package main

import (
	"context"
	"flag"
	"log"
	"time"

	"forge.cadoles.com/Pyxis/orion/emlid"
	"forge.cadoles.com/Pyxis/orion/emlid/reachview"
)

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()

	log.Println("updating base manual position")

	// 42["apply configuration",{"base mode":{"base coordinates":{"coordinates":["0","0","0"],"antenna offset":{"up":"0","east":"0","north":"0"},"format":"llh","mode":"fix-and-hold","accumulation":"2"}}}]

	config := &reachview.Configuration{
		BaseMode: &reachview.BaseMode{
			BaseCoordinates: &reachview.BaseCoordinates{
				Coordinates: []*string{
					reachview.String("2"),
					reachview.String("0"),
					reachview.String("0"),
				},
				AntennaOffset: &reachview.AntennaOffset{
					East:  reachview.String("0"),
					North: reachview.String("0"),
					Up:    reachview.String("2"),
				},
				Format: reachview.BaseCoordinatesFormatLLH,
				Mode:   reachview.String("manual"),
			},
		},
	}

	applyConfiguration(c, config)

	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 applyConfiguration(c *reachview.Client, config *reachview.Configuration) {

	ctx, applyConfCancel := context.WithTimeout(context.Background(), 20*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)
	}

}