Use ReachView 2.24.X broadcast API

cmd/broadcast/main.go

@@ -0,0 +1,58 @@
+package main
+
+import (
+	"context"
+	"flag"
+	"log"
+	"time"
+
+	"forge.cadoles.com/Pyxis/orion/emlid"
+	"forge.cadoles.com/Pyxis/orion/emlid/reachview"
+	"github.com/davecgh/go-spew/spew"
+)
+
+var (
+	host = "192.168.42.1"
+)
+
+func init() {
+	flag.StringVar(&host, "host", host, "ReachRS module host")
+}
+
+func main() {
+
+	flag.Parse()
+
+	c := connect()
+	defer c.Close()
+
+	ctx, cancel := context.WithTimeout(context.Background(), 30*time.Second)
+	defer cancel()
+
+	events, err := c.Broadcast(ctx)
+	if err != nil {
+		log.Fatal(err)
+	}
+
+	for e := range events {
+		log.Printf("received event: %s", spew.Sdump(e))
+	}
+
+	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
+
+}

emlid/reachview/broadcast.go

@@ -0,0 +1,53 @@
+package reachview
+
+import (
+	"context"
+
+	gosocketio "forge.cadoles.com/Pyxis/golang-socketio"
+	"github.com/mitchellh/mapstructure"
+	"github.com/pkg/errors"
+)
+
+const (
+	eventBroadcast = "broadcast"
+)
+
+const (
+	BroadcastRoverStatus   = "rover_status"
+	BroadcastBaseStatus    = "base_status"
+	BroadcastRTKStatus     = "rtk_status"
+	BroadcastObservations  = "observations"
+	BroadcastTimeMarks     = "time_marks"
+	BroadcastBatteryStatus = "battery_status"
+)
+
+// Broadcast is a broadcasted message containing modules status informations.
+type Broadcast struct {
+	Name    string                 `mapstructure:"name"`
+	Payload map[string]interface{} `mapstructure:"payload"`
+}
+
+// Broadcast listens for broadcast messages.
+func (c *Client) Broadcast(ctx context.Context) (chan Broadcast, error) {
+	out := make(chan Broadcast)
+
+	handler := func(_ *gosocketio.Channel, data interface{}) {
+		res := Broadcast{}
+		if err := mapstructure.WeakDecode(data, &res); err != nil {
+			c.Logf("error while decoding broadcast message: %s", errors.WithStack(err))
+		}
+		select {
+		case <-ctx.Done():
+			c.Off(eventBroadcast)
+			close(out)
+		default:
+			out <- res
+		}
+	}
+
+	if err := c.On(eventBroadcast, handler); err != nil {
+		return nil, errors.WithStack(err)
+	}
+
+	return out, nil
+}

emlid/reachview/broadcast_test.go

@@ -10,7 +10,6 @@ import (
 )
 
 func TestReachViewStatusBroadcast(t *testing.T) {
-
 	if !*runReachViewIntegrationTests {
 		t.Skip("To run this test, use: go test -reachview-integration")
 	}
@@ -27,13 +26,12 @@ func TestReachViewStatusBroadcast(t *testing.T) {
 	ctx, cancel := context.WithTimeout(context.Background(), 10*time.Second)
 	defer cancel()
 
-	statuses, err := client.StatusBroadcast(ctx)
+	broadcastChan, err := client.Broadcast(ctx)
 	if err != nil {
 		t.Fatal(err)
 	}
 
