94 lines
1.8 KiB
Go
94 lines
1.8 KiB
Go
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package main
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import (
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"context"
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"flag"
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"log"
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"time"
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"forge.cadoles.com/Pyxis/orion/emlid"
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"forge.cadoles.com/Pyxis/orion/emlid/reachview"
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)
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var (
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host = "192.168.42.1"
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)
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func init() {
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flag.StringVar(&host, "host", host, "ReachRS module host")
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}
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func main() {
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flag.Parse()
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c := connect()
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defer c.Close()
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log.Println("updating base manual position")
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// 42["apply configuration",{"base mode":{"base coordinates":{"coordinates":["0","0","0"],"antenna offset":{"up":"0","east":"0","north":"0"},"format":"llh","mode":"fix-and-hold","accumulation":"2"}}}]
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config := &reachview.Configuration{
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BaseMode: &reachview.BaseMode{
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BaseCoordinates: &reachview.BaseCoordinates{
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Coordinates: []*string{
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reachview.String("2"),
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reachview.String("0"),
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reachview.String("0"),
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},
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AntennaOffset: &reachview.AntennaOffset{
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East: reachview.String("0"),
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North: reachview.String("0"),
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Up: reachview.String("2"),
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},
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Format: reachview.BaseCoordinatesFormatLLH,
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Mode: reachview.String("manual"),
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},
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},
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}
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applyConfiguration(c, config)
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log.Println("done")
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}
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func connect() *reachview.Client {
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c := reachview.NewClient(
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emlid.WithEndpoint(host, 80),
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)
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log.Printf("connecting to module '%s'", host)
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if err := c.Connect(); err != nil {
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log.Fatal(err)
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}
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log.Println("connected")
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return c
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}
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func applyConfiguration(c *reachview.Client, config *reachview.Configuration) {
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ctx, applyConfCancel := context.WithTimeout(context.Background(), 20*time.Second)
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defer applyConfCancel()
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result, _, err := c.ApplyConfiguration(ctx, config)
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if err != nil {
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log.Fatal(err)
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}
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if result != reachview.ConfigurationApplySuccess {
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log.Fatal("configuration update failed !")
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}
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log.Println("restarting rtklib")
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if err := c.RestartRTKLib(); err != nil {
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log.Fatal(err)
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}
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}
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