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orion/example/base-pos/main.go

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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)
}
}