Pyxis
/
orion
Archived
19
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge branch 'feature/reachview-apply-conf' into develop

This commit is contained in:
wpetit 2018-09-26 15:57:01 +02:00
parent 70ddfe49ed dc4dd7a9fb
commit 599c4cf1d5
28 changed files with 665 additions and 137 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Jenkinsfile vendored
View File

@ -27,7 +27,7 @@ pipeline {
steps {
script {
try {
sh "make lint"
sh 'make LINT_ARGS="--new-from-rev=HEAD~" lint'
} catch(ex) {
currentBuild.result = "UNSTABLE"
}

2
Makefile
View File

@ -14,7 +14,7 @@ test: tidy
go test -mod=vendor -v ./...
lint:
@golangci-lint run -e '.*/pkg/mod' -e ".*/go/src" --enable-all $(LINT_ARGS)
@golangci-lint run -e '.*/pkg/mod' -e ".*/go/src" --enable-all --disable lll $(LINT_ARGS)
tidy:
go mod tidy

24
emlid/client.go
View File

@ -1,6 +1,7 @@
package emlid
import (
"context"
"sync"
"forge.cadoles.com/Pyxis/golang-socketio"
@ -98,23 +99,36 @@ func (c *Client) Off(event string) {
}
// ReqResp emits an event with the given data and waits for a response
func (c *Client) ReqResp(requestEvent string, requestData interface{}, responseEvent string, res interface{}) error {
func (c *Client) ReqResp(ctx context.Context,
requestEvent string, requestData interface{},
responseEvent string, res interface{}) error {
var err error
var wg sync.WaitGroup
var once sync.Once
done := func() {
c.conn.Off(responseEvent)
wg.Done()
}
wg.Add(1)
go func() {
<-ctx.Done()
err = ctx.Err()
once.Do(done)
}()
err = c.conn.On(responseEvent, func(_ *gosocketio.Channel, data interface{}) {
err = mapstructure.Decode(data, res)
c.conn.Off(responseEvent)
wg.Done()
err = mapstructure.WeakDecode(data, res)
once.Do(done)
})
if err != nil {
return errors.Wrapf(err, "error while binding to '%s' event", responseEvent)
}
if err := c.Emit(requestEvent, requestData); err != nil {
if err = c.Emit(requestEvent, requestData); err != nil {
return errors.Wrapf(err, "error while emitting event '%s'", requestEvent)
}

40
emlid/reachview/configuration.go
View File

@ -1,15 +1,51 @@
package reachview
import "context"
const (
eventGetConfiguration = "get configuration"
eventCurrentConfiguration = "current configuration"
eventApplyConfiguration = "apply configuration"
eventConfigurationApplied = "configuration applied"
eventResetConfiguration = "reset configuration to default"
)
// Configuration fetches and return the current configuration of the ReachRS module
func (r *Client) Configuration() (*Configuration, error) {
func (r *Client) Configuration(ctx context.Context) (*Configuration, error) {
configuration := &Configuration{}
if err := r.ReqResp(eventGetConfiguration, nil, eventCurrentConfiguration, configuration); err != nil {
if err := r.ReqResp(ctx, eventGetConfiguration, nil, eventCurrentConfiguration, configuration); err != nil {
return nil, err
}
return configuration, nil
}
type configurationApplied struct {
Configuration *Configuration `mapstructure:"configuration,omitempty"`
Result string `mapstructure:"result"`
Constraints *Constraints `mapstructure:"Constraints,omitempty"`
}
const (
// ConfigurationApplySuccess -
ConfigurationApplySuccess = "success"
// ConfigurationApplyFailed -
ConfigurationApplyFailed = "failed"
)
// ApplyConfiguration applies the given configuration
func (r *Client) ApplyConfiguration(ctx context.Context, config *Configuration) (string, *Configuration, error) {
res := &configurationApplied{}
if err := r.ReqResp(ctx, eventApplyConfiguration, config, eventConfigurationApplied, res); err != nil {
return ConfigurationApplyFailed, nil, err
}
return res.Result, res.Configuration, nil
}
// ResetConfiguration resets the module configuration to factory defaults
func (r *Client) ResetConfiguration(ctx context.Context) (string, *Configuration, error) {
res := &configurationApplied{}
if err := r.ReqResp(ctx, eventResetConfiguration, nil, eventConfigurationApplied, res); err != nil {
return ConfigurationApplyFailed, nil, err
}
return res.Result, res.Configuration, nil
}

