Prevent multiple close of channel

Tested with Reachview v2.18.1

.gitignore

@@ -1,3 +1,5 @@
 /vendor
 /bin
 /.env
+/release
+*.log

Makefile

@@ -14,7 +14,8 @@ test: tidy
 	go test -mod=vendor -v ./...
 
 lint:
-	@GO111MODULE=off golangci-lint run -e '.*/pkg/mod' -e ".*/go/src" --enable-all --disable lll $(LINT_ARGS)
+	go get github.com/golangci/golangci-lint/cmd/golangci-lint@v1.32.2
+	go run github.com/golangci/golangci-lint/cmd/golangci-lint run -e '.*/pkg/mod' -e ".*/go/src" --enable-all --disable lll $(LINT_ARGS)
 
 tidy:
 	go mod tidy
@@ -29,11 +30,17 @@ install-devtools: vendor
 	GO111MODULE=off go get -u github.com/golangci/golangci-lint/cmd/golangci-lint
 
 clean:
-	rm -rf ./bin
+	rm -rf ./bin ./release
 	go clean -i -x -r -modcache
 
 doc:
 	@echo "Open your browser to http://localhost:6060/pkg/forge.cadoles.com/Pyxis/orion/ to see the documentation"
 	@godoc -http=:6060
 
-.PHONY: test clean generate vendor install-devtools lint watch tidy doc
+release:
+	scripts/release
+
+spy-websocket:
+	echo > websocket.log && sudo tshark -Y websocket.payload -Tfields -e text | tee -a websocket.log
+
+.PHONY: test clean generate vendor install-devtools lint watch tidy doc release

cmd/broadcast/main.go

@@ -0,0 +1,58 @@
+package main
+
+import (
+	"context"
+	"flag"
+	"log"
+	"time"
+
+	"forge.cadoles.com/Pyxis/orion/emlid"
+	"forge.cadoles.com/Pyxis/orion/emlid/reachview"
+	"github.com/davecgh/go-spew/spew"
+)
+
+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()
+
+	ctx, cancel := context.WithTimeout(context.Background(), 30*time.Second)
+	defer cancel()
+
+	events, err := c.Broadcast(ctx)
+	if err != nil {
+		log.Fatal(err)
+	}
+
+	for e := range events {
+		log.Printf("received event: %s", spew.Sdump(e))
+	}
+
+	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
+
+}

cmd/configdump/main.go

@@ -0,0 +1,64 @@
+package main
+
+import (
+	"context"
+	"encoding/json"
+	"flag"
+	"fmt"
+	"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()
+
+	ctx, cancel := context.WithTimeout(context.Background(), 30*time.Second)
+	defer cancel()
+
+	config, err := c.Configuration(ctx)
+	if err != nil {
+		log.Fatal(err)
+	}
+
+	data, err := json.MarshalIndent(config, "", "  ")
+	if err != nil {
+		log.Fatal(err)
+	}
+
+	fmt.Println(string(data))
+
+	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
+
+}

cmd/configurator/README.md

@@ -1,4 +1,4 @@
-# Example: ReachView
+# Example: Configurator
 
 A simple example of a ReachView client that can:
 
@@ -10,7 +10,7 @@ A simple example of a ReachView client that can:
 
 2. Launch the example:
   ```shell
-  go run example/reachview/main.go \
+  go run cmd/configurator/main.go \
     -mode 'rover|base'\
     -host '<DEVICE_IP_ADDRESS'\
   ```

cmd/configurator/main.go

@@ -10,6 +10,7 @@ import (
 
 	"forge.cadoles.com/Pyxis/orion/emlid"
 	"forge.cadoles.com/Pyxis/orion/emlid/reachview"
+	"github.com/pkg/errors"
 )
 
 const (
@@ -76,7 +77,7 @@ func configureRover() {
 	config.RTKSettings.GPSARMode = reachview.GPSARModeFixAndHold
 	config.RTKSettings.GLONASSARMode = reachview.On
 	config.RTKSettings.PositionningMode = reachview.PositionningModeKinematic
-	config.RTKSettings.UpdateRate = reachview.String("5")
+	config.RTKSettings.UpdateRate = reachview.Float(5)
 	config.CorrectionInput = &reachview.CorrectionInput{
 		Input2: &reachview.Input2{
 			Input: reachview.Input{
@@ -88,11 +89,19 @@ func configureRover() {
 			SendPositionToBase: reachview.Off,
 		},
 	}
+	config.BaseMode.Output = &reachview.Output{
+		Enabled: reachview.False,
+	}
 
 	log.Println("configuring module as rover")
 
 	applyConfiguration(c, config)
 
