go-emlid/reach/client/protocol/v2/operations.go

268 lines
5.7 KiB
Go

package v2
import (
"context"
"net/http"
"sync"
"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"
"forge.cadoles.com/cadoles/go-emlid/reach/client/socketio"
"github.com/pkg/errors"
)
type Operations struct {
addr string
client *socketio.Client
mutex sync.RWMutex
logger logger.Logger
dial protocol.DialFunc
getClientOnce sync.Once
httpClient *http.Client
}
// Reboot implements protocol.Operations.
func (o *Operations) Reboot(ctx context.Context) error {
var err error
var wg sync.WaitGroup
var once sync.Once
done := func() {
o.client.Off(socketio.OnDisconnection)
wg.Done()
}
wg.Add(1)
go func() {
<-ctx.Done()
err = ctx.Err()
once.Do(done)
}()
err = o.client.On(socketio.OnDisconnection, func(h *socketio.Channel, data any) {
once.Do(done)
})
if err != nil {
return errors.Wrapf(err, "error while binding to '%s' event", socketio.OnDisconnection)
}
if err = o.client.Emit("action", &model.Action{Name: "reboot"}); err != nil {
return err
}
wg.Wait()
return err
}
const DeviceHeight = 0.134
// SetBase implements protocol.Operations.
func (o *Operations) SetBase(ctx context.Context, funcs ...protocol.SetBaseOptionFunc) error {
config, err := o.GetConfiguration(ctx)
if err != nil {
return errors.WithStack(err)
}
opts := protocol.NewSetBaseOptions(funcs...)
base := &model.Base{
Accumulation: config.BaseMode.BaseCoordinates.Accumulation,
AntennaOffset: config.BaseMode.BaseCoordinates.AntennaOffset,
Coordinates: model.BaseCoordinates{
Height: config.BaseMode.BaseCoordinates.Coordinates.Height,
Latitude: config.BaseMode.BaseCoordinates.Coordinates.Latitude,
Longitude: config.BaseMode.BaseCoordinates.Coordinates.Longitude,
},
Mode: config.BaseMode.BaseCoordinates.Mode,
}
if opts.Mode != nil {
base.Mode = *opts.Mode
}
if opts.Height != nil {
base.Coordinates.Height = *opts.Height
}
if opts.Latitude != nil {
base.Coordinates.Latitude = *opts.Latitude
}
if opts.Longitude != nil {
base.Coordinates.Longitude = *opts.Longitude
}
if _, err := o.PostBaseCoordinates(ctx, base); err != nil {
return errors.WithStack(err)
}
if opts.AntennaOffset != nil {
device := &model.ConfigurationDevice{
AntennaHeight: *opts.AntennaOffset + DeviceHeight,
}
if _, err := o.PostDevice(ctx, device); err != nil {
return errors.WithStack(err)
}
}
return nil
}
// GetBaseInfo implements protocol.Operations.
func (o *Operations) GetBaseInfo(ctx context.Context) (*protocol.BaseInfo, error) {
config, err := o.GetConfiguration(ctx)
if err != nil {
return nil, errors.WithStack(err)
}
baseInfo := &protocol.BaseInfo{
Mode: config.BaseMode.BaseCoordinates.Mode,
AntennaOffset: config.BaseMode.BaseCoordinates.AntennaOffset - DeviceHeight,
Height: config.BaseMode.BaseCoordinates.Coordinates.Height,
Latitude: config.BaseMode.BaseCoordinates.Coordinates.Latitude,
Longitude: config.BaseMode.BaseCoordinates.Coordinates.Longitude,
}
return baseInfo, nil
}
// Configuration implements protocol.Operations.
func (o *Operations) Configuration(ctx context.Context) (any, error) {
config, err := o.GetConfiguration(ctx)
if err != nil {
return nil, errors.WithStack(err)
}
return config, nil
}
// Alive implements protocol.Operations.
func (o *Operations) Alive(ctx context.Context) (bool, error) {
o.mutex.RLock()
defer o.mutex.RUnlock()
return o.client.Alive(), nil
}
// Version implements protocol.Operations.
func (o *Operations) Version(ctx context.Context) (string, bool, error) {
info, err := o.GetInfo(ctx)
if err != nil {
return "", false, errors.WithStack(err)
}
updater, err := o.GetUpdater(ctx)
if err != nil {
return "", false, errors.WithStack(err)
}
version := info.Reachview.Version
stable := updater.Release.Channel == "stable"
return version, stable, nil
}
// Close implements protocol.Operations.
func (o *Operations) Close(ctx context.Context) error {
o.mutex.Lock()
defer o.mutex.Unlock()
if o.client == nil {
return nil
}
o.client.Close()
return nil
}
// Connect implements protocol.Operations.
func (o *Operations) Connect(ctx context.Context) error {
o.mutex.Lock()
defer o.mutex.Unlock()
if o.client != nil {
o.client.Close()
}
endpoint, err := socketio.EndpointFromAddr(o.addr)
if err != nil {
return errors.WithStack(err)
}
client := socketio.NewClient(endpoint, socketio.WithDialFunc(socketio.DialFunc(o.dial)))
if err := client.Connect(); err != nil {
return errors.WithStack(err)
}
o.client = client
return nil
}
// Emit implements protocol.Operations.
func (o *Operations) Emit(ctx context.Context, mType string, message any) error {
o.mutex.RLock()
defer o.mutex.RUnlock()
if o.client == nil || !o.client.Alive() {
return errors.WithStack(protocol.ErrClosed)
}
if err := o.client.Emit(mType, message); err != nil {
return errors.WithStack(err)
}
return nil
}
// On implements protocol.Operations.
func (o *Operations) On(ctx context.Context, event string) (chan any, error) {
o.mutex.RLock()
defer o.mutex.RUnlock()
if o.client == nil || !o.client.Alive() {
return nil, errors.WithStack(protocol.ErrClosed)
}
out := make(chan any)
closer := new(sync.Once)
handler := func(ch *socketio.Channel, data any) {
select {
case <-ctx.Done():
closer.Do(func() {
o.mutex.RLock()
defer o.mutex.RUnlock()
ch.Close()
close(out)
if o.client == nil {
return
}
})
return
default:
out <- data
}
}
if err := o.client.On(event, handler); err != nil {
return nil, errors.WithStack(err)
}
return out, nil
}
var _ protocol.Operations = &Operations{}