227
emlid/reachview/configuration_model.go
View File

@ -1,59 +1,124 @@
package reachview
var (
// On -
On = String("on")
// Off -
Off = String("off")
// True -
True = Bool(true)
// False -
False = Bool(false)
// GPSARModeFixAndHold -
GPSARModeFixAndHold = String("fix-and-hold")
// GPSARModeContinuous -
GPSARModeContinuous = String("continuous")
// PositionningModeKinematic -
PositionningModeKinematic = String("kinematic")
// PositionningModeSingle -
PositionningModeSingle = String("single")
// PositionningModeStatic -
PositionningModeStatic = String("static")
// IOFormatRTCM3 -
IOFormatRTCM3 = String("rtcm3")
// IOTypeLoRa -
IOTypeLoRa = String("lora")
// BaseCoordinatesModeManual -
BaseCoordinatesModeManual = String("manual")
// BaseCoordinatesModeAverageFix -
BaseCoordinatesModeAverageFix = String("fix-and-hold")
// BaseCoordinatesModeAverageSingle -
BaseCoordinatesModeAverageSingle = String("single-and-hold")
// BaseCoordinatesModeAverageFloat -
BaseCoordinatesModeAverageFloat = String("float-and-hold")
// BaseCoordinatesFormatLLH -
BaseCoordinatesFormatLLH = String("llh")
// BaseCoordinatesFormatXYZ -
BaseCoordinatesFormatXYZ = String("xyz")
)
// String returns an string pointer
// This is a helper to constructs partials configations objects
// for the ApplyConfiguration() method
func String(v string) *string {
return &v
}
// Int returns an int pointer
// This is a helper to constructs partials configations objects
// for the ApplyConfiguration() method
func Int(v int) *int {
return &v
}
// Bool returns a bool pointer
// This is a helper to constructs partials configations objects
// for the ApplyConfiguration() method
func Bool(v bool) *bool {
return &v
}
// Float returns a float64 pointer
// This is a helper to constructs partials configations objects
// for the ApplyConfiguration() method
func Float(v float64) *float64 {
return &v
}
// Configuration -
type Configuration struct {
RTKSettings *RTKSettings `mapstructure:"rtk settings,omitempty"`
CorrectionInput *CorrectionInput `mapstructure:"correction input,omitempty"`
PositionOutput *PositionOutput `mapstructure:"position output,omitempty"`
BaseMode *BaseMode `mapstructure:"base mode,omitempty"`
Logging *Logging `mapstructure:"logging,omitempty"`
Bluetooth *Bluetooth `mapstructure:"bluetooth,omitempty"`
LoRa *LoRa `mapstructure:"lora,omitempty"`
Constraints *Constraints `mapstructure:"constraints,omitempty"`
RTKSettings *RTKSettings `mapstructure:"rtk settings,omitempty" json:"rtk settings,omitempty"`
CorrectionInput *CorrectionInput `mapstructure:"correction input,omitempty" json:"correction input,omitempty"`
PositionOutput *PositionOutput `mapstructure:"position output,omitempty" json:"position output,omitempty"`
BaseMode *BaseMode `mapstructure:"base mode,omitempty" json:"base mode,omitempty"`
Logging *Logging `mapstructure:"logging,omitempty" json:"logging,omitempty"`
Bluetooth *Bluetooth `mapstructure:"bluetooth,omitempty" json:"bluetooth,omitempty"`
LoRa *LoRa `mapstructure:"lora,omitempty" json:"lora,omitempty"`
Constraints *Constraints `mapstructure:"constraints,omitempty" json:"constraints,omitempty"`
}
// RTKSettings -
type RTKSettings struct {
GLONASSARMode string `mapstructure:"glonass ar mode"`
UpdateRate string `mapstructure:"update rate"`
ElevationMaskAngle string `mapstructure:"elevation mask angle"`
MaxHorizontalAcceleration string `mapstructure:"max horizontal acceleration"`
SNRMask string `mapstructure:"snr mask"`
GPSARMode string `mapstructure:"gps ar mode"`
PositionningMode string `mapstructure:"positioning mode"`
PositioningSystems *PositionningSystems `mapstructure:"positioning systems,omitempty"`
MaxVerticalAcceleration string `mapstructure:"max vertical acceleration"`
GLONASSARMode *string `mapstructure:"glonass ar mode,omitempty" json:"glonass ar mode,omitempty"`
UpdateRate *string `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"`
GPSARMode *string `mapstructure:"gps ar mode,omitempty" json:"gps ar mode,omitempty"`
PositionningMode *string `mapstructure:"positioning mode,omitempty" json:"positioning mode,omitempty"`
PositioningSystems *PositionningSystems `mapstructure:"positioning systems,omitempty" json:"positioning systems,omitempty"`
MaxVerticalAcceleration *string `mapstructure:"max vertical acceleration,omitempty" json:"max vertical acceleration,omitempty"`
}
// PositionningSystems -
type PositionningSystems struct {
GLONASS bool `mapstructure:"glonass"`
SBAS bool `mapstructure:"sbas"`
QZS bool `mapstructure:"qzs"`
QZSS bool `mapstructure:"qzss"`
Compass bool `mapstructure:"compass"`
Galileo bool `mapstructure:"galileo"`
GPS bool `mapstructure:"gps"`
GLONASS *bool `mapstructure:"glonass,omitempty" json:"glonass,omitempty"`
SBAS *bool `mapstructure:"sbas,omitempty" json:"sbas,omitempty"`
QZS *bool `mapstructure:"qzs,omitempty" json:"qzs,omitempty"`
QZSS *bool `mapstructure:"qzss,omitempty" json:"qzss,omitempty"`
Compass *bool `mapstructure:"compass,omitempty" json:"compass,omitempty"`
Galileo *bool `mapstructure:"galileo,omitempty" json:"galileo,omitempty"`
GPS *bool `mapstructure:"gps,omitempty" json:"gps,omitempty"`
}
// CorrectionInput -
type CorrectionInput struct {
Input2 *Input2 `mapstructure:"input2,omitempty"`
Input3 *Input3 `mapstructure:"input3,omitempty"`
Input2 *Input2 `mapstructure:"input2,omitempty" json:"input2,omitempty"`
Input3 *Input3 `mapstructure:"input3,omitempty" json:"input3,omitempty"`
}
// Input -
type Input struct {
Path string `mapstructure:"path"`
Type string `mapstructure:"type"`
Enabled bool `mapstructure:"enabled"`
Format string `mapstructure:"format"`
Path *string `mapstructure:"path,omitempty" json:"path,omitempty"`
Type *string `mapstructure:"type,omitempty" json:"type,omitempty"`
Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
Format *string `mapstructure:"format,omitempty" json:"format,omitempty"`
}
// Input2 -
type Input2 struct {
Input `mapstructure:",squash"`
SendPositionToBase string `mapstructure:"send position to base"`
SendPositionToBase *string `mapstructure:"send position to base,omitempty" json:"send position to base,omitempty"`
}
// Input3 -
@ -63,116 +128,116 @@ type Input3 struct {
// PositionOutput -
type PositionOutput struct {
Output1 *Output `mapstructure:"output1,omitempty"`
Output2 *Output `mapstructure:"output2,omitempty"`
Output3 *Output `mapstructure:"output3,omitempty"`
Output4 *Output `mapstructure:"output4,omitempty"`
Output1 *Output `mapstructure:"output1,omitempty" json:"output1,omitempty"`
Output2 *Output `mapstructure:"output2,omitempty" json:"output2,omitempty"`
Output3 *Output `mapstructure:"output3,omitempty" json:"output3,omitempty"`
Output4 *Output `mapstructure:"output4,omitempty" json:"output4,omitempty"`
}
// Output -
type Output struct {
Path string `mapstructure:"path"`
Type string `mapstructure:"type"`
Enabled bool `mapstructure:"enabled"`
