Add release target to generate compiled version archive
This commit is contained in:
16
cmd/configurator/README.md
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16
cmd/configurator/README.md
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# Example: Configurator
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A simple example of a ReachView client that can:
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- Configure a ReachRS module as "base" or "rover"
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## Usage
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1. Boot your ReachRS module in "ReachView" mode
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2. Launch the example:
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```shell
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go run cmd/configurator/main.go \
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-mode 'rover|base'\
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-host '<DEVICE_IP_ADDRESS'\
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```
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228
cmd/configurator/main.go
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228
cmd/configurator/main.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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"fmt"
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"log"
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"strings"
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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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const (
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modeRover = "rover"
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modeBase = "base"
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)
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var (
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mode = modeRover
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host = "192.168.42.1"
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)
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func init() {
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modes := []string{modeRover, modeBase}
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flag.StringVar(
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&mode, "mode", mode,
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fmt.Sprintf("The configuration mode. Available: %v", strings.Join(modes, ", ")),
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)
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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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switch mode {
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case modeRover:
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configureRover()
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case modeBase:
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configureBase()
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default:
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log.Fatalf("unknown mode '%s'", mode)
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}
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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 configureRover() {
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c := connect()
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defer c.Close()
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resetConfiguration(c)
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config := getCommonConfiguration()
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config.RTKSettings.GPSARMode = reachview.GPSARModeFixAndHold
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config.RTKSettings.GLONASSARMode = reachview.On
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config.RTKSettings.PositionningMode = reachview.PositionningModeKinematic
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config.RTKSettings.UpdateRate = reachview.String("5")
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config.CorrectionInput = &reachview.CorrectionInput{
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Input2: &reachview.Input2{
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Input: reachview.Input{
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Enabled: reachview.True,
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Format: reachview.IOFormatRTCM3,
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Type: reachview.IOTypeLoRa,
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Path: reachview.String("lora"),
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},
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SendPositionToBase: reachview.Off,
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},
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}
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log.Println("configuring module as rover")
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applyConfiguration(c, config)
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}
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func configureBase() {
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c := connect()
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defer c.Close()
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resetConfiguration(c)
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log.Println("configuring module as base")
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config := getCommonConfiguration()
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config.RTKSettings.UpdateRate = reachview.String("1")
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config.BaseMode = &reachview.BaseMode{
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Output: &reachview.Output{
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Enabled: reachview.True,
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Format: reachview.IOFormatRTCM3,
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Type: reachview.IOTypeLoRa,
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},
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BaseCoordinates: &reachview.BaseCoordinates{
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Accumulation: reachview.String("1"),
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AntennaOffset: &reachview.AntennaOffset{
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Up: reachview.String("2.20"),
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},
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Mode: reachview.BaseCoordinatesModeAverageSingle,
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Format: reachview.BaseCoordinatesFormatLLH,
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},
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RTCM3Messages: &reachview.RTCM3Messages{
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Type1002: &reachview.RTCMMessageType{
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Enabled: reachview.True,
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Frequency: reachview.String("0.1"),
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},
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Type1006: &reachview.RTCMMessageType{
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Enabled: reachview.True,
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Frequency: reachview.String("0.1"),
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},
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Type1010: &reachview.RTCMMessageType{
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Enabled: reachview.True,
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Frequency: reachview.String("0.5"),
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},
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Type1097: &reachview.RTCMMessageType{
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Enabled: reachview.True,
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Frequency: reachview.String("0.5"),
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},
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Type1008: &reachview.RTCMMessageType{
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Enabled: reachview.False,
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},
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Type1019: &reachview.RTCMMessageType{
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Enabled: reachview.False,
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},
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Type1020: &reachview.RTCMMessageType{
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Enabled: reachview.False,
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},
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Type1107: &reachview.RTCMMessageType{
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Enabled: reachview.False,
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},
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Type1117: &reachview.RTCMMessageType{
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Enabled: reachview.False,
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},
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Type1127: &reachview.RTCMMessageType{
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Enabled: reachview.False,
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},
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},
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}
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applyConfiguration(c, config)
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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(), 10*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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func resetConfiguration(c *reachview.Client) {
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log.Println("resetting module configuration")
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ctx, resetCancel := context.WithTimeout(context.Background(), 10*time.Second)
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defer resetCancel()
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result, _, err := c.ResetConfiguration(ctx)
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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 reset failed !")
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}
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}
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func getCommonConfiguration() *reachview.Configuration {
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return &reachview.Configuration{
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RTKSettings: &reachview.RTKSettings{
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PositioningSystems: &reachview.PositionningSystems{
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GPS: reachview.True,
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GLONASS: reachview.True,
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Galileo: reachview.True,
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SBAS: reachview.True,
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QZSS: reachview.True,
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},
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UpdateRate: reachview.String("5"),
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},
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LoRa: &reachview.LoRa{
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AirRate: reachview.String("9.11"),
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Frequency: reachview.Float(868000),
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OutputPower: reachview.String("20"),
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},
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PositionOutput: &reachview.PositionOutput{
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Output1: &reachview.Output{
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Enabled: reachview.False,
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},
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Output2: &reachview.Output{
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Enabled: reachview.False,
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},
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},
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}
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}
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41
cmd/discovery/main.go
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41
cmd/discovery/main.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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)
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var (
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timeout = 10 * time.Second
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)
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func init() {
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flag.DurationVar(&timeout, "timeout", timeout, "mDNS scan timeout")
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}
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func main() {
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flag.Parse()
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log.Println("Searching for ReachRS services on network...")
