diff --git a/cmd/fake-reach/data/configuration.json b/cmd/fake-reach/data/configuration.json new file mode 100644 index 0000000..8962a5b --- /dev/null +++ b/cmd/fake-reach/data/configuration.json @@ -0,0 +1,561 @@ +{ + "base_mode": { + "base_coordinates": { + "accumulation": 120, + "antenna_offset": 1.6692, + "coordinates": { + "height": 304.60692471224945, + "latitude": -72.40044303332428, + "longitude": 53.4671626779832 + }, + "mode": "manual" + }, + "output": { + "io_type": "lora", + "settings": { + "lora": { + "air_rate": 9.11, + "frequency": 868000, + "output_power": 20 + }, + "ntripcaster": { + "mount_point": "REACH", + "password": "emlidreach", + "port": 2101, + "username": "reach" + }, + "ntripsvr": { + "address": "caster.centipede.fr", + "mount_point": "centipede", + "password": "centipede", + "port": 2101 + }, + "serial": { + "baud_rate": 38400, + "device": "UART" + }, + "tcpcli": { + "address": "localhost", + "port": 9001 + }, + "tcpsvr": { + "port": 9000 + } + } + }, + "rtcm3_messages": { + "1004": { + "enabled": false, + "frequency": 1 + }, + "1006": { + "enabled": true, + "frequency": 0.1 + }, + "1008": { + "enabled": false, + "frequency": 0.1 + }, + "1012": { + "enabled": false, + "frequency": 1 + }, + "1033": { + "enabled": false, + "frequency": 0.1 + }, + "1074": { + "enabled": true, + "frequency": 0.5 + }, + "1084": { + "enabled": true, + "frequency": 0.5 + }, + "1094": { + "enabled": true, + "frequency": 0.5 + }, + "1124": { + "enabled": true, + "frequency": 0.5 + }, + "1230": { + "enabled": true, + "frequency": 0.1 + } + } + }, + "bluetooth": { + "ble_enabled": true, + "enabled": true, + "pairing": { + "discoverable": false, + "no_input_no_output": true, + "pin": "123456" + } + }, + "correction_input": { + "base_corrections": { + "io_type": "off", + "last_used": { + "ntrip": "ntripcli", + "radio": "lora", + "tcp": "tcpcli" + }, + "settings": { + "ble": { + "address": "", + "mount_point": "", + "password": "", + "port": -1, + "send_position_to_base": true, + "username": "" + }, + "bluetooth": { + "send_position_to_base": false + }, + "lora": { + "air_rate": 9.11, + "frequency": 868000, + "output_power": 20, + "send_position_to_base": false + }, + "ntripcli": { + "address": "caster.centipede.fr", + "mount_point": "ASD21 ", + "password": "centipede", + "port": 2101, + "send_position_to_base": true, + "username": "centipede" + }, + "serial": { + "baud_rate": 38400, + "device": "UART", + "send_position_to_base": false + }, + "tcpcli": { + "address": "caster.centipede.fr", + "port": 2101, + "send_position_to_base": true + }, + "tcpsvr": { + "port": 10000, + "send_position_to_base": true + } + } + } + }, + "device": { + "antenna_height": 1.6692, + "night_mode": false, + "onboarding_shown": false, + "power_on_bottom_connector": false, + "privacy_policy_accepted": true, + "role": "base", + "usage_analysis_accepted": false + }, + "logging": { + "logs": { + "autostart": true, + "base": { + "enabled": true, + "format": "RTCM3" + }, + "raw": { + "enabled": true, + "format": "RINEX", + "rinex_options": { + "logging_interval": 0, + "marker_name": null, + "preset": "default", + "satellite_systems": { + "beidou": true, + "galileo": true, + "glonass": true, + "gps": true, + "qzss": true, + "sbas": false + }, + "time_adjustments_enabled": true + }, + "version": "3.03" + }, + "solution": { + "enabled": true, + "format": "LLH" + }, + "started": true + }, + "settings": { + "archive_name": null, + "debug": false, + "interval": 