Format string `mapstructure:"format"`
Path *string `mapstructure:"path,omitempty" json:"path,omitempty"`
Type *string `mapstructure:"type,omitempty" json:"type,omitempty"`
Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
Format *string `mapstructure:"format,omitempty" json:"format,omitempty"`
}
// BaseMode -
type BaseMode struct {
Output *Output `mapstructure:"output,omitempty"`
BaseCoordinates *BaseCoordinates `mapstructure:"base coordinates,omitempty"`
RTCM3Messages *RTCM3Messages `mapstructure:"rtcm3 messages,omitempty"`
Output *Output `mapstructure:"output,omitempty" json:"output,omitempty"`
BaseCoordinates *BaseCoordinates `mapstructure:"base coordinates,omitempty" json:"base coordinates,omitempty"`
RTCM3Messages *RTCM3Messages `mapstructure:"rtcm3 messages,omitempty" json:"rtcm3 messages,omitempty"`
}
// BaseCoordinates -
type BaseCoordinates struct {
Format string `mapstructure:"format"`
AntennaOffset *AntennaOffset `mapstructure:"antenna offset,omitempty"`
Accumulation string `mapstructure:"accumulation"`
Coordinates []string `mapstructure:"coordinates"`
Mode string `mapstructure:"mode"`
Format *string `mapstructure:"format,omitempty" json:"format,omitempty"`
AntennaOffset *AntennaOffset `mapstructure:"antenna offset,omitempty" json:"antenna offset,omitempty"`
Accumulation *string `mapstructure:"accumulation,omitempty" json:"accumulation,omitempty"`
Coordinates []*string `mapstructure:"coordinates,omitempty" json:"coordinates,omitempty"`
Mode *string `mapstructure:"mode,omitempty" json:"mode,omitempty"`
}
// AntennaOffset -
type AntennaOffset struct {
East string `mapstructure:"east"`
North string `mapstructure:"north"`
Up string `mapstructure:"up"`
East *string `mapstructure:"east,omitempty" json:"east,omitempty"`
North *string `mapstructure:"north,omitempty" json:"north,omitempty"`
Up *string `mapstructure:"up,omitempty" json:"up,omitempty"`
}
// RTCM3Messages -
type RTCM3Messages struct {
// GPS L1 code and phase and ambiguities and carrier-to-noise ratio
Type1002 *RTCMMessageType `mapstructure:"1002,omitemtpy"`
Type1002 *RTCMMessageType `mapstructure:"1002,omitemtpy" json:"1002,omitemtpy"`
// Station coordinates XYZ for antenna reference point and antenna height.
Type1006 *RTCMMessageType `mapstructure:"1006,omitemtpy"`
Type1006 *RTCMMessageType `mapstructure:"1006,omitemtpy" json:"1006,omitemtpy"`
// Antenna serial number.
Type1008 *RTCMMessageType `mapstructure:"1008,omitemtpy"`
Type1008 *RTCMMessageType `mapstructure:"1008,omitemtpy" json:"1008,omitemtpy"`
// GLONASS L1 code and phase and ambiguities and carrier-to-noise ratio.
Type1010 *RTCMMessageType `mapstructure:"1010,omitemtpy"`
Type1010 *RTCMMessageType `mapstructure:"1010,omitemtpy" json:"1010,omitemtpy"`
// GPS ephemeris.
Type1019 *RTCMMessageType `mapstructure:"1019,omitemtpy"`
Type1019 *RTCMMessageType `mapstructure:"1019,omitemtpy" json:"1019,omitemtpy"`
// GLONASS ephemeris.
Type1020 *RTCMMessageType `mapstructure:"1020,omitemtpy"`
Type1020 *RTCMMessageType `mapstructure:"1020,omitemtpy" json:"1020,omitemtpy"`
// The type 7 Multiple Signal Message format for Europe’s Galileo system
Type1097 *RTCMMessageType `mapstructure:"1097,omitemtpy"`
Type1097 *RTCMMessageType `mapstructure:"1097,omitemtpy" json:"1097,omitemtpy"`
// Full SBAS pseudo-ranges, carrier phases, Doppler and signal strength (high resolution)
Type1107 *RTCMMessageType `mapstructure:"1107,omitemtpy"`
Type1107 *RTCMMessageType `mapstructure:"1107,omitemtpy" json:"1107,omitemtpy"`
// Full QZSS pseudo-ranges, carrier phases, Doppler and signal strength (high resolution)
Type1117 *RTCMMessageType `mapstructure:"1117,omitemtpy"`
Type1117 *RTCMMessageType `mapstructure:"1117,omitemtpy" json:"1117,omitemtpy"`
// Full BeiDou pseudo-ranges, carrier phases, Doppler and signal strength (high resolution)
Type1127 *RTCMMessageType `mapstructure:"1127,omitemtpy"`
Type1127 *RTCMMessageType `mapstructure:"1127,omitemtpy" json:"1127,omitemtpy"`
}
// RTCMMessageType -
type RTCMMessageType struct {
Frequency string `mapstructure:"frequency"`
Enabled bool `mapstructure:"enabled"`
Frequency *string `mapstructure:"frequency,omitempty" json:"frequency,omitempty"`
Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
}
// Logging -
type Logging struct {
Correction *LoggingService `mapstructure:"correction,omitempty"`
Interval int `mapstructure:"interval"`
Solution *LoggingService `mapstructure:"solution,omitempty"`
Raw *LoggingService `mapstructure:"raw,omitempty"`
Base *LoggingService `mapstructure:"base,omitempty"`
Overwrite bool `mapstructure:"overwrite"`
Correction *LoggingService `mapstructure:"correction,omitempty" json:"correction,omitempty"`
Interval *int `mapstructure:"interval,omitempty" json:"interval,omitempty"`
Solution *LoggingService `mapstructure:"solution,omitempty" json:"solution,omitempty"`
Raw *LoggingService `mapstructure:"raw,omitempty" json:"raw,omitempty"`
Base *LoggingService `mapstructure:"base,omitempty" json:"base,omitempty"`
Overwrite *bool `mapstructure:"overwrite,omitempty" json:"overwrite,omitempty"`
}
// LoggingService -
type LoggingService struct {
Started bool `mapstructure:"started"`
Version string `mapstructure:"version"`
Format string `mapstructure:"format"`
Started *bool `mapstructure:"started,omitempty" json:"started,omitempty"`
Version *string `mapstructure:"version,omitempty" json:"version,omitempty"`
Format *string `mapstructure:"format,omitempty" json:"format,omitempty"`
}
// Bluetooth -
type Bluetooth struct {
Enabled bool `mapstructure:"enabled"`
Discoverable bool `mapstructure:"discoverable"`
Pin int `mapstructure:"pin"`
Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
Discoverable *bool `mapstructure:"discoverable,omitempty" json:"discoverable,omitempty"`
Pin *int `mapstructure:"pin,omitempty" json:"pin,omitempty"`
}
// LoRa -
type LoRa struct {
AirRate float64 `mapstructure:"air rate"`
Frequency int `mapstructure:"frequency"`
OutputPower int `mapstructure:"output power"`
AirRate *string `mapstructure:"air rate,omitempty" json:"air rate,omitempty"`
Frequency *float64 `mapstructure:"frequency,omitempty" json:"frequency,omitempty"`
OutputPower *string `mapstructure:"output power,omitempty" json:"output power,omitempty"`
}
// Constraints -
type Constraints struct {
LoRa *LoRaConstraints `mapstructure:"lora,omitempty"`
LoRa *LoRaConstraints `mapstructure:"lora,omitempty" json:"lora,omitempty"`
}
// LoRaConstraints -
type LoRaConstraints struct {
Frequency *LoRaFrequencyRange `mapstructure:"frequency,omitempty"`
Frequency *LoRaFrequencyRange `mapstructure:"frequency,omitempty" json:"frequency,omitempty"`
}
// LoRaFrequencyRange -
type LoRaFrequencyRange struct {
Min int `mapstructure:"min"`
Max int `mapstructure:"max"`
Min *int `mapstructure:"min,omitempty" json:"min,omitempty"`
Max *int `mapstructure:"max,omitempty" json:"max,omitempty"`
}

