Cadoles/go-emlid
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wip

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This commit is contained in:
cmsassot 2025-05-27 12:05:43 +02:00
parent 9cbf5b1cde
commit 38a1d5a2c6
10 changed files with 543 additions and 87 deletions
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289
cmd/average_position/main.go
View File

@ -7,6 +7,7 @@ import (
"fmt"
"log/slog"
"os"
"time"
reach "forge.cadoles.com/cadoles/go-emlid/reach/client"
"forge.cadoles.com/cadoles/go-emlid/reach/client/logger"
@ -37,83 +38,265 @@ type Payload struct {
AntennaOffset float64 `json:"antenna_offset"`
}
type BaseConfig struct {
Latitude float64
Longitude float64
Height float64
AntennaOffset float64
}
func main() {
flag.Parse()
ctx := context.Background()
client := reach.NewClient(host)
client, err := initializeClient(ctx)
if err != nil {
fmt.Printf("[FATAL] %+v", err)
os.Exit(1)
}
defer closeClient(ctx, client)
// Récupération de la configuration
config, err := retrieveAndProcessConfig(ctx, client)
if err != nil {
fmt.Printf("[FATAL] %+v", err)
os.Exit(1)
}
baseConfig := extractBaseConfig(config)
fmt.Printf("Configuration base actuelle: lat=%v, lon=%v, height=%v, offset=%v\n\n NTRIPSettings: \n address:%s\n port:%d \n username: %s\n password:%s\n sendPositionToBase:%t\n",
baseConfig.Latitude, baseConfig.Longitude, baseConfig.Height, baseConfig.AntennaOffset, 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
if err := setupNTRIPCorrections(ctx, client, config); err != nil {
fmt.Printf("[FATAL] %+v", err)
os.Exit(1)
}
//Configuration de la base
if err := setBaseToSingleAndHold(ctx, client, baseConfig); err != nil {
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) {
logLevel, err := logger.ParseLevel(rawLogLevel)
if err != nil {
fmt.Printf("[FATAL] %+v", errors.WithStack(err))
os.Exit(1)
return nil, errors.WithStack(err)
}
slog.SetLogLoggerLevel(logLevel)
client := reach.NewClient(host)
if err := client.Connect(ctx); err != nil {
fmt.Printf("[FATAL] %+v", errors.WithStack(err))
os.Exit(1)
return nil, errors.WithStack(err)
}
defer func() {
return client, nil
}
func closeClient(ctx context.Context, client *reach.Client) {
if err := client.Close(ctx); err != nil {
fmt.Printf("[FATAL] %+v", errors.WithStack(err))
os.Exit(1)
fmt.Printf("[ERROR] Erreur lors de la fermeture: %+v", errors.WithStack(err))
}
}
}()
// récupération de la configurationa actuelle de la base
config, err := retrieveAndProcessConfig(ctx, client)
func retrieveAndProcessConfig(ctx context.Context, client *reach.Client) (*model.Configuration, error) {
configData, err := client.Configuration(ctx)
if err != nil {
fmt.Printf("[FATAL] %+v", errors.WithStack(err))
os.Exit(1)
return nil, errors.WithStack(err)
}
latitude := config.BaseMode.BaseCoordinates.Coordinates.Latitude
longitude := config.BaseMode.BaseCoordinates.Coordinates.Longitude
height := config.BaseMode.BaseCoordinates.Coordinates.Height
antennaOffset := config.BaseMode.BaseCoordinates.AntennaOffset
fmt.Printf("setting base (latitude: %v, longitude: %v, height: %v, antennaOffset: %v", latitude, longitude, height, antennaOffset)
var config model.Configuration
if err := mapstructure.Decode(configData, &config); err != nil {
return nil, errors.WithStack(err)
}
return &config, nil
}
func extractBaseConfig(config *model.Configuration) BaseConfig {
return BaseConfig{
Latitude: config.BaseMode.BaseCoordinates.Coordinates.Latitude,
Longitude: config.BaseMode.BaseCoordinates.Coordinates.Longitude,
Height: config.BaseMode.BaseCoordinates.Coordinates.Height,
AntennaOffset: config.BaseMode.BaseCoordinates.AntennaOffset,
}
}
func setupNTRIPCorrections(ctx context.Context, client *reach.Client, config *model.Configuration) error {
fmt.Println("Configuration des corrections NTRIP...")
// Recherche de points de montage
if err := client.GetNTRIPMountPoint(ctx); err != nil {
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)
}
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()
}
}
}
func handleNTRIPResponse(ctx context.Context, client *reach.Client, config *model.Configuration, message reach.Broadcast) error {
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))
for i, stream := range streams {
if stream.Distance < 50 {
fmt.Printf("%d. %-15s | %s (%s) | %.1fkm\n",
i+1,
stream.Mountpoint,
stream.ID,
stream.Country,
stream.Distance)
}
}
}
func updateNTRIPMountPoint(ctx context.Context, client *reach.Client, config *model.Configuration) error {
