Example: simple cli for automatic configuration of rover/base modules
This commit is contained in:
parent
e4bb33e895
commit
854052bc84
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@ -121,7 +121,7 @@ func (c *Client) ReqResp(ctx context.Context,
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}()
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err = c.conn.On(responseEvent, func(_ *gosocketio.Channel, data interface{}) {
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err = mapstructure.Decode(data, res)
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err = mapstructure.WeakDecode(data, res)
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once.Do(done)
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})
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if err != nil {
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@ -1,15 +1,51 @@
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package reachview
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import "context"
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const (
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eventGetConfiguration = "get configuration"
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eventCurrentConfiguration = "current configuration"
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eventApplyConfiguration = "apply configuration"
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eventConfigurationApplied = "configuration applied"
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eventResetConfiguration = "reset configuration to default"
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)
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// Configuration fetches and return the current configuration of the ReachRS module
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func (r *Client) Configuration() (*Configuration, error) {
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func (r *Client) Configuration(ctx context.Context) (*Configuration, error) {
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configuration := &Configuration{}
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if err := r.ReqResp(eventGetConfiguration, nil, eventCurrentConfiguration, configuration); err != nil {
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if err := r.ReqResp(ctx, eventGetConfiguration, nil, eventCurrentConfiguration, configuration); err != nil {
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return nil, err
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}
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return configuration, nil
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}
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type configurationApplied struct {
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Configuration *Configuration `mapstructure:"configuration,omitempty"`
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Result string `mapstructure:"result"`
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Constraints *Constraints `mapstructure:"Constraints,omitempty"`
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}
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const (
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// ConfigurationApplySuccess -
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ConfigurationApplySuccess = "success"
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// ConfigurationApplyFailed -
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ConfigurationApplyFailed = "failed"
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)
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// ApplyConfiguration applies the given configuration
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func (r *Client) ApplyConfiguration(ctx context.Context, config *Configuration) (string, *Configuration, error) {
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res := &configurationApplied{}
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if err := r.ReqResp(ctx, eventApplyConfiguration, config, eventConfigurationApplied, res); err != nil {
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return ConfigurationApplyFailed, nil, err
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}
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return res.Result, res.Configuration, nil
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}
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// ResetConfiguration resets the module configuration to factory defaults
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func (r *Client) ResetConfiguration(ctx context.Context) (string, *Configuration, error) {
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res := &configurationApplied{}
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if err := r.ReqResp(ctx, eventResetConfiguration, nil, eventConfigurationApplied, res); err != nil {
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return ConfigurationApplyFailed, nil, err
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}
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return res.Result, res.Configuration, nil
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}
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@ -1,59 +1,124 @@
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package reachview
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var (
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// On -
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On = String("on")
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// Off -
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Off = String("off")
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// True -
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True = Bool(true)
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// False -
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False = Bool(false)
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// GPSARModeFixAndHold -
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GPSARModeFixAndHold = String("fix-and-hold")
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// GPSARModeContinuous -
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GPSARModeContinuous = String("continuous")
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// PositionningModeKinematic -
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PositionningModeKinematic = String("kinematic")
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// PositionningModeSingle -
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PositionningModeSingle = String("single")
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// PositionningModeStatic -
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PositionningModeStatic = String("static")
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// IOFormatRTCM3 -
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IOFormatRTCM3 = String("rtcm3")
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// IOTypeLoRa -
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IOTypeLoRa = String("lora")
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// BaseCoordinatesModeManual -
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BaseCoordinatesModeManual = String("manual")
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// BaseCoordinatesModeAverageFix -