+	log.Println("rebooting module")
+
+	if err := c.Reboot(context.Background(), true); err != nil {
+		log.Fatal(errors.Wrap(err, "could not reboot module"))
+	}
 }
 
 func configureBase() {
@@ -105,66 +114,39 @@ func configureBase() {
 	log.Println("configuring module as base")
 
 	config := getCommonConfiguration()
-	config.RTKSettings.UpdateRate = reachview.String("1")
+	config.RTKSettings.UpdateRate = reachview.Float(1)
-	config.BaseMode = &reachview.BaseMode{
+	config.BaseMode.Output = &reachview.Output{
-		Output: &reachview.Output{
+		Enabled: reachview.True,
-			Enabled: reachview.True,
+		Format:  reachview.IOFormatRTCM3,
-			Format:  reachview.IOFormatRTCM3,
+		Type:    reachview.IOTypeLoRa,
-			Type:    reachview.IOTypeLoRa,
+	}
+	config.BaseMode.BaseCoordinates = &reachview.BaseCoordinates{
+		Accumulation: reachview.String("1"),
+		AntennaOffset: &reachview.AntennaOffset{
+			East:  reachview.String("0"),
+			North: reachview.String("0"),
+			Up:    reachview.String("2.20"),
 		},
-		BaseCoordinates: &reachview.BaseCoordinates{
+		Mode:   reachview.BaseCoordinatesModeManual,
-			Accumulation: reachview.String("1"),
+		Format: reachview.BaseCoordinatesFormatLLH,
-			AntennaOffset: &reachview.AntennaOffset{
+		Coordinates: []*string{
-				Up: reachview.String("2.20"),
+			reachview.String("0"),
-			},
+			reachview.String("0"),
-			Mode:   reachview.BaseCoordinatesModeAverageSingle,
+			reachview.String("0"),
-			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)
 
+	log.Println("rebooting module")
+
+	if err := c.Reboot(context.Background(), true); err != nil {
+		log.Fatal(errors.Wrap(err, "could not reboot module"))
+	}
 }
 
 func applyConfiguration(c *reachview.Client, config *reachview.Configuration) {
-
+	ctx, applyConfCancel := context.WithTimeout(context.Background(), 60*time.Second)
-	ctx, applyConfCancel := context.WithTimeout(context.Background(), 10*time.Second)
 	defer applyConfCancel()
 
 	result, _, err := c.ApplyConfiguration(ctx, config)
@@ -175,28 +157,17 @@ func applyConfiguration(c *reachview.Client, config *reachview.Configuration) {
 	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 {
+	if err := c.ResetConfiguration(ctx); err != nil {
 		log.Fatal(err)
 	}
-
-	if result != reachview.ConfigurationApplySuccess {
-		log.Fatal("configuration reset failed !")
-	}
-
 }
 
 func getCommonConfiguration() *reachview.Configuration {
@@ -208,8 +179,16 @@ func getCommonConfiguration() *reachview.Configuration {
 				Galileo: reachview.True,
 				SBAS:    reachview.True,
 				QZSS:    reachview.True,
+				Compass: reachview.False,
 			},
-			UpdateRate: reachview.String("5"),
+			MaxHorizontalAcceleration: reachview.String("1"),
+			GPSARMode:                 reachview.String("fix-and-hold"),
+			SNRMask:                   reachview.String("35"),
+			GLONASSARMode:             reachview.String("off"),
+			UpdateRate:                reachview.Float(5),
+			ElevationMaskAngle:        reachview.String("15"),
+			PositionningMode:          reachview.String("kinematic"),
+			MaxVerticalAcceleration:   reachview.String("1"),
 		},
 		LoRa: &reachview.LoRa{
 			AirRate:     reachview.String("9.11"),
@@ -224,5 +203,43 @@ func getCommonConfiguration() *reachview.Configuration {
 				Enabled: reachview.False,
 			},
 		},
+		BaseMode: &reachview.BaseMode{
+			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,
+				},
+			},
+		},
 	}
 }

cmd/discovery/main.go

@@ -0,0 +1,41 @@
+package main
+
+import (
+	"context"
+	"flag"
+	"log"
+	"time"
+
+	"forge.cadoles.com/Pyxis/orion/emlid"
+)
+
+var (
+	timeout = 10 * time.Second
+)
+
+func init() {
+	flag.DurationVar(&timeout, "timeout", timeout, "mDNS scan timeout")
+}
+
+func main() {
+
+	flag.Parse()
+
+	log.Println("Searching for ReachRS services on network...")
+
+	ctx, cancel := context.WithTimeout(context.Background(), timeout)
+	defer cancel()
+
+	services, err := emlid.Discover(ctx)
+	if err != nil {
+		log.Fatal(err)
+	}
+
+	for _, s := range services {
+		log.Println("Found:")
+		log.Printf("  Name: '%s'", s.Name)
+		log.Printf("  Hosts: %s", s.AddrV4)
+		log.Printf("  Port: '%d'", s.Port)
+	}
+
+}

cmd/updater/README.md

@@ -11,7 +11,7 @@ A simple example of an updater client wich can:
 
