tvolkmann/gyrogpsc
1
0
Fork 0
Code Issues Pull Requests Projects 1 Releases 1 Wiki Activity

[WIP] eliminated data races & formatted files

Browse Source
This commit is contained in:
Timo Volkmann 2020-12-12 02:29:22 +01:00
parent a4a739c64b
commit 09791727a4
17 changed files with 1158 additions and 910 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
.gitignore vendored
View File

@ -161,3 +161,4 @@ Temporary Items
.env
gpsconfig.yml
config.yml
_db

99
cmd/autostart/autostart.go
View File

@ -1,65 +1,66 @@
package main
import (
"git.timovolkmann.de/gyrogpsc/core"
"git.timovolkmann.de/gyrogpsc/storage"
"git.timovolkmann.de/gyrogpsc/web"
"github.com/sirupsen/logrus"
"github.com/spf13/viper"
"time"
"git.timovolkmann.de/gyrogpsc/core"
"git.timovolkmann.de/gyrogpsc/storage"
"git.timovolkmann.de/gyrogpsc/web"
"github.com/sirupsen/logrus"
"github.com/spf13/viper"
"time"
)
func main() {
conf := configurationFromFile()
conf := configurationFromFile()
repo := storage.NewRepository(conf)
disp := core.NewDispatcher()
repo := storage.NewRepository(conf)
disp := core.NewDispatcher()
service := core.TrackingService(repo, disp, conf)
service := core.TrackingService(repo, disp, conf)
go func() {
service.NewTracking(core.TCP, core.SERIAL)
time.Sleep(5 * time.Second)
service.StartRecord()
time.Sleep(20 * time.Second)
service.StopRecord()
time.Sleep(5 * time.Second)
service.NewTracking(core.TCP)
service.NewTracking(core.SERIAL)
time.Sleep(5 * time.Second)
service.StartRecord()
time.Sleep(20 * time.Second)
service.StopRecord()
}()
go func() {
service.NewSetup(core.TCP, core.SERIAL)
time.Sleep(5 * time.Second)
service.StartRecord()
time.Sleep(5 * time.Second)
service.StopRecord()
time.Sleep(5 * time.Second)
service.NewSetup(core.TCP)
time.Sleep(5 * time.Second)
service.StartRecord()
time.Sleep(5 * time.Second)
service.StopRecord()
time.Sleep(5 * time.Second)
service.StopAll()
}()
web.CreateServer(service, disp, conf)
web.CreateServer(service, disp, conf)
}
func configurationFromFile() *core.Configuration {
viper.SetDefault("collectors.porttcp", ":3010")
viper.SetDefault("collectors.portserial", "/dev/tty.usbmodem14201")
viper.SetDefault("webserver.port", ":3011")
viper.SetDefault("pipeline.publishIntervalMs", 50)
viper.SetDefault("pipeline.syncUpdateIntervalMs", 494)
viper.SetDefault("debuglevel", "INFO")
viper.SetDefault("collectors.porttcp", ":3010")
viper.SetDefault("collectors.portserial", "/dev/tty.usbmodem14201")
viper.SetDefault("webserver.port", ":3011")
viper.SetDefault("pipeline.publishIntervalMs", 50)
viper.SetDefault("pipeline.syncUpdateIntervalMs", 494)
viper.SetDefault("debuglevel", "INFO")
viper.SetConfigName("gpsconfig") // name of config file (without extension)
viper.SetConfigType("yaml")
viper.AddConfigPath(".")
viper.AddConfigPath("./../../")
if err := viper.ReadInConfig(); err != nil {
logrus.Warn("couldn't find config file. using standard configuration")
}
viper.SetConfigName("gpsconfig") // name of config file (without extension)
viper.SetConfigType("yaml")
viper.AddConfigPath(".")
viper.AddConfigPath("./../../")
if err := viper.ReadInConfig(); err != nil {
logrus.Warn("couldn't find config file. using standard configuration")
}
c := core.Configuration{}
if err := viper.Unmarshal(&c); err != nil {
logrus.Debug("couldn't load config...")
logrus.Error(err)
}
lvl, err := logrus.ParseLevel(c.Debuglevel)
if err != nil {
logrus.Error(err)
}
logrus.SetLevel(lvl)
return &c
c := core.Configuration{}
if err := viper.Unmarshal(&c); err != nil {
logrus.Debug("couldn't load config...")
logrus.Error(err)
}
lvl, err := logrus.ParseLevel(c.Debuglevel)
if err != nil {
logrus.Error(err)
}
logrus.SetLevel(lvl)
return &c
}