56
emlid/reachview/configuration_test.go
View File

@ -1,10 +1,11 @@
package reachview
import (
"context"
"testing"
"time"
"forge.cadoles.com/Pyxis/orion/emlid"
"github.com/davecgh/go-spew/spew"
)
func TestReachViewConfiguration(t *testing.T) {
@ -21,7 +22,10 @@ func TestReachViewConfiguration(t *testing.T) {
t.Fatal(err)
}
config, err := client.Configuration()
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
config, err := client.Configuration(ctx)
if err != nil {
t.Error(err)
}
@ -34,7 +38,53 @@ func TestReachViewConfiguration(t *testing.T) {
t.Fatal("config.RTKSettings should not be nil")
}
spew.Dump(config)
defer client.Close()
}
func TestReachViewApplyConfiguration(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)
}
ctx, configurationCancel := context.WithTimeout(context.Background(), 5*time.Second)
defer configurationCancel()
config, err := client.Configuration(ctx)
if err != nil {
t.Error(err)
}
config.RTKSettings.PositionningMode = String("single")
ctx, applyConfCancel := context.WithTimeout(context.Background(), 5*time.Second)
defer applyConfCancel()
result, config, err := client.ApplyConfiguration(ctx, config)
if err != nil {
t.Error(err)
}
if config == nil {
t.Fatal("config should not be nil")
}
if config.RTKSettings == nil {
t.Fatal("config.RTKSettings should not be nil")
}
if g, e := result, ConfigurationApplySuccess; g != e {
t.Errorf("result: got '%s', expected '%s'", g, e)
}
defer client.Close()

