"` +} + +// LoRa - +type LoRa struct { + AirRate *string `mapstructure:"air rate,omitempty" json:"air rate,omitempty"` + Frequency *float64 `mapstructure:"frequency,omitempty" json:"frequency,omitempty"` + OutputPower *string `mapstructure:"output power,omitempty" json:"output power,omitempty"` +} + +// Constraints - +type Constraints struct { + LoRa *LoRaConstraints `mapstructure:"lora,omitempty" json:"lora,omitempty"` +} + +// LoRaConstraints - +type LoRaConstraints struct { + Frequency [][]int `mapstructure:"frequency,omitempty" json:"frequency,omitempty"` +} + +// LoRaFrequencyRange - +type LoRaFrequencyRange struct { + Min *int `mapstructure:"min,omitempty" json:"min,omitempty"` + Max *int `mapstructure:"max,omitempty" json:"max,omitempty"` +} diff --git a/reach/client/protocol/v1/protocol.go b/reach/client/protocol/v1/protocol.go new file mode 100644 index 0000000..d2d64cd --- /dev/null +++ b/reach/client/protocol/v1/protocol.go @@ -0,0 +1,29 @@ +package v1 + +import ( + "context" + + "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol" +) + +const Identifier protocol.Identifier = "v1" + +type Protocol struct { +} + +// Available implements protocol.Protocol. +func (p *Protocol) Available(ctx context.Context, addr string) (bool, error) { + panic("unimplemented") +} + +// Identifier implements protocol.Protocol. +func (p *Protocol) Identifier() protocol.Identifier { + return Identifier +} + +// Operations implements protocol.Protocol. +func (p *Protocol) Operations(addr string) protocol.Operations { + panic("unimplemented") +} + +var _ protocol.Protocol = &Protocol{} diff --git a/reach/client/protocol/v2/http.go b/reach/client/protocol/v2/http.go new file mode 100644 index 0000000..8c9dc04 --- /dev/null +++ b/reach/client/protocol/v2/http.go @@ -0,0 +1,127 @@ +package v2 + +import ( + "bytes" + "context" + "encoding/json" + "fmt" + "io" + "net/http" + + "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol/v2/model" + "github.com/pkg/errors" +) + +func (o *Operations) getURL(path string) string { + return fmt.Sprintf("http://%s%s", o.addr, path) +} + +func (o *Operations) GetJSON(path string, dst any) error { + var res *http.Response + + url := o.getURL(path) + res, err := http.Get(url) + if err != nil { + return errors.WithStack(err) + } + + if res.StatusCode < http.StatusOK || res.StatusCode >= http.StatusBadRequest { + return errors.Errorf("unexpected http status code %d (%s)", res.StatusCode, res.Status) + } + + defer func() { + if err := res.Body.Close(); err != nil { + errors.WithStack(err) + } + }() + + var body []byte + + body, err = io.ReadAll(res.Body) + if err != nil { + return errors.WithStack(err) + } + + if err = json.Unmarshal(body, dst); err != nil { + return errors.WithStack(err) + } + + return nil +} + +func (o *Operations) PostJSON(path string, data any, dst any) error { + var res *http.Response + + var buf bytes.Buffer + + encoder := json.NewEncoder(&buf) + if err := encoder.Encode(data); err != nil { + return errors.WithStack(err) + } + + url := o.getURL(path) + res, err := http.Post(url, "application/json", &buf) + if err != nil { + return errors.WithStack(err) + } + + if res.StatusCode < http.StatusOK || res.StatusCode >= http.StatusBadRequest { + return errors.Errorf("unexpected http status code %d (%s)", res.StatusCode, res.Status) + } + + defer func() { + if err := res.Body.Close(); err != nil { + errors.WithStack(err) + } + }() + + var body []byte + + body, err = io.ReadAll(res.Body) + if err != nil { + return errors.WithStack(err) + } + + if err = json.Unmarshal(body, dst); err != nil { + return errors.WithStack(err) + } + + return nil +} + +func (o *Operations) PostBaseCoordinates(ctx context.Context, base *model.Base) (*model.Base, error) { + var updated model.Base + + if err := o.PostJSON("/configuration/base_mode/base_coordinates", base, &updated); err != nil { + return nil, errors.WithStack(err) + } + + return &updated, nil +} + +func (o *Operations) GetUpdater(ctx context.Context) (*model.Updater, error) { + updater := &model.Updater{} + if err := o.GetJSON("/updater", updater); err != nil { + return nil, errors.WithStack(err) + } + + return updater, nil +} + +func (o *Operations) GetInfo(ctx context.Context) (*model.Info, error) { + info := &model.Info{} + if err := o.GetJSON("/info", info); err != nil { + return nil, errors.WithStack(err) + } + + return info, nil +} + +func (o *Operations) GetConfiguration(ctx context.Context) (*model.Configuration, error) { + config := &model.Configuration{} + if err := o.GetJSON("/configuration", config); err != nil { + return nil, errors.WithStack(err) + } + + return config, nil +} diff --git a/reach/client/protocol/v2/init.go b/reach/client/protocol/v2/init.go new file mode 100644 index 0000000..637c7bc --- /dev/null +++ b/reach/client/protocol/v2/init.go @@ -0,0 +1,7 @@ +package v2 + +import "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol" + +func init() { + protocol.Register(&Protocol{}) +} diff --git a/reach/client/protocol/v2/model/action.go b/reach/client/protocol/v2/model/action.go new file mode 100644 index 0000000..57096f6 --- /dev/null +++ b/reach/client/protocol/v2/model/action.go @@ -0,0 +1,5 @@ +package model + +type Action struct { + Name string `json:"name"` +} diff --git a/reach/client/protocol/v2/model/base.go b/reach/client/protocol/v2/model/base.go new file mode 100644 index 0000000..84d3e2a --- /dev/null +++ b/reach/client/protocol/v2/model/base.go @@ -0,0 +1,14 @@ +package model + +type Base struct { + Accumulation int `json:"accumulation,omitempty"` + AntennaOffset float64 `json:"antenna_offset,omitempty"` + Coordinates BaseCoordinates `json:"coordinates,omitempty"` + Mode