-	for s := range statuses {
+	for b := range broadcastChan {
-		spew.Dump(s)
+		spew.Dump(b)
 	}
-
 }

emlid/reachview/status_broadcast.go

@@ -1,142 +0,0 @@
-package reachview
-
-import (
-	"context"
-
-	"forge.cadoles.com/Pyxis/golang-socketio"
-	"github.com/mitchellh/mapstructure"
-)
-
-const (
-	eventStatusBroadcast = "status broadcast"
-)
-
-// StatusBroadcast is a broadcasted message containing modules'
-// positioning informations
-/* Source sample
-{
-	"receiver time mark count": "0",
-	"ant type base": "",
-	"solution status": "-",
-	"vel enu (m/s) base": "0.000,0.000,0.000",
-	"time of receiver clock rover": "2018/10/16 13:55:26.006000000",
-	"baseline length float (m)": "0.000",
-	"# of rtcm messages rover": "",
-	"time sys offset (ns)": "26.748,-6.962,0.000,0.000",
-	"# of average single pos base": "0",
-	"pos xyz float std (m) rover": "0.000,0.000,0.000",
-	"ant delta rover": "0.000 0.000 0.000",
-	"# of rtcm messages corr": "",
-	"accumulated time to run": "05:45:59.7",
-	"cpu time for a cycle (ms)": "16",
-	"Parameter": "Value",
-	"# of rtcm messages base": "",
-	"vel enu (m/s) rover": "0.467,0.476,0.577",
-	"ant type rover": "",
-	"pos xyz single (m) rover": "4315030.518,379718.279,4666208.342",
-	"pos xyz (m) base": "0.000,0.000,0.000",
-	"# of input data corr": "obs(0),nav(0),gnav(0),ion(0),sbs(0),pos(0),dgps(0),ssr(0),err(0)",
-	"rtk server state": "run",
-	"pos xyz fixed (m) rover": "0.000,0.000,0.000",
-	"age of differential (s)": "0.000",
-	"pos xyz fixed std (m) rover": "0.000,0.000,0.000",
-	"# of all estimated states": "170",
-	"processing cycle (ms)": "10",
-	"ant delta base": "0.000 0.000 0.000",
-	"# of valid satellites": "6",
-	"rtklib version": "2.4.3 Emlid b28",
-	"bytes in input buffer": "0,0",
-	"# of satellites rover": "11",
-	"# of input data rover": "obs(103738),nav(60),gnav(45),ion(3305),sbs(0),pos(0),dgps(0),ssr(0),err(0)",
-	"pos xyz float (m) rover": "0.000,0.000,0.000",
-	"ratio for ar validation": "0.000",
-	"pos llh (deg,m) base": "0.00000000,0.00000000,0.000",
-	"missing obs data count": "4468",
-	"# of real estimated states": "9",
-	"baseline length fixed (m)": "0.000",
-	"# of satellites base": "0",
-	"last time mark": "-",
-	"# of input data base": "obs(0),nav(0),gnav(0),ion(0),sbs(0),pos(0),dgps(0),ssr(0),err(0)",
-	"GDOP/PDOP/HDOP/VDOP": "0.0,0.0,0.0,0.0",
-	"positioning mode": "kinematic",
-	"pos llh single (deg,m) rover": "47.32085966,5.02901552,257.086",
-	"solution interval (s)": "0.200",
-	"rtklib time mark count": "0"
-}
-*/
-type Status struct {
-	ReceiverTimeMarkCount        int     `mapstructure:"receiver time mark count"`
-	BaseAntType                  string  `mapstructure:"ant type base"`
-	SolutionStatus               string  `mapstructure:"solution status"`
-	PositioningMode              string  `mapstructure:"positioning mode"`
-	BaseVelocityEnum             string  `mapstructure:"vel enu (m/s) base"`
-	RoverReceiverTime            string  `mapstructure:"time of receiver clock rover"`
-	BaselineLengthFloat          string  `mapstructure:"baseline length float (m)"`
-	RoverNumberOfRTCMMessages    string  `mapstructure:"# of rtcm messages rover"`
-	TimeSysOffset                string  `mapstructure:"time sys offset (ns)"`
-	BaseNumberOfAverageSinglePos int     `mapstructure:"# of average single pos base"`
-	RoverPosXYZStandaloneFloat   string  `mapstructure:"pos xyz float std (m) rover"`