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BaseCoordinatesModeAverageFix = String("fix-and-hold")
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// BaseCoordinatesModeAverageSingle -
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BaseCoordinatesModeAverageSingle = String("single-and-hold")
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// BaseCoordinatesModeAverageFloat -
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BaseCoordinatesModeAverageFloat = String("float-and-hold")
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// BaseCoordinatesFormatLLH -
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BaseCoordinatesFormatLLH = String("llh")
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// BaseCoordinatesFormatXYZ -
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BaseCoordinatesFormatXYZ = String("xyz")
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)
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// String returns an string pointer
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// This is a helper to constructs partials configations objects
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// for the ApplyConfiguration() method
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func String(v string) *string {
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return &v
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}
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// Int returns an int pointer
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// This is a helper to constructs partials configations objects
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// for the ApplyConfiguration() method
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func Int(v int) *int {
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return &v
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}
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// Bool returns a bool pointer
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// This is a helper to constructs partials configations objects
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// for the ApplyConfiguration() method
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func Bool(v bool) *bool {
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return &v
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}
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// Float returns a float64 pointer
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// This is a helper to constructs partials configations objects
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// for the ApplyConfiguration() method
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func Float(v float64) *float64 {
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return &v
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}
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// Configuration -
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type Configuration struct {
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RTKSettings *RTKSettings `mapstructure:"rtk settings,omitempty"`
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CorrectionInput *CorrectionInput `mapstructure:"correction input,omitempty"`
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PositionOutput *PositionOutput `mapstructure:"position output,omitempty"`
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BaseMode *BaseMode `mapstructure:"base mode,omitempty"`
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Logging *Logging `mapstructure:"logging,omitempty"`
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Bluetooth *Bluetooth `mapstructure:"bluetooth,omitempty"`
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LoRa *LoRa `mapstructure:"lora,omitempty"`
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Constraints *Constraints `mapstructure:"constraints,omitempty"`
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RTKSettings *RTKSettings `mapstructure:"rtk settings,omitempty" json:"rtk settings,omitempty"`
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CorrectionInput *CorrectionInput `mapstructure:"correction input,omitempty" json:"correction input,omitempty"`
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PositionOutput *PositionOutput `mapstructure:"position output,omitempty" json:"position output,omitempty"`
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BaseMode *BaseMode `mapstructure:"base mode,omitempty" json:"base mode,omitempty"`
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Logging *Logging `mapstructure:"logging,omitempty" json:"logging,omitempty"`
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Bluetooth *Bluetooth `mapstructure:"bluetooth,omitempty" json:"bluetooth,omitempty"`
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LoRa *LoRa `mapstructure:"lora,omitempty" json:"lora,omitempty"`
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Constraints *Constraints `mapstructure:"constraints,omitempty" json:"constraints,omitempty"`
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}
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// RTKSettings -
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type RTKSettings struct {
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GLONASSARMode *string `mapstructure:"glonass ar mode,omitempty"`
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UpdateRate *string `mapstructure:"update rate,omitempty"`
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ElevationMaskAngle *string `mapstructure:"elevation mask angle,omitempty"`
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MaxHorizontalAcceleration *string `mapstructure:"max horizontal acceleration,omitempty"`
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SNRMask *string `mapstructure:"snr mask,omitempty"`
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GPSARMode *string `mapstructure:"gps ar mode,omitempty"`
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PositionningMode *string `mapstructure:"positioning mode,omitempty"`
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PositioningSystems *PositionningSystems `mapstructure:"positioning systems,omitempty"`
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MaxVerticalAcceleration *string `mapstructure:"max vertical acceleration,omitempty"`
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GLONASSARMode *string `mapstructure:"glonass ar mode,omitempty" json:"glonass ar mode,omitempty"`
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UpdateRate *string `mapstructure:"update rate,omitempty" json:"update rate,omitempty"`
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ElevationMaskAngle *string `mapstructure:"elevation mask angle,omitempty" json:"elevation mask angle,omitempty"`
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MaxHorizontalAcceleration *string `mapstructure:"max horizontal acceleration,omitempty" json:"max horizontal acceleration,omitempty"`
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SNRMask *string `mapstructure:"snr mask,omitempty" json:"snr mask,omitempty"`
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GPSARMode *string `mapstructure:"gps ar mode,omitempty" json:"gps ar mode,omitempty"`
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PositionningMode *string `mapstructure:"positioning mode,omitempty" json:"positioning mode,omitempty"`
