orion/cmd/configurator/main.go

package main

import (
	"context"
	"flag"
	"fmt"
	"log"
	"strings"
	"time"

	"forge.cadoles.com/Pyxis/orion/emlid"
	"forge.cadoles.com/Pyxis/orion/emlid/reachview"
	"github.com/pkg/errors"
)

const (
	modeRover = "rover"
	modeBase  = "base"
)

var (
	mode = modeRover
	host = "192.168.42.1"
)

func init() {
	modes := []string{modeRover, modeBase}
	flag.StringVar(
		&mode, "mode", mode,
		fmt.Sprintf("The configuration mode. Available: %v", strings.Join(modes, ", ")),
	)
	flag.StringVar(&host, "host", host, "ReachRS module host")
}

func main() {

	flag.Parse()

	switch mode {
	case modeRover:
		configureRover()
	case modeBase:
		configureBase()
	default:
		log.Fatalf("unknown mode '%s'", mode)
	}

	log.Println("done")

}

func connect() *reachview.Client {

	c := reachview.NewClient(
		emlid.WithEndpoint(host, 80),
	)

	log.Printf("connecting to module '%s'", host)
	if err := c.Connect(); err != nil {
		log.Fatal(err)
	}

	log.Println("connected")

	return c

}

func configureRover() {

	c := connect()
	defer c.Close()

	resetConfiguration(c)

	config := getCommonConfiguration()
	config.RTKSettings.GPSARMode = reachview.GPSARModeFixAndHold
	config.RTKSettings.GLONASSARMode = reachview.On
	config.RTKSettings.PositionningMode = reachview.PositionningModeKinematic
	config.RTKSettings.UpdateRate = reachview.Float(5)
	config.CorrectionInput = &reachview.CorrectionInput{
		Input2: &reachview.Input2{
			Input: reachview.Input{
				Enabled: reachview.True,
				Format:  reachview.IOFormatRTCM3,
				Type:    reachview.IOTypeLoRa,
				Path:    reachview.String("lora"),
			},
			SendPositionToBase: reachview.Off,
		},
	}
	config.BaseMode.Output = &reachview.Output{
		Enabled: reachview.False,
	}

	log.Println("configuring module as rover")

	applyConfiguration(c, config)

	log.Println("rebooting module")

	if err := c.Reboot(context.Background(), true); err != nil {
		log.Fatal(errors.Wrap(err, "could not reboot module"))
	}
}

func configureBase() {

	c := connect()
	defer c.Close()

	resetConfiguration(c)

	log.Println("configuring module as base")

	config := getCommonConfiguration()
	config.RTKSettings.UpdateRate = reachview.Float(1)
	config.BaseMode.Output = &reachview.Output{
		Enabled: reachview.True,
		Format:  reachview.IOFormatRTCM3,
		Type:    reachview.IOTypeLoRa,
	}
	config.BaseMode.BaseCoordinates = &reachview.BaseCoordinates{
		Accumulation: reachview.String("1"),
		AntennaOffset: &reachview.AntennaOffset{
			East:  reachview.String("0"),
			North: reachview.String("0"),
			Up:    reachview.String("2.20"),
		},
		Mode:   reachview.BaseCoordinatesModeManual,
		Format: reachview.BaseCoordinatesFormatLLH,
		Coordinates: []*string{
			reachview.String("0"),
			reachview.String("0"),
			reachview.String("0"),
		},
	}

	applyConfiguration(c, config)

	log.Println("rebooting module")

	if err := c.Reboot(context.Background(), true); err != nil {
		log.Fatal(errors.Wrap(err, "could not reboot module"))
	}
}

func applyConfiguration(c *reachview.Client, config *reachview.Configuration) {
	ctx, applyConfCancel := context.WithTimeout(context.Background(), 60*time.Second)
	defer applyConfCancel()

	result, _, err := c.ApplyConfiguration(ctx, config)
	if err != nil {
		log.Fatal(err)
	}

	if result != reachview.ConfigurationApplySuccess {
		log.Fatal("configuration update failed !")
	}
}

func resetConfiguration(c *reachview.Client) {
	log.Println("resetting module configuration")

	ctx, resetCancel := context.WithTimeout(context.Background(), 10*time.Second)
	defer resetCancel()

	if err := c.ResetConfiguration(ctx); err != nil {
		log.Fatal(err)
	}
}

func getCommonConfiguration() *reachview.Configuration {
	return &reachview.Configuration{
		RTKSettings: &reachview.RTKSettings{
			PositioningSystems: &reachview.PositionningSystems{
				GPS:     reachview.True,
				GLONASS: reachview.True,
				Galileo: reachview.True,
				SBAS:    reachview.True,
				QZSS:    reachview.True,
				Compass: reachview.False,
			},
			MaxHorizontalAcceleration: reachview.String("1"),
			GPSARMode:                 reachview.String("fix-and-hold"),
			SNRMask:                   reachview.String("35"),
			GLONASSARMode:             reachview.String("off"),
			UpdateRate:                reachview.Float(5),
			ElevationMaskAngle:        reachview.String("15"),
			PositionningMode:          reachview.String("kinematic"),
			MaxVerticalAcceleration:   reachview.String("1"),
		},
		LoRa: &reachview.LoRa{
			AirRate:     reachview.String("9.11"),
			Frequency:   reachview.Float(868000),
			OutputPower: reachview.String("20"),
		},
		PositionOutput: &reachview.PositionOutput{
			Output1: &reachview.Output{
				Enabled: reachview.False,
			},
			Output2: &reachview.Output{
				Enabled: reachview.False,
			},
		},
		BaseMode: &reachview.BaseMode{
			RTCM3Messages: &reachview.RTCM3Messages{
				Type1002: &reachview.RTCMMessageType{
					Enabled:   reachview.True,
					Frequency: reachview.String("0.1"),
				},
				Type1006: &reachview.RTCMMessageType{
					Enabled:   reachview.True,
					Frequency: reachview.String("0.1"),
				},
				Type1010: &reachview.RTCMMessageType{
					Enabled:   reachview.True,
					Frequency: reachview.String("0.5"),
				},
				Type1097: &reachview.RTCMMessageType{
					Enabled:   reachview.True,
					Frequency: reachview.String("0.5"),
				},
				Type1008: &reachview.RTCMMessageType{
					Enabled: reachview.False,
				},
				Type1019: &reachview.RTCMMessageType{
					Enabled: reachview.False,
				},
				Type1020: &reachview.RTCMMessageType{
					Enabled: reachview.False,
				},
				Type1107: &reachview.RTCMMessageType{
					Enabled: reachview.False,
				},
				Type1117: &reachview.RTCMMessageType{
					Enabled: reachview.False,
				},
				Type1127: &reachview.RTCMMessageType{
					Enabled: reachview.False,
				},
			},
		},
	}
}