10
emlid/reachview/rtk.go Normal file
View File

@ -0,0 +1,10 @@
package reachview
const (
eventRestartRTKLib = "restart rtklib"
)
// RestartRTKLib asks the ReachRS module to restart the RTKlib
func (c *Client) RestartRTKLib() error {
return c.Emit(eventRestartRTKLib, nil)
}

0
emlid/reachview/test.go → emlid/reachview/util_test.go
View File

9
emlid/updater/example_test.go
View File

@ -1,7 +1,9 @@
package updater
import (
"context"
"log"
"time"
"forge.cadoles.com/Pyxis/orion/emlid"
)
@ -17,7 +19,12 @@ func Example_usage() {
log.Fatal(err)
}
networks, err := updater.WifiNetworks()
// We create a context for the API call with a 10 second delay
ctx, cancel := context.WithTimeout(context.Background(), 10*time.Second)
defer cancel()
// Retrieve the Wifi networks
networks, err := updater.WifiNetworks(ctx)
if err != nil {
log.Fatal(err)
}

6
emlid/updater/reachview_version.go
View File

@ -1,5 +1,7 @@
package updater
import "context"
const (
eventGetReachViewVersion = "get reachview version"
eventReachViewVersionResults = "current reachview version"
@ -10,9 +12,9 @@ type reachViewVersion struct {
}
// ReachViewVersion returns the ReachRS module ReachView version
func (c *Client) ReachViewVersion() (string, error) {
func (c *Client) ReachViewVersion(ctx context.Context) (string, error) {
res := &reachViewVersion{}
if err := c.ReqResp(eventGetReachViewVersion, nil, eventReachViewVersionResults, res); err != nil {
if err := c.ReqResp(ctx, eventGetReachViewVersion, nil, eventReachViewVersionResults, res); err != nil {
return "", err
}
return res.Version, nil

7
emlid/updater/reachview_version_test.go
View File

@ -1,7 +1,9 @@
package updater
import (
"context"
"testing"
"time"
"forge.cadoles.com/Pyxis/orion/emlid"
)
@ -19,8 +21,9 @@ func TestClientReachViewVersion(t *testing.T) {
if err := client.Connect(); err != nil {
t.Fatal(err)
}
version, err := client.ReachViewVersion()
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
version, err := client.ReachViewVersion(ctx)
if err != nil {
t.Error(err)
}

21
emlid/updater/reboot_now.go
View File

@ -1,6 +1,7 @@
package updater
import (
"context"
"sync"
"forge.cadoles.com/Pyxis/golang-socketio"
@ -12,16 +13,30 @@ const (
)
// RebootNow asks the ReachRS module to reboot now
func (c *Client) RebootNow(waitDisconnect bool) error {
func (c *Client) RebootNow(ctx context.Context, waitDisconnect bool) error {
var err error
var wg sync.WaitGroup
if waitDisconnect {
wg.Add(1)
err = c.On(gosocketio.OnDisconnection, func(h *gosocketio.Channel) {
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)

6
emlid/updater/reboot_now_test.go
View File

@ -1,7 +1,9 @@
package updater
import (
"context"
"testing"
"time"
"forge.cadoles.com/Pyxis/orion/emlid"
)
@ -24,7 +26,9 @@ func TestClientRebootNow(t *testing.T) {
t.Fatal(err)
}
if err := client.RebootNow(true); err != nil {
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
if err := client.RebootNow(ctx, true); err != nil {
t.Error(err)
}

6
emlid/updater/receiver_upgrade.go
View File

@ -1,5 +1,7 @@
package updater
import "context"
const (
eventIsReceiverUpgradeAvailable = "is receiver upgrade available"
eventReceiverUpgradeAvailable = "receiver upgrade available"
@ -11,9 +13,9 @@ type receiverUpgreAvailable struct {
}
// ReceiverUpgradeAvailable checks if an upgrade is avaialable/running for the ReachRS module
func (c *Client) ReceiverUpgradeAvailable() (bool, bool, error) {
func (c *Client) ReceiverUpgradeAvailable(ctx context.Context) (bool, bool, error) {
res := &receiverUpgreAvailable{}
if err := c.ReqResp(eventIsReceiverUpgradeAvailable, nil, eventReceiverUpgradeAvailable, res); err != nil {
if err := c.ReqResp(ctx, eventIsReceiverUpgradeAvailable, nil, eventReceiverUpgradeAvailable, res); err != nil {
return false, false, err
}
c.Logf("receiver upgrade result: available: %v, running: %v", res.Available, res.Running)

6
emlid/updater/receiver_upgrade_test.go
View File

@ -1,7 +1,9 @@
package updater
import (
"context"
"testing"
"time"
"forge.cadoles.com/Pyxis/orion/emlid"
)
@ -20,7 +22,9 @@ func TestClientReceiverUpgradeAvailable(t *testing.T) {
t.Fatal(err)
}
_, _, err := client.ReceiverUpgradeAvailable()
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
_, _, err := client.ReceiverUpgradeAvailable(ctx)
if err != nil {
t.Error(err)
}