24, + "overwrite": true, + "simultaneous_logging": false, + "split_at_midnight_utc": false + } + }, + "network": { + "tcp_over_modem": true + }, + "position_output": { + "output1": { + "io_type": "bluetooth", + "last_used": { + "tcp": "tcpcli" + }, + "nmea_settings": { + "bluetooth": { + "ebp": { + "enabled": true, + "update_rate": 1 + }, + "gga": { + "enabled": true, + "update_rate": 5 + }, + "gsa": { + "enabled": true, + "update_rate": 1 + }, + "gst": { + "enabled": true, + "update_rate": 1 + }, + "gsv": { + "enabled": true, + "update_rate": 1 + }, + "main_talker_id": "gn", + "rmc": { + "enabled": true, + "update_rate": 1 + }, + "vtg": { + "enabled": true, + "update_rate": 1 + }, + "zda": { + "enabled": true, + "update_rate": 1 + } + }, + "serial": { + "ebp": { + "enabled": true, + "update_rate": 1 + }, + "gga": { + "enabled": true, + "update_rate": 5 + }, + "gsa": { + "enabled": true, + "update_rate": 1 + }, + "gst": { + "enabled": true, + "update_rate": 1 + }, + "gsv": { + "enabled": true, + "update_rate": 1 + }, + "main_talker_id": "gn", + "rmc": { + "enabled": true, + "update_rate": 1 + }, + "vtg": { + "enabled": true, + "update_rate": 1 + }, + "zda": { + "enabled": true, + "update_rate": 1 + } + }, + "tcpcli": { + "ebp": { + "enabled": true, + "update_rate": 1 + }, + "gga": { + "enabled": true, + "update_rate": 5 + }, + "gsa": { + "enabled": true, + "update_rate": 1 + }, + "gst": { + "enabled": true, + "update_rate": 1 + }, + "gsv": { + "enabled": true, + "update_rate": 1 + }, + "main_talker_id": "gn", + "rmc": { + "enabled": true, + "update_rate": 1 + }, + "vtg": { + "enabled": true, + "update_rate": 1 + }, + "zda": { + "enabled": true, + "update_rate": 1 + } + }, + "tcpsvr": { + "ebp": { + "enabled": true, + "update_rate": 1 + }, + "gga": { + "enabled": true, + "update_rate": 5 + }, + "gsa": { + "enabled": true, + "update_rate": 1 + }, + "gst": { + "enabled": true, + "update_rate": 1 + }, + "gsv": { + "enabled": true, + "update_rate": 1 + }, + "main_talker_id": "gn", + "rmc": { + "enabled": true, + "update_rate": 1 + }, + "vtg": { + "enabled": true, + "update_rate": 1 + }, + "zda": { + "enabled": true, + "update_rate": 1 + } + } + }, + "settings": { + "bluetooth": { + "format": "NMEA" + }, + "serial": { + "baud_rate": 38400, + "device": "UART", + "format": "ERB" + }, + "tcpcli": { + "address": "localhost", + "format": "ERB", + "port": 9000 + }, + "tcpsvr": { + "format": "LLH", + "port": 9001 + } + } + }, + "output2": { + "io_type": "tcpsvr", + "last_used": { + "tcp": "tcpcli" + }, + "nmea_settings": { + "bluetooth": { + "ebp": { + "enabled": true, + "update_rate": 1 + }, + "gga": { + "enabled": true, + "update_rate": 5 + }, + "gsa": { + "enabled": true, + "update_rate": 1 + }, + "gst": { + "enabled": true, + "update_rate": 1 + }, + "gsv": { + "enabled": true, + "update_rate": 1 + }, + "main_talker_id": "gn", + "rmc": { + "enabled": true, + "update_rate": 1 + }, + "vtg": { + "enabled": true, + "update_rate": 1 + }, + "zda": { + "enabled": true, + "update_rate": 1 + } + }, + "serial": { + "ebp": { + "enabled": true, + "update_rate": 1 + }, + "gga": { + "enabled": true, + "update_rate": 5 + }, + "gsa": { + "enabled": true, + "update_rate": 1 + }, + "gst": { + "enabled": true, + "update_rate": 1 + }, + "gsv": { + "enabled": true, + "update_rate": 1 + }, + "main_talker_id": "gn", + "rmc": { + "enabled": true, + "update_rate": 1 + }, + "vtg": { + "enabled": true, + "update_rate": 1 + }, + "zda": { + "enabled": true, + "update_rate": 