143 lines
6.4 KiB
Go
143 lines
6.4 KiB
Go
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package reachview
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import (
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"context"
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"forge.cadoles.com/Pyxis/golang-socketio"
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"github.com/mitchellh/mapstructure"
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)
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const (
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eventStatusBroadcast = "status broadcast"
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)
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// StatusBroadcast is a broadcasted message containing modules'
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// positioning informations
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/* Source sample
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{
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"receiver time mark count": "0",
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"ant type base": "",
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"solution status": "-",
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"vel enu (m/s) base": "0.000,0.000,0.000",
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"time of receiver clock rover": "2018/10/16 13:55:26.006000000",
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"baseline length float (m)": "0.000",
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"# of rtcm messages rover": "",
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"time sys offset (ns)": "26.748,-6.962,0.000,0.000",
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"# of average single pos base": "0",
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"pos xyz float std (m) rover": "0.000,0.000,0.000",
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"ant delta rover": "0.000 0.000 0.000",
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"# of rtcm messages corr": "",
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"accumulated time to run": "05:45:59.7",
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"cpu time for a cycle (ms)": "16",
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"Parameter": "Value",
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"# of rtcm messages base": "",
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"vel enu (m/s) rover": "0.467,0.476,0.577",
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"ant type rover": "",
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"pos xyz single (m) rover": "4315030.518,379718.279,4666208.342",
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"pos xyz (m) base": "0.000,0.000,0.000",
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"# of input data corr": "obs(0),nav(0),gnav(0),ion(0),sbs(0),pos(0),dgps(0),ssr(0),err(0)",
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"rtk server state": "run",
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"pos xyz fixed (m) rover": "0.000,0.000,0.000",
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"age of differential (s)": "0.000",
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"pos xyz fixed std (m) rover": "0.000,0.000,0.000",
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"# of all estimated states": "170",
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"processing cycle (ms)": "10",
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"ant delta base": "0.000 0.000 0.000",
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"# of valid satellites": "6",
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"rtklib version": "2.4.3 Emlid b28",
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"bytes in input buffer": "0,0",
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"# of satellites rover": "11",
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"# of input data rover": "obs(103738),nav(60),gnav(45),ion(3305),sbs(0),pos(0),dgps(0),ssr(0),err(0)",
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"pos xyz float (m) rover": "0.000,0.000,0.000",
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"ratio for ar validation": "0.000",
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"pos llh (deg,m) base": "0.00000000,0.00000000,0.000",
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"missing obs data count": "4468",
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"# of real estimated states": "9",
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"baseline length fixed (m)": "0.000",
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"# of satellites base": "0",
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"last time mark": "-",
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"# of input data base": "obs(0),nav(0),gnav(0),ion(0),sbs(0),pos(0),dgps(0),ssr(0),err(0)",
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"GDOP/PDOP/HDOP/VDOP": "0.0,0.0,0.0,0.0",
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"positioning mode": "kinematic",
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"pos llh single (deg,m) rover": "47.32085966,5.02901552,257.086",
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"solution interval (s)": "0.200",
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"rtklib time mark count": "0"
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}
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*/
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type Status struct {
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ReceiverTimeMarkCount int `mapstructure:"receiver time mark count"`
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BaseAntType string `mapstructure:"ant type base"`
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SolutionStatus string `mapstructure:"solution status"`
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PositioningMode string `mapstructure:"positioning mode"`
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BaseVelocityEnum string `mapstructure:"vel enu (m/s) base"`
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RoverReceiverTime string `mapstructure:"time of receiver clock rover"`
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BaselineLengthFloat string `mapstructure:"baseline length float (m)"`
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RoverNumberOfRTCMMessages string `mapstructure:"# of rtcm messages rover"`
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TimeSysOffset string `mapstructure:"time sys offset (ns)"`
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BaseNumberOfAverageSinglePos int `mapstructure:"# of average single pos base"`
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RoverPosXYZStandaloneFloat string `mapstructure:"pos xyz float std (m) rover"`
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RoverAntDelta string `mapstructure:"ant delta rover"`
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NumberOfRTCMCorrection string `mapstructure:"# of rtcm messages corr"`
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AccumulatedTimeToRun string `mapstructure:"accumulated time to run"`
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CPUTimeForACycle int `mapstructure:"cpu time for a cycle (ms)"`
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Parameter string `mapstructure:"Parameter"`
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BaseNumberOfRTCMMessages string `mapstructure:"# of rtcm messages base"`
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RoverVelocityEnum string `mapstructure:"vel enu (m/s) rover"`
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RoverAntType string `mapstructure:"ant type rover"`
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RoverPosXYZSingle string `mapstructure:"pos xyz single (m) rover"`
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BasePosXYZ string `mapstructure:"pos xyz (m) base"`
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NumberOfInputDataCorrection string `mapstructure:"# of input data corr"`
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RTKServerState string `mapstructure:"rtk server state"`
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RoverPosXYZFixed string `mapstructure:"pos xyz fixed (m) rover"`
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AgeOfDifferential float32 `mapstructure:"age of differential (s)"`
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RoverPosXYZStandaloneFixed string `mapstructure:"pos xyz fixed std (m) rover"`
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NumberOfAllEstimatedStates int `mapstructure:"# of all estimated states"`
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ProcessingCycle int `mapstructure:"processing cycle (ms)"`
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BaseAntDelta string `mapstructure:"ant delta base"`
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NumberOfValidStellites int `mapstructure:"# of valid satellites"`
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RTKLibVersion string `mapstructure:"2.4.3 Emlid b28"`
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BytesInInputBuffer string `mapstructure:"bytes in input buffer"`
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RoverNumberOfSatellites int `mapstructure:"# of satellites rover"`
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RoverNumberOfInputData string `mapstructure:"# of input data rover"`
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RoverPosXYZFloat string `mapstructure:"pos xyz float (m) rover"`
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RatioForARValidation float32 `mapstructure:"ratio for ar validation"`
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BasePosLLH string `mapstructure:"pos llh (deg,m) base"`
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MissingObsDataCount int `mapstructure:"missing obs data count"`
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NumberOfRealEstimatedStates int `mapstructure:"# of real estimated states"`
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BaselineLengthFixed float32 `mapstructure:"baseline length fixed (m)"`
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BaseNumberOfSatellites int `mapstructure:"# of satellites base"`
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LastTimemark string `mapstructure:"last time mark"`
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BaseNumberOfInputData string `mapstructure:"# of input data base"`
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GdopPdopHdopVdop string `mapstructure:"GDOP/PDOP/HDOP/VDOP"`
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RoverPosLLHSingle string `mapstructure:"pos llh single (deg,m) rover"`
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SolutionInterval float32 `mapstructure:"solution interval (s)"`
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RTKLibTimeMarkCount int `mapstructure:"rtklib time mark count"`
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}
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// StatusBroadcast listens for StatusBroadcast messages
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func (c *Client) StatusBroadcast(ctx context.Context) (chan Status, error) {
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out := make(chan Status)
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handler := func(_ *gosocketio.Channel, data interface{}) {
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res := Status{}
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if err := mapstructure.WeakDecode(data, &res); err != nil {
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c.Logf("error while decoding status broadcast: %s", err)
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}
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select {
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case <-ctx.Done():
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c.Off(eventStatusBroadcast)
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close(out)
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default:
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out <- res
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}
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}
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if err := c.On(eventStatusBroadcast, handler); err != nil {
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return nil, err
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}
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return out, nil
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}
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