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Example: simple cli for automatic configuration of rover/base modules

This commit is contained in:
wpetit 2018-09-26 15:56:06 +02:00
parent e4bb33e895
commit 854052bc84
9 changed files with 493 additions and 88 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
emlid/client.go
View File

@ -121,7 +121,7 @@ func (c *Client) ReqResp(ctx context.Context,
}() }()
err = c.conn.On(responseEvent, func(_ *gosocketio.Channel, data interface{}) { err = c.conn.On(responseEvent, func(_ *gosocketio.Channel, data interface{}) {
err = mapstructure.Decode(data, res) err = mapstructure.WeakDecode(data, res)
once.Do(done) once.Do(done)
}) })
if err != nil { if err != nil {

40
emlid/reachview/configuration.go
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@ -1,15 +1,51 @@
package reachview package reachview
import "context"
const ( const (
eventGetConfiguration = "get configuration" eventGetConfiguration = "get configuration"
eventCurrentConfiguration = "current 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 // 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{} 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 nil, err
} }
return configuration, nil 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 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 - // Configuration -
type Configuration struct { type Configuration struct {
RTKSettings *RTKSettings `mapstructure:"rtk settings,omitempty"` RTKSettings *RTKSettings `mapstructure:"rtk settings,omitempty" json:"rtk settings,omitempty"`
CorrectionInput *CorrectionInput `mapstructure:"correction input,omitempty"` CorrectionInput *CorrectionInput `mapstructure:"correction input,omitempty" json:"correction input,omitempty"`
PositionOutput *PositionOutput `mapstructure:"position output,omitempty"` PositionOutput *PositionOutput `mapstructure:"position output,omitempty" json:"position output,omitempty"`
BaseMode *BaseMode `mapstructure:"base mode,omitempty"` BaseMode *BaseMode `mapstructure:"base mode,omitempty" json:"base mode,omitempty"`
Logging *Logging `mapstructure:"logging,omitempty"` Logging *Logging `mapstructure:"logging,omitempty" json:"logging,omitempty"`
Bluetooth *Bluetooth `mapstructure:"bluetooth,omitempty"` Bluetooth *Bluetooth `mapstructure:"bluetooth,omitempty" json:"bluetooth,omitempty"`
LoRa *LoRa `mapstructure:"lora,omitempty"` LoRa *LoRa `mapstructure:"lora,omitempty" json:"lora,omitempty"`
Constraints *Constraints `mapstructure:"constraints,omitempty"` Constraints *Constraints `mapstructure:"constraints,omitempty" json:"constraints,omitempty"`
} }
// RTKSettings - // RTKSettings -
type RTKSettings struct { type RTKSettings struct {
GLONASSARMode *string `mapstructure:"glonass ar mode,omitempty"` GLONASSARMode *string `mapstructure:"glonass ar mode,omitempty" json:"glonass ar mode,omitempty"`
UpdateRate *string `mapstructure:"update rate,omitempty"` UpdateRate *string `mapstructure:"update rate,omitempty" json:"update rate,omitempty"`
ElevationMaskAngle *string `mapstructure:"elevation mask angle,omitempty"` ElevationMaskAngle *string `mapstructure:"elevation mask angle,omitempty" json:"elevation mask angle,omitempty"`
MaxHorizontalAcceleration *string `mapstructure:"max horizontal acceleration,omitempty"` MaxHorizontalAcceleration *string `mapstructure:"max horizontal acceleration,omitempty" json:"max horizontal acceleration,omitempty"`
SNRMask *string `mapstructure:"snr mask,omitempty"` SNRMask *string `mapstructure:"snr mask,omitempty" json:"snr mask,omitempty"`
GPSARMode *string `mapstructure:"gps ar mode,omitempty"` GPSARMode *string `mapstructure:"gps ar mode,omitempty" json:"gps ar mode,omitempty"`
