Cadoles/go-emlid
22
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

wip modem/tests

Browse Source
This commit is contained in:
cmsassot
2025-06-10 16:23:01 +02:00
parent ecf5fb46a0
commit 49a4642db2
10 changed files with 207 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files

83
cmd/average_position/main.go
View File

@ -38,13 +38,6 @@ type Payload struct {
AntennaOffset float64 `json:"antenna_offset"`
}
type BaseConfig struct {
Latitude float64
Longitude float64
Height float64
AntennaOffset float64
}
func main() {
flag.Parse()
@ -56,7 +49,11 @@ func main() {
os.Exit(1)
}
defer closeClient(ctx, client)
/// setModem
if err := updateModem(ctx, client); err != nil {
fmt.Printf("[FATAL] %+v", err)
os.Exit(1)
}
// Récupération de la configuration
config, err := retrieveAndProcessConfig(ctx, client)
if err != nil {
@ -64,9 +61,8 @@ func main() {
os.Exit(1)
}
baseConfig := extractBaseConfig(config)
fmt.Printf("Configuration actuelle de la base :\n lat=%v\n lon=%v\n height=%v\n antenna_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)
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
if err := setupNTRIPCorrections(ctx, client, config); err != nil {
@ -75,7 +71,7 @@ func main() {
}
//Configuration de la base
if err := setBaseToModeAndHold(ctx, client, baseConfig, "float"); err != nil {
if err := setBaseToModeAndHold(ctx, client, config, "float", 30); err != nil {
fmt.Printf("[FATAL] %+v", err)
os.Exit(1)
}
@ -125,15 +121,6 @@ func retrieveAndProcessConfig(ctx context.Context, client *reach.Client) (*model
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("\nConfiguration des corrections NTRIP...")
@ -217,14 +204,15 @@ func updateNTRIPMountPoint(ctx context.Context, client *reach.Client, config *mo
return nil
}
func setBaseToModeAndHold(ctx context.Context, client *reach.Client, baseConfig BaseConfig, mode string) error {
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...")
opts := []protocol.SetBaseOptionFunc{
protocol.WithBaseLatitude(baseConfig.Latitude),
protocol.WithBaseLongitude(baseConfig.Longitude),
protocol.WithBaseHeight(baseConfig.Height),
protocol.WithBaseAntennaOffset(baseConfig.AntennaOffset),
protocol.WithBaseLatitude(baseConfig.BaseMode.BaseCoordinates.Coordinates.Latitude),
protocol.WithBaseLongitude(baseConfig.BaseMode.BaseCoordinates.Coordinates.Longitude),
protocol.WithBaseHeight(baseConfig.BaseMode.BaseCoordinates.Coordinates.Height),
protocol.WithBaseAntennaOffset(baseConfig.BaseMode.BaseCoordinates.AntennaOffset),
protocol.WithBaseMode(fmt.Sprintf("%s-and-hold", mode)),
protocol.WithAccumulation(accumulation),
}
if err := client.SetBase(ctx, opts...); err != nil {
@ -247,36 +235,6 @@ func averagePositionAndSave(ctx context.Context, client *reach.Client) error {
}
// func waitForAverageCompletion(ctx context.Context, client *reach.Client) error {
// broadcasts, err := reach.OnMessageType(ctx, client, "task_status")
// if err != nil {
// return errors.WithStack(err)
// }
// timeout := time.NewTimer(5 * time.Minute)
// defer timeout.Stop()
// 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 *protocol.TaskMessage) error {
data, err := json.MarshalIndent(message, "", " ")
if err != nil {
@ -315,3 +273,16 @@ func saveAveragedPosition(ctx context.Context, client *reach.Client, payload Pay
fmt.Println("Position sauvegardée en configuration")
return nil
}
func updateModem(ctx context.Context, client *reach.Client) error {
opts := []protocol.SetModemOptionsFunc{
protocol.WithApn("mmsbouygtel.com"),
}
if err := client.SetModem(ctx, opts...); err != nil {
return errors.WithStack(err)
}
fmt.Println("Modem mis à jour")
return nil
}