Make roverConfiguration with JSON-RPC possible
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parent
128b135d5c
commit
e3bfd27b0a
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@ -8,6 +8,7 @@ import (
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"time"
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"forge.cadoles.com/Pyxis/orion/emlid"
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"forge.cadoles.com/Pyxis/orion/emlid/reachview"
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"forge.cadoles.com/Pyxis/orion/emlid/updater"
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"forge.cadoles.com/Pyxis/orion/openwrt"
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"github.com/gorilla/rpc"
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@ -193,7 +194,7 @@ type UpdateOrionBoxResponse struct {
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Results *updater.TestResults
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}
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// Connect wifi interface to a Orion box wifi hotspot!
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// connect wifi interface to a Orion box wifi hotspot!
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func (o *OrionService) connectBox(box *OrionBox, server *OrionServer) error {
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o.UCI.LoadWirelessConf()
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if server == nil {
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@ -265,7 +266,10 @@ func (o *OrionService) setupMasterWifi(rqContext context.Context, box *OrionBox,
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server.Security = string(updater.SecurityWPAPSK)
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}
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boxCli, err := o.connectUpdater(rqContext, box)
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boxCli, cliErr := o.connectUpdater(rqContext, box)
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if cliErr != nil {
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return errors.Wrap(cliErr, "Creation of updater client failed")
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}
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if err := boxCli.Connect(); err != nil {
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return errors.Wrap(err, "Connecting to Box failed")
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@ -275,7 +279,7 @@ func (o *OrionService) setupMasterWifi(rqContext context.Context, box *OrionBox,
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fmt.Println("Running Tests !")
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ctx, testResultsCancel := context.WithTimeout(rqContext, 55*time.Second)
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defer testResultsCancel()
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_, err = boxCli.TestResults(ctx)
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_, err := boxCli.TestResults(ctx)
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if err != nil {
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return errors.Wrap(err, "Minimal test failed")
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}
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@ -304,7 +308,7 @@ func (o *OrionService) setupMasterWifi(rqContext context.Context, box *OrionBox,
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}
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// updateAndReboot connects to the box with the New address and run basic tests on version dans updates
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func (o *OrionService) updateAndReboot(rqContext context.Context, box *OrionBox, server *OrionServer, reply *UpdateOrionBoxResponse) error {
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func (o *OrionService) updateAndReboot(rqContext context.Context, box *OrionBox, reply *UpdateOrionBoxResponse) error {
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time.Sleep(3 * time.Second)
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boxCli, err := o.connectUpdater(rqContext, box)
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if err != nil {
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@ -367,7 +371,147 @@ func (o *OrionService) UpdateOrionBox(r *http.Request,
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// return err
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// }
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_ = o.setupMasterWifi(r.Context(), args.Box, args.Server)
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return o.updateAndReboot(r.Context(), args.Box, args.Server, reply)
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return o.updateAndReboot(r.Context(), args.Box, reply)
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}
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// connectReachview creates the client to a reachview module and returns it !
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func (o *OrionService) connectReachView(rqContext context.Context, box *OrionBox) (*reachview.Client, error) {
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var boxCli *reachview.Client
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service, err := o.discoverService(rqContext)
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fmt.Printf("DEBUG len = %d\n", len(service))
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if len(service) == 0 {
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fmt.Println("DEBUG Connecting to box with EndPoint !")
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boxCli = reachview.NewClient(
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emlid.WithEndpoint(box.Address, 80),
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)
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} else if err == nil {
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fmt.Println("DEBUG Connecting to box with Service !")
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boxCli = reachview.NewClient(
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emlid.WithService(service[0]),
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)
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} else {
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fmt.Printf("Non mais là c'est vraiment étrange !")