PositionningMode *string `mapstructure:"positioning mode,omitempty"` PositionningMode *string `mapstructure:"positioning mode,omitempty" json:"positioning mode,omitempty"`
PositioningSystems *PositionningSystems `mapstructure:"positioning systems,omitempty"` PositioningSystems *PositionningSystems `mapstructure:"positioning systems,omitempty" json:"positioning systems,omitempty"`
MaxVerticalAcceleration *string `mapstructure:"max vertical acceleration,omitempty"` MaxVerticalAcceleration *string `mapstructure:"max vertical acceleration,omitempty" json:"max vertical acceleration,omitempty"`
} }
// PositionningSystems - // PositionningSystems -
type PositionningSystems struct { type PositionningSystems struct {
GLONASS *bool `mapstructure:"glonass,omitempty"` GLONASS *bool `mapstructure:"glonass,omitempty" json:"glonass,omitempty"`
SBAS *bool `mapstructure:"sbas,omitempty"` SBAS *bool `mapstructure:"sbas,omitempty" json:"sbas,omitempty"`
QZS *bool `mapstructure:"qzs,omitempty"` QZS *bool `mapstructure:"qzs,omitempty" json:"qzs,omitempty"`
QZSS *bool `mapstructure:"qzss,omitempty"` QZSS *bool `mapstructure:"qzss,omitempty" json:"qzss,omitempty"`
Compass *bool `mapstructure:"compass,omitempty"` Compass *bool `mapstructure:"compass,omitempty" json:"compass,omitempty"`
Galileo *bool `mapstructure:"galileo,omitempty"` Galileo *bool `mapstructure:"galileo,omitempty" json:"galileo,omitempty"`
GPS *bool `mapstructure:"gps,omitempty"` GPS *bool `mapstructure:"gps,omitempty" json:"gps,omitempty"`
} }
// CorrectionInput - // CorrectionInput -
type CorrectionInput struct { type CorrectionInput struct {
Input2 *Input2 `mapstructure:"input2,omitempty"` Input2 *Input2 `mapstructure:"input2,omitempty" json:"input2,omitempty"`
Input3 *Input3 `mapstructure:"input3,omitempty"` Input3 *Input3 `mapstructure:"input3,omitempty" json:"input3,omitempty"`
} }
// Input - // Input -
type Input struct { type Input struct {
Path *string `mapstructure:"path,omitempty"` Path *string `mapstructure:"path,omitempty" json:"path,omitempty"`
Type *string `mapstructure:"type,omitempty"` Type *string `mapstructure:"type,omitempty" json:"type,omitempty"`
Enabled *bool `mapstructure:"enabled,omitempty"` Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
Format *string `mapstructure:"format,omitempty"` Format *string `mapstructure:"format,omitempty" json:"format,omitempty"`
} }
// Input2 - // Input2 -
type Input2 struct { type Input2 struct {
Input `mapstructure:",squash"` Input `mapstructure:",squash"`
SendPositionToBase *string `mapstructure:"send position to base,omitempty"` SendPositionToBase *string `mapstructure:"send position to base,omitempty" json:"send position to base,omitempty"`
} }
// Input3 - // Input3 -
@ -63,116 +128,116 @@ type Input3 struct {
// PositionOutput - // PositionOutput -
type PositionOutput struct { type PositionOutput struct {
Output1 *Output `mapstructure:"output1,omitempty"` Output1 *Output `mapstructure:"output1,omitempty" json:"output1,omitempty"`
Output2 *Output `mapstructure:"output2,omitempty"` Output2 *Output `mapstructure:"output2,omitempty" json:"output2,omitempty"`
Output3 *Output `mapstructure:"output3,omitempty"` Output3 *Output `mapstructure:"output3,omitempty" json:"output3,omitempty"`
Output4 *Output `mapstructure:"output4,omitempty"` Output4 *Output `mapstructure:"output4,omitempty" json:"output4,omitempty"`
} }
// Output - // Output -
type Output struct { type Output struct {
Path *string `mapstructure:"path,omitempty"` Path *string `mapstructure:"path,omitempty" json:"path,omitempty"`