string `json:"mode,omitempty"` +} + +type BaseCoordinates struct { + Height float64 `json:"height,omitempty"` + Latitude float64 `json:"latitude,omitempty"` + Longitude float64 `json:"longitude,omitempty"` +} diff --git a/reach/client/protocol/v2/model/configuration.go b/reach/client/protocol/v2/model/configuration.go new file mode 100644 index 0000000..869c9d4 --- /dev/null +++ b/reach/client/protocol/v2/model/configuration.go @@ -0,0 +1,563 @@ +package model + +type Configuration struct { + BaseMode struct { + BaseCoordinates struct { + Accumulation int `json:"accumulation,omitempty"` + AntennaOffset float64 `json:"antenna_offset,omitempty"` + Coordinates struct { + Height float64 `json:"height,omitempty"` + Latitude float64 `json:"latitude,omitempty"` + Longitude float64 `json:"longitude,omitempty"` + } `json:"coordinates,omitempty"` + Mode string `json:"mode,omitempty"` + } `json:"base_coordinates,omitempty"` + Output struct { + IoType string `json:"io_type,omitempty"` + Settings struct { + Lora struct { + AirRate float64 `json:"air_rate,omitempty"` + Frequency int `json:"frequency,omitempty"` + OutputPower int `json:"output_power,omitempty"` + } `json:"lora,omitempty"` + Ntripcaster struct { + MountPoint string `json:"mount_point,omitempty"` + Password string `json:"password,omitempty"` + Port int `json:"port,omitempty"` + Username string `json:"username,omitempty"` + } `json:"ntripcaster,omitempty"` + Ntripsvr struct { + Address string `json:"address,omitempty"` + MountPoint string `json:"mount_point,omitempty"` + Password string `json:"password,omitempty"` + Port int `json:"port,omitempty"` + } `json:"ntripsvr,omitempty"` + Serial struct { + BaudRate int `json:"baud_rate,omitempty"` + Device string `json:"device,omitempty"` + } `json:"serial,omitempty"` + Tcpcli struct { + Address string `json:"address,omitempty"` + Port int `json:"port,omitempty"` + } `json:"tcpcli,omitempty"` + Tcpsvr struct { + Port int `json:"port,omitempty"` + } `json:"tcpsvr,omitempty"` + } `json:"settings,omitempty"` + } `json:"output,omitempty"` + Rtcm3Messages struct { + Num1004 struct { + Enabled bool `json:"enabled,omitempty"` + Frequency int `json:"frequency,omitempty"` + } `json:"1004,omitempty"` + Num1006 struct { + Enabled bool `json:"enabled,omitempty"` + Frequency float64 `json:"frequency,omitempty"` + } `json:"1006,omitempty"` + Num1008 struct { + Enabled bool `json:"enabled,omitempty"` + Frequency float64 `json:"frequency,omitempty"` + } `json:"1008,omitempty"` + Num1012 struct { + Enabled bool `json:"enabled,omitempty"` + Frequency int `json:"frequency,omitempty"` + } `json:"1012,omitempty"` + Num1033 struct { + Enabled bool `json:"enabled,omitempty"` + Frequency float64 `json:"frequency,omitempty"` + } `json:"1033,omitempty"` + Num1074 struct { + Enabled bool `json:"enabled,omitempty"` + Frequency float64 `json:"frequency,omitempty"` + } `json:"1074,omitempty"` + Num1084 struct { + Enabled bool `json:"enabled,omitempty"` + Frequency float64 `json:"frequency,omitempty"` + } `json:"1084,omitempty"` + Num1094 struct { + Enabled bool `json:"enabled,omitempty"` + Frequency float64 `json:"frequency,omitempty"` + } `json:"1094,omitempty"` + Num1124 struct { + Enabled bool `json:"enabled,omitempty"` + Frequency float64 `json:"frequency,omitempty"` + } `json:"1124,omitempty"` + Num1230 struct { + Enabled bool `json:"enabled,omitempty"` + Frequency float64 `json:"frequency,omitempty"` + } `json:"1230,omitempty"` + } `json:"rtcm3_messages,omitempty"` + } `json:"base_mode,omitempty"` + Bluetooth struct { + BleEnabled bool `json:"ble_enabled,omitempty"` + Enabled bool `json:"enabled,omitempty"` + Pairing struct { + Discoverable bool `json:"discoverable,omitempty"` + NoInputNoOutput bool `json:"no_input_no_output,omitempty"` + Pin string `json:"pin,omitempty"` + } `json:"pairing,omitempty"` + } `json:"bluetooth,omitempty"` + CorrectionInput struct { + BaseCorrections struct { + IoType string `json:"io_type,omitempty"` + LastUsed struct { + Ntrip string `json:"ntrip,omitempty"` + Radio string `json:"radio,omitempty"` + TCP string `json:"tcp,omitempty"` + } `json:"last_used,omitempty"` + Settings struct { + Ble struct { + Address string `json:"address,omitempty"` + MountPoint string `json:"mount_point,omitempty"` + Password string `json:"password,omitempty"` + Port int `json:"port,omitempty"` + SendPositionToBase bool `json:"send_position_to_base,omitempty"` + Username string `json:"username,omitempty"` + } `json:"ble,omitempty"` + Bluetooth struct { + SendPositionToBase bool `json:"send_position_to_base,omitempty"` + } `json:"bluetooth,omitempty"` + Lora struct { + AirRate float64 `json:"air_rate,omitempty"` + Frequency int `json:"frequency,omitempty"` + OutputPower int `json:"output_power,omitempty"` + SendPositionToBase bool `json:"send_position_to_base,omitempty"` + } `json:"lora,omitempty"` + Ntripcli struct { + Address string `json:"address,omitempty"` + MountPoint string `json:"mount_point,omitempty"` + Password string `json:"password,omitempty"` + Port int `json:"port,omitempty"` + SendPositionToBase bool `json:"send_position_to_base,omitempty"` + Username string `json:"username,omitempty"` + } `json:"ntripcli,omitempty"` + Serial struct { + BaudRate int `json:"baud_rate,omitempty"` + Device string `json:"device,omitempty"` + SendPositionToBase bool `json:"send_position_to_base,omitempty"` + } `json:"serial,omitempty"` + Tcpcli struct { + Address string `json:"address,omitempty"` + Port int `json:"port,omitempty"` + SendPositionToBase bool `json:"send_position_to_base,omitempty"` + } `json:"tcpcli,omitempty"` + Tcpsvr struct { + Port int `json:"port,omitempty"` + SendPositionToBase bool `json:"send_position_to_base,omitempty"` + } `json:"tcpsvr,omitempty"` + } `json:"settings,omitempty"` + } `json:"base_corrections,omitempty"` + } `json:"correction_input,omitempty"` + Device struct { + AntennaHeight float64 `json:"antenna_height,omitempty"` + NightMode bool `json:"night_mode,omitempty"` + OnboardingShown bool `json:"onboarding_shown,omitempty"` + PowerOnBottomConnector bool `json:"power_on_bottom_connector,omitempty"` + PrivacyPolicyAccepted bool `json:"privacy_policy_accepted,omitempty"` + Role string `json:"role,omitempty"` + UsageAnalysisAccepted bool `json:"usage_analysis_accepted,omitempty"` + } `json:"device,omitempty"` + Logging struct { + Logs struct { + Autostart bool `json:"autostart,omitempty"` + Base struct { + Enabled bool `json:"enabled,omitempty"` + Format string `json:"format,omitempty"` + } `json:"base,omitempty"` + Raw struct { + Enabled bool `json:"enabled,omitempty"` + Format string `json:"format,omitempty"` + RinexOptions struct { + LoggingInterval int `json:"logging_interval,omitempty"` + MarkerName any `json:"marker_name,omitempty"` + Preset string `json:"preset,omitempty"` + SatelliteSystems struct { + Beidou bool `json:"beidou,omitempty"` + Galileo bool `json:"galileo,omitempty"` + Glonass bool `json:"glonass,omitempty"` + Gps bool `json:"gps,omitempty"` + Qzss bool `json:"qzss,omitempty"` + Sbas bool `json:"sbas,omitempty"` + } `json:"satellite_systems,omitempty"` + TimeAdjustmentsEnabled bool `json:"time_adjustments_enabled,omitempty"` + } `json:"rinex_options,omitempty"` + Version string `json:"version,omitempty"` + } `json:"raw,omitempty"` + Solution struct { + Enabled bool `json:"enabled,omitempty"` + Format string `json:"format,omitempty"` + } `json:"solution,omitempty"` + Started bool `json:"started,omitempty"` + } `json:"logs,omitempty"` + Settings struct { + ArchiveName any `json:"archive_name,omitempty"` + Debug bool `json:"debug,omitempty"` + Interval int `json:"interval,omitempty"` + Overwrite bool `json:"overwrite,omitempty"` + SimultaneousLogging bool `json:"simultaneous_logging,omitempty"` + SplitAtMidnightUtc bool `json:"split_at_midnight_utc,omitempty"` + } `json:"settings,omitempty"` + } `json:"logging,omitempty"` + Network struct { + TCPOverModem bool `json:"tcp_over_modem,omitempty"` + } `json:"network,omitempty"` + PositionOutput struct { + Output1 struct { + IoType string `json:"io_type,omitempty"` + LastUsed struct { + TCP string `json:"tcp,omitempty"` + } `json:"last_used,omitempty"` + NmeaSettings struct { + Bluetooth struct { + Ebp struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"ebp,omitempty"` + Gga struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gga,omitempty"` + Gsa struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gsa,omitempty"` + Gst struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gst,omitempty"` + Gsv struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gsv,omitempty"` + MainTalkerID string `json:"main_talker_id,omitempty"` + Rmc struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"rmc,omitempty"` + Vtg struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"vtg,omitempty"` + Zda struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"zda,omitempty"` + } `json:"bluetooth,omitempty"` + Serial struct { + Ebp struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"ebp,omitempty"` + Gga struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gga,omitempty"` + Gsa struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gsa,omitempty"` + Gst struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gst,omitempty"` + Gsv struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gsv,omitempty"` + MainTalkerID string `json:"main_talker_id,omitempty"` + Rmc struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"rmc,omitempty"` + Vtg struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"vtg,omitempty"` + Zda struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"zda,omitempty"` + } `json:"serial,omitempty"` + Tcpcli struct { + Ebp struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"ebp,omitempty"` + Gga struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gga,omitempty"` + Gsa struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gsa,omitempty"` + Gst struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gst,omitempty"` + Gsv struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gsv,omitempty"` + MainTalkerID string `json:"main_talker_id,omitempty"` + Rmc struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"rmc,omitempty"` + Vtg struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"vtg,omitempty"` + Zda struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"zda,omitempty"` + } `json:"tcpcli,omitempty"` + Tcpsvr struct { + Ebp struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"ebp,omitempty"` + Gga struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gga,omitempty"` + Gsa struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gsa,omitempty"` + Gst struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gst,omitempty"` + Gsv struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gsv,omitempty"` + MainTalkerID string `json:"main_talker_id,omitempty"` + Rmc struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"rmc,omitempty"` + Vtg struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"vtg,omitempty"` + Zda struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"zda,omitempty"` + } `json:"tcpsvr,omitempty"` + } `json:"nmea_settings,omitempty"` + Settings struct { + Bluetooth struct { + Format string `json:"format,omitempty"` + } `json:"bluetooth,omitempty"` + Serial struct { + BaudRate int `json:"baud_rate,omitempty"` + Device