-	RoverAntDelta                string  `mapstructure:"ant delta rover"`
-	NumberOfRTCMCorrection       string  `mapstructure:"# of rtcm messages corr"`
-	AccumulatedTimeToRun         string  `mapstructure:"accumulated time to run"`
-	CPUTimeForACycle             int     `mapstructure:"cpu time for a cycle (ms)"`
-	Parameter                    string  `mapstructure:"Parameter"`
-	BaseNumberOfRTCMMessages     string  `mapstructure:"# of rtcm messages base"`
-	RoverVelocityEnum            string  `mapstructure:"vel enu (m/s) rover"`
-	RoverAntType                 string  `mapstructure:"ant type rover"`
-	RoverPosXYZSingle            string  `mapstructure:"pos xyz single (m) rover"`
-	BasePosXYZ                   string  `mapstructure:"pos xyz (m) base"`
-	NumberOfInputDataCorrection  string  `mapstructure:"# of input data corr"`
-	RTKServerState               string  `mapstructure:"rtk server state"`
-	RoverPosXYZFixed             string  `mapstructure:"pos xyz fixed (m) rover"`
-	AgeOfDifferential            float32 `mapstructure:"age of differential (s)"`
-	RoverPosXYZStandaloneFixed   string  `mapstructure:"pos xyz fixed std (m) rover"`
-	NumberOfAllEstimatedStates   int     `mapstructure:"# of all estimated states"`
-	ProcessingCycle              int     `mapstructure:"processing cycle (ms)"`
-	BaseAntDelta                 string  `mapstructure:"ant delta base"`
-	NumberOfValidSatellites      int     `mapstructure:"# of valid satellites"`
-	RTKLibVersion                string  `mapstructure:"2.4.3 Emlid b28"`
-	BytesInInputBuffer           string  `mapstructure:"bytes in input buffer"`
-	RoverNumberOfSatellites      int     `mapstructure:"# of satellites rover"`
-	RoverNumberOfInputData       string  `mapstructure:"# of input data rover"`
-	RoverPosXYZFloat             string  `mapstructure:"pos xyz float (m) rover"`
-	RatioForARValidation         float32 `mapstructure:"ratio for ar validation"`
-	BasePosLLH                   string  `mapstructure:"pos llh (deg,m) base"`
-	MissingObsDataCount          int     `mapstructure:"missing obs data count"`
-	NumberOfRealEstimatedStates  int     `mapstructure:"# of real estimated states"`
-	BaselineLengthFixed          float32 `mapstructure:"baseline length fixed (m)"`
-	BaseNumberOfSatellites       int     `mapstructure:"# of satellites base"`
-	LastTimemark                 string  `mapstructure:"last time mark"`
-	BaseNumberOfInputData        string  `mapstructure:"# of input data base"`
-	GdopPdopHdopVdop             string  `mapstructure:"GDOP/PDOP/HDOP/VDOP"`
-	RoverPosLLHSingle            string  `mapstructure:"pos llh single (deg,m) rover"`
-	SolutionInterval             float32 `mapstructure:"solution interval (s)"`
-	RTKLibTimeMarkCount          int     `mapstructure:"rtklib time mark count"`
-}
-
-// StatusBroadcast listens for StatusBroadcast messages
-func (c *Client) StatusBroadcast(ctx context.Context) (chan Status, error) {
-
-	out := make(chan Status)
-
-	handler := func(_ *gosocketio.Channel, data interface{}) {
-		res := Status{}
-		if err := mapstructure.WeakDecode(data, &res); err != nil {
-			c.Logf("error while decoding status broadcast: %s", err)
-		}
-		select {
-		case <-ctx.Done():
-			c.Off(eventStatusBroadcast)
-			close(out)
-		default:
-			out <- res
-		}
-	}
-
-	if err := c.On(eventStatusBroadcast, handler); err != nil {
-		return nil, err
-	}
-
-	return out, nil
-
-}