6
emlid/updater/test_results.go
View File

@ -1,5 +1,7 @@
package updater
import "context"
const (
eventGetTestResults = "get test results"
eventTestResults = "test results"
@ -16,9 +18,9 @@ type TestResults struct {
}
// TestResults returns the ReachRS module tests results
func (c *Client) TestResults() (*TestResults, error) {
func (c *Client) TestResults(ctx context.Context) (*TestResults, error) {
res := &TestResults{}
if err := c.ReqResp(eventGetTestResults, nil, eventTestResults, res); err != nil {
if err := c.ReqResp(ctx, eventGetTestResults, nil, eventTestResults, res); err != nil {
return nil, err
}
return res, nil

6
emlid/updater/test_results_test.go
View File

@ -1,7 +1,9 @@
package updater
import (
"context"
"testing"
"time"
"forge.cadoles.com/Pyxis/orion/emlid"
)
@ -20,7 +22,9 @@ func TestClientTestResults(t *testing.T) {
t.Fatal(err)
}
results, err := client.TestResults()
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
results, err := client.TestResults(ctx)
if err != nil {
t.Error(err)
}

6
emlid/updater/time_sync.go
View File

@ -1,5 +1,7 @@
package updater
import "context"
const (
eventGetTimeSyncStatus = "get time sync status"
eventTimeSyncResults = "time sync status"
@ -11,9 +13,9 @@ type timeSyncStatus struct {
// TimeSynced returns the ReachRS module time synchronization status.
// A true response means that the module has synchronized its clock.
func (c *Client) TimeSynced() (bool, error) {
func (c *Client) TimeSynced(ctx context.Context) (bool, error) {
res := &timeSyncStatus{}
if err := c.ReqResp(eventGetTimeSyncStatus, nil, eventTimeSyncResults, res); err != nil {
if err := c.ReqResp(ctx, eventGetTimeSyncStatus, nil, eventTimeSyncResults, res); err != nil {
return false, err
}
c.Logf("time sync result: %v", res.Status)

6
emlid/updater/time_sync_test.go
View File

@ -1,7 +1,9 @@
package updater
import (
"context"
"testing"
"time"
"forge.cadoles.com/Pyxis/orion/emlid"
)
@ -20,7 +22,9 @@ func TestClientTimeSync(t *testing.T) {
t.Fatal(err)
}
_, err := client.TimeSynced()
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
_, err := client.TimeSynced(ctx)
if err != nil {
t.Error(err)
}

6
emlid/updater/update.go
View File

@ -1,5 +1,7 @@
package updater
import "context"
const (
eventUpdate = "update"
eventOPKGUpdateResult = "opkg update result"
@ -13,9 +15,9 @@ type UpdateStatus struct {
}
// Update asks the ReachRS module to start an OPKG update
func (c *Client) Update() (*UpdateStatus, error) {
func (c *Client) Update(ctx context.Context) (*UpdateStatus, error) {
res := &UpdateStatus{}
if err := c.ReqResp(eventUpdate, nil, eventOPKGUpdateResult, res); err != nil {
if err := c.ReqResp(ctx, eventUpdate, nil, eventOPKGUpdateResult, res); err != nil {
return nil, err
}
c.Logf(

6
emlid/updater/update_test.go
View File

@ -1,7 +1,9 @@
package updater
import (
"context"
"testing"
"time"
"forge.cadoles.com/Pyxis/orion/emlid"
)
@ -20,7 +22,9 @@ func TestClientOPKGUpdate(t *testing.T) {
t.Fatal(err)
}
_, err := client.Update()
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
_, err := client.Update(ctx)
if err != nil {
t.Error(err)
}

0
emlid/updater/test.go → emlid/updater/util_test.go
View File

33
emlid/updater/wifi_networks.go
View File

@ -1,6 +1,7 @@
package updater
import (
"context"
"sync"
"forge.cadoles.com/Pyxis/golang-socketio"
@ -41,48 +42,62 @@ type WifiNetwork struct {
}
// WifiNetworks returns the ReachRS module wifi networks
func (c *Client) WifiNetworks() ([]WifiNetwork, error) {
func (c *Client) WifiNetworks(ctx context.Context) ([]WifiNetwork, error) {
res := make([]WifiNetwork, 0)
if err := c.ReqResp(eventGetSavedWifiNetworks, nil, eventSavedWifiNetworkResults, &res); err != nil {
if err := c.ReqResp(ctx, eventGetSavedWifiNetworks, nil, eventSavedWifiNetworkResults, &res); err != nil {
return nil, err
}
return res, nil
}
// AddWifiNetwork asks the ReachRS module to save the given wifi network informations
func (c *Client) AddWifiNetwork(ssid string, security WifiSecurity, password string) (bool, error) {
func (c *Client) AddWifiNetwork(ctx context.Context, ssid string, security WifiSecurity, password string) (bool, error) {
res := false
network := &WifiNetwork{
SSID: ssid,
Security: security,
Password: password,
}
if err := c.ReqResp(eventAddWifiNetwork, network, eventAddWifiNetworkResults, &res); err != nil {
if err := c.ReqResp(ctx, eventAddWifiNetwork, network, eventAddWifiNetworkResults, &res); err != nil {
return false, err
}
return res, nil
}
// RemoveWifiNetwork asks the ReachRS module to remove the given WiFi network
func (c *Client) RemoveWifiNetwork(ssid string) (bool, error) {
func (c *Client) RemoveWifiNetwork(ctx context.Context, ssid string) (bool, error) {
res := false
if err := c.ReqResp(eventRemoveWifiNetwork, ssid, eventRemoveWifiNetworkResults, &res); err != nil {
if err := c.ReqResp(ctx, eventRemoveWifiNetwork, ssid, eventRemoveWifiNetworkResults, &res); err != nil {
return false, err
}
return res, nil
}
// JoinWifiNetwork asks the ReachRS module to join the given WiFi network
func (c *Client) JoinWifiNetwork(ssid string, waitDisconnect bool) error {
func (c *Client) JoinWifiNetwork(ctx context.Context, ssid string, waitDisconnect bool) error {
var err error
var wg sync.WaitGroup
if waitDisconnect {
wg.Add(1)
err = c.On(gosocketio.OnDisconnection, func(h *gosocketio.Channel) {
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)