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PositioningSystems *PositionningSystems `mapstructure:"positioning systems,omitempty" json:"positioning systems,omitempty"`
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MaxVerticalAcceleration *string `mapstructure:"max vertical acceleration,omitempty" json:"max vertical acceleration,omitempty"`
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}
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// PositionningSystems -
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type PositionningSystems struct {
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GLONASS *bool `mapstructure:"glonass,omitempty"`
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SBAS *bool `mapstructure:"sbas,omitempty"`
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QZS *bool `mapstructure:"qzs,omitempty"`
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QZSS *bool `mapstructure:"qzss,omitempty"`
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Compass *bool `mapstructure:"compass,omitempty"`
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Galileo *bool `mapstructure:"galileo,omitempty"`
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GPS *bool `mapstructure:"gps,omitempty"`
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GLONASS *bool `mapstructure:"glonass,omitempty" json:"glonass,omitempty"`
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SBAS *bool `mapstructure:"sbas,omitempty" json:"sbas,omitempty"`
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QZS *bool `mapstructure:"qzs,omitempty" json:"qzs,omitempty"`
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QZSS *bool `mapstructure:"qzss,omitempty" json:"qzss,omitempty"`
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Compass *bool `mapstructure:"compass,omitempty" json:"compass,omitempty"`
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Galileo *bool `mapstructure:"galileo,omitempty" json:"galileo,omitempty"`
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GPS *bool `mapstructure:"gps,omitempty" json:"gps,omitempty"`
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}
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// CorrectionInput -
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type CorrectionInput struct {
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Input2 *Input2 `mapstructure:"input2,omitempty"`
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Input3 *Input3 `mapstructure:"input3,omitempty"`
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Input2 *Input2 `mapstructure:"input2,omitempty" json:"input2,omitempty"`
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Input3 *Input3 `mapstructure:"input3,omitempty" json:"input3,omitempty"`
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}
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// Input -
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type Input struct {
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Path *string `mapstructure:"path,omitempty"`
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Type *string `mapstructure:"type,omitempty"`
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Enabled *bool `mapstructure:"enabled,omitempty"`
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Format *string `mapstructure:"format,omitempty"`
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Path *string `mapstructure:"path,omitempty" json:"path,omitempty"`
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Type *string `mapstructure:"type,omitempty" json:"type,omitempty"`
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Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
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Format *string `mapstructure:"format,omitempty" json:"format,omitempty"`
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}
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// Input2 -
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type Input2 struct {
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Input `mapstructure:",squash"`
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SendPositionToBase *string `mapstructure:"send position to base,omitempty"`
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SendPositionToBase *string `mapstructure:"send position to base,omitempty" json:"send position to base,omitempty"`
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}
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// Input3 -
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@ -63,116 +128,116 @@ type Input3 struct {
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// PositionOutput -
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type PositionOutput struct {
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Output1 *Output `mapstructure:"output1,omitempty"`
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Output2 *Output `mapstructure:"output2,omitempty"`
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Output3 *Output `mapstructure:"output3,omitempty"`
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Output4 *Output `mapstructure:"output4,omitempty"`
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Output1 *Output `mapstructure:"output1,omitempty" json:"output1,omitempty"`
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Output2 *Output `mapstructure:"output2,omitempty" json:"output2,omitempty"`
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Output3 *Output `mapstructure:"output3,omitempty" json:"output3,omitempty"`
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Output4 *Output `mapstructure:"output4,omitempty" json:"output4,omitempty"`
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}
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// Output -
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type Output struct {
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Path *string `mapstructure:"path,omitempty"`
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Type *string `mapstructure:"type,omitempty"`
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Enabled *bool `mapstructure:"enabled,omitempty"`
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Format *string `mapstructure:"format,omitempty"`
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Path *string `mapstructure:"path,omitempty" json:"path,omitempty"`
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Type *string `mapstructure:"type,omitempty" json:"type,omitempty"`
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Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
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Format *string `mapstructure:"format,omitempty" json:"format,omitempty"`
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}
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// BaseMode -
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type BaseMode struct {
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Output *Output `mapstructure:"output,omitempty"`
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BaseCoordinates *BaseCoordinates `mapstructure:"base coordinates,omitempty"`
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RTCM3Messages *RTCM3Messages `mapstructure:"rtcm3 messages,omitempty"`
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Output *Output `mapstructure:"output,omitempty" json:"output,omitempty"`
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BaseCoordinates *BaseCoordinates `mapstructure:"base coordinates,omitempty" json:"base coordinates,omitempty"`