44
cmd/server/server.go
View File

@ -1,37 +1,37 @@
package main
import (
"git.timovolkmann.de/gyrogpsc/core"
"git.timovolkmann.de/gyrogpsc/storage"
"git.timovolkmann.de/gyrogpsc/web"
"github.com/sirupsen/logrus"
"github.com/spf13/viper"
"git.timovolkmann.de/gyrogpsc/core"
"git.timovolkmann.de/gyrogpsc/storage"
"git.timovolkmann.de/gyrogpsc/web"
"github.com/sirupsen/logrus"
"github.com/spf13/viper"
)
func main() {
conf := &core.Configuration{}
configurationFromFile(conf)
conf := &core.Configuration{}
configurationFromFile(conf)
repo := storage.NewRepository(conf)
disp := core.NewDispatcher()
repo := storage.NewRepository(conf)
disp := core.NewDispatcher()
service := core.TrackingService(repo, disp, conf)
service := core.TrackingService(repo, disp, conf)
web.CreateServer(service, disp, conf)
web.CreateServer(service, disp, conf)
}
func configurationFromFile(c *core.Configuration) {
viper.SetDefault("TcpCollectorPort", ":3010")
viper.SetDefault("SerialCollectorPort", "/dev/tty.usbmodem14201")
viper.SetDefault("HttpPort", "layouts")
viper.SetDefault("publishIntervalMs", 50)
viper.SetDefault("syncUpdateIntervalMs", 494)
viper.SetDefault("TcpCollectorPort", ":3010")
viper.SetDefault("SerialCollectorPort", "/dev/tty.usbmodem14201")
viper.SetDefault("HttpPort", "layouts")
viper.SetDefault("publishIntervalMs", 50)
viper.SetDefault("syncUpdateIntervalMs", 494)
viper.SetConfigName("gpsconfig") // name of config file (without extension)
viper.SetConfigType("yaml")
viper.AddConfigPath(".")
viper.AddConfigPath("./../../")
viper.SetConfigName("gpsconfig") // name of config file (without extension)
viper.SetConfigType("yaml")
viper.AddConfigPath(".")
viper.AddConfigPath("./../../")
viper.Unmarshal(c)
logrus.Println(c)
viper.Unmarshal(c)
logrus.Println(c)
}

