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Example: simple cli for automatic configuration of rover/base modules

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This commit is contained in:
wpetit
2018-09-26 15:56:06 +02:00
parent e4bb33e895
commit 854052bc84
9 changed files with 493 additions and 88 deletions
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2
emlid/client.go
View File

@ -121,7 +121,7 @@ func (c *Client) ReqResp(ctx context.Context,
}()
err = c.conn.On(responseEvent, func(_ *gosocketio.Channel, data interface{}) {
err = mapstructure.Decode(data, res)
err = mapstructure.WeakDecode(data, res)
once.Do(done)
})
if err != nil {

40
emlid/reachview/configuration.go
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@ -1,15 +1,51 @@
package reachview
import "context"
const (
eventGetConfiguration = "get configuration"
eventCurrentConfiguration = "current configuration"
eventApplyConfiguration = "apply configuration"
eventConfigurationApplied = "configuration applied"
eventResetConfiguration = "reset configuration to default"
)
// Configuration fetches and return the current configuration of the ReachRS module
func (r *Client) Configuration() (*Configuration, error) {
func (r *Client) Configuration(ctx context.Context) (*Configuration, error) {
configuration := &Configuration{}
if err := r.ReqResp(eventGetConfiguration, nil, eventCurrentConfiguration, configuration); err != nil {
if err := r.ReqResp(ctx, eventGetConfiguration, nil, eventCurrentConfiguration, configuration); err != nil {
return nil, err
}
return configuration, nil
}
type configurationApplied struct {
Configuration *Configuration `mapstructure:"configuration,omitempty"`
Result string `mapstructure:"result"`
Constraints *Constraints `mapstructure:"Constraints,omitempty"`
}
const (
// ConfigurationApplySuccess -
ConfigurationApplySuccess = "success"
// ConfigurationApplyFailed -
ConfigurationApplyFailed = "failed"
)
// ApplyConfiguration applies the given configuration
func (r *Client) ApplyConfiguration(ctx context.Context, config *Configuration) (string, *Configuration, error) {
res := &configurationApplied{}
if err := r.ReqResp(ctx, eventApplyConfiguration, config, eventConfigurationApplied, res); err != nil {
return ConfigurationApplyFailed, nil, err
}
return res.Result, res.Configuration, nil
}
// ResetConfiguration resets the module configuration to factory defaults
func (r *Client) ResetConfiguration(ctx context.Context) (string, *Configuration, error) {
res := &configurationApplied{}
if err := r.ReqResp(ctx, eventResetConfiguration, nil, eventConfigurationApplied, res); err != nil {
return ConfigurationApplyFailed, nil, err
}
return res.Result, res.Configuration, nil
}

227
emlid/reachview/configuration_model.go
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@ -1,59 +1,124 @@
package reachview
var (
// On -
On = String("on")
// Off -
Off = String("off")
// True -
True = Bool(true)
// False -
False = Bool(false)
// GPSARModeFixAndHold -
GPSARModeFixAndHold = String("fix-and-hold")
// GPSARModeContinuous -
GPSARModeContinuous = String("continuous")
// PositionningModeKinematic -
PositionningModeKinematic = String("kinematic")
// PositionningModeSingle -
PositionningModeSingle = String("single")
// PositionningModeStatic -
PositionningModeStatic = String("static")
// IOFormatRTCM3 -
IOFormatRTCM3 = String("rtcm3")
// IOTypeLoRa -
IOTypeLoRa = String("lora")
// BaseCoordinatesModeManual -
BaseCoordinatesModeManual = String("manual")
// BaseCoordinatesModeAverageFix -
BaseCoordinatesModeAverageFix = String("fix-and-hold")
// BaseCoordinatesModeAverageSingle -
BaseCoordinatesModeAverageSingle = String("single-and-hold")
// BaseCoordinatesModeAverageFloat -
BaseCoordinatesModeAverageFloat = String("float-and-hold")
// BaseCoordinatesFormatLLH -
BaseCoordinatesFormatLLH = String("llh")
// BaseCoordinatesFormatXYZ -
BaseCoordinatesFormatXYZ = String("xyz")
)
// String returns an string pointer
// This is a helper to constructs partials configations objects
// for the ApplyConfiguration() method
func String(v string) *string {
return &v
}
// Int returns an int pointer