1 + } + }, + "tcpcli": { + "ebp": { + "enabled": true, + "update_rate": 1 + }, + "gga": { + "enabled": true, + "update_rate": 5 + }, + "gsa": { + "enabled": true, + "update_rate": 1 + }, + "gst": { + "enabled": true, + "update_rate": 1 + }, + "gsv": { + "enabled": true, + "update_rate": 1 + }, + "main_talker_id": "gn", + "rmc": { + "enabled": true, + "update_rate": 1 + }, + "vtg": { + "enabled": true, + "update_rate": 1 + }, + "zda": { + "enabled": true, + "update_rate": 1 + } + }, + "tcpsvr": { + "ebp": { + "enabled": true, + "update_rate": 1 + }, + "gga": { + "enabled": true, + "update_rate": 5 + }, + "gsa": { + "enabled": true, + "update_rate": 1 + }, + "gst": { + "enabled": true, + "update_rate": 1 + }, + "gsv": { + "enabled": true, + "update_rate": 1 + }, + "main_talker_id": "gn", + "rmc": { + "enabled": true, + "update_rate": 1 + }, + "vtg": { + "enabled": true, + "update_rate": 1 + }, + "zda": { + "enabled": true, + "update_rate": 1 + } + } + }, + "settings": { + "bluetooth": { + "format": "NMEA" + }, + "serial": { + "baud_rate": 38400, + "device": "UART", + "format": "ERB" + }, + "tcpcli": { + "address": "localhost", + "format": "ERB", + "port": 9000 + }, + "tcpsvr": { + "format": "LLH", + "port": 9001 + } + } + } + }, + "positioning_settings": { + "elevation_mask_angle": 15, + "glonass_ar_mode": false, + "gnss_settings": { + "positioning_systems": { + "beidou": true, + "galileo": true, + "glonass": true, + "gps": true, + "qzss": true + }, + "update_rate": 5 + }, + "gps_ar_mode": "fix-and-hold", + "max_horizontal_acceleration": 1, + "max_vertical_acceleration": 1, + "positioning_mode": "kinematic", + "snr_mask": 35 + }, + "sound": { + "mute": false, + "volume": 100 + } +} \ No newline at end of file diff --git a/cmd/fake-reach/data/info.json b/cmd/fake-reach/data/info.json new file mode 100644 index 0000000..a76783b --- /dev/null +++ b/cmd/fake-reach/data/info.json @@ -0,0 +1,70 @@ +{ + "device": { + "cloud": { + "supported": true, + "usage_analysis_accepted": false + }, + "country_code": "FR", + "critical_self_tests_passed": true, + "is_first_time_setup": false, + "local_address": "Reach.local", + "manufacturing_timestamp": "1693633066", + "name": "Reach", + "privacy_policy_accepted": true, + "public_key": "378A5081F445771316A0563CFCC168C813261C6EE9C5C50DF70CC4503C6D8839BED7AA40146A9D8D72BFC4DB85382EEE51B90D03B6CC6DF34E860E15EFEA7D38", + "self_tests": { + "antenna_board_detected": true, + "audio": true, + "bluetooth_detected": true, + "crypto-chip": true, + "image_and_device": true, + "lora": true, + "modem": true, + "mpu": true, + "stm32": true, + "u-blox": true, + "wifi_detected": true + }, + "serial_number": "8243276564AEA32D", + "statistics": { + "first_usage_timestamp": 4294967295 + }, + "time_sync_passed": true, + "type": "ReachRS2+", + "uptime": "4:19:11" + }, + "firmware": { + "api_version": "10.2", + "app_mode": "default", + "onboarding_shown": false, + "version": "32.0", + "version_full": "32.0-r0" + }, + "gnss_receiver": { + "firmware_version": "HPG_1.13" + }, + "lora": { + "firmware_version": "F-0LR-1F-1912161" + }, + "modem": { + "firmware_version": "MPSS.JO.2.0.2.c1.1-00098-9607_GENNS_PACK-1.402457.1 1 [May 18 2021 19:00:00]", + "imei": "350588283544948", + "modem_model": "\r\n^SYSSTART\r\n" + }, + "pmu": { + "balancer_version": "190602", + "git_hash": "0a241756", + "version": "3.35" + }, + "reachview": { + "api_version": "10.2", + "app_mode": "default", + "onboarding_shown": false, + "version": "32.0", + "version_full": "32.0-r0" + }, + "storage": { + "free": 