277
core/collectors.go
View File

@ -1,184 +1,199 @@
package core
import (
"fmt"
"git.timovolkmann.de/gyrogpsc/ublox"
"github.com/sirupsen/logrus"
"go.bug.st/serial"
"net"
"os"
"fmt"
"git.timovolkmann.de/gyrogpsc/ublox"
"github.com/sirupsen/logrus"
"go.bug.st/serial"
"net"
"os"
"sync"
)
type Collector interface {
Collect()
Stop()
Collect()
Close()
}
type CollectorType uint8
const (
SERIAL CollectorType = iota
TCP
SERIAL CollectorType = iota
TCP
)
var tcpSingleton *tcpCollector
func NewCollector(typ CollectorType, proc Pusher, config *Configuration) Collector {
var coll Collector
switch typ {
case SERIAL:
coll = newSerial(proc, config)
case TCP:
if tcpSingleton == nil {
tcpSingleton = newTcp(proc, config)
} else {
tcpSingleton.SetProcessor(proc)
}
coll = tcpSingleton
default:
panic("selected collector type not implemented")
}
return coll
var coll Collector
switch typ {
case SERIAL:
coll = newSerial(proc, config)
case TCP:
if tcpSingleton == nil {
tcpSingleton = newTcp(proc, config)
} else {
tcpSingleton.SetProcessor(proc)
}
coll = tcpSingleton
default:
panic("selected collector type not implemented")
}
return coll
}
type serialCollector struct {
active bool
proc Pusher
config *Configuration
active bool
proc Pusher
config *Configuration
mu sync.RWMutex
}
func (s *serialCollector) isSerialCollActive() bool {
s.mu.RLock()
defer s.mu.RUnlock()
return s.active
}
func (s *serialCollector) Collect() {
s.active = true
go func() {
logrus.Println("start serial collector")
mode := &serial.Mode{
BaudRate: 115200,
}
port, err := serial.Open(s.config.Collectors.SerialCollectorPort, mode)
if err != nil {
logrus.Fatalln(err.Error())
}
defer port.Close()
s.mu.Lock()
s.active = true
s.mu.Unlock()
go func() {
logrus.Println("start serial collector")
mode := &serial.Mode{
BaudRate: 115200,
}
port, err := serial.Open(s.config.Collectors.SerialCollectorPort, mode)
if err != nil {
logrus.Fatalln("can't open serial port:", err.Error())
}
defer port.Close()
decoder := ublox.NewDecoder(port)
decoder := ublox.NewDecoder(port)
for s.active {
meas, err := decoder.Decode()
if err != nil {
if err.Error() == "NMEA not implemented" {
continue
}
logrus.Println("serial read err:", err)
break
}
sd, err := ConvertUbxToSensorData(meas)
if err != nil {
logrus.Println("convert err:", err, meas, sd)
continue
}
// skip irrelevant messages
if sd == nil {
continue
}
for s.isSerialCollActive() {
meas, err := decoder.Decode()
if err != nil {
if err.Error() == "NMEA not implemented" {
continue
}
logrus.Println("serial read err:", err)
break
}
sd, err := ConvertUbxToSensorData(meas)
if err != nil {
logrus.Println("convert err:", err, meas, sd)
continue
}
// skip irrelevant messages
if sd == nil {
continue
}
err = s.proc.Push(sd)
if err != nil {
logrus.Println("process err:", err, *sd)
continue
}
}
logrus.Println("serial collector stopped")
}()
err = s.proc.Push(sd)
if err != nil {
logrus.Println("process err:", err, *sd)
continue
}
}
logrus.Println("serial collector stopped")
}()
}
func (s *serialCollector) Stop() {
s.active = false
func (s *serialCollector) Close() {
s.mu.Lock()
s.active = false
s.mu.Unlock()
}
func newSerial(proc Pusher, config *Configuration) *serialCollector {
return &serialCollector{
active: false,
proc: proc,
config: config,
}
return &serialCollector{
active: false,
proc: proc,
config: config,
}
}
type tcpCollector struct {
active bool
processor Pusher
//config *Configuration
active bool
processor Pusher
//config *Configuration
}
func (t *tcpCollector) Collect() {
t.active = true
t.active = true
}
func (t *tcpCollector) Stop() {
t.active = false
func (t *tcpCollector) Close() {
t.active = false
}
func (t *tcpCollector) SetProcessor(p Pusher) {
t.processor = p
t.processor = p
}
func newTcp(proc Pusher, config *Configuration) *tcpCollector {
logrus.Println("start tcp collector")
logrus.Println("start tcp collector")
listener, err := net.Listen("tcp", config.Collectors.TcpCollectorPort)
if err != nil {
fmt.Println("Error listening:", err.Error())
//os.Exit(1)
}
coll := &tcpCollector{
active: false,
processor: proc,
}
go func() {
for {
// Listen for an incoming connection.
conn, err := listener.Accept()
if err != nil {
fmt.Println("Error accepting: ", err.Error())
os.Exit(1)
}
logrus.Println("...new incoming tcp connection...")
listener, err := net.Listen("tcp", config.Collectors.TcpCollectorPort)
if err != nil {
fmt.Println("Error listening:", err)
//os.Exit(1)
}
coll := &tcpCollector{
active: false,
processor: proc,
}
go func() {
for {
// Listen for an incoming connection.
conn, err := listener.Accept()
if err != nil {
fmt.Println("Error accepting: ", err.Error())
os.Exit(1)
}
logrus.Println("...new incoming tcp connection...")
// Handle connections in a new goroutine.
go coll.jsonHandler(conn)
}
}()
return coll
// Handle connections in a new goroutine.
go coll.jsonHandler(conn)
}
}()
return coll
}
// handles incoming tcp connections with json payload.
func (c *tcpCollector) jsonHandler(conn net.Conn) {
defer conn.Close()
defer conn.Close()
// TRY reader := bufio.NewReader(conn) OR NewScanner(conn)
buf := make([]byte, 2048)
for {
// Read the incoming connection into the buffer.
n, err := conn.Read(buf)
if err != nil {
fmt.Println("TCP error - reading from connection:", n, err.Error())
break
}
//json := pretty.Pretty(buf[:n])
//fmt.Println(string(json))
//fmt.Println(string(buf[:n]))
sd, err := ConvertSensorDataPhone(buf[:n])
if err != nil {
logrus.Println(err)
continue
}
if !c.active {
//time.Sleep(50 * time.Millisecond)
continue
}
err = c.processor.Push(sd)
if err != nil {
logrus.Fatalln(err)
}
}
// TRY reader := bufio.NewReader(conn) OR NewScanner(conn)
buf := make([]byte, 2048)
for {
// Read the incoming connection into the buffer.
n, err := conn.Read(buf)
if err != nil {
fmt.Println("TCP error - reading from connection:", n, err.Error())
break
}
//json := pretty.Pretty(buf[:n])
//fmt.Println(string(json))
//fmt.Println(string(buf[:n]))
sd, err := ConvertSensorDataPhone(buf[:n])
if err != nil {
logrus.Println(err)
continue
}
if !c.active {
//time.Sleep(50 * time.Millisecond)
continue
}
err = c.processor.Push(sd)
if err != nil {
logrus.Fatalln(err)
}
}
}