30
emlid/updater/wifi_networks_test.go
View File

@ -1,6 +1,7 @@
package updater
import (
"context"
"fmt"
"math/rand"
"testing"
@ -23,7 +24,9 @@ func TestClientSavedWiFiNetworks(t *testing.T) {
t.Fatal(err)
}
_, err := client.WifiNetworks()
ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
defer cancel()
_, err := client.WifiNetworks(ctx)
if err != nil {
t.Error(err)
}
@ -48,7 +51,11 @@ func TestClientCRUDWiFiNetwork(t *testing.T) {
ssid := fmt.Sprintf("wifi_test_%d", rand.Uint32())
done, err := client.AddWifiNetwork(ssid, SecurityOpen, "")
ctx := context.Background()
addWifiContext, addWifiCancel := context.WithTimeout(ctx, 5*time.Second)
defer addWifiCancel()
done, err := client.AddWifiNetwork(addWifiContext, ssid, SecurityOpen, "")
if err != nil {
t.Error(err)
}
@ -57,7 +64,9 @@ func TestClientCRUDWiFiNetwork(t *testing.T) {
t.Errorf("AddWifiNetwork() -> done: got '%v', expected '%v'", g, e)
}
networks, err := client.WifiNetworks()
wifiContext, wifiCancel := context.WithTimeout(ctx, 5*time.Second)
defer wifiCancel()
networks, err := client.WifiNetworks(wifiContext)
if err != nil {
t.Error(err)
}
@ -74,7 +83,9 @@ func TestClientCRUDWiFiNetwork(t *testing.T) {
t.Errorf("wifi network '%s' should exists", ssid)
}
done, err = client.RemoveWifiNetwork(ssid)
removeWifiContext, removeWifiCancel := context.WithTimeout(ctx, 5*time.Second)
defer removeWifiCancel()
done, err = client.RemoveWifiNetwork(removeWifiContext, ssid)
if err != nil {
t.Error(err)
}
@ -107,7 +118,12 @@ func TestClientWifiNetworkJoin(t *testing.T) {
ssid := fmt.Sprintf("wifi_test_%d", rand.Uint32())
done, err := client.AddWifiNetwork(ssid, SecurityOpen, "")
ctx := context.Background()
addWifiContext, addWifiCancel := context.WithTimeout(ctx, 5*time.Second)
defer addWifiCancel()
done, err := client.AddWifiNetwork(addWifiContext, ssid, SecurityOpen, "")
if err != nil {
t.Error(err)
}
@ -116,7 +132,9 @@ func TestClientWifiNetworkJoin(t *testing.T) {
t.Errorf("AddWifiNetwork() -> done: got '%v', expected '%v'", g, e)
}
if err := client.JoinWifiNetwork(ssid, true); err != nil {
joinWifiContext, joinWifiCancel := context.WithTimeout(ctx, 5*time.Second)
defer joinWifiCancel()
if err := client.JoinWifiNetwork(joinWifiContext, ssid, true); err != nil {
t.Error(err)
}

16
example/reachview/README.md Normal file
View File

@ -0,0 +1,16 @@
# Example: ReachView
A simple example of a ReachView client that can:
- Configure a ReachRS module as "base" or "rover"
## Usage
1. Boot your ReachRS module in "ReachView" mode
2. Launch the example:
```shell
go run example/reachview/main.go \
-mode 'rover|base'\
-host '<DEVICE_IP_ADDRESS'\
```

