commit 07c59c80d497f342ffe28fa92027a1485cbd4ea9 Author: William Petit Date: Tue Jul 30 14:28:39 2024 +0200 feat: initial commit 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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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. 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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..d9ddca9 --- /dev/null +++ b/Makefile @@ -0,0 +1,2 @@ +test: + go test -v ./... \ 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/go.mod b/go.mod new file mode 100644 index 0000000..0bdf4c2 --- /dev/null +++ b/go.mod @@ -0,0 +1,20 @@ +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/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..5c992ee --- /dev/null +++ b/go.sum @@ -0,0 +1,34 @@ +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/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/operations.go b/reach/client/operations.go new file mode 100644 index 0000000..af306ba --- /dev/null +++ b/reach/client/operations.go @@ -0,0 +1,88 @@ +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, message any) error { + panic("unimplemented") +} + +// 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 +} + +var _ protocol.Operations = &Client{} diff --git a/reach/client/options.go b/reach/client/options.go new file mode 100644 index 0000000..cd7ee58 --- /dev/null +++ b/reach/client/options.go @@ -0,0 +1,41 @@ +package client + +import "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol" + +type Options struct { + Protocols *protocol.Registry + PreferredProtocol protocol.Identifier + FallbackProtocol protocol.Identifier +} + +type OptionFunc func(opts *Options) + +func NewOptions(funcs ...OptionFunc) *Options { + opts := &Options{ + 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..5ad035b --- /dev/null +++ b/reach/client/protocol/operations.go @@ -0,0 +1,25 @@ +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, messageType string) (chan any, error) + + // Emit sends the given message on the ReachView websocket connection + Emit(ctx context.Context, message any) error +} diff --git a/reach/client/protocol/protocol.go b/reach/client/protocol/protocol.go new file mode 100644 index 0000000..57c9446 --- /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) (Operations, 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..8619bc8 --- /dev/null +++ b/reach/client/protocol/registry.go @@ -0,0 +1,52 @@ +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 != nil { + 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/testsuite/operations.go b/reach/client/protocol/testsuite/operations.go new file mode 100644 index 0000000..0344aea --- /dev/null +++ b/reach/client/protocol/testsuite/operations.go @@ -0,0 +1,125 @@ +package testsuite + +import ( + "context" + "os" + "testing" + "time" + + "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) + } + }, + }, +} + +func TestOperations(t *testing.T, opsFactory OperationsFactoryFunc) { + 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/testsuite/util.go b/reach/client/protocol/testsuite/util.go new file mode 100644 index 0000000..4de64c1 --- /dev/null +++ b/reach/client/protocol/testsuite/util.go @@ -0,0 +1,30 @@ +package testsuite + +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) +} diff --git a/reach/client/protocol/v1/protocol.go b/reach/client/protocol/v1/protocol.go new file mode 100644 index 0000000..22f2e9c --- /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) (protocol.Operations, 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/api/http.go b/reach/client/protocol/v2/api/http.go new file mode 100644 index 0000000..eb960b6 --- /dev/null +++ b/reach/client/protocol/v2/api/http.go @@ -0,0 +1,41 @@ +package api + +import ( + "encoding/json" + "io" + "net/http" + + "github.com/pkg/errors" +) + +func GetJSON(url string, dst any) error { + var res *http.Response + + 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 +} diff --git a/reach/client/protocol/v2/api/info.go b/reach/client/protocol/v2/api/info.go new file mode 100644 index 0000000..692ec23 --- /dev/null +++ b/reach/client/protocol/v2/api/info.go @@ -0,0 +1,184 @@ +package api + +import ( + "context" + "fmt" + + "github.com/pkg/errors" +) + +// 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"` +} + +func GetInfo(ctx context.Context, addr string) (*Info, error) { + url := fmt.Sprintf("http://%s/info", addr) + + info := &Info{} + if err := GetJSON(url, info); err != nil { + return nil, errors.WithStack(err) + } + + return info, nil +} diff --git a/reach/client/protocol/v2/api/updater.go b/reach/client/protocol/v2/api/updater.go new file mode 100644 index 0000000..0f6bf6b --- /dev/null +++ b/reach/client/protocol/v2/api/updater.go @@ -0,0 +1,73 @@ +package api + +import ( + "context" + "fmt" + + "github.com/pkg/errors" +) + +// { +// "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"` +} + +func GetUpdater(ctx context.Context, addr string) (*Updater, error) { + url := fmt.Sprintf("http://%s/updater", addr) + + updater := &Updater{} + if err := GetJSON(url, updater); err != nil { + return nil, errors.WithStack(err) + } + + return updater, 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/operations.go b/reach/client/protocol/v2/operations.go new file mode 100644 index 0000000..d0da290 --- /dev/null +++ b/reach/client/protocol/v2/operations.go @@ -0,0 +1,164 @@ +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/api" + "forge.cadoles.com/cadoles/go-emlid/reach/client/socketio" + "github.com/pkg/errors" +) + +type Operations struct { + addr string + client *socketio.Client + mutex sync.RWMutex +} + +// 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 := api.GetInfo(ctx, o.addr) + if err != nil { + return "", false, errors.WithStack(err) + } + + updater, err := api.GetUpdater(ctx, o.addr) + 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, message any) error { + o.mutex.RLock() + defer o.mutex.RUnlock() + + if o.client == nil || !o.client.Alive() { + return errors.WithStack(protocol.ErrClosed) + } + + 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..2c47230 --- /dev/null +++ b/reach/client/protocol/v2/operations_test.go @@ -0,0 +1,27 @@ +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() + + ops, err := proto.Available(ctx, addr) + if err != nil { + return nil, errors.WithStack(err) + } + + return ops, 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..91c6e67 --- /dev/null +++ b/reach/client/protocol/v2/protocol.go @@ -0,0 +1,53 @@ +package v2 + +import ( + "context" + + "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol" + "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol/v2/api" + "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) (protocol.Operations, error) { + info, err := api.GetInfo(ctx, addr) + if err != nil { + return nil, errors.WithStack(err) + } + + versionConstraint, err := semver.NewConstraint(compatibleVersionConstraint) + if err != nil { + return nil, errors.WithStack(err) + } + + version, err := semver.NewVersion(info.Reachview.Version) + if err != nil { + return nil, errors.WithStack(err) + } + + if !versionConstraint.Check(version) { + return nil, errors.Errorf("reachview version '%s' does not match constraint '%s'", info.Reachview.Version, compatibleVersionConstraint) + } + + return &Operations{addr: addr}, 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..8783096 --- /dev/null +++ b/reach/client/socketio/client.go @@ -0,0 +1,131 @@ +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 + +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..a1dd4b6 --- /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: 30 * 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..af0caae --- /dev/null +++ b/reach/discovery/discovery_test.go @@ -0,0 +1,53 @@ +package discovery + +import ( + "context" + "regexp" + "testing" + "time" +) + +func TestDiscovery(t *testing.T) { + if !*runDiscoveryIntegrationTests { + t.Skip("To run this test, go test -v ./reach/discovery -discovery-integration") + } + + 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/discovery/util_test.go b/reach/discovery/util_test.go new file mode 100644 index 0000000..11209e9 --- /dev/null +++ b/reach/discovery/util_test.go @@ -0,0 +1,13 @@ +package discovery + +import "flag" + +var runDiscoveryIntegrationTests = flag.Bool( + "discovery-integration", false, + "Run the 'Discovery' integration tests (in addition to the unit tests)", +) + +var reachHost = flag.String( + "reach-host", "192.168.42.1", + "The Reach module host to use in integration tests", +)