commit 3997ba8aed97d0dda621a7a82bb1a08a98c609d7 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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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..a3ea230 --- /dev/null +++ b/README.md @@ -0,0 +1,7 @@ +# `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..c7b8fd5 --- /dev/null +++ b/go.mod @@ -0,0 +1,16 @@ +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 +) diff --git a/go.sum b/go.sum new file mode 100644 index 0000000..82e6ab7 --- /dev/null +++ b/go.sum @@ -0,0 +1,26 @@ +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= diff --git a/reach/client/client.go b/reach/client/client.go new file mode 100644 index 0000000..253b9e7 --- /dev/null +++ b/reach/client/client.go @@ -0,0 +1,103 @@ +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{} 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..f46d9f5 --- /dev/null +++ b/reach/client/protocol/error.go @@ -0,0 +1,8 @@ +package protocol + +import "errors" + +var ( + ErrNotFound = errors.New("not found") + ErrUnimplemented = errors.New("unimplemented") +) diff --git a/reach/client/protocol/protocol.go b/reach/client/protocol/protocol.go new file mode 100644 index 0000000..287bf96 --- /dev/null +++ b/reach/client/protocol/protocol.go @@ -0,0 +1,18 @@ +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 +} 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/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/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..c74fa52 --- /dev/null +++ b/reach/client/protocol/v2/operations.go @@ -0,0 +1,22 @@ +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{} diff --git a/reach/client/protocol/v2/protocol.go b/reach/client/protocol/v2/protocol.go new file mode 100644 index 0000000..5e7442b --- /dev/null +++ b/reach/client/protocol/v2/protocol.go @@ -0,0 +1,29 @@ +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{} 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", +)