 2. Launch the example in `configure-wifi` phase and provides WiFi network informations.
   ```shell
-  go run example/updater/main.go \
+  go run cmd/updater/main.go \
     -phase 'configure-wifi'\
     -host '<DEVICE_IP_ADDRESS'\
     -ssid '<WIFI_SSID>'\
@@ -21,7 +21,7 @@ A simple example of an updater client wich can:
 3. The device will switch to the provided WiFi network, as you should do.
 4. Launch the example in `update-then-reboot` phase.
   ```shell
-  go run example/updater/main.go \
+  go run cmd/updater/main.go \
     -phase 'update-and-reboot'\
     -host '<DEVICE_IP_ADDRESS'
   ```

cmd/updater/main.go

@@ -139,7 +139,7 @@ func updateThenReboot() {
 	log.Println("checking reachview version")
 	ctx, reachviewVersionCancel := context.WithTimeout(ctx, 5*time.Second)
 	defer reachviewVersionCancel()
-	version, err := c.ReachViewVersion(ctx)
+	version, _, err := c.ReachViewVersion(ctx)
 	if err != nil {
 		log.Fatal(err)
 	}

emlid/client.go

@@ -4,7 +4,7 @@ import (
 	"context"
 	"sync"
 
-	"forge.cadoles.com/Pyxis/golang-socketio"
+	gosocketio "forge.cadoles.com/Pyxis/golang-socketio"
 	"forge.cadoles.com/Pyxis/golang-socketio/transport"
 	"github.com/mitchellh/mapstructure"
 	"github.com/pkg/errors"
@@ -78,8 +78,19 @@ func (c *Client) Close() {
 	c.conn = nil
 }
 
+func (c *Client) IsAlive() bool {
+	if c.conn == nil {
+		return false
+	}
+
+	return c.conn.IsAlive()
+}
+
 // Emit a new event with the given data
 func (c *Client) Emit(event string, data interface{}) error {
+	// enc := json.NewEncoder(os.Stdout)
+	// enc.SetIndent("", "  ")
+	// enc.Encode(data)
 	c.Logf("emit '%s' event", event)
 	if err := c.conn.Emit(event, data); err != nil {
 		return errors.Wrapf(err, "error while emitting '%s' event", event)
@@ -121,7 +132,13 @@ func (c *Client) ReqResp(ctx context.Context,
 	}()
 
 	err = c.conn.On(responseEvent, func(_ *gosocketio.Channel, data interface{}) {
-		err = mapstructure.WeakDecode(data, res)
+		if res != nil {
+			// enc := json.NewEncoder(os.Stdout)
+			// enc.SetIndent("", "  ")
+			// enc.Encode(data)
+			err = mapstructure.WeakDecode(data, res)
+		}
+
 		once.Do(done)
 	})
 	if err != nil {

emlid/common/client.go

@@ -0,0 +1,17 @@
+package common
+
+import (
+	"forge.cadoles.com/Pyxis/orion/emlid"
+)
+
+// Client is a ReachRS Updater client
+type Client struct {
+	*emlid.Client
+}
+
+// NewClient returns a new ReachRS ReachView client
+func NewClient(opts ...emlid.OptionFunc) *Client {
+	return &Client{
+		Client: emlid.NewClient(opts...),
+	}
+}

emlid/common/handle_version.go

@@ -0,0 +1,51 @@
+package common
+
+import (
+	"context"
+
+	"github.com/blang/semver/v4"
+	"github.com/pkg/errors"
+)
+
+type VersionHandlerFunc func(ctx context.Context, version string, stable bool) error
+
+type VersionHandler struct {
+	Range   string
+	Handler VersionHandlerFunc
+}
+
+func NewVersionHandler(versionRange string, h VersionHandlerFunc) *VersionHandler {
+	return &VersionHandler{
+		Range:   versionRange,
+		Handler: h,
+	}
+}
+
+func (c *Client) HandleVersion(ctx context.Context, handlers ...*VersionHandler) error {
+	rawVersion, stable, err := c.ReachViewVersion(ctx)
+	if err != nil {
+		return errors.Wrap(err, "could not retrieve reachview version")
+	}
+
+	version, err := semver.ParseTolerant(rawVersion)
+	if err != nil {
+		return errors.Wrap(err, "could not parse reachview version")
+	}
+
+	for _, h := range handlers {
+		versionRange, err := semver.ParseRange(h.Range)
+		if err != nil {
+			return errors.Wrap(err, "could not parse handler version range")
+		}
+
+		if !versionRange(version) {
+			continue
+		}
+
+		if err := h.Handler(ctx, rawVersion, stable); err != nil {
+			return errors.WithStack(err)
+		}
+	}
+
+	return nil
+}