10897, + "total": 12374 + } +} \ No newline at end of file diff --git a/cmd/fake-reach/endpoints.go b/cmd/fake-reach/endpoints.go new file mode 100644 index 0000000..d108a06 --- /dev/null +++ b/cmd/fake-reach/endpoints.go @@ -0,0 +1,101 @@ +package main + +import ( + _ "embed" + "encoding/json" + "io" + "log/slog" + "net/http" + + socketio "github.com/googollee/go-socket.io" + "github.com/googollee/go-socket.io/engineio" + "github.com/googollee/go-socket.io/engineio/transport" + "github.com/googollee/go-socket.io/engineio/transport/polling" + "github.com/googollee/go-socket.io/engineio/transport/websocket" + "github.com/pkg/errors" +) + +//go:embed data/info.json +var info []byte + +//go:embed data/configuration.json +var configuration []byte + +func GetInfo(w http.ResponseWriter, r *http.Request) { + w.Header().Add("Content-Type", "application/json") + if _, err := w.Write(info); err != nil { + slog.Error("could not write info", slog.Any("error", errors.WithStack(err))) + } +} + +func GetConfiguration(w http.ResponseWriter, r *http.Request) { + w.Header().Add("Content-Type", "application/json") + if _, err := w.Write(configuration); err != nil { + slog.Error("could not write configuration", slog.Any("error", errors.WithStack(err))) + } +} + +func PostJSON(w http.ResponseWriter, r *http.Request) { + body, err := io.ReadAll(r.Body) + if err != nil { + slog.Error("could not read body", slog.Any("error", errors.WithStack(err))) + http.Error(w, http.StatusText(http.StatusInternalServerError), http.StatusInternalServerError) + return + } + + defer r.Body.Close() + + var payload any + + if err := json.Unmarshal(body, &payload); err != nil { + slog.Error("could not unmarshal payload", slog.Any("error", errors.WithStack(err))) + http.Error(w, http.StatusText(http.StatusInternalServerError), http.StatusInternalServerError) + return + } + + formatted, err := json.MarshalIndent(payload, "", " ") + if err != nil { + slog.Error("could not marshal payload", slog.Any("error", errors.WithStack(err))) + http.Error(w, http.StatusText(http.StatusInternalServerError), http.StatusInternalServerError) + return + } + + slog.Info("received payload", slog.Any("payload", string(formatted))) + + if _, err := w.Write(formatted); err != nil { + slog.Error("could not write payload", slog.Any("error", errors.WithStack(err))) + } +} + +var allowOriginFunc = func(r *http.Request) bool { + return true +} + +func NewSocketIOServer() *socketio.Server { + server := socketio.NewServer(&engineio.Options{ + Transports: []transport.Transport{ + &polling.Transport{ + CheckOrigin: allowOriginFunc, + }, + &websocket.Transport{ + CheckOrigin: allowOriginFunc, + }, + }, + }) + + server.OnConnect("/", func(s socketio.Conn) error { + s.SetContext("") + slog.Info("connected", slog.Any("id", s.ID())) + return nil + }) + + server.OnError("/", func(s socketio.Conn, err error) { + slog.Info("socketio error", slog.Any("id", s.ID()), slog.Any("error", errors.WithStack(err))) + }) + + server.OnDisconnect("/", func(s socketio.Conn, reason string) { + slog.Info("disconnected", slog.Any("id", s.ID()), slog.Any("reason", reason)) + }) + + return server +} diff --git a/cmd/fake-reach/main.go b/cmd/fake-reach/main.go new file mode 100644 index 0000000..4a86bb0 --- /dev/null +++ b/cmd/fake-reach/main.go @@ -0,0 +1,162 @@ +package main + +import ( + "context" + "fmt" + "log/slog" + "net" + "net/http" + "os" + "os/signal" + + "forge.cadoles.com/cadoles/go-emlid/reach/discovery" + socketio "github.com/googollee/go-socket.io" + "github.com/grandcat/zeroconf" + "github.com/pkg/errors" + sloghttp "github.com/samber/slog-http" + "github.com/wlynxg/anet" +) + +func main() { + ctx := context.Background() + + server, err := startHTTPServer(ctx) + if err != nil { + slog.Error("could not start http server", slog.Any("error", errors.WithStack(err))) + os.Exit(1) + } + + defer server.Close() + + service, err := startMDNSService(ctx) + if err != nil { + slog.Error("could not start mdns service", slog.Any("error", errors.WithStack(err))) + os.Exit(1) + } + + defer service.Shutdown() + + interrupt := make(chan os.Signal, 1) + signal.Notify(interrupt, os.Interrupt) + + slog.Info("Ctrl+C to interrupt") + + <-interrupt +} + +func startHTTPServer(ctx context.Context) (*http.Server, error) { + mux := http.NewServeMux() + + sioServer := NewSocketIOServer() + go func() { + if err := sioServer.Serve(); err != nil { + slog.Error("could not serve socketio", slog.Any("error", errors.WithStack(err))) + } + }() + + sioServer.OnEvent("/", "action", func(s socketio.Conn, msg map[string]any) { + slog.Info("action event", slog.Any("id", s.ID()), slog.Any("message", msg)) + + name, ok := msg["name"] + if !ok { + return + } + + switch name { + case "reboot": + if err := s.Close(); err != nil { + slog.Error("could not close connection", slog.Any("error", errors.WithStack(err))) + } + } + }) + + mux.Handle("/socket.io/", sioServer) + mux.HandleFunc("GET /info", GetInfo) + mux.HandleFunc("GET /configuration", GetConfiguration) + mux.HandleFunc("POST /configuration/base_mode/base_coordinates", PostJSON) + + handler := sloghttp.Recovery(mux) + handler = sloghttp.New(slog.Default())(handler) + + server := &http.Server{ + Addr: ":8080", + Handler: handler, + } + + go func() { + defer sioServer.Close() + + slog.Info("starting http server", slog.Any("address", server.Addr)) + + if err := server.ListenAndServe(); err != nil { + slog.Error("could not listen and serve http requests", slog.Any("error", errors.WithStack(err))) + } + }() + + return server, nil +} + +func startMDNSService(ctx context.Context) (*zeroconf.Server, error) { + hostname, err := os.Hostname() + if err != nil { + return nil, errors.WithStack(err) + } + + ifaces, err := anet.Interfaces() + if err != nil { + return nil, errors.WithStack(err) + } + + ips, err := GetLANIPv4Addrs() + if err != nil { + return nil, errors.WithStack(err) + } + + info := []string{ + fmt.Sprintf("local_name=%s", hostname), + "device=FakeReach", + "manufacturer_data=egoHIABggkMnZWSuoy0KAgAA", + } + + slog.Info("announcing mdns service", slog.Any("ips", ips), slog.Any("info", info)) + + server, err := zeroconf.RegisterProxy("Reach", discovery.ReachService, "local.", 8080, hostname, ips, info, ifaces) + if err != nil { + return nil, errors.WithStack(err) + } + + return server, nil +} + +var ( + _, lanA, _ = net.ParseCIDR("10.0.0.0/8") + _, lanB, _ = net.ParseCIDR("172.16.0.0/12") + _, lanC, _ = net.ParseCIDR("192.168.0.0/16") +) + +func GetLANIPv4Addrs() ([]string, error) { + ips := make([]string, 0) + + addrs, err := anet.InterfaceAddrs() + if err != nil { + return nil, errors.WithStack(err) + } + + for _, address := range addrs { + if ipnet, ok := address.