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GNU AFFERO GENERAL PUBLIC LICENSE
Version 3, 19 November 2007
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test:
go test -v ./...

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# `forge.cadoles.com/cadoles/go-emlid`
[![Go Reference](https://pkg.go.dev/badge/forge.cadoles.com/Cadoles/go-emlid.svg)](https://pkg.go.dev/forge.cadoles.com/Cadoles/go-emlid)
Librairie Golang d'interaction avec les produits [Emlid](https://emlid.com/).
## Licence
[AGPL-3.0](./LICENSE)

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module forge.cadoles.com/cadoles/go-emlid
go 1.22.5
require (
github.com/Masterminds/semver/v3 v3.2.1
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
)

28
go.sum Normal file
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@ -0,0 +1,28 @@
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/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=

117
reach/client/client.go Normal file
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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
proto protocol.Identifier
ops protocol.Operations
getProtocolOnce sync.Once
getProtocolOnceErr 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.getProtocol(ctx)
if err != nil {
return errors.WithStack(err)
}
if err := ops.Connect(ctx); err != nil {
return errors.WithStack(err)
}
return nil
}
func (c *Client) Protocol(ctx context.Context) (protocol.Identifier, error) {
id, _, err := c.getProtocol(ctx)
if err != nil {
return "", errors.WithStack(err)
}
return id, nil
}
func (c *Client) getProtocol(ctx context.Context) (protocol.Identifier, protocol.Operations, error) {
c.getProtocolOnce.Do(func() {
availables, err := c.opts.Protocols.Availables(ctx, c.addr)
if err != nil {
c.getProtocolOnceErr = errors.WithStack(err)
return
}
var preferred protocol.Protocol
var fallback protocol.Protocol
for _, proto := range availables {
if proto.Identifier() == c.opts.FallbackProtocol {
fallback = proto
}
if proto.Identifier() == c.opts.PreferredProtocol {
preferred = proto
break
}
}
if preferred != nil {
c.proto = preferred.Identifier()
c.ops = preferred.Operations(c.addr)
return
}
if fallback != nil {
c.proto = fallback.Identifier()
c.ops = fallback.Operations(c.addr)
return
}
for _, proto := range availables {
if proto.Identifier() != c.opts.FallbackProtocol {
continue
}
fallback = proto
break
}
if fallback == nil {
c.getProtocolOnceErr = errors.Errorf("neither preferred protocol '%v' or fallback '%v' are available", c.opts.PreferredProtocol, c.opts.FallbackProtocol)
return
}
c.proto = fallback.Identifier()
c.ops = fallback.Operations(c.addr)
})
if c.getProtocolOnceErr != nil {
return "", nil, errors.WithStack(c.getProtocolOnceErr)
}
return c.proto, 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{}

41
reach/client/options.go Normal file
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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
}
}

8
reach/client/protocol/error.go Normal file
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@ -0,0 +1,8 @@
package protocol
import "errors"
var (
ErrNotFound = errors.New("not found")
ErrUnimplemented = errors.New("unimplemented")
)

18
reach/client/protocol/protocol.go Normal file
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@ -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
}

52
reach/client/protocol/registry.go Normal file
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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)
}

29
reach/client/protocol/v1/protocol.go Normal file
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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{}

166
reach/client/protocol/v2/api/info.go Normal file
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package api
// GET http://<addr>/info
// {
// "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": "2:50:57"
// },
// "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": 11682,
// "total": 12374
// }
// }
type Info struct {
Device Device `json:"device,omitempty"`
Firmware Firmware `json:"firmware,omitempty"`
GnssReceiver GnssReceiver `json:"gnss_receiver,omitempty"`
Lora Lora `json:"lora,omitempty"`
Modem Modem `json:"modem,omitempty"`
Pmu Pmu `json:"pmu,omitempty"`
Reachview Reachview `json:"reachview,omitempty"`
Storage Storage `json:"storage,omitempty"`
}
type Cloud struct {
Supported bool `json:"supported,omitempty"`
UsageAnalysisAccepted bool `json:"usage_analysis_accepted,omitempty"`
}
type SelfTests struct {
AntennaBoardDetected bool `json:"antenna_board_detected,omitempty"`
Audio bool `json:"audio,omitempty"`
BluetoothDetected bool `json:"bluetooth_detected,omitempty"`
CryptoChip bool `json:"crypto-chip,omitempty"`
ImageAndDevice bool `json:"image_and_device,omitempty"`
Lora bool `json:"lora,omitempty"`
Modem bool `json:"modem,omitempty"`
Mpu bool `json:"mpu,omitempty"`
Stm32 bool `json:"stm32,omitempty"`
UBlox bool `json:"u-blox,omitempty"`
WifiDetected bool `json:"wifi_detected,omitempty"`
}
type Statistics struct {
FirstUsageTimestamp int64 `json:"first_usage_timestamp,omitempty"`
}
type Device struct {
Cloud Cloud `json:"cloud,omitempty"`
CountryCode string `json:"country_code,omitempty"`
CriticalSelfTestsPassed bool `json:"critical_self_tests_passed,omitempty"`
IsFirstTimeSetup bool `json:"is_first_time_setup,omitempty"`
LocalAddress string `json:"local_address,omitempty"`
ManufacturingTimestamp string `json:"manufacturing_timestamp,omitempty"`
Name string `json:"name,omitempty"`
PrivacyPolicyAccepted bool `json:"privacy_policy_accepted,omitempty"`
PublicKey string `json:"public_key,omitempty"`
SelfTests SelfTests `json:"self_tests,omitempty"`
SerialNumber string `json:"serial_number,omitempty"`
Statistics Statistics `json:"statistics,omitempty"`
TimeSyncPassed bool `json:"time_sync_passed,omitempty"`
Type string `json:"type,omitempty"`
Uptime string `json:"uptime,omitempty"`
}
type Firmware struct {
APIVersion string `json:"api_version,omitempty"`
AppMode string `json:"app_mode,omitempty"`
OnboardingShown bool `json:"onboarding_shown,omitempty"`
Version string `json:"version,omitempty"`
VersionFull string `json:"version_full,omitempty"`
}
type GnssReceiver struct {
FirmwareVersion string `json:"firmware_version,omitempty"`
}
type Lora struct {
FirmwareVersion string `json:"firmware_version,omitempty"`
}
type Modem struct {
FirmwareVersion string `json:"firmware_version,omitempty"`
Imei string `json:"imei,omitempty"`
ModemModel string `json:"modem_model,omitempty"`
}
type Pmu struct {
BalancerVersion string `json:"balancer_version,omitempty"`
GitHash string `json:"git_hash,omitempty"`
Version string `json:"version,omitempty"`
}
type Reachview struct {
APIVersion string `json:"api_version,omitempty"`
AppMode string `json:"app_mode,omitempty"`
OnboardingShown bool `json:"onboarding_shown,omitempty"`
Version string `json:"version,omitempty"`
VersionFull string `json:"version_full,omitempty"`
}
type Storage struct {
Free int `json:"free,omitempty"`
Total int `json:"total,omitempty"`
}

