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

emlid/client.go

@@ -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 {

emlid/reachview/configuration.go

@@ -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
+}

emlid/reachview/configuration_model.go

@@ -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"`
+	RTKSettings     *RTKSettings     `mapstructure:"rtk settings,omitempty" json:"rtk settings,omitempty"`
-	CorrectionInput *CorrectionInput `mapstructure:"correction input,omitempty"`
+	CorrectionInput *CorrectionInput `mapstructure:"correction input,omitempty" json:"correction input,omitempty"`
-	PositionOutput  *PositionOutput  `mapstructure:"position output,omitempty"`
+	PositionOutput  *PositionOutput  `mapstructure:"position output,omitempty" json:"position output,omitempty"`
-	BaseMode        *BaseMode        `mapstructure:"base mode,omitempty"`
+	BaseMode        *BaseMode        `mapstructure:"base mode,omitempty" json:"base mode,omitempty"`
-	Logging         *Logging         `mapstructure:"logging,omitempty"`
+	Logging         *Logging         `mapstructure:"logging,omitempty" json:"logging,omitempty"`
-	Bluetooth       *Bluetooth       `mapstructure:"bluetooth,omitempty"`
+	Bluetooth       *Bluetooth       `mapstructure:"bluetooth,omitempty" json:"bluetooth,omitempty"`
-	LoRa            *LoRa            `mapstructure:"lora,omitempty"`
+	LoRa            *LoRa            `mapstructure:"lora,omitempty" json:"lora,omitempty"`
-	Constraints     *Constraints     `mapstructure:"constraints,omitempty"`
+	Constraints     *Constraints     `mapstructure:"constraints,omitempty" json:"constraints,omitempty"`
 }
 
 // RTKSettings -
 type RTKSettings struct {
-	GLONASSARMode             *string              `mapstructure:"glonass ar mode,omitempty"`
+	GLONASSARMode             *string              `mapstructure:"glonass ar mode,omitempty" json:"glonass ar mode,omitempty"`
-	UpdateRate                *string              `mapstructure:"update rate,omitempty"`
+	UpdateRate                *string              `mapstructure:"update rate,omitempty" json:"update rate,omitempty"`
-	ElevationMaskAngle        *string              `mapstructure:"elevation mask angle,omitempty"`
+	ElevationMaskAngle        *string              `mapstructure:"elevation mask angle,omitempty" json:"elevation mask angle,omitempty"`
-	MaxHorizontalAcceleration *string              `mapstructure:"max horizontal acceleration,omitempty"`
+	MaxHorizontalAcceleration *string              `mapstructure:"max horizontal acceleration,omitempty" json:"max horizontal acceleration,omitempty"`
-	SNRMask                   *string              `mapstructure:"snr mask,omitempty"`
+	SNRMask                   *string              `mapstructure:"snr mask,omitempty" json:"snr mask,omitempty"`
-	GPSARMode                 *string              `mapstructure:"gps ar mode,omitempty"`
+	GPSARMode                 *string              `mapstructure:"gps ar mode,omitempty" json:"gps ar mode,omitempty"`
-	PositionningMode          *string              `mapstructure:"positioning mode,omitempty"`
+	PositionningMode          *string              `mapstructure:"positioning mode,omitempty" json:"positioning mode,omitempty"`
-	PositioningSystems        *PositionningSystems `mapstructure:"positioning systems,omitempty"`
+	PositioningSystems        *PositionningSystems `mapstructure:"positioning systems,omitempty" json:"positioning systems,omitempty"`
-	MaxVerticalAcceleration   *string              `mapstructure:"max vertical acceleration,omitempty"`
+	MaxVerticalAcceleration   *string              `mapstructure:"max vertical acceleration,omitempty" json:"max vertical acceleration,omitempty"`
 }
 