(*net.IPNet); ok && !ipnet.IP.IsLoopback() { + ipv4 := ipnet.IP.To4() + if ipv4 == nil { + continue + } + + isLAN := lanA.Contains(ipv4) || lanB.Contains(ipv4) || lanC.Contains(ipv4) + if !isLAN { + continue + } + + ips = append(ips, ipv4.String()) + } + } + + return ips, nil +} diff --git a/go.mod b/go.mod index 58550c2..8c55c8c 100644 --- a/go.mod +++ b/go.mod @@ -1,23 +1,31 @@ module forge.cadoles.com/cadoles/go-emlid -go 1.22.5 +go 1.23 require ( forge.cadoles.com/Pyxis/golang-socketio v0.0.0-20240805155359-f54949ba3a46 - github.com/Masterminds/semver/v3 v3.2.1 + github.com/Masterminds/semver/v3 v3.3.0 github.com/davecgh/go-spew v1.1.1 + github.com/googollee/go-socket.io v1.7.0 + github.com/gorilla/websocket v1.5.3 github.com/grandcat/zeroconf v1.0.0 + github.com/miekg/dns v1.1.62 github.com/mitchellh/mapstructure v1.5.0 github.com/pkg/errors v0.9.1 + github.com/samber/slog-http v1.4.2 + github.com/wlynxg/anet v0.0.4 + golang.org/x/net v0.29.0 ) require ( github.com/cenkalti/backoff v2.2.1+incompatible // indirect - github.com/gorilla/websocket v1.5.3 // indirect - github.com/hashicorp/mdns v1.0.5 // indirect - github.com/miekg/dns v1.1.41 // indirect - github.com/wlynxg/anet v0.0.4-0.20240806025826-e684438fc7c6 // indirect - golang.org/x/crypto v0.0.0-20191011191535-87dc89f01550 // indirect - golang.org/x/net v0.0.0-20210410081132-afb366fc7cd1 // indirect - golang.org/x/sys v0.0.0-20210330210617-4fbd30eecc44 // indirect + github.com/gofrs/uuid v4.4.0+incompatible // indirect + github.com/gomodule/redigo v1.9.2 // indirect + github.com/google/uuid v1.6.0 // indirect + go.opentelemetry.io/otel v1.30.0 // indirect + go.opentelemetry.io/otel/trace v1.30.0 // indirect + golang.org/x/mod v0.21.0 // indirect + golang.org/x/sync v0.8.0 // indirect + golang.org/x/sys v0.25.0 // indirect + golang.org/x/tools v0.25.0 // indirect ) diff --git a/go.sum b/go.sum index 9edb620..194e9eb 100644 --- a/go.sum +++ b/go.sum @@ -1,59 +1,76 @@ -forge.cadoles.com/Pyxis/golang-socketio v0.0.0-20180919100209-bb857ced6b95 h1:o3G5+9RjczCK1xAYFaRMknk1kY9Ule6PNfiW6N6hEpg= -forge.cadoles.com/Pyxis/golang-socketio v0.0.0-20180919100209-bb857ced6b95/go.mod h1:I6kYOFWNkFlNeQLI7ZqfTRz4NdPHZxX0Bzizmzgchs0= forge.cadoles.com/Pyxis/golang-socketio v0.0.0-20240805155359-f54949ba3a46 h1:vLTYHA4+pYeI9mZvCMrc29AmnNjeGEpEG1mTwtCOoDI= forge.cadoles.com/Pyxis/golang-socketio v0.0.0-20240805155359-f54949ba3a46/go.mod h1:bT+HWia42VRX1TzTUlEM645tPJEOtsEdzlKBiEqVchY= -github.com/Masterminds/semver/v3 v3.2.1 h1:RN9w6+7QoMeJVGyfmbcgs28Br8cvmnucEXnY0rYXWg0= -github.com/Masterminds/semver/v3 v3.2.1/go.mod h1:qvl/7zhW3nngYb5+80sSMF+FG2BjYrf8m9wsX0PNOMQ= +github.com/Masterminds/semver/v3 v3.3.0 h1:B8LGeaivUe71a5qox1ICM/JLl0NqZSW5CHyL+hmvYS0= +github.com/Masterminds/semver/v3 v3.3.0/go.mod h1:4V+yj/TJE1HU9XfppCwVMZq3I84lprf4nC11bSS5beM= 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/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38= github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c= github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38= +github.com/gofrs/uuid v4.0.0+incompatible/go.mod h1:b2aQJv3Z4Fp6yNu3cdSllBxTCLRxnplIgP/c0N/04lM= +github.com/gofrs/uuid v4.4.0+incompatible h1:3qXRTX8/NbyulANqlc0lchS1gqAVxRgsuW1YrTJupqA= +github.com/gofrs/uuid v4.4.0+incompatible/go.mod h1:b2aQJv3Z4Fp6yNu3cdSllBxTCLRxnplIgP/c0N/04lM= +github.com/gomodule/redigo v1.8.4/go.mod h1:P9dn9mFrCBvWhGE1wpxx6fgq7BAeLBk+UUUzlpkBYO0= +github.com/gomodule/redigo v1.9.2 h1:HrutZBLhSIU8abiSfW8pj8mPhOyMYjZT/wcA4/L9L9s= +github.com/gomodule/redigo v1.9.2/go.mod h1:KsU3hiK/Ay8U42qpaJk+kuNa3C+spxapWpM+ywhcgtw= +github.com/google/go-cmp v0.6.0 h1:ofyhxvXcZhMsU5ulbFiLKl/XBFqE1GSq7atu8tAmTRI= +github.com/google/go-cmp