Type *string `mapstructure:"type,omitempty"` Type *string `mapstructure:"type,omitempty" json:"type,omitempty"`
Enabled *bool `mapstructure:"enabled,omitempty"` Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
Format *string `mapstructure:"format,omitempty"` Format *string `mapstructure:"format,omitempty" json:"format,omitempty"`
} }
// BaseMode - // BaseMode -
type BaseMode struct { type BaseMode struct {
Output *Output `mapstructure:"output,omitempty"` Output *Output `mapstructure:"output,omitempty" json:"output,omitempty"`
BaseCoordinates *BaseCoordinates `mapstructure:"base coordinates,omitempty"` BaseCoordinates *BaseCoordinates `mapstructure:"base coordinates,omitempty" json:"base coordinates,omitempty"`
RTCM3Messages *RTCM3Messages `mapstructure:"rtcm3 messages,omitempty"` RTCM3Messages *RTCM3Messages `mapstructure:"rtcm3 messages,omitempty" json:"rtcm3 messages,omitempty"`
} }
// BaseCoordinates - // BaseCoordinates -
type BaseCoordinates struct { type BaseCoordinates struct {
Format *string `mapstructure:"format,omitempty"` Format *string `mapstructure:"format,omitempty" json:"format,omitempty"`
AntennaOffset *AntennaOffset `mapstructure:"antenna offset,omitempty"` AntennaOffset *AntennaOffset `mapstructure:"antenna offset,omitempty" json:"antenna offset,omitempty"`
Accumulation *string `mapstructure:"accumulation,omitempty"` Accumulation *string `mapstructure:"accumulation,omitempty" json:"accumulation,omitempty"`
Coordinates *[]string `mapstructure:"coordinates,omitempty"` Coordinates []*string `mapstructure:"coordinates,omitempty" json:"coordinates,omitempty"`
Mode *string `mapstructure:"mode,omitempty"` Mode *string `mapstructure:"mode,omitempty" json:"mode,omitempty"`
} }
// AntennaOffset - // AntennaOffset -
type AntennaOffset struct { type AntennaOffset struct {
East *string `mapstructure:"east,omitempty"` East *string `mapstructure:"east,omitempty" json:"east,omitempty"`
North *string `mapstructure:"north,omitempty"` North *string `mapstructure:"north,omitempty" json:"north,omitempty"`
Up *string `mapstructure:"up,omitempty"` Up *string `mapstructure:"up,omitempty" json:"up,omitempty"`
} }
// RTCM3Messages - // RTCM3Messages -
type RTCM3Messages struct { type RTCM3Messages struct {
// GPS L1 code and phase and ambiguities and carrier-to-noise ratio // 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. // 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. // 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. // 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. // GPS ephemeris.
Type1019 *RTCMMessageType `mapstructure:"1019,omitemtpy"` Type1019 *RTCMMessageType `mapstructure:"1019,omitemtpy" json:"1019,omitemtpy"`
// GLONASS ephemeris. // 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 // 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) // 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) // 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) // 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 - // RTCMMessageType -
type RTCMMessageType struct { type RTCMMessageType struct {
Frequency string `mapstructure:"frequency"` Frequency *string `mapstructure:"frequency,omitempty" json:"frequency,omitempty"`
Enabled bool `mapstructure:"enabled"` Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
} }
// Logging - // Logging -
type Logging struct { type Logging struct {
Correction *LoggingService `mapstructure:"correction,omitempty"` Correction *LoggingService `mapstructure:"correction,omitempty" json:"correction,omitempty"`
Interval int `mapstructure:"interval"` Interval *int `mapstructure:"interval,omitempty" json:"interval,omitempty"`