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RTCM3Messages *RTCM3Messages `mapstructure:"rtcm3 messages,omitempty" json:"rtcm3 messages,omitempty"`
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}
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// BaseCoordinates -
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type BaseCoordinates struct {
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Format *string `mapstructure:"format,omitempty"`
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AntennaOffset *AntennaOffset `mapstructure:"antenna offset,omitempty"`
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Accumulation *string `mapstructure:"accumulation,omitempty"`
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Coordinates *[]string `mapstructure:"coordinates,omitempty"`
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Mode *string `mapstructure:"mode,omitempty"`
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Format *string `mapstructure:"format,omitempty" json:"format,omitempty"`
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AntennaOffset *AntennaOffset `mapstructure:"antenna offset,omitempty" json:"antenna offset,omitempty"`
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Accumulation *string `mapstructure:"accumulation,omitempty" json:"accumulation,omitempty"`
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Coordinates []*string `mapstructure:"coordinates,omitempty" json:"coordinates,omitempty"`
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Mode *string `mapstructure:"mode,omitempty" json:"mode,omitempty"`
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}
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// AntennaOffset -
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type AntennaOffset struct {
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East *string `mapstructure:"east,omitempty"`
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North *string `mapstructure:"north,omitempty"`
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Up *string `mapstructure:"up,omitempty"`
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East *string `mapstructure:"east,omitempty" json:"east,omitempty"`
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North *string `mapstructure:"north,omitempty" json:"north,omitempty"`
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Up *string `mapstructure:"up,omitempty" json:"up,omitempty"`
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}
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// RTCM3Messages -
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type RTCM3Messages struct {
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// GPS L1 code and phase and ambiguities and carrier-to-noise ratio
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Type1002 *RTCMMessageType `mapstructure:"1002,omitemtpy"`
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Type1002 *RTCMMessageType `mapstructure:"1002,omitemtpy" json:"1002,omitemtpy"`
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// Station coordinates XYZ for antenna reference point and antenna height.
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Type1006 *RTCMMessageType `mapstructure:"1006,omitemtpy"`
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Type1006 *RTCMMessageType `mapstructure:"1006,omitemtpy" json:"1006,omitemtpy"`
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// Antenna serial number.
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Type1008 *RTCMMessageType `mapstructure:"1008,omitemtpy"`
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Type1008 *RTCMMessageType `mapstructure:"1008,omitemtpy" json:"1008,omitemtpy"`
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// GLONASS L1 code and phase and ambiguities and carrier-to-noise ratio.
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Type1010 *RTCMMessageType `mapstructure:"1010,omitemtpy"`
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Type1010 *RTCMMessageType `mapstructure:"1010,omitemtpy" json:"1010,omitemtpy"`
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// GPS ephemeris.
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Type1019 *RTCMMessageType `mapstructure:"1019,omitemtpy"`
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Type1019 *RTCMMessageType `mapstructure:"1019,omitemtpy" json:"1019,omitemtpy"`
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// GLONASS ephemeris.
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Type1020 *RTCMMessageType `mapstructure:"1020,omitemtpy"`
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Type1020 *RTCMMessageType `mapstructure:"1020,omitemtpy" json:"1020,omitemtpy"`
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// The type 7 Multiple Signal Message format for Europe’s Galileo system
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Type1097 *RTCMMessageType `mapstructure:"1097,omitemtpy"`
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Type1097 *RTCMMessageType `mapstructure:"1097,omitemtpy" json:"1097,omitemtpy"`
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// Full SBAS pseudo-ranges, carrier phases, Doppler and signal strength (high resolution)
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Type1107 *RTCMMessageType `mapstructure:"1107,omitemtpy"`
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Type1107 *RTCMMessageType `mapstructure:"1107,omitemtpy" json:"1107,omitemtpy"`
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// Full QZSS pseudo-ranges, carrier phases, Doppler and signal strength (high resolution)
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Type1117 *RTCMMessageType `mapstructure:"1117,omitemtpy"`
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Type1117 *RTCMMessageType `mapstructure:"1117,omitemtpy" json:"1117,omitemtpy"`
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// Full BeiDou pseudo-ranges, carrier phases, Doppler and signal strength (high resolution)
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Type1127 *RTCMMessageType `mapstructure:"1127,omitemtpy"`
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Type1127 *RTCMMessageType `mapstructure:"1127,omitemtpy" json:"1127,omitemtpy"`
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}
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// RTCMMessageType -
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type RTCMMessageType struct {
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Frequency string `mapstructure:"frequency"`
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Enabled bool `mapstructure:"enabled"`
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Frequency *string `mapstructure:"frequency,omitempty" json:"frequency,omitempty"`
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Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
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}
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// Logging -
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type Logging struct {
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Correction *LoggingService `mapstructure:"correction,omitempty"`
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Interval int `mapstructure:"interval"`
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Solution *LoggingService `mapstructure:"solution,omitempty"`
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Raw *LoggingService `mapstructure:"raw,omitempty"`