emlid/common/reachview_version.go

@@ -1,6 +1,9 @@
-package updater
+package common
 
-import "context"
+import (
+	"context"
+	"strings"
+)
 
 const (
 	eventGetReachViewVersion     = "get reachview version"
@@ -9,13 +12,15 @@ const (
 
 type reachViewVersion struct {
 	Version string `json:"version"`
+	Stable  bool   `json:"bool"`
 }
 
 // ReachViewVersion returns the ReachRS module ReachView version
-func (c *Client) ReachViewVersion(ctx context.Context) (string, error) {
+func (c *Client) ReachViewVersion(ctx context.Context) (string, bool, error) {
 	res := &reachViewVersion{}
 	if err := c.ReqResp(ctx, eventGetReachViewVersion, nil, eventReachViewVersionResults, res); err != nil {
-		return "", err
+		return "", false, err
 	}
-	return res.Version, nil
+
+	return strings.TrimSpace(res.Version), res.Stable, nil
 }

emlid/common/reachview_version_test.go

@@ -1,4 +1,4 @@
-package updater
+package common
 
 import (
 	"context"
@@ -10,7 +10,7 @@ import (
 
 func TestClientReachViewVersion(t *testing.T) {
 
-	if !*runUpdaterIntegrationTests {
+	if !*runCommonIntegrationTests {
 		t.Skip("To run this test, use: go test -updater-integration")
 	}
 
@@ -21,9 +21,11 @@ func TestClientReachViewVersion(t *testing.T) {
 	if err := client.Connect(); err != nil {
 		t.Fatal(err)
 	}
+
 	ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
 	defer cancel()
-	version, err := client.ReachViewVersion(ctx)
+
+	version, _, err := client.ReachViewVersion(ctx)
 	if err != nil {
 		t.Error(err)
 	}

emlid/common/util_test.go

@@ -0,0 +1,13 @@
+package common
+
+import "flag"
+
+var runCommonIntegrationTests = flag.Bool(
+	"common-integration", false,
+	"Run the 'Common' integration tests (in addition to the unit tests)",
+)
+
+var reachHost = flag.String(
+	"reach-host", "192.168.42.1",
+	"The Reach module host to use in integration tests",
+)

emlid/discovery.go

@@ -0,0 +1,57 @@
+package emlid
+
+import (
+	"context"
+	"net"
+	"sync"
+
+	"github.com/grandcat/zeroconf"
+)
+
+// Service is a ReachRS service discovered via MDNS-SD
+type Service struct {
+	Name   string
+	AddrV4 *net.IP
+	Port   int
+}
+
+// Discover tries to discover ReachRS services on the local network via mDNS-SD
+func Discover(ctx context.Context) ([]Service, error) {
+
+	var wg sync.WaitGroup
+
+	wg.Add(1)
+
+	resolver, err := zeroconf.NewResolver()
+	if err != nil {
+		return nil, err
+	}
+
+	services := make([]Service, 0)
+	entries := make(chan *zeroconf.ServiceEntry)
+
+	go func() {
+		for e := range entries {
+			var addr *net.IP
+			if len(e.AddrIPv4) > 0 {
+				addr = &e.AddrIPv4[0]
+			}
+			srv := Service{
+				Name:   e.Instance,
+				AddrV4: addr,
+				Port:   e.Port,
+			}
+			services = append(services, srv)
+		}
+		wg.Done()
+	}()
+
+	if err = resolver.Browse(ctx, "_reach._tcp", ".local", entries); err != nil {
+		return nil, err
+	}
+
+	wg.Wait()
+
+	return services, nil
+
+}

emlid/discovery_test.go

@@ -0,0 +1,33 @@
+package emlid
+
+import (
+	"context"
+	"testing"
+	"time"
+)
+
+func TestDiscovery(t *testing.T) {
+
+	if !*runDiscoveryIntegrationTests {
+		t.Skip("To run this test, use: go test -discovery-integration")
+	}
+
+	ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
+	defer cancel()
+
+	services, err := Discover(ctx)
+	if err != nil {
+		t.Fatal(err)
+	}
+
+	if g, e := len(services), 1; g != e {
+		t.Fatalf("len(services): got '%d', expected '%d'", g, e)
+	}
+
+	s := services[0]
+
+	if g, e := s.Name, "reach"; g != e {
+		t.Errorf("services[0].Name: got '%s', expected '%s'", g, e)
+	}
+
+}

emlid/option.go

@@ -34,6 +34,13 @@ func WithEndpoint(host string, port int) OptionFunc {
 	}
 }
 
+// WithService configures the client to target the given ReachRS service
+func WithService(service Service) OptionFunc {