// This is a helper to constructs partials configations objects
// for the ApplyConfiguration() method
func Int(v int) *int {
return &v
}
// Bool returns a bool pointer
// This is a helper to constructs partials configations objects
// for the ApplyConfiguration() method
func Bool(v bool) *bool {
return &v
}
// Float returns a float64 pointer
// This is a helper to constructs partials configations objects
// for the ApplyConfiguration() method
func Float(v float64) *float64 {
return &v
}
// Configuration -
type Configuration struct {
RTKSettings *RTKSettings `mapstructure:"rtk settings,omitempty"`
CorrectionInput *CorrectionInput `mapstructure:"correction input,omitempty"`
PositionOutput *PositionOutput `mapstructure:"position output,omitempty"`
BaseMode *BaseMode `mapstructure:"base mode,omitempty"`
Logging *Logging `mapstructure:"logging,omitempty"`
Bluetooth *Bluetooth `mapstructure:"bluetooth,omitempty"`
LoRa *LoRa `mapstructure:"lora,omitempty"`
Constraints *Constraints `mapstructure:"constraints,omitempty"`
RTKSettings *RTKSettings `mapstructure:"rtk settings,omitempty" json:"rtk settings,omitempty"`
CorrectionInput *CorrectionInput `mapstructure:"correction input,omitempty" json:"correction input,omitempty"`
PositionOutput *PositionOutput `mapstructure:"position output,omitempty" json:"position output,omitempty"`
BaseMode *BaseMode `mapstructure:"base mode,omitempty" json:"base mode,omitempty"`
Logging *Logging `mapstructure:"logging,omitempty" json:"logging,omitempty"`
Bluetooth *Bluetooth `mapstructure:"bluetooth,omitempty" json:"bluetooth,omitempty"`
LoRa *LoRa `mapstructure:"lora,omitempty" json:"lora,omitempty"`
Constraints *Constraints `mapstructure:"constraints,omitempty" json:"constraints,omitempty"`
}
// RTKSettings -
type RTKSettings struct {
GLONASSARMode *string `mapstructure:"glonass ar mode,omitempty"`
UpdateRate *string `mapstructure:"update rate,omitempty"`
ElevationMaskAngle *string `mapstructure:"elevation mask angle,omitempty"`
MaxHorizontalAcceleration *string `mapstructure:"max horizontal acceleration,omitempty"`
SNRMask *string `mapstructure:"snr mask,omitempty"`
GPSARMode *string `mapstructure:"gps ar mode,omitempty"`
PositionningMode *string `mapstructure:"positioning mode,omitempty"`
PositioningSystems *PositionningSystems `mapstructure:"positioning systems,omitempty"`
MaxVerticalAcceleration *string `mapstructure:"max vertical acceleration,omitempty"`
GLONASSARMode *string `mapstructure:"glonass ar mode,omitempty" json:"glonass ar mode,omitempty"`
UpdateRate *string `mapstructure:"update rate,omitempty" json:"update rate,omitempty"`
ElevationMaskAngle *string `mapstructure:"elevation mask angle,omitempty" json:"elevation mask angle,omitempty"`
MaxHorizontalAcceleration *string `mapstructure:"max horizontal acceleration,omitempty" json:"max horizontal acceleration,omitempty"`
SNRMask *string `mapstructure:"snr mask,omitempty" json:"snr mask,omitempty"`
GPSARMode *string `mapstructure:"gps ar mode,omitempty" json:"gps ar mode,omitempty"`
PositionningMode *string `mapstructure:"positioning mode,omitempty" json:"positioning mode,omitempty"`
PositioningSystems *PositionningSystems `mapstructure:"positioning systems,omitempty" json:"positioning systems,omitempty"`
MaxVerticalAcceleration *string `mapstructure:"max vertical acceleration,omitempty" json:"max vertical acceleration,omitempty"`
}
// PositionningSystems -
type PositionningSystems struct {
GLONASS *bool `mapstructure:"glonass,omitempty"`
SBAS *bool `mapstructure:"sbas,omitempty"`
QZS *bool `mapstructure:"qzs,omitempty"`
QZSS *bool `mapstructure:"qzss,omitempty"`
Compass *bool `mapstructure:"compass,omitempty"`
Galileo *bool `mapstructure:"galileo,omitempty"`
GPS *bool `mapstructure:"gps,omitempty"`
GLONASS *bool `mapstructure:"glonass,omitempty" json:"glonass,omitempty"`
SBAS *bool `mapstructure:"sbas,omitempty" json:"sbas,omitempty"`
QZS *bool `mapstructure:"qzs,omitempty" json:"qzs,omitempty"`
QZSS *bool `mapstructure:"qzss,omitempty" json:"qzss,omitempty"`
Compass *bool `mapstructure:"compass,omitempty" json:"compass,omitempty"`
Galileo *bool `mapstructure:"galileo,omitempty" json:"galileo,omitempty"`
