Upgrade to ReachView v2.24.0

.gitignore

@@ -2,3 +2,4 @@
 /bin
 /.env
 /release
+*.log

Makefile

@@ -39,4 +39,7 @@ doc:
 release:
 	scripts/release
 
+spy-websocket:
+	echo > websocket.log && sudo tshark -Y websocket.payload -Tfields -e text | tee -a websocket.log
+
 .PHONY: test clean generate vendor install-devtools lint watch tidy doc release

cmd/configurator/main.go

@@ -76,7 +76,7 @@ func configureRover() {
 	config.RTKSettings.GPSARMode = reachview.GPSARModeFixAndHold
 	config.RTKSettings.GLONASSARMode = reachview.On
 	config.RTKSettings.PositionningMode = reachview.PositionningModeKinematic
-	config.RTKSettings.UpdateRate = reachview.String("5")
+	config.RTKSettings.UpdateRate = reachview.Float(5)
 	config.CorrectionInput = &reachview.CorrectionInput{
 		Input2: &reachview.Input2{
 			Input: reachview.Input{
@@ -105,56 +105,25 @@ func configureBase() {
 	log.Println("configuring module as base")
 
 	config := getCommonConfiguration()
-	config.RTKSettings.UpdateRate = reachview.String("1")
+	config.RTKSettings.UpdateRate = reachview.Float(1)
-	config.BaseMode = &reachview.BaseMode{
+	config.BaseMode.Output = &reachview.Output{
-		Output: &reachview.Output{
+		Enabled: reachview.True,
-			Enabled: reachview.True,
+		Format:  reachview.IOFormatRTCM3,
-			Format:  reachview.IOFormatRTCM3,
+		Type:    reachview.IOTypeLoRa,
-			Type:    reachview.IOTypeLoRa,
+	}
+	config.BaseMode.BaseCoordinates = &reachview.BaseCoordinates{
+		Accumulation: reachview.String("1"),
+		AntennaOffset: &reachview.AntennaOffset{
+			East:  reachview.String("0"),
+			North: reachview.String("0"),
+			Up:    reachview.String("2.20"),
 		},
-		BaseCoordinates: &reachview.BaseCoordinates{
+		Mode:   reachview.BaseCoordinatesModeManual,
-			Accumulation: reachview.String("1"),
+		Format: reachview.BaseCoordinatesFormatLLH,
-			AntennaOffset: &reachview.AntennaOffset{
+		Coordinates: []*string{
-				Up: reachview.String("2.20"),
+			reachview.String("0"),
-			},
+			reachview.String("0"),
-			Mode:   reachview.BaseCoordinatesModeAverageSingle,
+			reachview.String("0"),
-			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,
-			},
 		},
 	}
 
@@ -163,8 +132,7 @@ func configureBase() {
 }
 
 func applyConfiguration(c *reachview.Client, config *reachview.Configuration) {
-
+	ctx, applyConfCancel := context.WithTimeout(context.Background(), 60*time.Second)
-	ctx, applyConfCancel := context.WithTimeout(context.Background(), 10*time.Second)
 	defer applyConfCancel()
 
 	result, _, err := c.ApplyConfiguration(ctx, config)
@@ -175,28 +143,17 @@ func applyConfiguration(c *reachview.Client, config *reachview.Configuration) {
 	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 {
+	if err := c.ResetConfiguration(ctx); err != nil {
 		log.Fatal(err)
 	}
-
-	if result != reachview.ConfigurationApplySuccess {
-		log.Fatal("configuration reset failed !")
-	}
-
 }
 
 func getCommonConfiguration() *reachview.Configuration {
@@ -208,8 +165,16 @@ func getCommonConfiguration() *reachview.Configuration {
 				Galileo: reachview.True,
 				SBAS:    reachview.True,
 				QZSS:    reachview.True,
+				Compass: reachview.False,
 			},
-			UpdateRate: reachview.String("5"),
+			MaxHorizontalAcceleration: reachview.String("1"),
+			GPSARMode:                 reachview.String("fix-and-hold"),
+			SNRMask:                   reachview.String("35"),
+			GLONASSARMode:             reachview.String("off"),
+			UpdateRate:                reachview.Float(5),
+			ElevationMaskAngle:        reachview.String("15"),
+			PositionningMode:          reachview.String("kinematic"),
+			MaxVerticalAcceleration:   reachview.String("1"),
 		},
 		LoRa: &reachview.LoRa{
 			AirRate:     reachview.String("9.11"),
@@ -224,5 +189,43 @@ func getCommonConfiguration() *reachview.Configuration {
 				Enabled: reachview.False,
 			},
 		},
+		BaseMode: &reachview.BaseMode{
+			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,
+				},
+			},
+		},
 	}
 }