+	return func(opts *Options) {
+		opts.Endpoint = gosocketio.GetUrl(service.AddrV4.String(), service.Port, false)
+	}
+}
+
 // WithPingInterval configures the client to use the given ping interval
 func WithPingInterval(interval time.Duration) OptionFunc {
 	return func(opts *Options) {

emlid/reachview/broadcast.go

@@ -0,0 +1,60 @@
+package reachview
+
+import (
+	"context"
+	"sync"
+
+	gosocketio "forge.cadoles.com/Pyxis/golang-socketio"
+	"github.com/mitchellh/mapstructure"
+	"github.com/pkg/errors"
+)
+
+const (
+	eventBroadcast = "broadcast"
+)
+
+const (
+	BroadcastRoverStatus   = "rover_status"
+	BroadcastBaseStatus    = "base_status"
+	BroadcastRTKStatus     = "rtk_status"
+	BroadcastObservations  = "observations"
+	BroadcastTimeMarks     = "time_marks"
+	BroadcastBatteryStatus = "battery_status"
+)
+
+// Broadcast is a broadcasted message containing modules status informations.
+type Broadcast struct {
+	Name    string                 `mapstructure:"name"`
+	Payload map[string]interface{} `mapstructure:"payload"`
+}
+
+// Broadcast listens for broadcast messages.
+func (c *Client) Broadcast(ctx context.Context) (chan Broadcast, error) {
+	out := make(chan Broadcast)
+
+	closer := new(sync.Once)
+
+	handler := func(_ *gosocketio.Channel, data interface{}) {
+		res := Broadcast{}
+		if err := mapstructure.WeakDecode(data, &res); err != nil {
+			c.Logf("error while decoding broadcast message: %s", errors.WithStack(err))
+		}
+		select {
+		case <-ctx.Done():
+			closer.Do(func() {
+				c.Off(eventBroadcast)
+				close(out)
+			})
+
+			return
+		default:
+			out <- res
+		}
+	}
+
+	if err := c.On(eventBroadcast, handler); err != nil {
+		return nil, errors.WithStack(err)
+	}
+
+	return out, nil
+}

emlid/reachview/broadcast_test.go

@@ -0,0 +1,37 @@
+package reachview
+
+import (
+	"context"
+	"testing"
+	"time"
+
+	"forge.cadoles.com/Pyxis/orion/emlid"
+	"github.com/davecgh/go-spew/spew"
+)
+
+func TestReachViewStatusBroadcast(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)
+	}
+	defer client.Close()
+
+	ctx, cancel := context.WithTimeout(context.Background(), 10*time.Second)
+	defer cancel()
+
+	broadcastChan, err := client.Broadcast(ctx)
+	if err != nil {
+		t.Fatal(err)
+	}
+
+	for b := range broadcastChan {
+		spew.Dump(b)
+	}
+}

emlid/reachview/client.go

@@ -1,14 +1,18 @@
 package reachview
 
-import "forge.cadoles.com/Pyxis/orion/emlid"
+import (
+	"forge.cadoles.com/Pyxis/orion/emlid"
+	"forge.cadoles.com/Pyxis/orion/emlid/common"
+)
 
 // Client is a ReachRS Updater client
 type Client struct {
-	*emlid.Client
+	*common.Client
 }
 
 // NewClient returns a new ReachRS ReachView client
 func NewClient(opts ...emlid.OptionFunc) *Client {
-	client := emlid.NewClient(opts...)
+	return &Client{
-	return &Client{client}
+		Client: common.NewClient(opts...),
+	}
 }

emlid/reachview/configuration.go

@@ -1,13 +1,19 @@
 package reachview
 
-import "context"
+import (
+	"context"
+
+	"forge.cadoles.com/Pyxis/orion/emlid/common"
+	"github.com/pkg/errors"
+)
 
 const (
-	eventGetConfiguration     = "get configuration"
+	eventGetConfiguration       = "get configuration"
-	eventCurrentConfiguration = "current configuration"
+	eventCurrentConfiguration   = "current configuration"
-	eventApplyConfiguration   = "apply configuration"
+	eventApplyConfiguration     = "apply configuration"
-	eventConfigurationApplied = "configuration applied"
+	eventConfigurationApplied   = "configuration applied"
-	eventResetConfiguration   = "reset configuration to default"
+	eventResetConfiguration     = "reset configuration to default"
+	eventSettingsResetToDefault = "settings reset to default"
 )
 
 // Configuration fetches and return the current configuration of the ReachRS module