GPS *bool `mapstructure:"gps,omitempty" json:"gps,omitempty"`
}
// CorrectionInput -
type CorrectionInput struct {
Input2 *Input2 `mapstructure:"input2,omitempty"`
Input3 *Input3 `mapstructure:"input3,omitempty"`
Input2 *Input2 `mapstructure:"input2,omitempty" json:"input2,omitempty"`
Input3 *Input3 `mapstructure:"input3,omitempty" json:"input3,omitempty"`
}
// Input -
type Input struct {
Path *string `mapstructure:"path,omitempty"`
Type *string `mapstructure:"type,omitempty"`
Enabled *bool `mapstructure:"enabled,omitempty"`
Format *string `mapstructure:"format,omitempty"`
Path *string `mapstructure:"path,omitempty" json:"path,omitempty"`
Type *string `mapstructure:"type,omitempty" json:"type,omitempty"`
Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
Format *string `mapstructure:"format,omitempty" json:"format,omitempty"`
}
// Input2 -
type Input2 struct {
Input `mapstructure:",squash"`
SendPositionToBase *string `mapstructure:"send position to base,omitempty"`
SendPositionToBase *string `mapstructure:"send position to base,omitempty" json:"send position to base,omitempty"`
}
// Input3 -
@ -63,116 +128,116 @@ type Input3 struct {
// PositionOutput -
type PositionOutput struct {
Output1 *Output `mapstructure:"output1,omitempty"`
Output2 *Output `mapstructure:"output2,omitempty"`
Output3 *Output `mapstructure:"output3,omitempty"`
Output4 *Output `mapstructure:"output4,omitempty"`
Output1 *Output `mapstructure:"output1,omitempty" json:"output1,omitempty"`
Output2 *Output `mapstructure:"output2,omitempty" json:"output2,omitempty"`
Output3 *Output `mapstructure:"output3,omitempty" json:"output3,omitempty"`
Output4 *Output `mapstructure:"output4,omitempty" json:"output4,omitempty"`
}
// Output -
type Output struct {
Path *string `mapstructure:"path,omitempty"`
Type *string `mapstructure:"type,omitempty"`
Enabled *bool `mapstructure:"enabled,omitempty"`
Format *string `mapstructure:"format,omitempty"`
Path *string `mapstructure:"path,omitempty" json:"path,omitempty"`
Type *string `mapstructure:"type,omitempty" json:"type,omitempty"`
Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
Format *string `mapstructure:"format,omitempty" json:"format,omitempty"`
}
// BaseMode -
type BaseMode struct {
Output *Output `mapstructure:"output,omitempty"`
BaseCoordinates *BaseCoordinates `mapstructure:"base coordinates,omitempty"`
RTCM3Messages *RTCM3Messages `mapstructure:"rtcm3 messages,omitempty"`
Output *Output `mapstructure:"output,omitempty" json:"output,omitempty"`
BaseCoordinates *BaseCoordinates `mapstructure:"base coordinates,omitempty" json:"base coordinates,omitempty"`
RTCM3Messages *RTCM3Messages `mapstructure:"rtcm3 messages,omitempty" json:"rtcm3 messages,omitempty"`
}
// BaseCoordinates -
type BaseCoordinates struct {
Format *string `mapstructure:"format,omitempty"`
AntennaOffset *AntennaOffset `mapstructure:"antenna offset,omitempty"`
Accumulation *string `mapstructure:"accumulation,omitempty"`
Coordinates *[]string `mapstructure:"coordinates,omitempty"`
Mode *string `mapstructure:"mode,omitempty"`
Format *string `mapstructure:"format,omitempty" json:"format,omitempty"`
AntennaOffset *AntennaOffset `mapstructure:"antenna offset,omitempty" json:"antenna offset,omitempty"`
Accumulation *string `mapstructure:"accumulation,omitempty" json:"accumulation,omitempty"`
Coordinates []*string `mapstructure:"coordinates,omitempty" json:"coordinates,omitempty"`
Mode *string `mapstructure:"mode,omitempty" json:"mode,omitempty"`
}
// AntennaOffset -
type AntennaOffset struct {
East *string `mapstructure:"east,omitempty"`
North *string `mapstructure:"north,omitempty"`
Up *string `mapstructure:"up,omitempty"`
East *string `mapstructure:"east,omitempty" json:"east,omitempty"`
North *string `mapstructure:"north,omitempty" json:"north,omitempty"`
Up *string `mapstructure:"up,omitempty" json:"up,omitempty"`
}
// RTCM3Messages -
type RTCM3Messages struct {
// GPS L1 code and phase and ambiguities and carrier-to-noise ratio
Type1002 *RTCMMessageType `mapstructure:"1002,omitemtpy"`
Type1002 *RTCMMessageType `mapstructure:"1002,omitemtpy" json:"1002,omitemtpy"`
// Station coordinates XYZ for antenna reference point and antenna height.
