feat(AveragePosition/GetNTRIPMountPoint): change return type, update cmd average_position

cmd/average_position/README.md

@@ -11,7 +11,7 @@ Utilitaire permettant de faire le scénario de paramétrage de la base automatiq
 ## Utilisation
 
 ```shell
-go run ./cmd/average_position -host <HOST>
+go run ./cmd/average_position -host <HOST> -baseAccuracy <fix|float|single>
 ```
 
 Où:

cmd/average_position/main.go

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

reach/client/operations.go

@@ -153,7 +153,7 @@ func (c *Client) Reboot(ctx context.Context) error {
 }
 
 // AveragePosition implements protocol.Operations.
-func (c *Client) AveragePosition(ctx context.Context) (*protocol.TaskMessage, error) {
+func (c *Client) AveragePosition(ctx context.Context) (*protocol.TaskMessage[protocol.AveragePositionPayload], error) {
 	_, ops, err := c.getProtocol(ctx)
 	if err != nil {
 		return nil, errors.WithStack(err)
@@ -168,17 +168,17 @@ func (c *Client) AveragePosition(ctx context.Context) (*protocol.TaskMessage, er
 }
 
 // GetNTRIPMountPoint implements protocol.Operations.
-func (c *Client) GetNTRIPMountPoint(ctx context.Context) error {
+func (c *Client) GetNTRIPMountPoint(ctx context.Context) (*protocol.TaskMessage[protocol.NTRIPPayload], error) {
 	_, ops, err := c.getProtocol(ctx)
 	if err != nil {
-		return errors.WithStack(err)
+		return nil, errors.WithStack(err)
 	}
 
-	if err := ops.GetNTRIPMountPoint(ctx); err != nil {
+	ntripMsg, err := ops.GetNTRIPMountPoint(ctx)
-		return errors.WithStack(err)
+	if err != nil {
+		return nil, errors.WithStack(err)
 	}
-
+	return ntripMsg, nil
-	return nil
 }
 
 // SetBaseCorrections implements protocol.Operations.

reach/client/protocol/average_postion.go

@@ -0,0 +1,12 @@
+package protocol
+
+type Coordinates struct {
+	Latitude  float64 `json:"latitude"`
+	Longitude float64 `json:"longitude"`
+	Height    float64 `json:"height"`
+}
+
+type AveragePositionPayload struct {
+	Coordinates   Coordinates `json:"coordinates"`
+	AntennaOffset float64     `json:"antenna_offset"`
+}

reach/client/protocol/ntrip.go

@@ -1,4 +1,4 @@
-package model
+package protocol
 
 type IOConfig struct {
 	IOType   string           `json:"io_type"`
@@ -18,12 +18,6 @@ type NTRIPCliConfig struct {
 	SendPositionToBase bool   `json:"send_position_to_base"`
 }
 
-type NTRIPResponse struct {
-	Name    string       `json:"name"`
-	Payload NTRIPPayload `json:"payload"`
-	State   string       `json:"state"`
-}
-
 type NTRIPPayload struct {
 	CAS []CasterInfo  `json:"cas"`
 	Net []NetworkInfo `json:"net"`

reach/client/protocol/operations.go

@@ -12,10 +12,10 @@ type BaseInfo struct {
 	Height        float64
 	Accumulation  int
 }
-type TaskMessage struct {
+type TaskMessage[T any] struct {
-	Name    string                 `json:"name"`
+	Name    string `json:"name"`
-	State   string                 `json:"state"`
+	State   string `json:"state"`
-	Payload map[string]interface{} `json:"payload"`
+	Payload T      `json:"payload"`
 }
 
 type Operations interface {
@@ -51,10 +51,10 @@ type Operations interface {
 	Reboot(ctx context.Context) error
 
 	// AveragePosition gathers data and computes the average position
-	AveragePosition(ctx context.Context) (*TaskMessage, error)
+	AveragePosition(ctx context.Context) (*TaskMessage[AveragePositionPayload], error)
 
 	//GetNTRIPMountPoint retrieves availables mount point
-	GetNTRIPMountPoint(ctx context.Context) error
+	GetNTRIPMountPoint(ctx context.Context) (*TaskMessage[NTRIPPayload], error)
 
