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Make roverConfiguration with JSON-RPC possible

This commit is contained in:
Philippe Caseiro 2018-10-19 14:46:55 +02:00 committed by William Petit
parent 128b135d5c
commit e3bfd27b0a
2 changed files with 167 additions and 5 deletions
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154
cmd/server/rpc/server.go
View File

@ -8,6 +8,7 @@ import (
"time"
"forge.cadoles.com/Pyxis/orion/emlid"
"forge.cadoles.com/Pyxis/orion/emlid/reachview"
"forge.cadoles.com/Pyxis/orion/emlid/updater"
"forge.cadoles.com/Pyxis/orion/openwrt"
"github.com/gorilla/rpc"
@ -193,7 +194,7 @@ type UpdateOrionBoxResponse struct {
Results *updater.TestResults
}
// Connect wifi interface to a Orion box wifi hotspot!
// connect wifi interface to a Orion box wifi hotspot!
func (o *OrionService) connectBox(box *OrionBox, server *OrionServer) error {
o.UCI.LoadWirelessConf()
if server == nil {
@ -265,7 +266,10 @@ func (o *OrionService) setupMasterWifi(rqContext context.Context, box *OrionBox,
server.Security = string(updater.SecurityWPAPSK)
}
boxCli, err := o.connectUpdater(rqContext, box)
boxCli, cliErr := o.connectUpdater(rqContext, box)
if cliErr != nil {
return errors.Wrap(cliErr, "Creation of updater client failed")
}
if err := boxCli.Connect(); err != nil {
return errors.Wrap(err, "Connecting to Box failed")
@ -275,7 +279,7 @@ func (o *OrionService) setupMasterWifi(rqContext context.Context, box *OrionBox,
fmt.Println("Running Tests !")
ctx, testResultsCancel := context.WithTimeout(rqContext, 55*time.Second)
defer testResultsCancel()
_, err = boxCli.TestResults(ctx)
_, err := boxCli.TestResults(ctx)
if err != nil {
return errors.Wrap(err, "Minimal test failed")
}
@ -304,7 +308,7 @@ func (o *OrionService) setupMasterWifi(rqContext context.Context, box *OrionBox,
}
// updateAndReboot connects to the box with the New address and run basic tests on version dans updates
func (o *OrionService) updateAndReboot(rqContext context.Context, box *OrionBox, server *OrionServer, reply *UpdateOrionBoxResponse) error {
func (o *OrionService) updateAndReboot(rqContext context.Context, box *OrionBox, reply *UpdateOrionBoxResponse) error {
time.Sleep(3 * time.Second)
boxCli, err := o.connectUpdater(rqContext, box)
if err != nil {
@ -367,7 +371,147 @@ func (o *OrionService) UpdateOrionBox(r *http.Request,
// return err
// }
_ = o.setupMasterWifi(r.Context(), args.Box, args.Server)
return o.updateAndReboot(r.Context(), args.Box, args.Server, reply)
return o.updateAndReboot(r.Context(), args.Box, reply)
}
// connectReachview creates the client to a reachview module and returns it !
func (o *OrionService) connectReachView(rqContext context.Context, box *OrionBox) (*reachview.Client, error) {
var boxCli *reachview.Client
service, err := o.discoverService(rqContext)
fmt.Printf("DEBUG len = %d\n", len(service))
if len(service) == 0 {
fmt.Println("DEBUG Connecting to box with EndPoint !")
boxCli = reachview.NewClient(
emlid.WithEndpoint(box.Address, 80),
)
} else if err == nil {
fmt.Println("DEBUG Connecting to box with Service !")
boxCli = reachview.NewClient(
emlid.WithService(service[0]),
)
} else {
fmt.Printf("Non mais là c'est vraiment étrange !")
return nil, err
}
//fmt.Printf("NAME: %s, IP: %s", service[0].Name, service[0].AddrV4)
return boxCli, err
}
// ConfigOrionBoxArgs argument structure for exported method OwrtCreateWifiInterface
type ConfigOrionBoxArgs struct {
Box *OrionBox
}
// ConfigOrionBoxResponse argument structure for exported method OwrtCreateWifiInterface
type ConfigOrionBoxResponse struct {
}
func (o *OrionService) resetConfiguration(rqContext context.Context, c *reachview.Client) {
ctx, resetCancel := context.WithTimeout(rqContext, 55*time.Second)
defer resetCancel()
result, _, err := c.ResetConfiguration(ctx)
if err != nil {
log.Fatal(err)
}
if result != reachview.ConfigurationApplySuccess {
log.Fatal("configuration reset failed !")
}
}
// FIXME have to came from parameters !
func (o *OrionService) 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,
},
},
}
}
func (o *OrionService) applyConfiguration(rqContext context.Context, c *reachview.Client, config *reachview.Configuration) error {
ctx, applyConfCancel := context.WithTimeout(rqContext, 55*time.Second)
defer applyConfCancel()
result, _, err := c.ApplyConfiguration(ctx, config)
if err != nil {
return err
}
if result != reachview.ConfigurationApplySuccess {
return fmt.Errorf("Configuration update failed")
}
return c.RestartRTKLib()
}
func (o *OrionService) configureRover(rqContext context.Context, c *reachview.Client) error {
_ = c.Connect()
defer c.Close()
o.resetConfiguration(rqContext, c)
config := o.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,
},
}
config.BaseMode = &reachview.BaseMode{
Output: &reachview.Output{
Enabled: reachview.False,
},
}
log.Println("configuring module as rover")
return o.applyConfiguration(rqContext, c, config)
}
// ConfigureOrionBox starts provisionning process for an Orion box (base or rover)
func (o *OrionService) ConfigureOrionBox(r *http.Request,
args *ConfigOrionBoxArgs,
reply *ConfigOrionBoxResponse) error {
reach, err := o.connectReachView(r.Context(), args.Box)
if err != nil {
return errors.Wrap(err, "Impossible to create ReachView client")
}
fmt.Println("Start Rover Configuraiton !")
return o.configureRover(r.Context(), reach)
}
// NewServer returns a new configured JSON-RPC server

18
cmd/server/rpc/testdata/test_rest.rest vendored
View File

@ -72,4 +72,22 @@ content-type: application/json
}
}
} ]
}
###
POST http://192.168.100.1:8888/rpc HTTP/1.1
content-type: application/json
{
"id": 1,
"method": "Orion.ConfigureOrionBox",
"params": [ {
"Box": {
"Address": "",
"NewAddress": "",
"Security": "",
"SSID" : "reach:2a:03",
"WifiKey": "emlidreach"
}
} ]
}