feat(AveragePosition/GetNTRIPMountPoint): change return type, update cmd average_position
This commit is contained in:
@ -2,12 +2,10 @@ package main
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import (
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"context"
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"encoding/json"
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"flag"
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"fmt"
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"log/slog"
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"os"
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"time"
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reach "forge.cadoles.com/cadoles/go-emlid/reach/client"
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"forge.cadoles.com/cadoles/go-emlid/reach/client/logger"
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@ -18,24 +16,15 @@ import (
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)
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var (
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host string = "192.168.42.1"
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rawLogLevel string = "ERROR"
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host string = "192.168.42.1"
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rawLogLevel string = "ERROR"
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baseAccuracy string = "fix"
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)
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func init() {
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flag.StringVar(&rawLogLevel, "log-level", rawLogLevel, "log level")
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flag.StringVar(&host, "host", host, "the reachrs module host")
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}
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type Coordinates struct {
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Latitude float64 `json:"latitude"`
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Longitude float64 `json:"longitude"`
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Height float64 `json:"height"`
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}
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type Payload struct {
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Coordinates Coordinates `json:"coordinates"`
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AntennaOffset float64 `json:"antenna_offset"`
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flag.StringVar(&baseAccuracy, "baseAccuracy", baseAccuracy, "precision required for average position")
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}
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func main() {
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@ -64,25 +53,17 @@ func main() {
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fmt.Printf("Configuration actuelle de la base :\n lat=%v\n lon=%v\n height=%v\n antenna_offset=%v\n accumulation=%v\n\n NTRIPSettings: \n address:%s\n port:%d \n username: %s\n password:%s\n sendPositionToBase:%t\n",
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config.BaseMode.BaseCoordinates.Coordinates.Latitude, config.BaseMode.BaseCoordinates.Coordinates.Longitude, config.BaseMode.BaseCoordinates.Coordinates.Height, config.BaseMode.BaseCoordinates.AntennaOffset, config.BaseMode.BaseCoordinates.Accumulation, config.CorrectionInput.BaseCorrections.Settings.Ntripcli.Address, config.CorrectionInput.BaseCorrections.Settings.Ntripcli.Port, config.CorrectionInput.BaseCorrections.Settings.Ntripcli.Username, config.CorrectionInput.BaseCorrections.Settings.Ntripcli.Password, config.CorrectionInput.BaseCorrections.Settings.Ntripcli.SendPositionToBase)
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// Configuration des corrections NTRIP
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if err := setupNTRIPCorrections(ctx, client, config); err != nil {
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//NTRIP Correction
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processNTRIPCorrection(ctx, client, config)
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//Base configuration
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if err := setBaseToModeAndHold(ctx, client, config, baseAccuracy, 30); err != nil {
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fmt.Printf("[FATAL] %+v", err)
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os.Exit(1)
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}
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//Configuration de la base
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if err := setBaseToModeAndHold(ctx, client, config, "float", 30); err != nil {
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fmt.Printf("[FATAL] %+v", err)
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os.Exit(1)
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}
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// Collecte des données de positions
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if err := averagePositionAndSave(ctx, client); err != nil {
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fmt.Printf("[FATAL] %+v", err)
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os.Exit(1)
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}
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fmt.Println("Configuration terminée avec succès")
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// AveragePosition
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processAveragePosition(ctx, client)
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}
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func initializeClient(ctx context.Context) (*reach.Client, error) {
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@ -121,58 +102,32 @@ func retrieveAndProcessConfig(ctx context.Context, client *reach.Client) (*model
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return &config, nil
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}
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func setupNTRIPCorrections(ctx context.Context, client *reach.Client, config *model.Configuration) error {
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func processNTRIPCorrection(ctx context.Context, client *reach.Client, config *model.Configuration) {
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// Configuration des corrections NTRIP
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ntripMsg, err := setupNTRIPCorrections(ctx, client)
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if err != nil {
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fmt.Printf("[FATAL] %+v", err)
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os.Exit(1)
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}
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displayAvailableMountPoint(ntripMsg)
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updateNTRIPMountPoint(ctx, client, config)
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}
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func setupNTRIPCorrections(ctx context.Context, client *reach.Client) (*protocol.TaskMessage[protocol.NTRIPPayload], error) {
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fmt.Println("\nConfiguration des corrections NTRIP...")
