From 030bb818e119b90d8d17d9160a91f137dfdb454d Mon Sep 17 00:00:00 2001
From: William Petit <wpetit@cadoles.com>
Date: Thu, 6 Dec 2018 16:33:04 +0100
Subject: [PATCH] Add base manual position update example

---
 example/base-pos/main.go | 93 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 93 insertions(+)
 create mode 100644 example/base-pos/main.go

diff --git a/example/base-pos/main.go b/example/base-pos/main.go
new file mode 100644
index 0000000..3bd6e3a
--- /dev/null
+++ b/example/base-pos/main.go
@@ -0,0 +1,93 @@
+package main
+
+import (
+	"context"
+	"flag"
+	"log"
+	"time"
+
+	"forge.cadoles.com/Pyxis/orion/emlid"
+	"forge.cadoles.com/Pyxis/orion/emlid/reachview"
+)
+
+var (
+	host = "192.168.42.1"
+)
+
+func init() {
+	flag.StringVar(&host, "host", host, "ReachRS module host")
+}
+
+func main() {
+
+	flag.Parse()
+
+	c := connect()
+	defer c.Close()
+
+	log.Println("updating base manual position")
+
+	// 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"}}}]
+
+	config := &reachview.Configuration{
+		BaseMode: &reachview.BaseMode{
+			BaseCoordinates: &reachview.BaseCoordinates{
+				Coordinates: []*string{
+					reachview.String("2"),
+					reachview.String("0"),
+					reachview.String("0"),
+				},
+				AntennaOffset: &reachview.AntennaOffset{
+					East:  reachview.String("0"),
+					North: reachview.String("0"),
+					Up:    reachview.String("2"),
+				},
+				Format: reachview.BaseCoordinatesFormatLLH,
+				Mode:   reachview.String("manual"),
+			},
+		},
+	}
+
+	applyConfiguration(c, config)
+
+	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 applyConfiguration(c *reachview.Client, config *reachview.Configuration) {
+
+	ctx, applyConfCancel := context.WithTimeout(context.Background(), 20*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 !")
+	}
+
+	log.Println("restarting rtklib")
+	if err := c.RestartRTKLib(); err != nil {
+		log.Fatal(err)
+	}
+
+}