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return nil, err
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}
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//fmt.Printf("NAME: %s, IP: %s", service[0].Name, service[0].AddrV4)
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return boxCli, err
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}
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// ConfigOrionBoxArgs argument structure for exported method OwrtCreateWifiInterface
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type ConfigOrionBoxArgs struct {
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Box *OrionBox
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}
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// ConfigOrionBoxResponse argument structure for exported method OwrtCreateWifiInterface
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type ConfigOrionBoxResponse struct {
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}
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func (o *OrionService) resetConfiguration(rqContext context.Context, c *reachview.Client) {
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ctx, resetCancel := context.WithTimeout(rqContext, 55*time.Second)
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defer resetCancel()
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result, _, err := c.ResetConfiguration(ctx)
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if err != nil {
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log.Fatal(err)
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}
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if result != reachview.ConfigurationApplySuccess {
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log.Fatal("configuration reset failed !")
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}
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}
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// FIXME have to came from parameters !
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func (o *OrionService) getCommonConfiguration() *reachview.Configuration {
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return &reachview.Configuration{
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RTKSettings: &reachview.RTKSettings{
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PositioningSystems: &reachview.PositionningSystems{
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GPS: reachview.True,
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GLONASS: reachview.True,
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Galileo: reachview.True,
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SBAS: reachview.True,
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QZSS: reachview.True,
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},
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UpdateRate: reachview.String("5"),
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},
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LoRa: &reachview.LoRa{
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AirRate: reachview.String("9.11"),
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Frequency: reachview.Float(868000),
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OutputPower: reachview.String("20"),
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},
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PositionOutput: &reachview.PositionOutput{
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Output1: &reachview.Output{
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Enabled: reachview.False,
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},
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Output2: &reachview.Output{
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Enabled: reachview.False,
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},
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},
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}
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}
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func (o *OrionService) applyConfiguration(rqContext context.Context, c *reachview.Client, config *reachview.Configuration) error {
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ctx, applyConfCancel := context.WithTimeout(rqContext, 55*time.Second)
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defer applyConfCancel()
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result, _, err := c.ApplyConfiguration(ctx, config)
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if err != nil {
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return err
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}
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if result != reachview.ConfigurationApplySuccess {
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return fmt.Errorf("Configuration update failed")
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}
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return c.RestartRTKLib()
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}
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func (o *OrionService) configureRover(rqContext context.Context, c *reachview.Client) error {
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_ = c.Connect()
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defer c.Close()
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o.resetConfiguration(rqContext, c)
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config := o.getCommonConfiguration()
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config.RTKSettings.GPSARMode = reachview.GPSARModeFixAndHold
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config.RTKSettings.GLONASSARMode = reachview.On
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config.RTKSettings.PositionningMode = reachview.PositionningModeKinematic
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config.RTKSettings.UpdateRate = reachview.String("5")
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config.CorrectionInput = &reachview.CorrectionInput{
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Input2: &reachview.Input2{
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Input: reachview.Input{
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Enabled: reachview.True,
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Format: reachview.IOFormatRTCM3,
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Type: reachview.IOTypeLoRa,
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Path: reachview.String("lora"),
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},
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SendPositionToBase: reachview.Off,
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},
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}
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config.BaseMode = &reachview.BaseMode{
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Output: &reachview.Output{
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Enabled: reachview.False,
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},
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}
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log.Println("configuring module as rover")
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return o.applyConfiguration(rqContext, c, config)
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}
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// ConfigureOrionBox starts provisionning process for an Orion box (base or rover)
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func (o *OrionService) ConfigureOrionBox(r *http.Request,
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args *ConfigOrionBoxArgs,
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reply *ConfigOrionBoxResponse) error {
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reach, err := o.connectReachView(r.Context(), args.Box)
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if err != nil {
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return errors.Wrap(err, "Impossible to create ReachView client")
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}
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fmt.Println("Start Rover Configuraiton !")
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return o.configureRover(r.Context(), reach)
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}
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// NewServer returns a new configured JSON-RPC server
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@ -73,3 +73,21 @@ content-type: application/json
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}
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} ]
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}
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###
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POST http://192.168.100.1:8888/rpc HTTP/1.1
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content-type: application/json
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{
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"id": 1,
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"method": "Orion.ConfigureOrionBox",
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"params": [ {
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"Box": {
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"Address": "",
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"NewAddress": "",
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"Security": "",
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"SSID" : "reach:2a:03",
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"WifiKey": "emlidreach"
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}
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} ]
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}
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