opts := []protocol.SetBaseCorrectionsFunc{
protocol.WithNTRIPAddress(config.CorrectionInput.BaseCorrections.Settings.Ntripcli.Address),
protocol.WithNTRIPPort(config.CorrectionInput.BaseCorrections.Settings.Ntripcli.Port),
protocol.WithNTRIPUsername(config.CorrectionInput.BaseCorrections.Settings.Ntripcli.Username),
protocol.WithNTRIPPassword(config.CorrectionInput.BaseCorrections.Settings.Ntripcli.Password),
// todo modification du point de montage ici
protocol.WithNTRIPMountPoint("EPI21"),
protocol.WithSendPositionToBase(true),
}
if err := client.SetBaseCorrections(ctx, opts...); err != nil {
return errors.WithStack(err)
}
fmt.Println("MountPoint NTRIP mis à jour")
return nil
}
func setBaseToSingleAndHold(ctx context.Context, client *reach.Client, baseConfig BaseConfig) error {
fmt.Println("Configuration de la base en mode single-and-hold...")
opts := []protocol.SetBaseOptionFunc{
protocol.WithBaseLatitude(latitude),
protocol.WithBaseLongitude(longitude),
protocol.WithBaseHeight(height),
protocol.WithBaseAntennaOffset(antennaOffset),
protocol.WithBaseLatitude(baseConfig.Latitude),
protocol.WithBaseLongitude(baseConfig.Longitude),
protocol.WithBaseHeight(baseConfig.Height),
protocol.WithBaseAntennaOffset(baseConfig.AntennaOffset),
protocol.WithBaseMode("single-and-hold"),
}
// Passage de la base en "single-and-hold" permettant la collecte des données
if err := client.SetBase(ctx, opts...); err != nil {
fmt.Printf("[FATAL] %+v", errors.WithStack(err))
return
return errors.WithStack(err)
}
client.AveragePosition(ctx)
fmt.Println("Base configurée en mode single-and-hold")
return nil
}
func averagePositionAndSave(ctx context.Context, client *reach.Client) error {
fmt.Println("Démarrage du moyennage de position...")
if err := client.AveragePosition(ctx); err != nil {
return errors.WithStack(err)
}
return waitForAverageCompletion(ctx, client)
}
func waitForAverageCompletion(ctx context.Context, client *reach.Client) error {
broadcasts, err := reach.OnMessageType(ctx, client, "task_status")
if err != nil {
fmt.Printf("[FATAL] %+v", errors.WithStack(err))
os.Exit(1)
return errors.WithStack(err)
}
for b := range broadcasts {
timeout := time.NewTimer(5 * time.Minute)
defer timeout.Stop()
data, err := json.MarshalIndent(b, "", " ")
if err != nil {
fmt.Printf("[ERROR] %+v", errors.WithStack(err))
for {
select {
case b := <-broadcasts:
if err := logTaskProgress(b); err != nil {
fmt.Printf("[WARNING] %+v", err)
continue
}
if b.State == "completed" {
return handleAverageCompletion(ctx, client, b)
}
case <-timeout.C:
return errors.New("timeout lors du moyennage de position")
case <-ctx.Done():
return ctx.Err()
}
}
}
func logTaskProgress(message reach.Broadcast) error {
data, err := json.MarshalIndent(message, "", " ")
if err != nil {
return errors.WithStack(err)
}
fmt.Println(string(data))
var payload Payload
err = mapstructure.Decode(b.Payload, &payload)
if err != nil {
fmt.Printf("Erreur de désérialisation : %v\n", err)
continue
return nil
}
// la collecte est terminée, enregistrement du résultat en configuration
if b.State == "completed" {
fmt.Printf("lat: %g, long: %g, altitude:%g", payload.Coordinates.Latitude, payload.Coordinates.Longitude, payload.Coordinates.Height)
func handleAverageCompletion(ctx context.Context, client *reach.Client, message reach.Broadcast) 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)
return saveAveragedPosition(ctx, client, payload)
}
func saveAveragedPosition(ctx context.Context, client *reach.Client, payload Payload) error {
opts := []protocol.SetBaseOptionFunc{
protocol.WithBaseLatitude(payload.Coordinates.Latitude),
protocol.WithBaseLongitude(payload.Coordinates.Longitude),
@ -121,29 +304,11 @@ func main() {
protocol.WithBaseAntennaOffset(payload.AntennaOffset),
protocol.WithBaseMode("manual"),
}
// enregistrement du résultat en configuration
if err := client.SetBase(ctx, opts...); err != nil {
fmt.Printf("[FATAL] %+v", errors.WithStack(err))
return
}
return errors.WithStack(err)
}
}
}
func retrieveAndProcessConfig(ctx context.Context, client *reach.Client) (*model.Configuration, error) {
configData, err := client.Configuration(ctx)
if err != nil {
fmt.Printf("[ERROR] %+v", errors.WithStack(err))
}
var config model.Configuration
err = mapstructure.Decode(configData, &config)
if err != nil {
fmt.Printf("[ERROR] %+v", errors.WithStack(err))
}
return &config, nil
fmt.Println("Position sauvegardée en configuration")
return nil
}