 // PositionningSystems -
 type PositionningSystems struct {
-	GLONASS *bool `mapstructure:"glonass,omitempty"`
+	GLONASS *bool `mapstructure:"glonass,omitempty" json:"glonass,omitempty"`
-	SBAS    *bool `mapstructure:"sbas,omitempty"`
+	SBAS    *bool `mapstructure:"sbas,omitempty" json:"sbas,omitempty"`
-	QZS     *bool `mapstructure:"qzs,omitempty"`
+	QZS     *bool `mapstructure:"qzs,omitempty" json:"qzs,omitempty"`
-	QZSS    *bool `mapstructure:"qzss,omitempty"`
+	QZSS    *bool `mapstructure:"qzss,omitempty" json:"qzss,omitempty"`
-	Compass *bool `mapstructure:"compass,omitempty"`
+	Compass *bool `mapstructure:"compass,omitempty" json:"compass,omitempty"`
-	Galileo *bool `mapstructure:"galileo,omitempty"`
+	Galileo *bool `mapstructure:"galileo,omitempty" json:"galileo,omitempty"`
-	GPS     *bool `mapstructure:"gps,omitempty"`
+	GPS     *bool `mapstructure:"gps,omitempty" json:"gps,omitempty"`
 }
 
 // CorrectionInput -
 type CorrectionInput struct {
-	Input2 *Input2 `mapstructure:"input2,omitempty"`
+	Input2 *Input2 `mapstructure:"input2,omitempty" json:"input2,omitempty"`
-	Input3 *Input3 `mapstructure:"input3,omitempty"`
+	Input3 *Input3 `mapstructure:"input3,omitempty" json:"input3,omitempty"`
 }
 
 // Input -
 type Input struct {
-	Path    *string `mapstructure:"path,omitempty"`
+	Path    *string `mapstructure:"path,omitempty" json:"path,omitempty"`
-	Type    *string `mapstructure:"type,omitempty"`
+	Type    *string `mapstructure:"type,omitempty" json:"type,omitempty"`
-	Enabled *bool   `mapstructure:"enabled,omitempty"`
+	Enabled *bool   `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
-	Format  *string `mapstructure:"format,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"`
+	Output1 *Output `mapstructure:"output1,omitempty" json:"output1,omitempty"`
-	Output2 *Output `mapstructure:"output2,omitempty"`
+	Output2 *Output `mapstructure:"output2,omitempty" json:"output2,omitempty"`
-	Output3 *Output `mapstructure:"output3,omitempty"`
+	Output3 *Output `mapstructure:"output3,omitempty" json:"output3,omitempty"`
-	Output4 *Output `mapstructure:"output4,omitempty"`
+	Output4 *Output `mapstructure:"output4,omitempty" json:"output4,omitempty"`
 }
 
 // Output -
 type Output struct {
-	Path    *string `mapstructure:"path,omitempty"`
+	Path    *string `mapstructure:"path,omitempty" json:"path,omitempty"`
-	Type    *string `mapstructure:"type,omitempty"`
+	Type    *string `mapstructure:"type,omitempty" json:"type,omitempty"`
-	Enabled *bool   `mapstructure:"enabled,omitempty"`
+	Enabled *bool   `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
-	Format  *string `mapstructure:"format,omitempty"`
+	Format  *string `mapstructure:"format,omitempty" json:"format,omitempty"`
 }
 
 // BaseMode -
 type BaseMode struct {
-	Output          *Output          `mapstructure:"output,omitempty"`
+	Output          *Output          `mapstructure:"output,omitempty" json:"output,omitempty"`
-	BaseCoordinates *BaseCoordinates `mapstructure:"base coordinates,omitempty"`
+	BaseCoordinates *BaseCoordinates `mapstructure:"base coordinates,omitempty" json:"base coordinates,omitempty"`
-	RTCM3Messages   *RTCM3Messages   `mapstructure:"rtcm3 messages,omitempty"`
+	RTCM3Messages   *RTCM3Messages   `mapstructure:"rtcm3 messages,omitempty" json:"rtcm3 messages,omitempty"`
 }
 