 	//SetBaseCorrections updates the corrections obtaining station
 	SetBaseCorrections(ctx context.Context, funcs ...SetBaseCorrectionsFunc) error

reach/client/protocol/testsuite/operations.go

@@ -237,31 +237,6 @@ var testCases = []operationTestCase{
 				t.Errorf("%+v", errors.WithStack(err))
 				return
 			}
-
-		},
-	},
-	{
-		Name: "AveragePosition",
-		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))
-				}
-			}()
-
-			taskmessage, err := ops.AveragePosition(ctx)
-			if err != nil {
-				t.Errorf("%+v", errors.WithStack(err))
-				return
-			}
-			t.Logf("Task Message : %s", taskmessage)
 		},
 	},
 	{
@@ -356,7 +331,7 @@ var testCases = []operationTestCase{
 		},
 	},
 	{
-		Name: "GetNTRIPMountPoint",
+		Name: "AveragePosition",
 		Run: func(t *testing.T, ops protocol.Operations) {
 			ctx := context.Background()
 
@@ -371,29 +346,35 @@ var testCases = []operationTestCase{
 				}
 			}()
 
-			if err := ops.GetNTRIPMountPoint(ctx); err != nil {
+			taskmessage, err := ops.AveragePosition(ctx)
-				t.Errorf("%+v", errors.WithStack(err))
-				return
-			}
-			broadcastCtx, cancel := context.WithTimeout(ctx, 5*time.Second)
-			defer cancel()
-
-			messages, err := ops.On(broadcastCtx, "task_status")
 			if err != nil {
 				t.Errorf("%+v", errors.WithStack(err))
 				return
 			}
+			t.Logf("Task Message : %+v", taskmessage)
+		},
+	},
+	{
+		Name: "GetNTRIPMountPoint",
+		Run: func(t *testing.T, ops protocol.Operations) {
+			ctx := context.Background()
 
-			count := 0
+			if err := ops.Connect(ctx); err != nil {
-
+				t.Errorf("%+v", errors.WithStack(err))
-			for m := range messages {
+				return
-				t.Logf("new message: %s", spew.Sdump(m))
-				count++
 			}
 
-			if e, g := 1, count; g < e {
+			defer func() {
-				t.Errorf("expected total messages > %d, got %d", e, g)
+				if err := ops.Close(ctx); err != nil {
+					t.Errorf("%+v", errors.WithStack(err))
+				}
+			}()
+			taskMsg, err := ops.GetNTRIPMountPoint(ctx)
+			if err != nil {
+				t.Errorf("%+v", errors.WithStack(err))
+				return
 			}
+			t.Logf("Message : %+v", taskMsg)
 		},
 	},
 }

reach/client/protocol/testsuite/operations_test.go

@@ -0,0 +1,16 @@
+package testsuite
+
+import (
+	"testing"
+
+	"forge.cadoles.com/cadoles/go-emlid/reach/client"
+	"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol"
+)
+
+func TestReachOperations(t *testing.T) {
+	opsFactory := func(addr string) (protocol.Operations, error) {
+		return client.NewClient(addr), nil
+	}
+
+	TestOperations(t, opsFactory)
+}

reach/client/protocol/v1/operations.go

@@ -376,13 +376,13 @@ func (o *Operations) Version(ctx context.Context) (string, bool, error) {
 }
 
 // Deprecated : is no longer maintained for modules in V1
-func (o *Operations) AveragePosition(ctx context.Context) (*protocol.TaskMessage, error) {
+func (o *Operations) AveragePosition(ctx context.Context) (*protocol.TaskMessage[protocol.AveragePositionPayload], error) {
 	return nil, protocol.ErrUnimplemented
 }
 
 // Deprecated : is no longer maintained for modules in V1
-func (o *Operations) GetNTRIPMountPoint(ctx context.Context) error {
+func (o *Operations) GetNTRIPMountPoint(ctx context.Context) (*protocol.TaskMessage[protocol.NTRIPPayload], error) {
-	return protocol.ErrUnimplemented
+	return nil, protocol.ErrUnimplemented
 }
 
 // Deprecated : is no longer maintained for modules in V1

reach/client/protocol/v2/internal.go

@@ -8,6 +8,7 @@ import (
 	"io"
 	"net/http"
 
+	"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol"
 	"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol/v2/model"
 	"github.com/pkg/errors"
 )
@@ -126,8 +127,8 @@ func (o *Operations) PostDevice(ctx context.Context, device *model.Configuration
 	return &updated, nil
 }
 