6
cmd/broadcast/main.go
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@ -17,12 +17,14 @@ var (
host string = "192.168.42.1"
filter string = ""
rawLogLevel string = "ERROR"
messageType string = "broadcast"
)
func init() {
flag.StringVar(&rawLogLevel, "log-level", rawLogLevel, "log level")
flag.StringVar(&host, "host", host, "the reachrs module host")
flag.StringVar(&filter, "filter", filter, "filter the broadcast messages by name")
flag.StringVar(&filter, "filter", filter, "filter the socket messages by name")
flag.StringVar(&messageType, "messageType", messageType, "socket messages by name")
}
func main() {
@ -51,7 +53,7 @@ func main() {
}
}()
broadcasts, err := reach.OnBroadcast(ctx, client)
broadcasts, err := reach.OnMessageType(ctx, client, messageType)
if err != nil {
fmt.Printf("[FATAL] %+v", errors.WithStack(err))
os.Exit(1)

27
reach/client/operations.go
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@ -166,4 +166,31 @@ func (c *Client) AveragePosition(ctx context.Context) error {
return nil
}
// GetNTRIPMountPoint implements protocol.Operations.
func (c *Client) GetNTRIPMountPoint(ctx context.Context) error {
_, ops, err := c.getProtocol(ctx)
if err != nil {
return errors.WithStack(err)
}
if err := ops.GetNTRIPMountPoint(ctx); err != nil {
return errors.WithStack(err)
}
return nil
}
// GetNTRIPMountPoint implements protocol.Operations.
func (c *Client) SetBaseCorrections(ctx context.Context, funcs ...protocol.SetBaseCorrectionsFunc) error {
_, ops, err := c.getProtocol(ctx)
if err != nil {
return errors.WithStack(err)
}
if err := ops.SetBaseCorrections(ctx, funcs...); err != nil {
return errors.WithStack(err)
}
return nil
}
var _ protocol.Operations = &Client{}

7
reach/client/protocol/operations.go
View File

@ -42,5 +42,12 @@ type Operations interface {
// Reboot restarts the module
Reboot(ctx context.Context) error
// AveragePosition gathers data and computes the average position
AveragePosition(ctx context.Context) error
//GetNTRIPMountPoint retrieves availables mount point
GetNTRIPMountPoint(ctx context.Context) error
//SetBaseCorrections updates the corrections obtaining station
SetBaseCorrections(ctx context.Context, funcs ...SetBaseCorrectionsFunc) error
}