cmd/updater/main.go

@@ -139,7 +139,7 @@ func updateThenReboot() {
 	log.Println("checking reachview version")
 	ctx, reachviewVersionCancel := context.WithTimeout(ctx, 5*time.Second)
 	defer reachviewVersionCancel()
-	version, err := c.ReachViewVersion(ctx)
+	version, _, err := c.ReachViewVersion(ctx)
 	if err != nil {
 		log.Fatal(err)
 	}

emlid/client.go

@@ -4,7 +4,7 @@ import (
 	"context"
 	"sync"
 
-	"forge.cadoles.com/Pyxis/golang-socketio"
+	gosocketio "forge.cadoles.com/Pyxis/golang-socketio"
 	"forge.cadoles.com/Pyxis/golang-socketio/transport"
 	"github.com/mitchellh/mapstructure"
 	"github.com/pkg/errors"
@@ -80,6 +80,9 @@ func (c *Client) Close() {
 
 // Emit a new event with the given data
 func (c *Client) Emit(event string, data interface{}) error {
+	// enc := json.NewEncoder(os.Stdout)
+	// enc.SetIndent("", "  ")
+	// enc.Encode(data)
 	c.Logf("emit '%s' event", event)
 	if err := c.conn.Emit(event, data); err != nil {
 		return errors.Wrapf(err, "error while emitting '%s' event", event)
@@ -121,7 +124,13 @@ func (c *Client) ReqResp(ctx context.Context,
 	}()
 
 	err = c.conn.On(responseEvent, func(_ *gosocketio.Channel, data interface{}) {
-		err = mapstructure.WeakDecode(data, res)
+		if res != nil {
+			// enc := json.NewEncoder(os.Stdout)
+			// enc.SetIndent("", "  ")
+			// enc.Encode(data)
+			err = mapstructure.WeakDecode(data, res)
+		}
+
 		once.Do(done)
 	})
 	if err != nil {

emlid/common/client.go

@@ -0,0 +1,17 @@
+package common
+
+import (
+	"forge.cadoles.com/Pyxis/orion/emlid"
+)
+
+// Client is a ReachRS Updater client
+type Client struct {
+	*emlid.Client
+}
+
+// NewClient returns a new ReachRS ReachView client
+func NewClient(opts ...emlid.OptionFunc) *Client {
+	return &Client{
+		Client: emlid.NewClient(opts...),
+	}
+}

emlid/common/handle_version.go

@@ -0,0 +1,51 @@
+package common
+
+import (
+	"context"
+
+	"github.com/blang/semver/v4"
+	"github.com/pkg/errors"
+)
+
+type VersionHandlerFunc func(ctx context.Context, version string, stable bool) error
+
+type VersionHandler struct {
+	Range   string
+	Handler VersionHandlerFunc
+}
+
+func NewVersionHandler(versionRange string, h VersionHandlerFunc) *VersionHandler {
+	return &VersionHandler{
+		Range:   versionRange,
+		Handler: h,
+	}
+}
+
+func (c *Client) HandleVersion(ctx context.Context, handlers ...*VersionHandler) error {
+	rawVersion, stable, err := c.ReachViewVersion(ctx)
+	if err != nil {
+		return errors.Wrap(err, "could not retrieve reachview version")
+	}
+
+	version, err := semver.ParseTolerant(rawVersion)
+	if err != nil {
+		return errors.Wrap(err, "could not parse reachview version")
+	}
+
+	for _, h := range handlers {
+		versionRange, err := semver.ParseRange(h.Range)
+		if err != nil {
+			return errors.Wrap(err, "could not parse handler version range")
+		}
+
+		if !versionRange(version) {
+			continue
+		}
+
+		if err := h.Handler(ctx, rawVersion, stable); err != nil {
+			return errors.WithStack(err)
+		}
+	}
+
+	return nil
+}

emlid/common/reachview_version.go

@@ -1,6 +1,9 @@
-package updater
+package common
 
-import "context"
+import (
+	"context"
+	"strings"
+)
 
 const (
 	eventGetReachViewVersion     = "get reachview version"
@@ -9,13 +12,15 @@ const (
 
 type reachViewVersion struct {
 	Version string `json:"version"`
+	Stable  bool   `json:"bool"`
 }
 