@@ -42,10 +48,32 @@ func (r *Client) ApplyConfiguration(ctx context.Context, config *Configuration)
 }
 
 // ResetConfiguration resets the module configuration to factory defaults
-func (r *Client) ResetConfiguration(ctx context.Context) (string, *Configuration, error) {
+func (r *Client) ResetConfiguration(ctx context.Context) error {
-	res := &configurationApplied{}
+	err := r.HandleVersion(
-	if err := r.ReqResp(ctx, eventResetConfiguration, nil, eventConfigurationApplied, res); err != nil {
+		ctx,
-		return ConfigurationApplyFailed, nil, err
+		common.NewVersionHandler("< 2.24.0", func(ctx context.Context, version string, stable bool) error {
+			res := &configurationApplied{}
+			if err := r.ReqResp(ctx, eventResetConfiguration, nil, eventConfigurationApplied, res); err != nil {
+				return errors.WithStack(err)
+			}
+
+			if res.Result != ConfigurationApplySuccess {
+				return errors.New(res.Result)
+			}
+
+			return nil
+		}),
+		common.NewVersionHandler(">= 2.24.0", func(ctx context.Context, version string, stable bool) error {
+			if err := r.ReqResp(ctx, eventResetConfiguration, nil, eventSettingsResetToDefault, nil); err != nil {
+				return errors.WithStack(err)
+			}
+
+			return nil
+		}),
+	)
+	if err != nil {
+		return errors.WithStack(err)
 	}
-	return res.Result, res.Configuration, nil
+
+	return nil
 }

emlid/reachview/configuration_model.go

@@ -80,7 +80,7 @@ type Configuration struct {
 // RTKSettings -
 type RTKSettings struct {
 	GLONASSARMode             *string              `mapstructure:"glonass ar mode,omitempty" json:"glonass ar mode,omitempty"`
-	UpdateRate                *string              `mapstructure:"update rate,omitempty" json:"update rate,omitempty"`
+	UpdateRate                *float64             `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"`
@@ -233,7 +233,7 @@ type Constraints struct {
 
 // LoRaConstraints -
 type LoRaConstraints struct {
-	Frequency *LoRaFrequencyRange `mapstructure:"frequency,omitempty" json:"frequency,omitempty"`
+	Frequency [][]int `mapstructure:"frequency,omitempty" json:"frequency,omitempty"`
 }
 
 // LoRaFrequencyRange -

emlid/reachview/reboot.go

@@ -0,0 +1,56 @@
+package reachview
+
+import (
+	"context"
+	"sync"
+
+	"forge.cadoles.com/Pyxis/golang-socketio"
+	"github.com/pkg/errors"
+)
+
+const (
+	eventReboot = "reboot"
+)
+
+// Reboot asks the ReachRS module to reboot
+func (c *Client) Reboot(ctx context.Context, waitDisconnect bool) error {
+
+	var err error
+	var wg sync.WaitGroup
+
+	if waitDisconnect {
+
+		var once sync.Once
+
+		done := func() {
+			c.Off(gosocketio.OnDisconnection)
+			wg.Done()
+		}
+
+		wg.Add(1)
+
+		go func() {
+			<-ctx.Done()
+			err = ctx.Err()
+			once.Do(done)
+		}()
+
+		err = c.On(gosocketio.OnDisconnection, func(h *gosocketio.Channel) {
+			once.Do(done)
+		})
+		if err != nil {
+			return errors.Wrapf(err, "error while binding to '%s' event", gosocketio.OnDisconnection)
+		}
+	}
+
+	if err = c.Emit(eventReboot, nil); err != nil {
+		return err
+	}
+
+	if waitDisconnect {
+		wg.Wait()
+	}
+
+	return err
+
+}

emlid/reachview/reboot_test.go

@@ -0,0 +1,33 @@
+package reachview
+
+import (
+	"context"
+	"testing"
+	"time"
+
+	"forge.cadoles.com/Pyxis/orion/emlid"
+)
+
+func TestClientReboot(t *testing.T) {
+
+	if !*runRebootTest {
+		t.Skip("To run this test, use: go test -reboot-test")
+	}
+
+	client := NewClient(
+		emlid.WithStandardLogger(),
+		emlid.WithEndpoint(*reachHost, 80),
+	)
+	if err := client.Connect(); err != nil {
+		t.Fatal(err)
+	}
+
+	ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
+	defer cancel()
+	if err := client.Reboot(ctx, true); err != nil {
+		t.Error(err)
+	}
+
+	defer client.Close()
+
+}

emlid/reachview/util_test.go