56
reach/client/protocol/set_base_correction.go Normal file
View File

@ -0,0 +1,56 @@
package protocol
type SetBaseCorrectionsOptions struct {
Address *string
Port *int
Username *string
Password *string
MountPoint *string
SendPositionToBase *bool
}
type SetBaseCorrectionsFunc func(opts *SetBaseCorrectionsOptions)
func NewSetBaseCorrectionsOptions(funcs ...SetBaseCorrectionsFunc) *SetBaseCorrectionsOptions {
opts := &SetBaseCorrectionsOptions{}
for _, fn := range funcs {
fn(opts)
}
return opts
}
func WithNTRIPAddress(value string) SetBaseCorrectionsFunc {
return func(opts *SetBaseCorrectionsOptions) {
opts.Address = &value
}
}
func WithNTRIPPort(value int) SetBaseCorrectionsFunc {
return func(opts *SetBaseCorrectionsOptions) {
opts.Port = &value
}
}
func WithNTRIPUsername(value string) SetBaseCorrectionsFunc {
return func(opts *SetBaseCorrectionsOptions) {
opts.Username = &value
}
}
func WithNTRIPPassword(value string) SetBaseCorrectionsFunc {
return func(opts *SetBaseCorrectionsOptions) {
opts.Password = &value
}
}
func WithNTRIPMountPoint(value string) SetBaseCorrectionsFunc {
return func(opts *SetBaseCorrectionsOptions) {
opts.MountPoint = &value
}
}
func WithSendPositionToBase(value bool) SetBaseCorrectionsFunc {
return func(opts *SetBaseCorrectionsOptions) {
opts.SendPositionToBase = &value
}
}

40
reach/client/protocol/v1/operations.go
View File

@ -2,6 +2,7 @@ package v1
import (
"context"
"encoding/json"
"strconv"
"strings"
"sync"
@ -378,4 +379,43 @@ func (o *Operations) AveragePosition(ctx context.Context) error {
return err
}
// TODO À VOIR POUR LES VERSION 1
func (o *Operations) GetNTRIPMountPoint(ctx context.Context) error {
var err error
go func() {
<-ctx.Done()
err = ctx.Err()
}()
payloadJSON, err := json.Marshal(map[string]interface{}{
"address": "crtk.net",
"port": 2101,
})
if err = o.client.Emit("task", map[string]string{"name": "get_ntrip_mountpoints", "payload": string(payloadJSON)}); err != nil {
return err
}
return err
}
// todo
func (o *Operations) SetBaseCorrections(ctx context.Context, funcs ...protocol.SetBaseCorrectionsFunc) error {
var err error
go func() {
<-ctx.Done()
err = ctx.Err()
}()
// todo
payloadJSON, err := json.Marshal(map[string]interface{}{
"address": "crtk.net",
"port": 2101,
})
if err = o.client.Emit("task", map[string]string{"name": "get_ntrip_mountpoints", "payload": string(payloadJSON)}); err != nil {
return err
}
return err
}
var _ protocol.Operations = &Operations{}

10
reach/client/protocol/v2/internal.go
View File

@ -126,6 +126,16 @@ 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) {
var updated model.IOConfig
if err := o.PostJSON("/configuration/correction_input/base_corrections", base, &updated); err != nil {
return nil, errors.WithStack(err)
}
return &updated, nil
}
func (o *Operations) GetUpdater(ctx context.Context) (*model.Updater, error) {
updater := &model.Updater{}
if err := o.GetJSON("/updater", updater); err != nil {

1
reach/client/protocol/v2/model/action.go
View File

@ -2,4 +2,5 @@ package model
type Action struct {
Name string `json:"name"`
Paylaod map[string]interface{} `json:"payload"`
}