string `json:"device,omitempty"` + Format string `json:"format,omitempty"` + } `json:"serial,omitempty"` + Tcpcli struct { + Address string `json:"address,omitempty"` + Format string `json:"format,omitempty"` + Port int `json:"port,omitempty"` + } `json:"tcpcli,omitempty"` + Tcpsvr struct { + Format string `json:"format,omitempty"` + Port int `json:"port,omitempty"` + } `json:"tcpsvr,omitempty"` + } `json:"settings,omitempty"` + } `json:"output1,omitempty"` + Output2 struct { + IoType string `json:"io_type,omitempty"` + LastUsed struct { + TCP string `json:"tcp,omitempty"` + } `json:"last_used,omitempty"` + NmeaSettings struct { + Bluetooth struct { + Ebp struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"ebp,omitempty"` + Gga struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gga,omitempty"` + Gsa struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gsa,omitempty"` + Gst struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gst,omitempty"` + Gsv struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gsv,omitempty"` + MainTalkerID string `json:"main_talker_id,omitempty"` + Rmc struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"rmc,omitempty"` + Vtg struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"vtg,omitempty"` + Zda struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"zda,omitempty"` + } `json:"bluetooth,omitempty"` + Serial struct { + Ebp struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"ebp,omitempty"` + Gga struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gga,omitempty"` + Gsa struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gsa,omitempty"` + Gst struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gst,omitempty"` + Gsv struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gsv,omitempty"` + MainTalkerID string `json:"main_talker_id,omitempty"` + Rmc struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"rmc,omitempty"` + Vtg struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"vtg,omitempty"` + Zda struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"zda,omitempty"` + } `json:"serial,omitempty"` + Tcpcli struct { + Ebp struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"ebp,omitempty"` + Gga struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gga,omitempty"` + Gsa struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gsa,omitempty"` + Gst struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gst,omitempty"` + Gsv struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gsv,omitempty"` + MainTalkerID string `json:"main_talker_id,omitempty"` + Rmc struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"rmc,omitempty"` + Vtg struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"vtg,omitempty"` + Zda struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"zda,omitempty"` + } `json:"tcpcli,omitempty"` + Tcpsvr struct { + Ebp struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"ebp,omitempty"` + Gga struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gga,omitempty"` + Gsa struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gsa,omitempty"` + Gst struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gst,omitempty"` + Gsv struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gsv,omitempty"` + MainTalkerID string `json:"main_talker_id,omitempty"` + Rmc struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"rmc,omitempty"` + Vtg struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"vtg,omitempty"` + Zda struct { + Enabled bool `json:"enabled,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"zda,omitempty"` + } `json:"tcpsvr,omitempty"` + } `json:"nmea_settings,omitempty"` + Settings struct { + Bluetooth struct { + Format string `json:"format,omitempty"` + } `json:"bluetooth,omitempty"` + Serial struct { + BaudRate int `json:"baud_rate,omitempty"` + Device string `json:"device,omitempty"` + Format string `json:"format,omitempty"` + } `json:"serial,omitempty"` + Tcpcli struct { + Address string `json:"address,omitempty"` + Format string `json:"format,omitempty"` + Port int `json:"port,omitempty"` + } `json:"tcpcli,omitempty"` + Tcpsvr struct { + Format string `json:"format,omitempty"` + Port int `json:"port,omitempty"` + } `json:"tcpsvr,omitempty"` + } `json:"settings,omitempty"` + } `json:"output2,omitempty"` + } `json:"position_output,omitempty"` + PositioningSettings struct { + ElevationMaskAngle int `json:"elevation_mask_angle,omitempty"` + GlonassArMode bool `json:"glonass_ar_mode,omitempty"` + GnssSettings struct { + PositioningSystems struct { + Beidou bool `json:"beidou,omitempty"` + Galileo bool `json:"galileo,omitempty"` + Glonass bool `json:"glonass,omitempty"` + Gps bool `json:"gps,omitempty"` + Qzss bool `json:"qzss,omitempty"` + } `json:"positioning_systems,omitempty"` + UpdateRate int `json:"update_rate,omitempty"` + } `json:"gnss_settings,omitempty"` + GpsArMode string `json:"gps_ar_mode,omitempty"` + MaxHorizontalAcceleration int `json:"max_horizontal_acceleration,omitempty"` + MaxVerticalAcceleration int `json:"max_vertical_acceleration,omitempty"` + PositioningMode string `json:"positioning_mode,omitempty"` + SnrMask int `json:"snr_mask,omitempty"` + } `json:"positioning_settings,omitempty"` + Sound struct { + Mute bool `json:"mute,omitempty"` + Volume int `json:"volume,omitempty"` + } `json:"sound,omitempty"` +} diff --git a/reach/client/protocol/v2/model/info.go b/reach/client/protocol/v2/model/info.go new file mode 100644 index 0000000..53dbca6 --- /dev/null +++ b/reach/client/protocol/v2/model/info.go @@ -0,0 +1,166 @@ +package model + +// GET http:///info +// { +// "device": { +// "cloud": { +// "supported": true, +// "usage_analysis_accepted": false +// }, +// "country_code": "FR", +// "critical_self_tests_passed": true, +// "is_first_time_setup": false, +// "local_address": "Reach.local", +// "manufacturing_timestamp": "1693633066", +// "name": "Reach", +// "privacy_policy_accepted": true, +// "public_key": "378A5081F445771316A0563CFCC168C813261C6EE9C5C50DF70CC4503C6D8839BED7AA40146A9D8D72BFC4DB85382EEE51B90D03B6CC6DF34E860E15EFEA7D38", +// "self_tests": { +// "antenna_board_detected": true, +// "audio": true, +// "bluetooth_detected": true, +// "crypto-chip": true, +// "image_and_device": true, +// "lora": true, +// "modem": true, +// "mpu": true, +// "stm32": true, +// "u-blox": true, +// "wifi_detected": true +// }, +// "serial_number": "8243276564AEA32D", +// "statistics": { +// "first_usage_timestamp": 4294967295 +// }, +// "time_sync_passed": true, +// "type": "ReachRS2+", +// "uptime": "2:50:57" +// }, +// "firmware": { +// "api_version": "10.2", +// "app_mode": "default", +// "onboarding_shown": false, +// "version": "32.0", +// "version_full": "32.0-r0" +// }, +// "gnss_receiver": { +// "firmware_version": "HPG_1.13" +// }, +// "lora": { +// "firmware_version": "F-0LR-1F-1912161" +// }, +// "modem": { +// "firmware_version": "MPSS.JO.2.0.2.c1.1-00098-9607_GENNS_PACK-1.402457.1 1 [May 18 2021 19:00:00]", +// "imei": "350588283544948", +// "modem_model": "\r\n^SYSSTART\r\n" +// }, +// "pmu": { +// "balancer_version": "190602", +// "git_hash": "0a241756", +// "version": "3.35" +// }, +// "reachview": { +// "api_version": "10.2", +// "app_mode": "default", +// "onboarding_shown": false, +// "version": "32.0", +// "version_full": "32.0-r0" +// }, +// "storage": { +// "free": 11682, +// "total": 12374 +// } +// } + +type Info struct { + Device Device `json:"device,omitempty"` + Firmware Firmware `json:"firmware,omitempty"` + GnssReceiver GnssReceiver `json:"gnss_receiver,omitempty"` + Lora Lora `json:"lora,omitempty"` + Modem Modem `json:"modem,omitempty"` + Pmu Pmu `json:"pmu,omitempty"` + Reachview Reachview `json:"reachview,omitempty"` + Storage Storage `json:"storage,omitempty"` +} + +type Cloud struct { + Supported bool `json:"supported,omitempty"` + UsageAnalysisAccepted bool `json:"usage_analysis_accepted,omitempty"` +} + +type SelfTests struct { + AntennaBoardDetected bool `json:"antenna_board_detected,omitempty"` + Audio bool `json:"audio,omitempty"` + BluetoothDetected bool `json:"bluetooth_detected,omitempty"` + CryptoChip bool `json:"crypto-chip,omitempty"` + ImageAndDevice bool `json:"image_and_device,omitempty"` + Lora bool `json:"lora,omitempty"` + Modem bool `json:"modem,omitempty"` + Mpu bool `json:"mpu,omitempty"` + Stm32 bool `json:"stm32,omitempty"` + UBlox bool `json:"u-blox,omitempty"` + WifiDetected bool `json:"wifi_detected,omitempty"` +} + +type Statistics struct { + FirstUsageTimestamp int64 `json:"first_usage_timestamp,omitempty"` +} + +type Device struct { + Cloud Cloud `json:"cloud,omitempty"` + CountryCode string `json:"country_code,omitempty"` + CriticalSelfTestsPassed bool `json:"critical_self_tests_passed,omitempty"` + IsFirstTimeSetup bool `json:"is_first_time_setup,omitempty"` + LocalAddress string `json:"local_address,omitempty"` + ManufacturingTimestamp string `json:"manufacturing_timestamp,omitempty"` + Name string `json:"name,omitempty"` + PrivacyPolicyAccepted bool `json:"privacy_policy_accepted,omitempty"` + PublicKey string `json:"public_key,omitempty"` + SelfTests SelfTests `json:"self_tests,omitempty"` + SerialNumber string `json:"serial_number,omitempty"` + Statistics Statistics `json:"statistics,omitempty"` + TimeSyncPassed bool `json:"time_sync_passed,omitempty"` + Type string `json:"type,omitempty"` + Uptime string `json:"uptime,omitempty"` +} + +type Firmware struct { + APIVersion string `json:"api_version,omitempty"` + AppMode string `json:"app_mode,omitempty"` + OnboardingShown bool `json:"onboarding_shown,omitempty"` + Version string `json:"version,omitempty"` + VersionFull string `json:"version_full,omitempty"` +} + +type GnssReceiver struct { + FirmwareVersion string `json:"firmware_version,omitempty"` +} + +type Lora struct { + FirmwareVersion string `json:"firmware_version,omitempty"` +} + +type Modem struct { + FirmwareVersion string `json:"firmware_version,omitempty"` + Imei string `json:"imei,omitempty"` + ModemModel string `json:"modem_model,omitempty"` +} + +type Pmu struct { + BalancerVersion string `json:"balancer_version,omitempty"` + GitHash string `json:"git_hash,omitempty"` + Version string `json:"version,omitempty"` +} + +type Reachview struct { + APIVersion string `json:"api_version,omitempty"` + AppMode string `json:"app_mode,omitempty"` + OnboardingShown bool `json:"onboarding_shown,omitempty"` + Version string `json:"version,omitempty"` + VersionFull string `json:"version_full,omitempty"` +} + +type Storage struct { + Free int `json:"free,omitempty"` + Total int `json:"total,omitempty"` +} diff --git a/reach/client/protocol/v2/model/updater.go b/reach/client/protocol/v2/model/updater.go new file mode 100644 index 0000000..ddef7c5 --- /dev/null +++ b/reach/client/protocol/v2/model/updater.go @@ -0,0 +1,55 @@ +package model + +// { +// "allowance": { +// "allowed": true, +// "reason": null +// }, +// "downgrade": { +// "available": false, +// "reason": "no_available_downgrades" +// }, +// "release": { +// "channel": "stable" +// }, +// "update_server": { +// "address": "https://update-provider.cloud.emlid.com/api/client/v1/firmware-available" +// }, +// "upgrade": { +// "available": false, +// "reason": "up_to_date", +// "required": false +// } +// } + +type Updater struct { + Allowance Allowance `json:"allowance,omitempty"` + Downgrade Downgrade `json:"downgrade,omitempty"` + Release Release `json:"release,omitempty"` + UpdateServer UpdateServer `json:"update_server,omitempty"` + Upgrade Upgrade `json:"upgrade,omitempty"` +} + +type Allowance struct { + Allowed bool `json:"allowed,omitempty"` + Reason any `json:"reason,omitempty"` +} + +type Downgrade struct { + Available bool `json:"available,omitempty"` + Reason string `json:"reason,omitempty"` +} + +type Release struct { + Channel string `json:"channel,omitempty"` +} + +type UpdateServer struct { + Address string `json:"address,omitempty"` +} + +type Upgrade struct { + Available bool `json:"available,omitempty"` + Reason string `json:"reason,omitempty"` + Required bool `json:"required,omitempty"` +} diff --git a/reach/client/protocol/v2/operations.go b/reach/client/protocol/v2/operations.go new file mode 100644 index 0000000..9748e2d --- /dev/null +++ b/reach/client/protocol/v2/operations.go @@ -0,0 +1,261 @@ +package v2 + +import ( + "context" + "net" + "strconv" + "strings" + "sync" + + "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol" + "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol/v2/model" + + "forge.cadoles.com/cadoles/go-emlid/reach/client/socketio" + "github.com/pkg/errors" +) + +type Operations struct { + addr string + client *socketio.Client + mutex sync.RWMutex +} + +// Reboot implements protocol.Operations. +func (o *Operations) Reboot(ctx context.Context) error { + var err error + var wg sync.WaitGroup + + var once sync.Once + + done := func() { + o.client.Off(socketio.OnDisconnection) + wg.Done() + } + + wg.Add(1) + + go func() { + <-ctx.Done() + err = ctx.Err() + once.Do(done) + }() + + err = o.client.On(socketio.OnDisconnection, func(h *socketio.Channel, data any) { + once.Do(done) + }) + if err != nil { + return errors.Wrapf(err, "error while binding to '%s' event", socketio.OnDisconnection) + } + + if err = o.client.Emit("action", &model.Action{Name: "reboot"}); err != nil { + return err + } + + wg.Wait() + + return err +} + +// SetBase implements protocol.Operations. +func (o *Operations) SetBase(ctx context.Context, funcs ...protocol.SetBaseOptionFunc) error { + config, err := o.GetConfiguration(ctx) + if err != nil { + return errors.WithStack(err) + } + + opts := protocol.NewSetBaseOptions(funcs...) + + base := &model.Base{ + Accumulation: config.BaseMode.BaseCoordinates.Accumulation, + AntennaOffset: config.BaseMode.BaseCoordinates.AntennaOffset, + Coordinates: model.BaseCoordinates{ + Height: config.BaseMode.BaseCoordinates.Coordinates.Height, + Latitude: config.BaseMode.BaseCoordinates.Coordinates.Latitude, + Longitude: config.BaseMode.BaseCoordinates.Coordinates.Longitude, + }, + Mode: config.BaseMode.BaseCoordinates.Mode, + } + + if opts.Mode != nil { + base.Mode = *opts.Mode + } + + if opts.Height != nil { + base.Coordinates.Height = *opts.Height + } + + if opts.Latitude != nil { + base.Coordinates.Latitude = *opts.Latitude + } + + if opts.Longitude != nil { + base.Coordinates.Longitude = *opts.Longitude + } + + if opts.AntennaOffset != nil { + base.AntennaOffset = *opts.AntennaOffset + } + + if _, err := o.PostBaseCoordinates(ctx, base); err != nil { + return errors.WithStack(err) + } + + return nil +} + +// Configuration implements protocol.Operations. +func (o *Operations) Configuration(ctx context.Context) (any, error) { + config, err := o.GetConfiguration(ctx) + if err != nil { + return nil, errors.WithStack(err) + } + + return config, nil +} + +// Alive implements protocol.Operations. +func (o *Operations) Alive(ctx context.Context) (bool, error) { + o.mutex.RLock() + defer o.mutex.RUnlock() + + return o.client.Alive(), nil +} + +// Version implements protocol.Operations. +func (o *Operations) Version(ctx context.Context) (string, bool, error) { + info, err := o.GetInfo(ctx) + if err != nil { + return "", false, errors.WithStack(err) + } + + updater, err := o.GetUpdater(ctx) + if err != nil { + return "", false, errors.WithStack(err) + } + + version := info.Reachview.Version + stable := updater.Release.Channel == "stable" + + return version, stable, nil +} + +// Close implements protocol.Operations. +func (o *Operations) Close(ctx context.Context) error { + o.mutex.Lock() + defer o.mutex.Unlock() + + if o.client == nil { + return nil + } + + o.client.Close() + + return nil +} + +// Connect implements protocol.Operations. +func (o *Operations) Connect(ctx context.Context) error { + o.mutex.Lock() + defer o.mutex.Unlock() + + if o.client != nil { + o.client.Close() + } + + endpoint, err := o.getSocketIOEndpoint() + if err != nil { + return errors.WithStack(err) + } + + client := socketio.NewClient(endpoint) + + if err := client.Connect(); err != nil { + return errors.WithStack(err) + } + + o.client = client + + return nil +} + +func (o *Operations) getSocketIOEndpoint() (string, error) { + host, rawPort, err := net.SplitHostPort(o.addr) + if err != nil { + var addrErr *net.AddrError + if !errors.As(err, &addrErr) || !strings.Contains(addrErr.Error(), "missing port in address") { + return "", errors.WithStack(err) + } + + host = o.addr + } + + port := int64(80) + if rawPort != "" { + port, err = strconv.ParseInt(rawPort, 10, 32) + if err != nil { + return "", errors.WithStack(err) + } + } + + endpoint := socketio.Endpoint(host, int(port), false) + + return endpoint, nil +} + +// Emit implements protocol.Operations. +func (o *Operations) Emit(ctx context.Context, mType string, message any) error { + o.mutex.RLock() + defer o.mutex.RUnlock() + + if o.client == nil || !o.client.Alive() { + return errors.WithStack(protocol.ErrClosed) + } + + if err := o.client.Emit(mType, message); err != nil { + return errors.WithStack(err) + } + + return