 // BaseCoordinates -
 type BaseCoordinates struct {
-	Format        *string        `mapstructure:"format,omitempty"`
+	Format        *string        `mapstructure:"format,omitempty" json:"format,omitempty"`
-	AntennaOffset *AntennaOffset `mapstructure:"antenna offset,omitempty"`
+	AntennaOffset *AntennaOffset `mapstructure:"antenna offset,omitempty" json:"antenna offset,omitempty"`
-	Accumulation  *string        `mapstructure:"accumulation,omitempty"`
+	Accumulation  *string        `mapstructure:"accumulation,omitempty" json:"accumulation,omitempty"`
-	Coordinates   *[]string      `mapstructure:"coordinates,omitempty"`
+	Coordinates   []*string      `mapstructure:"coordinates,omitempty" json:"coordinates,omitempty"`
-	Mode          *string        `mapstructure:"mode,omitempty"`
+	Mode          *string        `mapstructure:"mode,omitempty" json:"mode,omitempty"`
 }
 
 // AntennaOffset -
 type AntennaOffset struct {
-	East  *string `mapstructure:"east,omitempty"`
+	East  *string `mapstructure:"east,omitempty" json:"east,omitempty"`
-	North *string `mapstructure:"north,omitempty"`
+	North *string `mapstructure:"north,omitempty" json:"north,omitempty"`
-	Up    *string `mapstructure:"up,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"`
+	Frequency *string `mapstructure:"frequency,omitempty" json:"frequency,omitempty"`
-	Enabled   bool   `mapstructure:"enabled"`
+	Enabled   *bool   `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
 }
 
 // Logging -
 type Logging struct {
-	Correction *LoggingService `mapstructure:"correction,omitempty"`
+	Correction *LoggingService `mapstructure:"correction,omitempty" json:"correction,omitempty"`
-	Interval   int             `mapstructure:"interval"`
+	Interval   *int            `mapstructure:"interval,omitempty" json:"interval,omitempty"`
-	Solution   *LoggingService `mapstructure:"solution,omitempty"`
+	Solution   *LoggingService `mapstructure:"solution,omitempty" json:"solution,omitempty"`
-	Raw        *LoggingService `mapstructure:"raw,omitempty"`
+	Raw        *LoggingService `mapstructure:"raw,omitempty" json:"raw,omitempty"`
-	Base       *LoggingService `mapstructure:"base,omitempty"`
+	Base       *LoggingService `mapstructure:"base,omitempty" json:"base,omitempty"`
-	Overwrite  *bool           `mapstructure:"overwrite,omitempty"`
+	Overwrite  *bool           `mapstructure:"overwrite,omitempty" json:"overwrite,omitempty"`
 }
 
 // LoggingService -
 type LoggingService struct {
-	Started *bool   `mapstructure:"started,omitempty"`
+	Started *bool   `mapstructure:"started,omitempty" json:"started,omitempty"`
-	Version *string `mapstructure:"version,omitempty"`
+	Version *string `mapstructure:"version,omitempty" json:"version,omitempty"`
-	Format  *string `mapstructure:"format,omitempty"`
+	Format  *string `mapstructure:"format,omitempty" json:"format,omitempty"`
 }
 
 // Bluetooth -
 type Bluetooth struct {
-	Enabled      *bool `mapstructure:"enabled,omitempty"`
+	Enabled      *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
-	Discoverable *bool `mapstructure:"discoverable,omitempty"`
+	Discoverable *bool `mapstructure:"discoverable,omitempty" json:"discoverable,omitempty"`
-	Pin          *int  `mapstructure:"pin,omitempty"`
+	Pin          *int  `mapstructure:"pin,omitempty" json:"pin,omitempty"`
 }
 