 // ReachViewVersion returns the ReachRS module ReachView version
-func (c *Client) ReachViewVersion(ctx context.Context) (string, error) {
+func (c *Client) ReachViewVersion(ctx context.Context) (string, bool, error) {
 	res := &reachViewVersion{}
 	if err := c.ReqResp(ctx, eventGetReachViewVersion, nil, eventReachViewVersionResults, res); err != nil {
-		return "", err
+		return "", false, err
 	}
-	return res.Version, nil
+
+	return strings.TrimSpace(res.Version), res.Stable, nil
 }

emlid/common/reachview_version_test.go

@@ -1,4 +1,4 @@
-package updater
+package common
 
 import (
 	"context"
@@ -10,7 +10,7 @@ import (
 
 func TestClientReachViewVersion(t *testing.T) {
 
-	if !*runUpdaterIntegrationTests {
+	if !*runCommonIntegrationTests {
 		t.Skip("To run this test, use: go test -updater-integration")
 	}
 
@@ -21,9 +21,11 @@ func TestClientReachViewVersion(t *testing.T) {
 	if err := client.Connect(); err != nil {
 		t.Fatal(err)
 	}
+
 	ctx, cancel := context.WithTimeout(context.Background(), 5*time.Second)
 	defer cancel()
-	version, err := client.ReachViewVersion(ctx)
+
+	version, _, err := client.ReachViewVersion(ctx)
 	if err != nil {
 		t.Error(err)
 	}

emlid/common/util_test.go

@@ -0,0 +1,13 @@
+package common
+
+import "flag"
+
+var runCommonIntegrationTests = flag.Bool(
+	"common-integration", false,
+	"Run the 'Common' integration tests (in addition to the unit tests)",
+)
+
+var reachHost = flag.String(
+	"reach-host", "192.168.42.1",
+	"The Reach module host to use in integration tests",
+)

emlid/reachview/client.go

@@ -1,14 +1,18 @@
 package reachview
 
-import "forge.cadoles.com/Pyxis/orion/emlid"
+import (
+	"forge.cadoles.com/Pyxis/orion/emlid"
+	"forge.cadoles.com/Pyxis/orion/emlid/common"
+)
 
 // Client is a ReachRS Updater client
 type Client struct {
-	*emlid.Client
+	*common.Client
 }
 
 // NewClient returns a new ReachRS ReachView client
 func NewClient(opts ...emlid.OptionFunc) *Client {
-	client := emlid.NewClient(opts...)
+	return &Client{
-	return &Client{client}
+		Client: common.NewClient(opts...),
+	}
 }

emlid/reachview/configuration.go

@@ -1,13 +1,19 @@
 package reachview
 
-import "context"
+import (
+	"context"
+
+	"forge.cadoles.com/Pyxis/orion/emlid/common"
+	"github.com/pkg/errors"
+)
 
 const (
-	eventGetConfiguration     = "get configuration"
+	eventGetConfiguration       = "get configuration"
-	eventCurrentConfiguration = "current configuration"
+	eventCurrentConfiguration   = "current configuration"
-	eventApplyConfiguration   = "apply configuration"
+	eventApplyConfiguration     = "apply configuration"
-	eventConfigurationApplied = "configuration applied"
+	eventConfigurationApplied   = "configuration applied"
-	eventResetConfiguration   = "reset configuration to default"
+	eventResetConfiguration     = "reset configuration to default"
+	eventSettingsResetToDefault = "settings reset to default"
 )
 
 // Configuration fetches and return the current configuration of the ReachRS module
@@ -42,10 +48,32 @@ func (r *Client) ApplyConfiguration(ctx context.Context, config *Configuration)
 }
 