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Base *LoggingService `mapstructure:"base,omitempty"`
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Overwrite *bool `mapstructure:"overwrite,omitempty"`
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Correction *LoggingService `mapstructure:"correction,omitempty" json:"correction,omitempty"`
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Interval *int `mapstructure:"interval,omitempty" json:"interval,omitempty"`
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Solution *LoggingService `mapstructure:"solution,omitempty" json:"solution,omitempty"`
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Raw *LoggingService `mapstructure:"raw,omitempty" json:"raw,omitempty"`
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Base *LoggingService `mapstructure:"base,omitempty" json:"base,omitempty"`
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Overwrite *bool `mapstructure:"overwrite,omitempty" json:"overwrite,omitempty"`
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}
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// LoggingService -
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type LoggingService struct {
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Started *bool `mapstructure:"started,omitempty"`
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Version *string `mapstructure:"version,omitempty"`
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Format *string `mapstructure:"format,omitempty"`
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Started *bool `mapstructure:"started,omitempty" json:"started,omitempty"`
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Version *string `mapstructure:"version,omitempty" json:"version,omitempty"`
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Format *string `mapstructure:"format,omitempty" json:"format,omitempty"`
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}
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// Bluetooth -
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type Bluetooth struct {
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Enabled *bool `mapstructure:"enabled,omitempty"`
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Discoverable *bool `mapstructure:"discoverable,omitempty"`
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Pin *int `mapstructure:"pin,omitempty"`
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Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
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Discoverable *bool `mapstructure:"discoverable,omitempty" json:"discoverable,omitempty"`
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Pin *int `mapstructure:"pin,omitempty" json:"pin,omitempty"`
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}
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// LoRa -
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type LoRa struct {
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AirRate *string `mapstructure:"air rate,omitempty"`
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Frequency *float64 `mapstructure:"frequency,omitempty"`
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OutputPower *string `mapstructure:"output power,omitempty"`
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AirRate *string `mapstructure:"air rate,omitempty" json:"air rate,omitempty"`
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Frequency *float64 `mapstructure:"frequency,omitempty" json:"frequency,omitempty"`
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OutputPower *string `mapstructure:"output power,omitempty" json:"output power,omitempty"`
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}
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// Constraints -
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type Constraints struct {
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LoRa *LoRaConstraints `mapstructure:"lora,omitempty"`
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LoRa *LoRaConstraints `mapstructure:"lora,omitempty" json:"lora,omitempty"`
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}
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// LoRaConstraints -
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type LoRaConstraints struct {
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Frequency *LoRaFrequencyRange `mapstructure:"frequency,omitempty"`
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Frequency *LoRaFrequencyRange `mapstructure:"frequency,omitempty" json:"frequency,omitempty"`
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}
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// LoRaFrequencyRange -
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type LoRaFrequencyRange struct {
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Min *int `mapstructure:"min,omitempty"`
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Max *int `mapstructure:"max,omitempty"`
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Min *int `mapstructure:"min,omitempty" json:"min,omitempty"`
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Max *int `mapstructure:"max,omitempty" json:"max,omitempty"`
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}
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@ -1,10 +1,11 @@
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package reachview
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import (
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"context"
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"testing"
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"time"
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"forge.cadoles.com/Pyxis/orion/emlid"
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"github.com/davecgh/go-spew/spew"
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)
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func TestReachViewConfiguration(t *testing.T) {
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@ -21,7 +22,10 @@ func TestReachViewConfiguration(t *testing.T) {
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t.Fatal(err)
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}
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config, err := client.Configuration()
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ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
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defer cancel()
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config, err := client.Configuration(ctx)
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if err != nil {
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t.Error(err)
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}
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@ -34,7 +38,53 @@ func TestReachViewConfiguration(t *testing.T) {
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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()
|
||||
|
||||
|
|
|
|||
|
|
@ -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)
|
||||
}
|
||||
|
|
@ -0,0 +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'\
|
||||
```
|
||||
|
|
@ -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,
|
||||
},
|
||||
},
|
||||
}
|
||||
}
|
||||
2
go.mod
2
go.mod
|
|
@ -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
|
||||
|
|
|
|||
Reference in New Issue