Type1006 *RTCMMessageType `mapstructure:"1006,omitemtpy"`
Type1006 *RTCMMessageType `mapstructure:"1006,omitemtpy" json:"1006,omitemtpy"`
// Antenna serial number.
Type1008 *RTCMMessageType `mapstructure:"1008,omitemtpy"`
Type1008 *RTCMMessageType `mapstructure:"1008,omitemtpy" json:"1008,omitemtpy"`
// GLONASS L1 code and phase and ambiguities and carrier-to-noise ratio.
Type1010 *RTCMMessageType `mapstructure:"1010,omitemtpy"`
Type1010 *RTCMMessageType `mapstructure:"1010,omitemtpy" json:"1010,omitemtpy"`
// GPS ephemeris.
Type1019 *RTCMMessageType `mapstructure:"1019,omitemtpy"`
Type1019 *RTCMMessageType `mapstructure:"1019,omitemtpy" json:"1019,omitemtpy"`
// GLONASS ephemeris.
Type1020 *RTCMMessageType `mapstructure:"1020,omitemtpy"`
Type1020 *RTCMMessageType `mapstructure:"1020,omitemtpy" json:"1020,omitemtpy"`
// The type 7 Multiple Signal Message format for Europe’s Galileo system
Type1097 *RTCMMessageType `mapstructure:"1097,omitemtpy"`
Type1097 *RTCMMessageType `mapstructure:"1097,omitemtpy" json:"1097,omitemtpy"`
// Full SBAS pseudo-ranges, carrier phases, Doppler and signal strength (high resolution)
Type1107 *RTCMMessageType `mapstructure:"1107,omitemtpy"`
Type1107 *RTCMMessageType `mapstructure:"1107,omitemtpy" json:"1107,omitemtpy"`
// Full QZSS pseudo-ranges, carrier phases, Doppler and signal strength (high resolution)
Type1117 *RTCMMessageType `mapstructure:"1117,omitemtpy"`
Type1117 *RTCMMessageType `mapstructure:"1117,omitemtpy" json:"1117,omitemtpy"`
// Full BeiDou pseudo-ranges, carrier phases, Doppler and signal strength (high resolution)
Type1127 *RTCMMessageType `mapstructure:"1127,omitemtpy"`
Type1127 *RTCMMessageType `mapstructure:"1127,omitemtpy" json:"1127,omitemtpy"`
}
// RTCMMessageType -
type RTCMMessageType struct {
Frequency string `mapstructure:"frequency"`
Enabled bool `mapstructure:"enabled"`
Frequency *string `mapstructure:"frequency,omitempty" json:"frequency,omitempty"`
Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
}
// Logging -
type Logging struct {
Correction *LoggingService `mapstructure:"correction,omitempty"`
Interval int `mapstructure:"interval"`
Solution *LoggingService `mapstructure:"solution,omitempty"`
Raw *LoggingService `mapstructure:"raw,omitempty"`
Base *LoggingService `mapstructure:"base,omitempty"`
Overwrite *bool `mapstructure:"overwrite,omitempty"`
Correction *LoggingService `mapstructure:"correction,omitempty" json:"correction,omitempty"`
Interval *int `mapstructure:"interval,omitempty" json:"interval,omitempty"`
Solution *LoggingService `mapstructure:"solution,omitempty" json:"solution,omitempty"`
Raw *LoggingService `mapstructure:"raw,omitempty" json:"raw,omitempty"`
Base *LoggingService `mapstructure:"base,omitempty" json:"base,omitempty"`
Overwrite *bool `mapstructure:"overwrite,omitempty" json:"overwrite,omitempty"`
}
// LoggingService -
type LoggingService struct {
Started *bool `mapstructure:"started,omitempty"`
Version *string `mapstructure:"version,omitempty"`
Format *string `mapstructure:"format,omitempty"`
Started *bool `mapstructure:"started,omitempty" json:"started,omitempty"`
Version *string `mapstructure:"version,omitempty" json:"version,omitempty"`
Format *string `mapstructure:"format,omitempty" json:"format,omitempty"`
}
// Bluetooth -
type Bluetooth struct {
Enabled *bool `mapstructure:"enabled,omitempty"`
Discoverable *bool `mapstructure:"discoverable,omitempty"`