nil +} + +// On implements protocol.Operations. +func (o *Operations) On(ctx context.Context, event string) (chan any, error) { + o.mutex.RLock() + defer o.mutex.RUnlock() + + if o.client == nil || !o.client.Alive() { + return nil, errors.WithStack(protocol.ErrClosed) + } + + out := make(chan any) + closer := new(sync.Once) + + handler := func(ch *socketio.Channel, data any) { + select { + case <-ctx.Done(): + closer.Do(func() { + o.mutex.RLock() + defer o.mutex.RUnlock() + + ch.Close() + close(out) + + if o.client == nil { + return + } + }) + + return + default: + out <- data + } + } + + if err := o.client.On(event, handler); err != nil { + return nil, errors.WithStack(err) + } + + return out, nil +} + +var _ protocol.Operations = &Operations{} diff --git a/reach/client/protocol/v2/operations_test.go b/reach/client/protocol/v2/operations_test.go new file mode 100644 index 0000000..d274788 --- /dev/null +++ b/reach/client/protocol/v2/operations_test.go @@ -0,0 +1,31 @@ +package v2 + +import ( + "context" + "testing" + + "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol" + "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol/testsuite" + "github.com/pkg/errors" +) + +func TestProtocolV2Operations(t *testing.T) { + proto := &Protocol{} + + factory := func(addr string) (protocol.Operations, error) { + ctx := context.Background() + + available, err := proto.Available(ctx, addr) + if err != nil { + return nil, errors.WithStack(err) + } + + if !available { + return nil, errors.New("protocol is not available") + } + + return proto.Operations(addr), nil + } + + testsuite.TestOperations(t, factory) +} diff --git a/reach/client/protocol/v2/protocol.go b/reach/client/protocol/v2/protocol.go new file mode 100644 index 0000000..2f891c1 --- /dev/null +++ b/reach/client/protocol/v2/protocol.go @@ -0,0 +1,54 @@ +package v2 + +import ( + "context" + + "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol" + "github.com/Masterminds/semver/v3" + "github.com/pkg/errors" +) + +const Identifier protocol.Identifier = "v2" + +const compatibleVersionConstraint = ">= 32" + +type Protocol struct { +} + +// Available implements protocol.Protocol. +func (p *Protocol) Available(ctx context.Context, addr string) (bool, error) { + ops := p.Operations(addr).(*Operations) + + info, err := ops.GetInfo(ctx) + if err != nil { + return false, errors.WithStack(err) + } + + versionConstraint, err := semver.NewConstraint(compatibleVersionConstraint) + if err != nil { + return false, errors.WithStack(err) + } + + version, err := semver.NewVersion(info.Reachview.Version) + if err != nil { + return false, errors.WithStack(err) + } + + if !versionConstraint.Check(version) { + return false, errors.Errorf("reachview version '%s' does not match constraint '%s'", info.Reachview.Version, compatibleVersionConstraint) + } + + return true, nil +} + +// Identifier implements protocol.Protocol. +func (p *Protocol) Identifier() protocol.Identifier { + return Identifier +} + +// Operations implements protocol.Protocol. +func (p *Protocol) Operations(addr string) protocol.Operations { + return &Operations{addr: addr} +} + +var _ protocol.Protocol = &Protocol{} diff --git a/reach/client/socketio/client.go b/reach/client/socketio/client.go new file mode 100644 index 0000000..43bc6eb --- /dev/null +++ b/reach/client/socketio/client.go @@ -0,0 +1,137 @@ +package socketio + +import ( + "sync" + + gosocketio "forge.cadoles.com/Pyxis/golang-socketio" + "forge.cadoles.com/Pyxis/golang-socketio/transport" + "github.com/pkg/errors" +) + +type Channel = gosocketio.Channel + +const ( + OnDisconnection = gosocketio.OnDisconnection + OnConnection = gosocketio.OnConnection + OnError = gosocketio.OnError +) + +type Client struct { + conn *gosocketio.Client + mutex sync.RWMutex + endpoint string + opts *Options +} + +func (c *Client) Connect() error { + c.mutex.Lock() + defer c.mutex.Unlock() + + var err error + var wg sync.WaitGroup + + wg.Add(1) + + transport := &transport.WebsocketTransport{ + PingInterval: c.opts.PingInterval, + PingTimeout: c.opts.PingTimeout, + ReceiveTimeout: c.opts.ReceiveTimeout, + SendTimeout: c.opts.SendTimeout, + BufferSize: c.opts.BufferSize, + } + + conn, err := gosocketio.Dial(c.endpoint, transport) + if err != nil { + return errors.Wrap(err, "error while connecting to endpoint") + } + + c.conn = nil + + cleanup := func() { + conn.Off(gosocketio.OnError) + conn.Off(gosocketio.OnConnection) + } + + err = conn.On(gosocketio.OnConnection, func(h *Channel) { + cleanup() + wg.Done() + }) + if err != nil { + return errors.Wrap(err, "error while attaching to connection event") + } + + err = conn.On(gosocketio.OnError, func(h *Channel) { + cleanup() + err = errors.Errorf("an unknown error occured") + wg.Done() + }) + if err != nil { + return errors.Wrap(err, "error while attaching to error event") + } + + wg.Wait() + + c.conn = conn + + return err +} + +func (c *Client) Close() { + c.mutex.Lock() + defer c.mutex.Unlock() + + if c.conn == nil { + return + } + c.conn.Close() + c.conn = nil +} + +func (c *Client) Alive() bool { + c.mutex.RLock() + defer c.mutex.RUnlock() + + if c.conn == nil { + return false + } + + return c.conn.IsAlive() +} + +// Emit a new event with the given data +func (c *Client) Emit(event string, data any) error { + c.mutex.RLock() + defer c.mutex.RUnlock() + + if err := c.conn.Emit(event, data); err != nil { + return errors.Wrapf(err, "error while emitting '%s' event", event) + } + return nil +} + +type Handler func(ch *Channel, data any) + +// On binds and event handler to the given event +func (c *Client) On(event string, handler Handler) error { + c.mutex.RLock() + defer c.mutex.RUnlock() + + return