v0.6.0/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY= +github.com/google/uuid v1.6.0 h1:NIvaJDMOsjHA8n1jAhLSgzrAzy1Hgr+hNrb57e+94F0= +github.com/google/uuid v1.6.0/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo= +github.com/googollee/go-socket.io v1.7.0 h1:ODcQSAvVIPvKozXtUGuJDV3pLwdpBLDs1Uoq/QHIlY8= +github.com/googollee/go-socket.io v1.7.0/go.mod h1:0vGP8/dXR9SZUMMD4+xxaGo/lohOw3YWMh2WRiWeKxg= +github.com/gorilla/websocket v1.4.2/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE= github.com/gorilla/websocket v1.5.3 h1:saDtZ6Pbx/0u+bgYQ3q96pZgCzfhKXGPqt7kZ72aNNg= github.com/gorilla/websocket v1.5.3/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE= github.com/grandcat/zeroconf v1.0.0 h1:uHhahLBKqwWBV6WZUDAT71044vwOTL+McW0mBJvo6kE= github.com/grandcat/zeroconf v1.0.0/go.mod h1:lTKmG1zh86XyCoUeIHSA4FJMBwCJiQmGfcP2PdzytEs= -github.com/hashicorp/mdns v1.0.5 h1:1M5hW1cunYeoXOqHwEb/GBDDHAFo0Yqb/uz/beC6LbE= -github.com/hashicorp/mdns v1.0.5/go.mod h1:mtBihi+LeNXGtG8L9dX59gAEa12BDtBQSp4v/YAJqrc= -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/miekg/dns v1.1.41 h1:WMszZWJG0XmzbK9FEmzH2TVcqYzFesusSIB41b8KHxY= -github.com/miekg/dns v1.1.41/go.mod h1:p6aan82bvRIyn+zDIv9xYNUpwa73JcSh9BKwknJysuI= +github.com/miekg/dns v1.1.62 h1:cN8OuEF1/x5Rq6Np+h1epln8OiyPWV+lROx9LxcGgIQ= +github.com/miekg/dns v1.1.62/go.mod h1:mvDlcItzm+br7MToIKqkglaGhlFMHJ9DTNNWONWXbNQ= github.com/mitchellh/mapstructure v1.5.0 h1:jeMsZIYE/09sWLaz43PL7Gy6RuMjD2eJVyuac5Z2hdY= github.com/mitchellh/mapstructure v1.5.0/go.mod h1:bFUtVrKA4DC2yAKiSyO/QUcy7e+RRV2QTWOzhPopBRo= github.com/pkg/errors v0.9.1 h1:FEBLx1zS214owpjy7qsBeixbURkuhQAwrK5UwLGTwt4= github.com/pkg/errors v0.9.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0= -github.com/wlynxg/anet v0.0.3 h1:PvR53psxFXstc12jelG6f1Lv4MWqE0tI76/hHGjh9rg= -github.com/wlynxg/anet v0.0.3/go.mod h1:eay5PRQr7fIVAMbTbchTnO9gG65Hg/uYGdc7mguHxoA= -github.com/wlynxg/anet v0.0.4-0.20240806025826-e684438fc7c6 h1:c/wkXIJvpg2oot7iFqPESTBAO9UvhWTBnW97y9aPgyU= -github.com/wlynxg/anet v0.0.4-0.20240806025826-e684438fc7c6/go.mod h1:eay5PRQr7fIVAMbTbchTnO9gG65Hg/uYGdc7mguHxoA= +github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM= +github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4= +github.com/samber/slog-http v1.4.2 h1:tOOhwE/rFpDzaSxdzttMFFaMDUM+ah7h2zppZ4UCNC0= +github.com/samber/slog-http v1.4.2/go.mod h1:n6h4x2ZBeTgLqMKf95EuNlU6mcJF1b/RVLxo1od5+V0= +github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME= +github.com/stretchr/testify v1.5.1/go.mod h1:5W2xD1RspED5o8YsWQXVCued0rvSQ+mT+I5cxcmMvtA= +github.com/stretchr/testify v1.9.0 h1:HtqpIVDClZ4nwg75+f6Lvsy/wHu+3BoSGCbBAcpTsTg= +github.com/stretchr/testify v1.9.0/go.mod h1:r2ic/lqez/lEtzL7wO/rwa5dbSLXVDPFyf8C91i36aY= +github.com/wlynxg/anet v0.0.4 h1:0de1OFQxnNqAu+x2FAKKCVIrnfGKQbs7FQz++tB0+Uw= +github.com/wlynxg/anet v0.0.4/go.mod h1:eay5PRQr7fIVAMbTbchTnO9gG65Hg/uYGdc7mguHxoA= +go.opentelemetry.io/otel v1.30.0 h1:F2t8sK4qf1fAmY9ua4ohFS/K+FUuOPemHUIXHtktrts= +go.opentelemetry.io/otel v1.30.0/go.mod h1:tFw4Br9b7fOS+uEao81PJjVMjW/5fvNCbpsDIXqP0pc= +go.opentelemetry.io/otel/trace v1.30.0 h1:7UBkkYzeg3C7kQX8VAidWh2biiQbtAKjyIML8dQ9wmc= +go.opentelemetry.io/otel/trace v1.30.0/go.mod h1:5EyKqTzzmyqB9bwtCCq6pDLktPK6fmGf/Dph+8VI02o= 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/mod v0.21.0 h1:vvrHzRwRfVKSiLrG+d4FMl/Qi4ukBCE6kZlTUkDYRT0= +golang.org/x/mod v0.21.0/go.mod