81
reach/client/protocol/v2/model/corrections_input.go Normal file
View File

@ -0,0 +1,81 @@
package model
type IOConfig struct {
IOType string `json:"io_type"`
Settings IOConfigSettings `json:"settings"`
}
type IOConfigSettings struct {
NTRIPCli NTRIPCliConfig `json:"ntripcli"`
}
type NTRIPCliConfig struct {
Address string `json:"address"`
Port int `json:"port"`
Username string `json:"username"`
Password string `json:"password"`
MountPoint string `json:"mount_point"`
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"`
Str []StreamInfo `json:"str"`
}
type CasterInfo struct {
Country string `json:"country"`
Distance float64 `json:"distance"`
FallbackHost string `json:"fallback_host"`
FallbackPort string `json:"fallback_port"`
Host string `json:"host"`
ID string `json:"id"`
Latitude string `json:"latitude"`
Longitude string `json:"longitude"`
NMEA string `json:"nmea"`
Operator string `json:"operator"`
OtherDetails *string `json:"other_details"`
Port string `json:"port"`
Site string `json:"site"`
}
type NetworkInfo struct {
Authentication string `json:"authentication"`
Distance *float64 `json:"distance"`
Fee string `json:"fee"`
ID string `json:"id"`
Operator string `json:"operator"`
OtherDetails string `json:"other_details"`
WebNet string `json:"web_net"`
WebReg string `json:"web_reg"`
WebStr string `json:"web_str"`
}
type StreamInfo struct {
Authentication string `json:"authentication"`
Bitrate string `json:"bitrate"`
Carrier string `json:"carrier"`
ComprEncryp string `json:"compr_encryp"`
Country string `json:"country"`
Distance float64 `json:"distance"`
Fee string `json:"fee"`
Format string `json:"format"`
FormatDetails string `json:"format_details"`
Generator string `json:"generator"`
ID string `json:"id"`
Latitude string `json:"latitude"`
Longitude string `json:"longitude"`
Mountpoint string `json:"mountpoint"`
NavSystem string `json:"nav_system"`
Network string `json:"network"`
NMEA string `json:"nmea"`
OtherDetails string `json:"other_details"`
Solution string `json:"solution"`
}

67
reach/client/protocol/v2/operations.go
View File

@ -279,4 +279,71 @@ func (o *Operations) AveragePosition(ctx context.Context) error {
return err
}
// GetNTRIPMountPoint implements protocol.Operations.
func (o *Operations) GetNTRIPMountPoint(ctx context.Context) error {
var err error
config, err := o.GetConfiguration(ctx)
if err != nil {
return errors.WithStack(err)
}
go func() {
<-ctx.Done()
err = ctx.Err()
}()
payload := map[string]any{
"address": config.CorrectionInput.BaseCorrections.Settings.Ntripcli.Address,
"port": config.CorrectionInput.BaseCorrections.Settings.Ntripcli.Port,
}
if err = o.client.Emit("task", &model.Action{Name: "get_ntrip_mountpoints", Paylaod: payload}); err != nil {
return err
}
return err
}
// SetBaseCorrections implements protocol.Operations.
func (o *Operations) SetBaseCorrections(ctx context.Context, funcs ...protocol.SetBaseCorrectionsFunc) error {
opts := protocol.NewSetBaseCorrectionsOptions(funcs...)
if opts.Address == nil {
return errors.New("NTRIP address is required")
}
if opts.Port == nil {
return errors.New("NTRIP port is required")
}
if opts.Username == nil {
return errors.New("NTRIP username is required")
}
if opts.Password == nil {
return errors.New("NTRIP password is required")
}
if opts.MountPoint == nil {
return errors.New("NTRIP mount point is required")
}
config := &model.IOConfig{
// todo parametrage du type ????
IOType: "ntripcli",
Settings: model.IOConfigSettings{
NTRIPCli: model.NTRIPCliConfig{
Address: *opts.Address,
Port: *opts.Port,
Username: *opts.Username,
Password: *opts.Password,
MountPoint: *opts.MountPoint,
SendPositionToBase: opts.SendPositionToBase != nil && *opts.SendPositionToBase,
},
},
}
if _, err := o.PostBaseCorrection(ctx, config); err != nil {
return errors.WithStack(err)
}
return nil
}
var _ protocol.Operations = &Operations{}