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// Recherche de points de montage
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if err := client.GetNTRIPMountPoint(ctx); err != nil {
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return errors.WithStack(err)
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}
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return processNTRIPStreams(ctx, client, config)
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}
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func processNTRIPStreams(ctx context.Context, client *reach.Client, config *model.Configuration) error {
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messages, err := reach.OnMessageType(ctx, client, "task_status")
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ntripMsg, err := client.GetNTRIPMountPoint(ctx)
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if err != nil {
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return errors.WithStack(err)
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}
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timeout := time.NewTimer(30 * time.Second)
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defer timeout.Stop()
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for {
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select {
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case b := <-messages:
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if b.State == "completed" {
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return handleNTRIPResponse(ctx, client, config, b)
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}
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case <-timeout.C:
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return errors.New("timeout lors de la récupération des streams NTRIP")
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case <-ctx.Done():
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return ctx.Err()
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}
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return nil, errors.WithStack(err)
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}
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return ntripMsg, nil
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}
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func handleNTRIPResponse(ctx context.Context, client *reach.Client, config *model.Configuration, message reach.Broadcast) error {
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var response model.NTRIPResponse
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if err := mapstructure.Decode(message, &response); err != nil {
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return errors.WithStack(err)
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}
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displayAvailableStreams(response)
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return updateNTRIPMountPoint(ctx, client, config)
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}
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func displayAvailableStreams(response model.NTRIPResponse) {
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func displayAvailableMountPoint(response *protocol.TaskMessage[protocol.NTRIPPayload]) {
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streams := response.Payload.Str
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fmt.Printf("=== %d Streams disponibles ===\n", len(streams))
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fmt.Printf("=== Base < 50 km disponibles ===\n")
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for i, stream := range streams {
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if stream.Distance < 50 {
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fmt.Printf("%d. %-15s | %s (%s) | %.1fkm\n",
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@ -205,7 +160,8 @@ func updateNTRIPMountPoint(ctx context.Context, client *reach.Client, config *mo
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}
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func setBaseToModeAndHold(ctx context.Context, client *reach.Client, baseConfig *model.Configuration, mode string, accumulation int) error {
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fmt.Println("Configuration de la base en mode float-and-hold...")
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fmt.Printf("Configuration de la base en mode %s-and-hold...\n", baseAccuracy)
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opts := []protocol.SetBaseOptionFunc{
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protocol.WithBaseLatitude(baseConfig.BaseMode.BaseCoordinates.Coordinates.Latitude),
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protocol.WithBaseLongitude(baseConfig.BaseMode.BaseCoordinates.Coordinates.Longitude),
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@ -219,50 +175,46 @@ func setBaseToModeAndHold(ctx context.Context, client *reach.Client, baseConfig
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return errors.WithStack(err)
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}
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fmt.Println("Base configurée en mode float-and-hold")
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fmt.Printf("Base configurée en mode %s-and-hold\n", baseAccuracy)
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return nil
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}
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func averagePositionAndSave(ctx context.Context, client *reach.Client) error {
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fmt.Println("Démarrage de la moyenne des position...")
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func processAveragePosition(ctx context.Context, client *reach.Client) {
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// Collecte des données de positions
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messageTask, err := averagePosition(ctx, client)
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if err != nil {
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fmt.Printf("[FATAL] %+v", err)
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os.Exit(1)
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}
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displayAveragePositionMessage(messageTask)
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saveAveragedPosition(ctx, client, messageTask)
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fmt.Println("Configuration terminée avec succès")
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}
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func averagePosition(ctx context.Context, client *reach.Client) (*protocol.TaskMessage[protocol.AveragePositionPayload], error) {
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fmt.Println("Démarrage de la moyenne des position...")
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messageTask, err := client.AveragePosition(ctx)
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if err != nil {
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return errors.WithStack(err)
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return nil, errors.WithStack(err)
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}
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logTaskProgress(messageTask)
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return handleAverageCompletion(ctx, client, messageTask)
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return messageTask, nil
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}
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func logTaskProgress(message *protocol.TaskMessage) error {
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data, err := json.MarshalIndent(message, "", " ")
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if err != nil {
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return errors.WithStack(err)
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}
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fmt.Println(string(data))
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return nil
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}
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func handleAverageCompletion(ctx context.Context, client *reach.Client, message *protocol.TaskMessage) error {
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var payload Payload
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if err := mapstructure.Decode(message.Payload, &payload); err != nil {
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return errors.WithStack(err)
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}
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coords := payload.Coordinates
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func displayAveragePositionMessage(message *protocol.TaskMessage[protocol.AveragePositionPayload]) error {
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fmt.Printf("Position moyennée: lat=%g, lon=%g, altitude=%g\n",
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coords.Latitude, coords.Longitude, coords.Height)
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message.Payload.Coordinates.Latitude, message.Payload.Coordinates.Longitude, message.Payload.Coordinates.Height)
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return nil
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return saveAveragedPosition(ctx, client, payload)
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}
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func saveAveragedPosition(ctx context.Context, client *reach.Client, payload Payload) error {
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func saveAveragedPosition(ctx context.Context, client *reach.Client, message *protocol.TaskMessage[protocol.AveragePositionPayload]) error {
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opts := []protocol.SetBaseOptionFunc{
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protocol.WithBaseLatitude(payload.Coordinates.Latitude),
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protocol.WithBaseLongitude(payload.Coordinates.Longitude),
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protocol.WithBaseHeight(payload.Coordinates.Height),
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protocol.WithBaseAntennaOffset(payload.AntennaOffset),
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protocol.WithBaseLatitude(message.Payload.Coordinates.Latitude),
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protocol.WithBaseLongitude(message.Payload.Coordinates.Longitude),
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protocol.WithBaseHeight(message.Payload.Coordinates.Height),
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protocol.WithBaseAntennaOffset(message.Payload.AntennaOffset),
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protocol.WithBaseMode("manual"),
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}
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