 // ResetConfiguration resets the module configuration to factory defaults
-func (r *Client) ResetConfiguration(ctx context.Context) (string, *Configuration, error) {
+func (r *Client) ResetConfiguration(ctx context.Context) error {
-	res := &configurationApplied{}
+	err := r.HandleVersion(
-	if err := r.ReqResp(ctx, eventResetConfiguration, nil, eventConfigurationApplied, res); err != nil {
+		ctx,
-		return ConfigurationApplyFailed, nil, err
+		common.NewVersionHandler("< 2.24.0", func(ctx context.Context, version string, stable bool) error {
+			res := &configurationApplied{}
+			if err := r.ReqResp(ctx, eventResetConfiguration, nil, eventConfigurationApplied, res); err != nil {
+				return errors.WithStack(err)
+			}
+
+			if res.Result != ConfigurationApplySuccess {
+				return errors.New(res.Result)
+			}
+
+			return nil
+		}),
+		common.NewVersionHandler(">= 2.24.0", func(ctx context.Context, version string, stable bool) error {
+			if err := r.ReqResp(ctx, eventResetConfiguration, nil, eventSettingsResetToDefault, nil); err != nil {
+				return errors.WithStack(err)
+			}
+
+			return nil
+		}),
+	)
+	if err != nil {
+		return errors.WithStack(err)
 	}
-	return res.Result, res.Configuration, nil
+
+	return nil
 }

emlid/reachview/configuration_model.go

@@ -80,7 +80,7 @@ type Configuration struct {
 // RTKSettings -
 type RTKSettings struct {
 	GLONASSARMode             *string              `mapstructure:"glonass ar mode,omitempty" json:"glonass ar mode,omitempty"`
-	UpdateRate                *string              `mapstructure:"update rate,omitempty" json:"update rate,omitempty"`
+	UpdateRate                *float64             `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"`

emlid/updater/client.go

@@ -1,15 +1,18 @@
 // Package updater provides an API to communicate with the ReachRS modules "Updater" application
 package updater
 
-import "forge.cadoles.com/Pyxis/orion/emlid"
+import (
+	"forge.cadoles.com/Pyxis/orion/emlid"
+	"forge.cadoles.com/Pyxis/orion/emlid/common"
+)
 
 // Client is a ReachRS Updater client
 type Client struct {
-	*emlid.Client
+	*common.Client
 }
 
 // NewClient returns a new ReachRS Updater client
 func NewClient(opts ...emlid.OptionFunc) *Client {
-	client := emlid.NewClient(opts...)
+	client := common.NewClient(opts...)
 	return &Client{client}
 }

go.mod

@@ -1,21 +1,22 @@
 module forge.cadoles.com/Pyxis/orion
 
+go 1.15
+
 require (
 	forge.cadoles.com/Pyxis/golang-socketio v0.0.0-20180919100209-bb857ced6b95
-	github.com/caarlos0/env v3.4.0+incompatible
+	github.com/blang/semver/v4 v4.0.0
+	github.com/caarlos0/env v3.5.0+incompatible
 	github.com/cenkalti/backoff v2.0.0+incompatible // indirect
 	github.com/davecgh/go-spew v1.1.1
 	github.com/go-chi/chi v3.3.3+incompatible
-	github.com/gorilla/websocket v1.4.0 // indirect
+	github.com/gorilla/websocket v1.4.2 // indirect
 	github.com/grandcat/zeroconf v0.0.0-20180329153754-df75bb3ccae1
 	github.com/miekg/dns v1.0.12 // indirect
 	github.com/mitchellh/mapstructure v1.1.2
 	github.com/pkg/errors v0.8.0
 	github.com/pmezard/go-difflib v1.0.0 // indirect
 	github.com/stretchr/testify v1.2.2 // indirect
-	golang.org/x/crypto v0.0.0-20181001203147-e3636079e1a4 // indirect
+	golang.org/x/crypto v0.0.0-20201117144127-c1f2f97bffc9 // indirect
-	golang.org/x/net v0.0.0-20180911220305-26e67e76b6c3 // indirect
 	golang.org/x/sync v0.0.0-20180314180146-1d60e4601c6f // indirect
-	golang.org/x/sys v0.0.0-20181005133103-4497e2df6f9e // indirect
 	golang.org/x/text v0.3.0 // indirect
 )