-func (o *Operations) PostBaseCorrection(ctx context.Context, base *model.IOConfig) (*model.IOConfig, error) {
+func (o *Operations) PostBaseCorrection(ctx context.Context, base *protocol.IOConfig) (*protocol.IOConfig, error) {
-	var updated model.IOConfig
+	var updated protocol.IOConfig
 
 	if err := o.PostJSON("/configuration/correction_input/base_corrections", base, &updated); err != nil {
 		return nil, errors.WithStack(err)

reach/client/protocol/v2/operations.go

@@ -2,7 +2,6 @@ package v2
 
 import (
 	"context"
-	"encoding/json"
 	"net/http"
 	"sync"
 
@@ -11,6 +10,7 @@ import (
 	"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol/v2/model"
 
 	"forge.cadoles.com/cadoles/go-emlid/reach/client/socketio"
+	"github.com/mitchellh/mapstructure"
 	"github.com/pkg/errors"
 )
 
@@ -270,7 +270,7 @@ func (o *Operations) On(ctx context.Context, event string) (chan any, error) {
 	return out, nil
 }
 
-func (o *Operations) AveragePosition(ctx context.Context) (*protocol.TaskMessage, error) {
+func (o *Operations) AveragePosition(ctx context.Context) (*protocol.TaskMessage[protocol.AveragePositionPayload], error) {
 	var err error
 
 	go func() {
@@ -283,15 +283,9 @@ func (o *Operations) AveragePosition(ctx context.Context) (*protocol.TaskMessage
 	}
 	ch, err := o.On(ctx, "task_status")
 	for message := range ch {
-		// Convertir vers notre struct
+		var taskMsg protocol.TaskMessage[protocol.AveragePositionPayload]
-		jsonData, err := json.Marshal(message)
+		if err := mapstructure.Decode(message, &taskMsg); err != nil {
-		if err != nil {
+			return nil, errors.WithStack(err)
-			continue
-		}
-
-		var taskMsg protocol.TaskMessage
-		if err := json.Unmarshal(jsonData, &taskMsg); err != nil {
-			continue
 		}
 
 		if taskMsg.State == "completed" {
@@ -302,12 +296,12 @@ func (o *Operations) AveragePosition(ctx context.Context) (*protocol.TaskMessage
 }
 
 // GetNTRIPMountPoint implements protocol.Operations.
-func (o *Operations) GetNTRIPMountPoint(ctx context.Context) error {
+func (o *Operations) GetNTRIPMountPoint(ctx context.Context) (*protocol.TaskMessage[protocol.NTRIPPayload], error) {
 	var err error
 
 	config, err := o.GetConfiguration(ctx)
 	if err != nil {
-		return errors.WithStack(err)
+		return nil, errors.WithStack(err)
 	}
 
 	go func() {
@@ -321,10 +315,21 @@ func (o *Operations) GetNTRIPMountPoint(ctx context.Context) error {
 	}
 
 	if err = o.client.Emit("task", &model.Action{Name: "get_ntrip_mountpoints", Paylaod: payload}); err != nil {
-		return err
+		return nil, errors.WithStack(err)
 	}
 
-	return err
+	ch, err := o.On(ctx, "task_status")
+	for message := range ch {
+		var taskMsg protocol.TaskMessage[protocol.NTRIPPayload]
+		if err := mapstructure.Decode(message, &taskMsg); err != nil {
+			return nil, errors.WithStack(err)
+		}
+
+		if taskMsg.State == "completed" {
+			return &taskMsg, nil
+		}
+	}
+	return nil, errors.WithStack(err)
 }
 
 // SetBaseCorrections implements protocol.Operations.
@@ -346,11 +351,11 @@ func (o *Operations) SetBaseCorrections(ctx context.Context, funcs ...protocol.S
 		return errors.New("NTRIP mount point is required")
 	}
 
-	config := &model.IOConfig{
+	config := &protocol.IOConfig{
 		// todo parametrage du type
 		IOType: "ntripcli",
-		Settings: model.IOConfigSettings{
+		Settings: protocol.IOConfigSettings{
-			NTRIPCli: model.NTRIPCliConfig{
+			NTRIPCli: protocol.NTRIPCliConfig{
 				Address:            *opts.Address,
 				Port:               *opts.Port,
 				Username:           *opts.Username,