feat(cmd): averagePosition, command to run the entire scenario to switch to automatic base

cmd/average_position/README.md

@@ -0,0 +1,21 @@
+# `configuration`
+
+Utilitaire permettant de faire le scénario de paramétrage de la base automatique :
+
+- Récupération de la configuration
+- Configuration de la base pour avoir des corrections NTRIP
+- Changement de mode de la balise (passage de `manuel` à `fix-and-hold`)
+- Collecte des positions pour obtenir la moyenne
+- Configuration de la base avec les nouvelles coordonées
+
+## Utilisation
+
+```shell
+go run ./cmd/average_position -host <HOST>
+```
+
+Où:
+
+- `<HOST>` est l'adresse IP du module Reach sur le réseau (par défaut `192.168.42.1`).
+
+> **Info** Utiliser le flag `-h` pour voir les autres options disponibles.

cmd/average_position/main.go

@@ -0,0 +1,288 @@
+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"
+	"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol"
+	"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol/v2/model"
+	"github.com/mitchellh/mapstructure"
+	"github.com/pkg/errors"
+)
+
+var (
+	host        string = "192.168.42.1"
+	rawLogLevel string = "ERROR"
+)
+
+func init() {
+	flag.StringVar(&rawLogLevel, "log-level", rawLogLevel, "log level")
+	flag.StringVar(&host, "host", host, "the reachrs module host")
+}
+
+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() {
+	flag.Parse()
+
+	ctx := context.Background()
+
+	client, err := initializeClient(ctx)
+	if err != nil {
+		fmt.Printf("[FATAL] %+v", err)
+		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 {
+		fmt.Printf("[FATAL] %+v", err)
+		os.Exit(1)
+	}
+
+	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 {
+		fmt.Printf("[FATAL] %+v", err)
+		os.Exit(1)
+	}
+
+	//Configuration de la base
+	if err := setBaseToModeAndHold(ctx, client, config, "float", 30); 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 {
+		return nil, errors.WithStack(err)
+	}
+
+	slog.SetLogLoggerLevel(logLevel)
+
+	client := reach.NewClient(host)
+	if err := client.Connect(ctx); err != nil {
+		return nil, errors.WithStack(err)
+	}
+
+	return client, nil
+}
+
+func closeClient(ctx context.Context, client *reach.Client) {
+	if err := client.Close(ctx); err != nil {
+		fmt.Printf("[ERROR] Erreur lors de la fermeture: %+v", errors.WithStack(err))
+	}
+}
+
+func retrieveAndProcessConfig(ctx context.Context, client *reach.Client) (*model.Configuration, error) {
+	configData, err := client.Configuration(ctx)
+	if err != nil {
+		return nil, errors.WithStack(err)
+	}
+
+	var config model.Configuration
+	if err := mapstructure.Decode(configData, &config); err != nil {
+		return nil, errors.WithStack(err)
+	}
+
+	return &config, nil
+}
+
+func setupNTRIPCorrections(ctx context.Context, client *reach.Client, config *model.Configuration) error {
+	fmt.Println("\nConfiguration 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))
+	fmt.Printf("=== Base < 50 km disponibles ===\n")
+
+	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 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.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 {
+		return errors.WithStack(err)
+	}
+
+	fmt.Println("Base configurée en mode float-and-hold")
+	return nil
+}
+
+func averagePositionAndSave(ctx context.Context, client *reach.Client) error {
+	fmt.Println("Démarrage de la moyenne des position...")
+
+	messageTask, err := client.AveragePosition(ctx)
+	if err != nil {
+		return errors.WithStack(err)
+	}
+	logTaskProgress(messageTask)
+	return handleAverageCompletion(ctx, client, messageTask)
+
+}
+
+func logTaskProgress(message *protocol.TaskMessage) 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)
+
+	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),
+		protocol.WithBaseHeight(payload.Coordinates.Height),
+		protocol.WithBaseAntennaOffset(payload.AntennaOffset),
+		protocol.WithBaseMode("manual"),
+	}
+
+	if err := client.SetBase(ctx, opts...); err != nil {
+		return errors.WithStack(err)
+	}
+
+	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
+}

reach/client/helper.go

@@ -53,3 +53,13 @@ func OnBroadcast(ctx context.Context, client *Client) (chan Broadcast, error) {
 
 	return ch, nil
 }
+
+// OnMessageType listens for ReachView type of messages
+func OnMessageType(ctx context.Context, client *Client, messageType string) (chan Broadcast, error) {
+	ch, err := OnMessage[Broadcast](ctx, client, messageType)
+	if err != nil {
+		return nil, errors.WithStack(err)
+	}
+
+	return ch, nil
+}