Pin *int `mapstructure:"pin,omitempty"`
Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
Discoverable *bool `mapstructure:"discoverable,omitempty" json:"discoverable,omitempty"`
Pin *int `mapstructure:"pin,omitempty" json:"pin,omitempty"`
}
// LoRa -
type LoRa struct {
AirRate *string `mapstructure:"air rate,omitempty"`
Frequency *float64 `mapstructure:"frequency,omitempty"`
OutputPower *string `mapstructure:"output power,omitempty"`
AirRate *string `mapstructure:"air rate,omitempty" json:"air rate,omitempty"`
Frequency *float64 `mapstructure:"frequency,omitempty" json:"frequency,omitempty"`
OutputPower *string `mapstructure:"output power,omitempty" json:"output power,omitempty"`
}
// Constraints -
type Constraints struct {
LoRa *LoRaConstraints `mapstructure:"lora,omitempty"`
LoRa *LoRaConstraints `mapstructure:"lora,omitempty" json:"lora,omitempty"`
}
// LoRaConstraints -
type LoRaConstraints struct {
Frequency *LoRaFrequencyRange `mapstructure:"frequency,omitempty"`
Frequency *LoRaFrequencyRange `mapstructure:"frequency,omitempty" json:"frequency,omitempty"`
}
// LoRaFrequencyRange -
type LoRaFrequencyRange struct {
Min *int `mapstructure:"min,omitempty"`
Max *int `mapstructure:"max,omitempty"`
Min *int `mapstructure:"min,omitempty" json:"min,omitempty"`
Max *int `mapstructure:"max,omitempty" json:"max,omitempty"`
}

56
emlid/reachview/configuration_test.go
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@ -1,10 +1,11 @@
package reachview
import (
"context"
"testing"
"time"
"forge.cadoles.com/Pyxis/orion/emlid"
"github.com/davecgh/go-spew/spew"
)
func TestReachViewConfiguration(t *testing.T) {
@ -21,7 +22,10 @@ func TestReachViewConfiguration(t *testing.T) {
t.Fatal(err)
}
config, err := client.Configuration()
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
config, err := client.Configuration(ctx)
if err != nil {
t.Error(err)
}
@ -34,7 +38,53 @@ func TestReachViewConfiguration(t *testing.T) {
t.Fatal("config.RTKSettings should not be nil")
}
spew.Dump(config)
defer client.Close()
}
func TestReachViewApplyConfiguration(t *testing.T) {
if !*runReachViewIntegrationTests {
t.Skip("To run this test, use: go test -reachview-integration")
}
client := NewClient(
emlid.WithStandardLogger(),
emlid.WithEndpoint(*reachHost, 80),
)
if err := client.Connect(); err != nil {
t.Fatal(err)
}
ctx, configurationCancel := context.WithTimeout(context.Background(), 5*time.Second)
defer configurationCancel()
config, err := client.Configuration(ctx)
if err != nil {
t.Error(err)
}
config.RTKSettings.PositionningMode = String("single")
ctx, applyConfCancel := context.WithTimeout(context.Background(), 5*time.Second)
defer applyConfCancel()
result, config, err := client.ApplyConfiguration(ctx, config)
if err != nil {
t.Error(err)
}
if config == nil {
t.Fatal("config should not be nil")
}
if config.RTKSettings == nil {
t.Fatal("config.RTKSettings should not be nil")
}
if g, e := result, ConfigurationApplySuccess; g != e {
t.Errorf("result: got '%s', expected '%s'", g, e)
}
defer client.Close()

10
emlid/reachview/rtk.go Normal file
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@ -0,0 +1,10 @@
package reachview
const (
eventRestartRTKLib = "restart rtklib"
)
// RestartRTKLib asks the ReachRS module to restart the RTKlib
func (c *Client) RestartRTKLib() error {
return c.Emit(eventRestartRTKLib, nil)
}

0
emlid/reachview/test.go → emlid/reachview/util_test.go
View File