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ctx, cancel := context.WithTimeout(context.Background(), timeout)
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defer cancel()
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services, err := emlid.Discover(ctx)
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if err != nil {
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log.Fatal(err)
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}
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for _, s := range services {
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log.Println("Found:")
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log.Printf(" Name: '%s'", s.Name)
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log.Printf(" Hosts: %s", s.AddrV4)
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log.Printf(" Port: '%d'", s.Port)
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}
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}
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27
cmd/updater/README.md
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27
cmd/updater/README.md
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@ -0,0 +1,27 @@
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# Example: Updater
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A simple example of an updater client wich can:
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- Configure a ReachRS module to use the given WiFi network
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- Check for updates then reboot to "ReachView" mode
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## Usage
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1. Boot your ReachRS module in "Updater" mode. You can see a documentation on how to reset your device [here](https://forge.cadoles.com/Pyxis/orion/wiki/FlashIt).
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2. Launch the example in `configure-wifi` phase and provides WiFi network informations.
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```shell
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go run cmd/updater/main.go \
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-phase 'configure-wifi'\
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-host '<DEVICE_IP_ADDRESS'\
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-ssid '<WIFI_SSID>'\
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-password '<WIFI_PASSWORD>'\
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-security '<WIFI_SECURITY>'
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```
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3. The device will switch to the provided WiFi network, as you should do.
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4. Launch the example in `update-then-reboot` phase.
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```shell
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go run cmd/updater/main.go \
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-phase 'update-and-reboot'\
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-host '<DEVICE_IP_ADDRESS'
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```
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171
cmd/updater/main.go
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171
cmd/updater/main.go
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@ -0,0 +1,171 @@
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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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"fmt"
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"log"
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"strings"
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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/updater"
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)
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const (
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phaseConfigureWifi = "configure-wifi"
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phaseUpdateThenReboot = "update-then-reboot"
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)
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var (
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phase = phaseConfigureWifi
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host = "192.168.42.1"
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ssid = ""
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security = string(updater.SecurityWPAPSK)
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password = ""
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)
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func init() {
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phases := []string{phaseConfigureWifi, phaseUpdateThenReboot}
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flag.StringVar(
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&phase, "phase", phase,
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fmt.Sprintf("The configuration phase. Available: %v", strings.Join(phases, ", ")),
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)
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flag.StringVar(&host, "host", host, "ReachRS module host")
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flag.StringVar(&ssid, "ssid", ssid, "The WiFi SSID to connect the module to")
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flag.StringVar(&security, "security", security, "The WiFi security algorithm")
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flag.StringVar(&password, "password", password, "The WiFi password")
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}
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func main() {
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flag.Parse()
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switch phase {
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case phaseConfigureWifi:
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configureWifi()
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case phaseUpdateThenReboot:
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updateThenReboot()
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default:
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log.Fatalf("unknown phase '%s'", phase)
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}
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log.Println("done")
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}
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func connect() *updater.Client {
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c := updater.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 configureWifi() {
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if ssid == "" {
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log.Fatal("you must provide a WiFi SSID with the -ssid flag")
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}
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c := connect()
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defer c.Close()
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ctx := context.Background()
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log.Println("checking module status")
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ctx, testResultsCancel := context.WithTimeout(ctx, 5*time.Second)
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defer testResultsCancel()
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results, err := c.TestResults(ctx)
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if err != nil {
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log.Fatal(err)
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}
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log.Printf("device: '%s'", results.Device)
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log.Printf("lora activated ? %v", results.Lora)
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log.Printf("mpu activated ? %v", results.MPU)
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log.Printf("stc activated ? %v", results.STC)
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log.Printf("ublox activated ? %v", results.UBlox)
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log.Printf("adding wifi network '%s'", ssid)
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ctx, addWifiCancel := context.WithTimeout(ctx, 5*time.Second)
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defer addWifiCancel()
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done, err := c.AddWifiNetwork(ctx, ssid, updater.WifiSecurity(security), password)
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if err != nil {
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log.Fatal(err)
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}
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if !done {
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log.Fatal("couldnt add wifi network")
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}
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log.Println("connecting module to wifi network")
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ctx, joinWifiCancel := context.WithTimeout(ctx, 5*time.Second)
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defer joinWifiCancel()
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if err := c.JoinWifiNetwork(ctx, ssid, true); err != nil {
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log.Fatal(err)
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}
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log.Printf("you can now switch to the wifi network and start phase '%s'", phaseUpdateThenReboot)
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}
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func updateThenReboot() {
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c := connect()
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defer c.Close()
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ctx := context.Background()
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log.Println("checking time sync")
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ctx, timeSyncedCancel := context.WithTimeout(ctx, 5*time.Second)
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defer timeSyncedCancel()
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synced, err := c.TimeSynced(ctx)
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if err != nil {
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log.Fatal(err)
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}
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log.Printf("time synced ? %v", synced)
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log.Println("checking reachview version")
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ctx, reachviewVersionCancel := context.WithTimeout(ctx, 5*time.Second)
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defer reachviewVersionCancel()
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version, err := c.ReachViewVersion(ctx)
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if err != nil {
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log.Fatal(err)
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}
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log.Printf("reachview version ? '%s'", version)
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log.Println("checking for update")
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ctx, updateCancel := context.WithTimeout(ctx, 5*time.Second)
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defer updateCancel()
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status, err := c.Update(ctx)
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if err != nil {
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log.Fatal(err)
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}
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log.Printf("is update running ? %v", status.Active)
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log.Printf("is update locked ? %v", status.Locked)
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log.Printf("last update state ? '%s'", status.State)
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if status.Active {
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log.Fatal("cannot reboot while an update is active")
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}
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log.Println("rebooting device")
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ctx, rebootCancel := context.WithTimeout(ctx, 5*time.Second)
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defer rebootCancel()
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if err := c.RebootNow(ctx, true); err != nil {
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log.Fatal(err)
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}
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}
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Reference in New Issue
Block a user