fix: prevent connection disruption with ping interval

bridge/reachview/reachview.go

@@ -59,6 +59,7 @@ func Connect(host string, port int) error {
 	client = reachview.NewClient(
 		emlid.WithEndpoint(host, port),
 		emlid.WithStandardLogger(),
+		emlid.WithPingInterval(5*time.Second),
 	)
 
 	return client.Connect()
@@ -103,46 +104,55 @@ func StartBroadcast() (int, error) {
 
 	go func() {
 		for b := range broadcasts {
-			lastBroadcastMutex.Lock()
-			switch b.Name {
-			case reachview.BroadcastRoverStatus:
-				newLastRoverBroadcast := NewFlattenedRoverBroadcast()
-				if err := newLastRoverBroadcast.From(b); err != nil {
-					panic(errors.WithStack(err))
-				}
-
-				lastRoverBroadcast = newLastRoverBroadcast
-			case reachview.BroadcastBaseStatus:
-				newLastBaseBroadcast := NewFlattenedBaseBroadcast()
-				if err := newLastBaseBroadcast.From(b); err != nil {
-					panic(errors.WithStack(err))
-				}
-
-				lastBaseBroadcast = newLastBaseBroadcast
-
-			case reachview.BroadcastRTKStatus:
-				newLastRTKBroadcast := NewFlattenedRTKBroadcast()
-				if err := newLastRTKBroadcast.From(b); err != nil {
-					panic(errors.WithStack(err))
-				}
-
-				lastRTKBroadcast = newLastRTKBroadcast
-
-			case reachview.BroadcastBatteryStatus:
-				newLastBatteryBroadcast := NewBatteryBroadcast()
-				if err := newLastBatteryBroadcast.From(b); err != nil {
-					panic(errors.WithStack(err))
-				}
-
-				lastBatteryBroadcast = newLastBatteryBroadcast
+			if err := handleBroadcast(b); err != nil {
+				panic(errors.WithStack(err))
 			}
-			lastBroadcastMutex.Unlock()
 		}
 	}()
 
 	return broadcastID, nil
 }
 
+func handleBroadcast(b reachview.Broadcast) error {
+	lastBroadcastMutex.Lock()
+	defer lastBroadcastMutex.Unlock()
+
+	switch b.Name {
+	case reachview.BroadcastRoverStatus:
+		newLastRoverBroadcast := NewFlattenedRoverBroadcast()
+		if err := newLastRoverBroadcast.From(b); err != nil {
+			return errors.WithStack(err)
+		}
+
+		lastRoverBroadcast = newLastRoverBroadcast
+	case reachview.BroadcastBaseStatus:
+		newLastBaseBroadcast := NewFlattenedBaseBroadcast()
+		if err := newLastBaseBroadcast.From(b); err != nil {
+			return errors.WithStack(err)
+		}
+
+		lastBaseBroadcast = newLastBaseBroadcast
+
+	case reachview.BroadcastRTKStatus:
+		newLastRTKBroadcast := NewFlattenedRTKBroadcast()
+		if err := newLastRTKBroadcast.From(b); err != nil {
+			return errors.WithStack(err)
+		}
+
+		lastRTKBroadcast = newLastRTKBroadcast
+
+	case reachview.BroadcastBatteryStatus:
+		newLastBatteryBroadcast := NewBatteryBroadcast()
+		if err := newLastBatteryBroadcast.From(b); err != nil {
+			return errors.WithStack(err)
+		}
+
+		lastBatteryBroadcast = newLastBatteryBroadcast
+	}
+
+	return nil
+}
+
 // StopBroadcast remove listener for Broadcast messages
 func StopBroadcast() {
 	broadcastMutex.Lock()

src/store/sagas/reachview.js

@@ -91,7 +91,7 @@ function* reachviewBroadcastSaga() {
     }
 
     yield put({ type: REACHVIEW_BROADCAST_REQUEST });
-    yield call(Reachview.startBroadcast, 2000);
+    yield call(Reachview.startBroadcast, 3000);
     yield put({ type: REACHVIEW_BROADCAST_SUCCESS });
   } catch(err) {
     Sentry.captureException(err);