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GNU AFFERO GENERAL PUBLIC LICENSE
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test:
go test -v ./...

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# `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)

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module forge.cadoles.com/cadoles/go-emlid
go 1.22.5
require (
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/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
)

26
go.sum Normal file
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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/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=

103
reach/client/client.go Normal file
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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
ops protocol.Operations
getOpsOnce sync.Once
getOpsOnceErr error
}
// Close implements protocol.Operations.
func (c *Client) Close() error {
panic("unimplemented")
}
// Connect implements protocol.Operations.
func (c *Client) Connect(ctx context.Context) error {
ops, err := c.getOperations(ctx)
if err != nil {
return errors.WithStack(err)
}
if err := ops.Connect(ctx); err != nil {
return errors.WithStack(err)
}
return nil
}
func (c *Client) getOperations(ctx context.Context) (protocol.Operations, error) {
c.getOpsOnce.Do(func() {
availables, err := c.opts.Protocols.Availables(ctx, c.addr)
if err != nil {
c.getOpsOnceErr = errors.WithStack(err)
return
}
var preferred protocol.Operations
var fallback protocol.Operations
for _, proto := range availables {
if proto.Identifier() == c.opts.FallbackProtocol {
fallback = proto.Operations(c.addr)
}
if proto.Identifier() == c.opts.PreferredProtocol {
preferred = proto.Operations(c.addr)
break
}
}
if preferred != nil {
c.ops = preferred
return
}
if fallback != nil {
c.ops = fallback
return
}
for _, proto := range availables {
if proto.Identifier() != c.opts.FallbackProtocol {
continue
}
fallback = proto.Operations(c.addr)
break
}
if fallback == nil {
c.getOpsOnceErr = errors.Errorf("neither preferred protocol '%v' or fallback '%v' are available", c.opts.PreferredProtocol, c.opts.FallbackProtocol)
return
}
c.ops = fallback
})
if c.getOpsOnceErr != nil {
return nil, errors.WithStack(c.getOpsOnceErr)
}
return c.ops, nil
}
func NewClient(addr string, funcs ...OptionFunc) *Client {
opts := NewOptions(funcs...)
client := &Client{
addr: addr,
opts: opts,
}
return client
}
var _ protocol.Operations = &Client{}

41
reach/client/options.go Normal file
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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
}
}

8
reach/client/protocol/error.go Normal file
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@ -0,0 +1,8 @@
package protocol
import "errors"
var (
ErrNotFound = errors.New("not found")
ErrUnimplemented = errors.New("unimplemented")
)

18
reach/client/protocol/protocol.go Normal file
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package protocol
import (
"context"
)
type Identifier string
type Protocol interface {
Identifier() Identifier
Available(ctx context.Context, addr string) (Operations, error)
Operations(addr string) Operations
}
type Operations interface {
Connect(ctx context.Context) error
Close() error
}

52
reach/client/protocol/registry.go Normal file
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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)
}

29
reach/client/protocol/v1/protocol.go Normal file
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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{}

7
reach/client/protocol/v2/init.go Normal file
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package v2
import "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol"
func init() {
protocol.Register(&Protocol{})
}

22
reach/client/protocol/v2/operations.go Normal file
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package v2
import (
"context"
"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol"
)
type Operations struct {
}
// Close implements protocol.Operations.
func (o *Operations) Close() error {
panic("unimplemented")
}
// Connect implements protocol.Operations.
func (o *Operations) Connect(ctx context.Context) error {
panic("unimplemented")
}
var _ protocol.Operations = &Operations{}

29
reach/client/protocol/v2/protocol.go Normal file
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package v2
import (
"context"
"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol"
)
const Identifier protocol.Identifier = "v2"
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{}

56
reach/discovery/discovery.go Normal file
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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
}

53
reach/discovery/discovery_test.go Normal file
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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)
}
}
}

13
reach/discovery/util_test.go Normal file
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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",
)