h1:6SkKJ3Xj0I0BrPOZoBy3bdMptDDU9oJrpohJ3eWZ1fY= 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/net v0.0.0-20210226172049-e18ecbb05110/go.mod h1:m0MpNAwzfU5UDzcl9v0D8zg8gWTRqZa9RBIspLL5mdg= -golang.org/x/net v0.0.0-20210410081132-afb366fc7cd1 h1:4qWs8cYYH6PoEFy4dfhDFgoMGkwAcETd+MmPdCPMzUc= -golang.org/x/net v0.0.0-20210410081132-afb366fc7cd1/go.mod h1:9tjilg8BloeKEkVJvy7fQ90B1CfIiPueXVOjqfkSzI8= -golang.org/x/sync v0.0.0-20190423024810-112230192c58 h1:8gQV6CLnAEikrhgkHFbMAEhagSSnXWGV915qUMm9mrU= +golang.org/x/net v0.29.0 h1:5ORfpBpCs4HzDYoodCDBbwHzdR5UrLBZ3sOnUJmFoHo= +golang.org/x/net v0.29.0/go.mod h1:gLkgy8jTGERgjzMic6DS9+SP0ajcu6Xu3Orq/SpETg0= golang.org/x/sync v0.0.0-20190423024810-112230192c58/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM= -golang.org/x/sync v0.0.0-20210220032951-036812b2e83c h1:5KslGYwFpkhGh+Q16bwMP3cOontH8FOep7tGV86Y7SQ= -golang.org/x/sync v0.0.0-20210220032951-036812b2e83c/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM= +golang.org/x/sync v0.8.0 h1:3NFvSEYkUoMifnESzZl15y791HH1qU2xm6eCJU5ZPXQ= +golang.org/x/sync v0.8.0/go.mod h1:Czt+wKu1gCyEFDUtn0jG5QVvpJ6rzVqr5aXyt9drQfk= 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/sys v0.0.0-20201119102817-f84b799fce68/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs= -golang.org/x/sys v0.0.0-20210303074136-134d130e1a04/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs= -golang.org/x/sys v0.0.0-20210330210617-4fbd30eecc44 h1:Bli41pIlzTzf3KEY06n+xnzK/BESIg2ze4Pgfh/aI8c= -golang.org/x/sys v0.0.0-20210330210617-4fbd30eecc44/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs= -golang.org/x/term v0.0.0-20201126162022-7de9c90e9dd1/go.mod h1:bj7SfCRtBDWHUb9snDiAeCFNEtKQo2Wmx5Cou7ajbmo= +golang.org/x/sys v0.25.0 h1:r+8e+loiHxRqhXVl6ML1nO3l1+oFoWbnlu2Ehimmi34= +golang.org/x/sys v0.25.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ= -golang.org/x/text v0.3.3/go.mod h1:5Zoc/QRtKVWzQhOtBMvqHzDpF6irO9z98xDceosuGiQ= -golang.org/x/text v0.3.6/go.mod h1:5Zoc/QRtKVWzQhOtBMvqHzDpF6irO9z98xDceosuGiQ= -golang.org/x/tools v0.0.0-20180917221912-90fa682c2a6e/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ= golang.org/x/tools v0.0.0-20191216052735-49a3e744a425/go.mod h1:TB2adYChydJhpapKDTa4BR/hXlZSLoq2Wpct/0txZ28= +golang.org/x/tools v0.25.0 h1:oFU9pkj/iJgs+0DT+VMHrx+oBKs/LJMV+Uvg78sl+fE= +golang.org/x/tools v0.25.0/go.mod h1:/vtpO8WL1N9cQC3FN5zPqb//fRXskFHbLKk4OW1Q7rg= golang.org/x/xerrors v0.0.0-20191011141410-1b5146add898/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0= +gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0= +gopkg.in/yaml.v2 v2.2.2/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI= +gopkg.in/yaml.v2 v2.2.4/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI= +gopkg.in/yaml.v3 v3.0.1 h1:fxVm/GzAzEWqLHuvctI91KS9hhNmmWOoWu0XTYJS7CA= +gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM= diff --git a/misc/records/broadcast_record.log b/misc/records/broadcast_record.log new file mode 100644 index 0000000..f367789 --- /dev/null +++ b/misc/records/broadcast_record.log @@ -0,0 +1,717596 @@ +{ + "name": "navigation", + "payload": { + "aod": 0, + "ar_ratio": 0, + "dop": { + "g": 1.9100000000000001, + "h": 0.89, + "p": 1.58, + "v": 1.31 + }, + "positioning_mode": "kinematic", + "rover_position": { + "accuracy": { + "e": 0.1899999976158142, + "n": 0.23000000417232513, + "u": 0.4699999988079071 + }, + "coordinates": { + "h": 305.69890000000004, + "lat": 47.301909052, + "lon": 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