228
example/reachview/main.go Normal file
View File

@ -0,0 +1,228 @@
package main
import (
"context"
"flag"
"fmt"
"log"
"strings"
"time"
"forge.cadoles.com/Pyxis/orion/emlid"
"forge.cadoles.com/Pyxis/orion/emlid/reachview"
)
const (
modeRover = "rover"
modeBase = "base"
)
var (
mode = modeRover
host = "192.168.42.1"
)
func init() {
modes := []string{modeRover, modeBase}
flag.StringVar(
&mode, "mode", mode,
fmt.Sprintf("The configuration mode. Available: %v", strings.Join(modes, ", ")),
)
flag.StringVar(&host, "host", host, "ReachRS module host")
}
func main() {
flag.Parse()
switch mode {
case modeRover:
configureRover()
case modeBase:
configureBase()
default:
log.Fatalf("unknown mode '%s'", mode)
}
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 configureRover() {
c := connect()
defer c.Close()
resetConfiguration(c)
config := getCommonConfiguration()
config.RTKSettings.GPSARMode = reachview.GPSARModeFixAndHold
config.RTKSettings.GLONASSARMode = reachview.On
config.RTKSettings.PositionningMode = reachview.PositionningModeKinematic
config.RTKSettings.UpdateRate = reachview.String("5")
config.CorrectionInput = &reachview.CorrectionInput{
Input2: &reachview.Input2{
Input: reachview.Input{
Enabled: reachview.True,
Format: reachview.IOFormatRTCM3,
Type: reachview.IOTypeLoRa,
Path: reachview.String("lora"),
},
SendPositionToBase: reachview.Off,
},
}
log.Println("configuring module as rover")
applyConfiguration(c, config)
}
func configureBase() {
c := connect()
defer c.Close()
resetConfiguration(c)
log.Println("configuring module as base")
config := getCommonConfiguration()
config.RTKSettings.UpdateRate = reachview.String("1")
config.BaseMode = &reachview.BaseMode{
Output: &reachview.Output{
Enabled: reachview.True,
Format: reachview.IOFormatRTCM3,
Type: reachview.IOTypeLoRa,
},
BaseCoordinates: &reachview.BaseCoordinates{
Accumulation: reachview.String("1"),
AntennaOffset: &reachview.AntennaOffset{
Up: reachview.String("2.20"),
},
Mode: reachview.BaseCoordinatesModeAverageSingle,
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)
}
func applyConfiguration(c *reachview.Client, config *reachview.Configuration) {
ctx, applyConfCancel := context.WithTimeout(context.Background(), 10*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)
}
}
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 {
log.Fatal(err)
}
if result != reachview.ConfigurationApplySuccess {
log.Fatal("configuration reset failed !")
}
}
func getCommonConfiguration() *reachview.Configuration {
return &reachview.Configuration{
RTKSettings: &reachview.RTKSettings{
PositioningSystems: &reachview.PositionningSystems{
GPS: reachview.True,
GLONASS: reachview.True,
Galileo: reachview.True,
SBAS: reachview.True,
QZSS: reachview.True,
},
UpdateRate: reachview.String("5"),
},
LoRa: &reachview.LoRa{
AirRate: reachview.String("9.11"),
Frequency: reachview.Float(868000),
OutputPower: reachview.String("20"),
},
PositionOutput: &reachview.PositionOutput{
Output1: &reachview.Output{
Enabled: reachview.False,
},
Output2: &reachview.Output{
Enabled: reachview.False,
},
},
}
}

35
example/updater/main.go
View File

@ -1,10 +1,12 @@
package main
import (
"context"
"flag"
"fmt"
"log"
"strings"
"time"
"forge.cadoles.com/Pyxis/orion/emlid"
"forge.cadoles.com/Pyxis/orion/emlid/updater"
@ -78,8 +80,13 @@ func configureWifi() {
c := connect()
defer c.Close()
ctx := context.Background()
log.Println("checking module status")
results, err := c.TestResults()
ctx, testResultsCancel := context.WithTimeout(ctx, 5*time.Second)
defer testResultsCancel()
results, err := c.TestResults(ctx)
if err != nil {
log.Fatal(err)
}
@ -92,7 +99,9 @@ func configureWifi() {
log.Printf("adding wifi network '%s'", ssid)
done, err := c.AddWifiNetwork(ssid, updater.WifiSecurity(security), password)
ctx, addWifiCancel := context.WithTimeout(ctx, 5*time.Second)
defer addWifiCancel()
done, err := c.AddWifiNetwork(ctx, ssid, updater.WifiSecurity(security), password)
if err != nil {
log.Fatal(err)
}
@ -102,7 +111,9 @@ func configureWifi() {
}
log.Println("connecting module to wifi network")
if err := c.JoinWifiNetwork(ssid, true); err != nil {
ctx, joinWifiCancel := context.WithTimeout(ctx, 5*time.Second)
defer joinWifiCancel()
if err := c.JoinWifiNetwork(ctx, ssid, true); err != nil {
log.Fatal(err)
}
log.Printf("you can now switch to the wifi network and start phase '%s'", phaseUpdateThenReboot)
@ -114,22 +125,30 @@ func updateThenReboot() {
c := connect()
defer c.Close()
ctx := context.Background()
log.Println("checking time sync")
synced, err := c.TimeSynced()
ctx, timeSyncedCancel := context.WithTimeout(ctx, 5*time.Second)
defer timeSyncedCancel()
synced, err := c.TimeSynced(ctx)
if err != nil {
log.Fatal(err)
}
log.Printf("time synced ? %v", synced)
log.Println("checking reachview version")
version, err := c.ReachViewVersion()
ctx, reachviewVersionCancel := context.WithTimeout(ctx, 5*time.Second)
defer reachviewVersionCancel()
version, err := c.ReachViewVersion(ctx)
if err != nil {
log.Fatal(err)
}
log.Printf("reachview version ? '%s'", version)
log.Println("checking for update")
status, err := c.Update()
ctx, updateCancel := context.WithTimeout(ctx, 5*time.Second)
defer updateCancel()
status, err := c.Update(ctx)
if err != nil {
log.Fatal(err)
}
@ -143,7 +162,9 @@ func updateThenReboot() {
}
log.Println("rebooting device")
if err := c.RebootNow(true); err != nil {
ctx, rebootCancel := context.WithTimeout(ctx, 5*time.Second)
defer rebootCancel()
if err := c.RebootNow(ctx, true); err != nil {
log.Fatal(err)
}

2
go.mod
View File

@ -3,7 +3,7 @@ module forge.cadoles.com/Pyxis/orion
require (
forge.cadoles.com/Pyxis/golang-socketio v0.0.0-20180919100209-bb857ced6b95
github.com/caarlos0/env v3.3.0+incompatible
github.com/davecgh/go-spew v1.1.1
github.com/davecgh/go-spew v1.1.1 // indirect
github.com/go-chi/chi v3.3.3+incompatible
github.com/gorilla/websocket v1.4.0 // indirect
github.com/mitchellh/mapstructure v1.0.0