@@ -7,6 +7,11 @@ var runReachViewIntegrationTests = flag.Bool(
 	"Run the 'ReachView' integration tests (in addition to the unit tests)",
 )
 
+var runRebootTest = flag.Bool(
+	"reboot-test", false,
+	"Run the updater 'Reboot' test (in addition to the unit tests)",
+)
+
 var reachHost = flag.String(
 	"reach-host", "192.168.42.1",
 	"The Reach module host to use in integration tests",

emlid/updater/client.go

@@ -1,15 +1,18 @@
 // Package updater provides an API to communicate with the ReachRS modules "Updater" application
 package updater
 
-import "forge.cadoles.com/Pyxis/orion/emlid"
+import (
+	"forge.cadoles.com/Pyxis/orion/emlid"
+	"forge.cadoles.com/Pyxis/orion/emlid/common"
+)
 
 // Client is a ReachRS Updater client
 type Client struct {
-	*emlid.Client
+	*common.Client
 }
 
 // NewClient returns a new ReachRS Updater client
 func NewClient(opts ...emlid.OptionFunc) *Client {
-	client := emlid.NewClient(opts...)
+	client := common.NewClient(opts...)
 	return &Client{client}
 }

emlid/updater/reboot_now_test.go

@@ -10,12 +10,8 @@ import (
 
 func TestClientRebootNow(t *testing.T) {
 
-	if !*runUpdaterIntegrationTests {
-		t.Skip("To run this test, use: go test -updater-integration")
-	}
-
 	if !*runRebootTest {
-		t.Skip("To run this test, use: go test -updater-reboot-test")
+		t.Skip("To run this test, use: go test -reboot-test")
 	}
 
 	client := NewClient(

emlid/updater/util_test.go

@@ -7,16 +7,16 @@ var runUpdaterIntegrationTests = flag.Bool(
 	"Run the 'Updater' integration tests (in addition to the unit tests)",
 )
 
-var runRebootTest = flag.Bool(
-	"updater-reboot-test", false,
-	"Run the updater 'Reboot' test (in addition to the unit tests)",
-)
-
 var runJoinNetworkTest = flag.Bool(
 	"updater-join-network-test", false,
 	"Run the updater 'JoinWiFiNetwork' test (in addition to the unit tests)",
 )
 
+var runRebootTest = flag.Bool(
+	"reboot-test", false,
+	"Run the updater 'Reboot' test (in addition to the unit tests)",
+)
+
 var reachHost = flag.String(
 	"reach-host", "192.168.42.1",
 	"The Reach module host to use in integration tests",

emlid/util_test.go

@@ -0,0 +1,13 @@
+package emlid
+
+import "flag"
+
+var runDiscoveryIntegrationTests = flag.Bool(
+	"discovery-integration", false,
+	"Run the 'Discovery' integration tests (in addition to the unit tests)",
+)
+
+var reachHost = flag.String(
+	"reach-host", "192.168.42.1",
+	"The Reach module host to use in integration tests",
+)

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)
+	}
+
+}

go.mod

@@ -1,15 +1,19 @@
 module forge.cadoles.com/Pyxis/orion
 
+go 1.15
+
 require (
 	forge.cadoles.com/Pyxis/golang-socketio v0.0.0-20180919100209-bb857ced6b95
-	github.com/caarlos0/env v3.3.0+incompatible
+	github.com/blang/semver/v4 v4.0.0
-	github.com/davecgh/go-spew v1.1.1 // indirect
+	github.com/caarlos0/env v3.5.0+incompatible
+	github.com/cenkalti/backoff v2.0.0+incompatible // indirect
+	github.com/davecgh/go-spew v1.1.1
 	github.com/go-chi/chi v3.3.3+incompatible
-	github.com/gorilla/websocket v1.4.0 // indirect
+	github.com/golangci/golangci-lint v1.32.2 // indirect
-	github.com/mitchellh/mapstructure v1.0.0
+	github.com/gorilla/websocket v1.4.2 // indirect
-	github.com/pkg/errors v0.8.0
+	github.com/grandcat/zeroconf v0.0.0-20180329153754-df75bb3ccae1
+	github.com/mitchellh/mapstructure v1.1.2
+	github.com/pkg/errors v0.9.1
 	github.com/pmezard/go-difflib v1.0.0 // indirect
-	github.com/stretchr/testify v1.2.2 // indirect
+	golang.org/x/crypto v0.0.0-20201117144127-c1f2f97bffc9 // indirect
-	golang.org/x/net v0.0.0-20180911220305-26e67e76b6c3 // indirect
-	golang.org/x/text v0.3.0 // indirect
 )

go.sum

@@ -1,22 +1,637 @@
+4d63.com/gochecknoglobals v0.0.0-20201008074935-acfc0b28355a h1:wFEQiK85fRsEVF0CRrPAos5LoAryUsIX1kPW/WrIqFw=