c.conn.On(event, handler) +} + +// Off remove the handler bound to the given event +func (c *Client) Off(event string) { + c.mutex.RLock() + defer c.mutex.RUnlock() + + c.conn.Off(event) +} + +func NewClient(endpoint string, funcs ...OptionFunc) *Client { + opts := NewOptions(funcs...) + client := &Client{ + endpoint: endpoint, + opts: opts, + } + return client +} diff --git a/reach/client/socketio/endpoint.go b/reach/client/socketio/endpoint.go new file mode 100644 index 0000000..1653a24 --- /dev/null +++ b/reach/client/socketio/endpoint.go @@ -0,0 +1,9 @@ +package socketio + +import ( + gosocketio "forge.cadoles.com/Pyxis/golang-socketio" +) + +func Endpoint(host string, port int, secure bool) string { + return gosocketio.GetUrl(host, port, false) +} diff --git a/reach/client/socketio/options.go b/reach/client/socketio/options.go new file mode 100644 index 0000000..c7d4bb2 --- /dev/null +++ b/reach/client/socketio/options.go @@ -0,0 +1,62 @@ +package socketio + +import "time" + +type Options struct { + PingInterval time.Duration + PingTimeout time.Duration + ReceiveTimeout time.Duration + SendTimeout time.Duration + BufferSize int +} + +type OptionFunc func(opts *Options) + +func NewOptions(funcs ...OptionFunc) *Options { + opts := &Options{ + PingInterval: 5 * time.Second, + PingTimeout: 60 * time.Second, + ReceiveTimeout: 60 * time.Second, + SendTimeout: 60 * time.Second, + BufferSize: 1024 * 32, + } + for _, fn := range funcs { + fn(opts) + } + return opts +} + +// WithPingInterval configures the client to use the given ping interval +func WithPingInterval(interval time.Duration) OptionFunc { + return func(opts *Options) { + opts.PingInterval = interval + } +} + +// WithPingTimeout configures the client to use the given ping timeout +func WithPingTimeout(timeout time.Duration) OptionFunc { + return func(opts *Options) { + opts.PingTimeout = timeout + } +} + +// WithReceiveTimeout configures the client to use the given receive timeout +func WithReceiveTimeout(timeout time.Duration) OptionFunc { + return func(opts *Options) { + opts.ReceiveTimeout = timeout + } +} + +// WithSendTimeout configures the client to use the given send timeout +func WithSendTimeout(timeout time.Duration) OptionFunc { + return func(opts *Options) { + opts.SendTimeout = timeout + } +} + +// WithBufferSize configures the client to use the given buffer size +func WithBufferSize(size int) OptionFunc { + return func(opts *Options) { + opts.BufferSize = size + } +} diff --git a/reach/discovery/discovery.go b/reach/discovery/discovery.go new file mode 100644 index 0000000..05564cc --- /dev/null +++ b/reach/discovery/discovery.go @@ -0,0 +1,56 @@ +package discovery + +import ( + "context" + "net" + "sync" + + "github.com/grandcat/zeroconf" +) + +// Service is a ReachRS service discovered via MDNS-SD +type Service struct { + Name string + AddrV4 *net.IP + Port int +} + +// Discover tries to discover ReachRS services on the local network via mDNS-SD +func Discover(ctx context.Context) ([]Service, error) { + var wg sync.WaitGroup + + wg.Add(1) + + resolver, err := zeroconf.NewResolver() + if err != nil { + return nil, err + } + + services := make([]Service, 0) + entries := make(chan *zeroconf.ServiceEntry) + + go func() { + for e := range entries { + var addr *net.IP + if len(e.AddrIPv4) > 0 { + addr = &e.AddrIPv4[0] + } + srv := Service{ + Name: e.Instance, + AddrV4: addr, + Port: e.Port, + } + services = append(services, srv) + } + wg.Done() + }() + + if err = resolver.Browse(ctx, "_reach._tcp", ".local", entries); err != nil { + return nil, err + } + + wg.Wait() + + return services, nil + +} diff --git a/reach/discovery/discovery_test.go b/reach/discovery/discovery_test.go new file mode 100644 index 0000000..acc400a --- /dev/null +++ b/reach/discovery/discovery_test.go @@ -0,0 +1,53 @@ +package discovery + +import ( + "context" + "regexp" + "testing" + "time" + + "forge.cadoles.com/cadoles/go-emlid/reach" +) + +func TestDiscovery(t *testing.T) { + reach.AssertIntegrationTests(t) + + ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second) + defer cancel() + + services, err := Discover(ctx) + if err != nil { + t.Fatal(err) + } + + if g, e := len(services), 1; g < e { + t.Fatalf("len(services): got '%d', expected > %d", g, e) + } + + t.Logf("Found %d services", len(services)) + + patterns := []string{"reach", "Reach", "^RS.*"} + + for i, s := range services { + t.Logf("Service #%d: %s - %s:%d", i, s.Name, s.AddrV4.String(), s.Port) + + matched := false + + for _, p := range patterns { + re, err := regexp.Compile(p) + if err != nil { + t.Fatal(err) + } + + if re.Match([]byte(s.Name)) { + matched = true + break + } + } + + if !matched { + t.Errorf("services[%d].Name ('%s') to match on of '%v'", i, s.Name, patterns) + } + } + +} diff --git a/reach/integration.go b/reach/integration.go new file mode 100644 index 0000000..c6a96a8 --- /dev/null +++ b/reach/integration.go @@ -0,0 +1,30 @@ +package reach + +import ( + "os" + "strconv" + "testing" + + "github.com/pkg/errors" +) + +const skipIntegrationTestsEnv = "SKIP_INTEGRATION_TESTS" + +func AssertIntegrationTests(t *testing.T) { + rawSkipIntegrationTests := os.Getenv(skipIntegrationTestsEnv) + if rawSkipIntegrationTests == "" { + rawSkipIntegrationTests = "false" + } + + skipIntegrationTests, err := strconv.ParseBool(rawSkipIntegrationTests) + if err != nil { + t.Logf("[WARN] could not parse environment variable '%s': %+v", skipIntegrationTestsEnv, errors.WithStack(err)) + skipIntegrationTests = false + } + + if !skipIntegrationTests { + return + } + + t.Skipf("Integration tests skipped. To enable, set environment variable %s=false", skipIntegrationTestsEnv) +}