94 lines
1.8 KiB
Go
94 lines
1.8 KiB
Go
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)
|
|
}
|
|
|
|
}
|