Solution *LoggingService `mapstructure:"solution,omitempty"` Solution *LoggingService `mapstructure:"solution,omitempty" json:"solution,omitempty"`
Raw *LoggingService `mapstructure:"raw,omitempty"` Raw *LoggingService `mapstructure:"raw,omitempty" json:"raw,omitempty"`
Base *LoggingService `mapstructure:"base,omitempty"` Base *LoggingService `mapstructure:"base,omitempty" json:"base,omitempty"`
Overwrite *bool `mapstructure:"overwrite,omitempty"` Overwrite *bool `mapstructure:"overwrite,omitempty" json:"overwrite,omitempty"`
} }
// LoggingService - // LoggingService -
type LoggingService struct { type LoggingService struct {
Started *bool `mapstructure:"started,omitempty"` Started *bool `mapstructure:"started,omitempty" json:"started,omitempty"`
Version *string `mapstructure:"version,omitempty"` Version *string `mapstructure:"version,omitempty" json:"version,omitempty"`
Format *string `mapstructure:"format,omitempty"` Format *string `mapstructure:"format,omitempty" json:"format,omitempty"`
} }
// Bluetooth - // Bluetooth -
type Bluetooth struct { type Bluetooth struct {
Enabled *bool `mapstructure:"enabled,omitempty"` Enabled *bool `mapstructure:"enabled,omitempty" json:"enabled,omitempty"`
Discoverable *bool `mapstructure:"discoverable,omitempty"` Discoverable *bool `mapstructure:"discoverable,omitempty" json:"discoverable,omitempty"`
Pin *int `mapstructure:"pin,omitempty"` Pin *int `mapstructure:"pin,omitempty" json:"pin,omitempty"`
} }
// LoRa - // LoRa -
type LoRa struct { type LoRa struct {
AirRate *string `mapstructure:"air rate,omitempty"` AirRate *string `mapstructure:"air rate,omitempty" json:"air rate,omitempty"`
Frequency *float64 `mapstructure:"frequency,omitempty"` Frequency *float64 `mapstructure:"frequency,omitempty" json:"frequency,omitempty"`
OutputPower *string `mapstructure:"output power,omitempty"` OutputPower *string `mapstructure:"output power,omitempty" json:"output power,omitempty"`
} }
// Constraints - // Constraints -
type Constraints struct { type Constraints struct {
LoRa *LoRaConstraints `mapstructure:"lora,omitempty"` LoRa *LoRaConstraints `mapstructure:"lora,omitempty" json:"lora,omitempty"`
} }
// LoRaConstraints - // LoRaConstraints -
type LoRaConstraints struct { type LoRaConstraints struct {
Frequency *LoRaFrequencyRange `mapstructure:"frequency,omitempty"` Frequency *LoRaFrequencyRange `mapstructure:"frequency,omitempty" json:"frequency,omitempty"`
} }
// LoRaFrequencyRange - // LoRaFrequencyRange -
type LoRaFrequencyRange struct { type LoRaFrequencyRange struct {
Min *int `mapstructure:"min,omitempty"` Min *int `mapstructure:"min,omitempty" json:"min,omitempty"`
Max *int `mapstructure:"max,omitempty"` Max *int `mapstructure:"max,omitempty" json:"max,omitempty"`
} }

56
emlid/reachview/configuration_test.go
View File

@ -1,10 +1,11 @@
package reachview package reachview
import ( import (
"context"
"testing" "testing"
"time"
"forge.cadoles.com/Pyxis/orion/emlid" "forge.cadoles.com/Pyxis/orion/emlid"
"github.com/davecgh/go-spew/spew"
) )
func TestReachViewConfiguration(t *testing.T) { func TestReachViewConfiguration(t *testing.T) {
@ -21,7 +22,10 @@ func TestReachViewConfiguration(t *testing.T) {
t.Fatal(err) 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 { if err != nil {
t.Error(err) t.Error(err)
} }
@ -34,7 +38,53 @@ func TestReachViewConfiguration(t *testing.T) {
t.Fatal("config.RTKSettings should not be nil") 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() 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

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,
},
},
}
}

2
go.mod
View File

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