+4d63.com/gochecknoglobals v0.0.0-20201008074935-acfc0b28355a/go.mod h1:wfdC5ZjKSPr7CybKEcgJhUOgeAQW1+7WcyK8OvUilfo=
+cloud.google.com/go v0.26.0/go.mod h1:aQUYkXzVsufM+DwF1aE+0xfcU+56JwCaLick0ClmMTw=
+cloud.google.com/go v0.34.0/go.mod h1:aQUYkXzVsufM+DwF1aE+0xfcU+56JwCaLick0ClmMTw=
+cloud.google.com/go v0.38.0/go.mod h1:990N+gfupTy94rShfmMCWGDn0LpTmnzTp2qbd1dvSRU=
+cloud.google.com/go v0.44.1/go.mod h1:iSa0KzasP4Uvy3f1mN/7PiObzGgflwredwwASm/v6AU=
+cloud.google.com/go v0.44.2/go.mod h1:60680Gw3Yr4ikxnPRS/oxxkBccT6SA1yMk63TGekxKY=
+cloud.google.com/go v0.45.1/go.mod h1:RpBamKRgapWJb87xiFSdk4g1CME7QZg3uwTez+TSTjc=
+cloud.google.com/go v0.46.3/go.mod h1:a6bKKbmY7er1mI7TEI4lsAkts/mkhTSZK8w33B4RAg0=
+cloud.google.com/go/bigquery v1.0.1/go.mod h1:i/xbL2UlR5RvWAURpBYZTtm/cXjCha9lbfbpx4poX+o=
+cloud.google.com/go/datastore v1.0.0/go.mod h1:LXYbyblFSglQ5pkeyhO+Qmw7ukd3C+pD7TKLgZqpHYE=
+cloud.google.com/go/firestore v1.1.0/go.mod h1:ulACoGHTpvq5r8rxGJ4ddJZBZqakUQqClKRT5SZwBmk=
+cloud.google.com/go/pubsub v1.0.1/go.mod h1:R0Gpsv3s54REJCy4fxDixWD93lHJMoZTyQ2kNxGRt3I=
+cloud.google.com/go/storage v1.0.0/go.mod h1:IhtSnM/ZTZV8YYJWCY8RULGVqBDmpoyjwiyrjsg+URw=
+dmitri.shuralyov.com/gpu/mtl v0.0.0-20190408044501-666a987793e9/go.mod h1:H6x//7gZCb22OMCxBHrMx7a5I7Hp++hsVxbQ4BYO7hU=
 forge.cadoles.com/Pyxis/golang-socketio v0.0.0-20180919100209-bb857ced6b95 h1:o3G5+9RjczCK1xAYFaRMknk1kY9Ule6PNfiW6N6hEpg=
 forge.cadoles.com/Pyxis/golang-socketio v0.0.0-20180919100209-bb857ced6b95/go.mod h1:I6kYOFWNkFlNeQLI7ZqfTRz4NdPHZxX0Bzizmzgchs0=
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scripts/release

@@ -0,0 +1,118 @@
+#!/bin/bash
+
+set -eo pipefail
+
+export GO111MODULE=on
+
+OS_TARGETS=(windows linux)
+ARCH_TARGETS=(amd64)
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+function build {
+
+  local name=$1
+  local srcdir=$2
+  local os=$3
+  local arch=$4
+
+  local dirname="$name-$os-$arch"
+  local destdir="$DIR/../release/$dirname"
+
+  local ext=
+  [ "$os" == "windows" ] && ext=.exe
+
+  rm -rf "$destdir"
+  mkdir -p "$destdir"
+
+  echo "building $dirname..."
+
+  CGO_ENABLED=0 GOOS="$os" GOARCH="$arch" go build \
+    -v \
+    -mod=vendor \
+    -ldflags="-s -w" \
+    -gcflags=-trimpath="${PWD}" \
+    -asmflags=-trimpath="${PWD}" \
+    -o "$destdir/$name$ext" \
+    "$srcdir"
+
+  if [ ! -z "$(which upx)" ]; then
+    upx --best "$destdir/$name$ext"
+  fi
+
+}
+
+function copy {
+
+  local name=$1
+  local os=$2
+  local arch=$3
+  local src=$4
+  local dest=$5
+
+  local dirname="$name-$os-$arch"
+  local destdir="$DIR/../release/$dirname"
+
+  echo "copying '$src' to '$destdir/$dest'..."
+
+  mkdir -p "$(dirname $destdir/$dest)"
+
+  cp -rfL $src "$destdir/$dest"
+
+}
+
+function compress {
+
+  local name=$1
+  local os=$2
+  local arch=$3
+
+  local dirname="$name-$os-$arch"
+  local destdir="$DIR/../release/$dirname"
+
+  echo "compressing $dirname..."
+  tar -czf "$destdir.tar.gz" -C "$destdir/../" "$dirname"
+}
+
+function release_updater {
+
+  local os=$1
+  local arch=$2
+  
+  build 'updater' "$DIR/../cmd/updater" $os $arch
+  compress 'updater' $os $arch
+
+}
+
+function release_discovery {
+
+  local os=$1
+  local arch=$2
+
+  build 'discovery' "$DIR/../cmd/discovery" $os $arch
+  compress 'discovery' $os $arch
+
+}
+
+function release_configurator {
+
+  local os=$1
+  local arch=$2
+
+  build 'configurator' "$DIR/../cmd/configurator" $os $arch
+  compress 'configurator' $os $arch
+
+}
+
+
+function main {
+  for os in ${OS_TARGETS[@]}; do
+    for arch in ${ARCH_TARGETS[@]}; do
+      release_configurator $os $arch
+      release_updater $os $arch
+      release_discovery $os $arch
+    done
+  done
+}
+
+main