 // LoRa -
 type LoRa struct {
-	AirRate     *string  `mapstructure:"air rate,omitempty"`
+	AirRate     *string  `mapstructure:"air rate,omitempty" json:"air rate,omitempty"`
-	Frequency   *float64 `mapstructure:"frequency,omitempty"`
+	Frequency   *float64 `mapstructure:"frequency,omitempty" json:"frequency,omitempty"`
-	OutputPower *string  `mapstructure:"output power,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"`
+	Min *int `mapstructure:"min,omitempty" json:"min,omitempty"`
-	Max *int `mapstructure:"max,omitempty"`
+	Max *int `mapstructure:"max,omitempty" json:"max,omitempty"`
 }

emlid/reachview/configuration_test.go

@@ -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()
 

emlid/reachview/rtk.go

@@ -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)
+}

example/reachview/README.md

@@ -0,0 +1,16 @@
+# Example: ReachView
+
+A simple example of a ReachView client that can:
+
+- Configure a ReachRS module as "base" or "rover"
+
+## Usage
+
+1. Boot your ReachRS module in "ReachView" mode
+
+2. Launch the example:
+  ```shell
+  go run example/reachview/main.go \
+    -mode 'rover|base'\
+    -host '<DEVICE_IP_ADDRESS'\
+  ```

example/reachview/main.go

@@ -0,0 +1,228 @@
+package main
+
+import (
+	"context"
+	"flag"
+	"fmt"
+	"log"
+	"strings"
+	"time"
+
+	"forge.cadoles.com/Pyxis/orion/emlid"
+	"forge.cadoles.com/Pyxis/orion/emlid/reachview"
+)
+
+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.String("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,
+		},
+	}
+
+	log.Println("configuring module as rover")
+
+	applyConfiguration(c, config)
+
+}
+
+func configureBase() {
+
+	c := connect()
+	defer c.Close()
+
+	resetConfiguration(c)
+
+	log.Println("configuring module as base")
+
+	config := getCommonConfiguration()
+	config.RTKSettings.UpdateRate = reachview.String("1")
+	config.BaseMode = &reachview.BaseMode{
+		Output: &reachview.Output{
+			Enabled: reachview.True,
+			Format:  reachview.IOFormatRTCM3,
+			Type:    reachview.IOTypeLoRa,
+		},
+		BaseCoordinates: &reachview.BaseCoordinates{
+			Accumulation: reachview.String("1"),
+			AntennaOffset: &reachview.AntennaOffset{
+				Up: reachview.String("2.20"),
+			},
+			Mode:   reachview.BaseCoordinatesModeAverageSingle,
+			Format: reachview.BaseCoordinatesFormatLLH,
+		},
+		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,
+			},
+		},
+	}
+
+	applyConfiguration(c, config)
+
+}
+
+func applyConfiguration(c *reachview.Client, config *reachview.Configuration) {
+
+	ctx, applyConfCancel := context.WithTimeout(context.Background(), 10*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)
+	}
+
+}
+
+func resetConfiguration(c *reachview.Client) {
+
+	log.Println("resetting module configuration")
+	ctx, resetCancel := context.WithTimeout(context.Background(), 10*time.Second)
+	defer resetCancel()
+	result, _, err := c.ResetConfiguration(ctx)
+	if err != nil {
+		log.Fatal(err)
+	}
+
+	if result != reachview.ConfigurationApplySuccess {
+		log.Fatal("configuration reset failed !")
+	}
+
+}
+
+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,
+			},
+			UpdateRate: reachview.String("5"),
+		},
+		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,
+			},
+		},
+	}
+}

go.mod

@@ -3,7 +3,7 @@ module forge.cadoles.com/Pyxis/orion
 require (
 	forge.cadoles.com/Pyxis/golang-socketio v0.0.0-20180919100209-bb857ced6b95
 	github.com/caarlos0/env v3.3.0+incompatible
-	github.com/davecgh/go-spew v1.1.1
+	github.com/davecgh/go-spew v1.1.1 // indirect
 	github.com/go-chi/chi v3.3.3+incompatible
 	github.com/gorilla/websocket v1.4.0 // indirect
 	github.com/mitchellh/mapstructure v1.0.0