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wip

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This commit is contained in:
cmsassot
2025-05-27 16:22:36 +02:00
parent 38a1d5a2c6
commit ecf5fb46a0
11 changed files with 246 additions and 57 deletions
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21
cmd/average_position/README.md Normal file
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@ -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.

87
cmd/average_position/main.go
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@ -65,7 +65,7 @@ func main() {
}
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",
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)
// Configuration des corrections NTRIP
@ -75,7 +75,7 @@ func main() {
}
//Configuration de la base
if err := setBaseToSingleAndHold(ctx, client, baseConfig); err != nil {
if err := setBaseToModeAndHold(ctx, client, baseConfig, "float"); err != nil {
fmt.Printf("[FATAL] %+v", err)
os.Exit(1)
}
@ -135,7 +135,7 @@ func extractBaseConfig(config *model.Configuration) BaseConfig {
}
func setupNTRIPCorrections(ctx context.Context, client *reach.Client, config *model.Configuration) error {
fmt.Println("Configuration des corrections NTRIP...")
fmt.Println("\nConfiguration des corrections NTRIP...")
// Recherche de points de montage
if err := client.GetNTRIPMountPoint(ctx); err != nil {
@ -184,6 +184,8 @@ func handleNTRIPResponse(ctx context.Context, client *reach.Client, config *mode
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",
@ -215,66 +217,67 @@ func updateNTRIPMountPoint(ctx context.Context, client *reach.Client, config *mo
return nil
}
func setBaseToSingleAndHold(ctx context.Context, client *reach.Client, baseConfig BaseConfig) error {
fmt.Println("Configuration de la base en mode single-and-hold...")
func setBaseToModeAndHold(ctx context.Context, client *reach.Client, baseConfig BaseConfig, mode string) 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.WithBaseMode("single-and-hold"),
protocol.WithBaseMode(fmt.Sprintf("%s-and-hold", mode)),
}
if err := client.SetBase(ctx, opts...); err != nil {
return errors.WithStack(err)
}
fmt.Println("Base configurée en mode single-and-hold")
fmt.Println("Base configurée en mode float-and-hold")
return nil
}
func averagePositionAndSave(ctx context.Context, client *reach.Client) error {
fmt.Println("Démarrage du moyennage de position...")
fmt.Println("Démarrage de la moyenne des 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")
messageTask, err := client.AveragePosition(ctx)
if err != nil {
return errors.WithStack(err)
}
logTaskProgress(messageTask)
return handleAverageCompletion(ctx, client, messageTask)
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 reach.Broadcast) 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 {
return errors.WithStack(err)
@ -283,7 +286,7 @@ func logTaskProgress(message reach.Broadcast) error {
return nil
}
func handleAverageCompletion(ctx context.Context, client *reach.Client, message reach.Broadcast) error {
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)