41
reach/client/protocol/v2/http/json.go Normal file
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package http
import (
"encoding/json"
"io"
"net/http"
"github.com/pkg/errors"
)
func GetJSON(url string, dst any) error {
var res *http.Response
res, err := http.Get(url)
if err != nil {
return errors.WithStack(err)
}
if res.StatusCode < http.StatusOK || res.StatusCode >= http.StatusBadRequest {
return errors.Errorf("unexpected http status code %d (%s)", res.StatusCode, res.Status)
}
defer func() {
if err := res.Body.Close(); err != nil {
errors.WithStack(err)
}
}()
var body []byte
body, err = io.ReadAll(res.Body)
if err != nil {
return errors.WithStack(err)
}
if err = json.Unmarshal(body, dst); err != nil {
return errors.WithStack(err)
}
return nil
}

7
reach/client/protocol/v2/init.go Normal file
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package v2
import "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol"
func init() {
protocol.Register(&Protocol{})
}

23
reach/client/protocol/v2/operations.go Normal file
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@ -0,0 +1,23 @@
package v2
import (
"context"
"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol"
)
type Operations struct {
addr string
}
// 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{}

57
reach/client/protocol/v2/protocol.go Normal file
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@ -0,0 +1,57 @@
package v2
import (
"context"
"fmt"
"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol"
"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol/v2/api"
"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol/v2/http"
"github.com/Masterminds/semver/v3"
"github.com/pkg/errors"
)
const Identifier protocol.Identifier = "v2"
const compatibleVersionConstraint = ">= 32"
type Protocol struct {
}
// Available implements protocol.Protocol.
func (p *Protocol) Available(ctx context.Context, addr string) (protocol.Operations, error) {
url := fmt.Sprintf("http://%s/info", addr)
info := api.Info{}
if err := http.GetJSON(url, &info); err != nil {
return nil, errors.WithStack(err)
}
versionConstraint, err := semver.NewConstraint(compatibleVersionConstraint)
if err != nil {
return nil, errors.WithStack(err)
}
version, err := semver.NewVersion(info.Reachview.Version)
if err != nil {
return nil, errors.WithStack(err)
}
if !versionConstraint.Check(version) {
return nil, errors.Errorf("reachview version '%s' does not match constraint '%s'", info.Reachview.Version, compatibleVersionConstraint)
}
return &Operations{addr: addr}, nil
}
// Identifier implements protocol.Protocol.
func (p *Protocol) Identifier() protocol.Identifier {
return Identifier
}
// Operations implements protocol.Protocol.
func (p *Protocol) Operations(addr string) protocol.Operations {
return &Operations{addr: addr}
}
var _ protocol.Protocol = &Protocol{}

37
reach/client/protocol/v2/protocol_test.go Normal file
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package v2
import (
"context"
"flag"
"testing"
"github.com/pkg/errors"
)
var runProtocolV2IntegrationTests = flag.Bool(
"protocol-v2-integration", false,
"Run the 'protocol-v2' 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",
)
func TestProtocolV2(t *testing.T) {
if !*runProtocolV2IntegrationTests {
t.Skip("To run this test, go test -v ./reach/client/protocol/v2 -protocol-v2-integration")
}
protocol := &Protocol{}
ctx := context.Background()
ops, err := protocol.Available(ctx, *reachHost)
if err != nil {
t.Fatalf("%+v", errors.WithStack(err))
}
if ops == nil {
t.Error("ops should not be nil")
}
}

56
reach/discovery/discovery.go Normal file
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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
}

53
reach/discovery/discovery_test.go Normal file
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@ -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)
}
}
}

13
reach/discovery/util_test.go Normal file
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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",
)