go.sum

@@ -1,7 +1,13 @@
 forge.cadoles.com/Pyxis/golang-socketio v0.0.0-20180919100209-bb857ced6b95 h1:o3G5+9RjczCK1xAYFaRMknk1kY9Ule6PNfiW6N6hEpg=
 forge.cadoles.com/Pyxis/golang-socketio v0.0.0-20180919100209-bb857ced6b95/go.mod h1:I6kYOFWNkFlNeQLI7ZqfTRz4NdPHZxX0Bzizmzgchs0=
+github.com/blang/semver v1.1.0 h1:ol1rO7QQB5uy7umSNV7VAmLugfLRD+17sYJujRNYPhg=
+github.com/blang/semver v3.5.1+incompatible h1:cQNTCjp13qL8KC3Nbxr/y2Bqb63oX6wdnnjpJbkM4JQ=
+github.com/blang/semver/v4 v4.0.0 h1:1PFHFE6yCCTv8C1TeyNNarDzntLi7wMI5i/pzqYIsAM=
+github.com/blang/semver/v4 v4.0.0/go.mod h1:IbckMUScFkM3pff0VJDNKRiT6TG/YpiHIM2yvyW5YoQ=
 github.com/caarlos0/env v3.4.0+incompatible h1:FRwBdvENjLHZoUbFnULnFss9wKtcapdaM35DfxiTjeM=
 github.com/caarlos0/env v3.4.0+incompatible/go.mod h1:tdCsowwCzMLdkqRYDlHpZCp2UooDD3MspDBjZ2AD02Y=
+github.com/caarlos0/env v3.5.0+incompatible h1:Yy0UN8o9Wtr/jGHZDpCBLpNrzcFLLM2yixi/rBrKyJs=
+github.com/caarlos0/env v3.5.0+incompatible/go.mod h1:tdCsowwCzMLdkqRYDlHpZCp2UooDD3MspDBjZ2AD02Y=
 github.com/cenkalti/backoff v2.0.0+incompatible h1:5IIPUHhlnUZbcHQsQou5k1Tn58nJkeJL9U+ig5CHJbY=
 github.com/cenkalti/backoff v2.0.0+incompatible/go.mod h1:90ReRw6GdpyfrHakVjL/QHaoyV4aDUVVkXQJJJ3NXXM=
 github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
@@ -10,6 +16,8 @@ github.com/go-chi/chi v3.3.3+incompatible h1:KHkmBEMNkwKuK4FdQL7N2wOeB9jnIx7jR5w
 github.com/go-chi/chi v3.3.3+incompatible/go.mod h1:eB3wogJHnLi3x/kFX2A+IbTBlXxmMeXJVKy9tTv1XzQ=
 github.com/gorilla/websocket v1.4.0 h1:WDFjx/TMzVgy9VdMMQi2K2Emtwi2QcUQsztZ/zLaH/Q=
 github.com/gorilla/websocket v1.4.0/go.mod h1:E7qHFY5m1UJ88s3WnNqhKjPHQ0heANvMoAMk2YaljkQ=
+github.com/gorilla/websocket v1.4.2 h1:+/TMaTYc4QFitKJxsQ7Yye35DkWvkdLcvGKqM+x0Ufc=
+github.com/gorilla/websocket v1.4.2/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE=
 github.com/grandcat/zeroconf v0.0.0-20180329153754-df75bb3ccae1 h1:VSELJSxQlpi1bz4ZwT+93hPpzNLRcgytLr77iVRJpcE=
 github.com/grandcat/zeroconf v0.0.0-20180329153754-df75bb3ccae1/go.mod h1:YjKB0WsLXlMkO9p+wGTCoPIDGRJH0mz7E526PxkQVxI=
 github.com/miekg/dns v1.0.12 h1:814rTNaw7Q7pGncpSEDT06YS8rdGmpUEnKgpQzctJsk=
@@ -24,11 +32,20 @@ github.com/stretchr/testify v1.2.2 h1:bSDNvY7ZPG5RlJ8otE/7V6gMiyenm9RtJ7IUVIAoJ1
 github.com/stretchr/testify v1.2.2/go.mod h1:a8OnRcib4nhh0OaRAV+Yts87kKdq0PP7pXfy6kDkUVs=
 golang.org/x/crypto v0.0.0-20181001203147-e3636079e1a4 h1:Vk3wNqEZwyGyei9yq5ekj7frek2u7HUfffJ1/opblzc=
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