24
core/config.go
View File

@ -1,16 +1,16 @@
package core
type Configuration struct {
Collectors struct {
TcpCollectorPort string `mapstructure:"porttcp"`
SerialCollectorPort string `mapstructure:"portserial"`
} `mapstructure:"collectors"`
Webserver struct {
Port string `mapstructure:"port"`
} `mapstructure:"webserver"`
Pipeline struct {
PublishIntervalMs int `mapstructure:"publishintervalms"`
SyncUpdateIntervalMs int `mapstructure:"syncupdateintervalms"`
} `mapstructure:"pipeline"`
Debuglevel string `mapstructure:"debuglevel"`
Collectors struct {
TcpCollectorPort string `mapstructure:"porttcp"`
SerialCollectorPort string `mapstructure:"portserial"`
} `mapstructure:"Collectors"`
Webserver struct {
Port string `mapstructure:"port"`
} `mapstructure:"webserver"`
Pipeline struct {
PublishIntervalMs int `mapstructure:"publishintervalms"`
SyncUpdateIntervalMs int `mapstructure:"syncupdateintervalms"`
} `mapstructure:"pipeline"`
Debuglevel string `mapstructure:"debuglevel"`
}

49
core/dispatcher.go
View File

@ -1,43 +1,44 @@
package core
import (
"errors"
"github.com/sirupsen/logrus"
"errors"
"github.com/sirupsen/logrus"
)
type dispatcher struct {
listeners map[int16]chan string
counter int16
listeners map[int16]chan string
counter int16
}
func NewDispatcher() *dispatcher {
return &dispatcher{
listeners: make(map[int16]chan string),
counter: 0,
}
return &dispatcher{
listeners: make(map[int16]chan string),
counter: 0,
}
}
func (d *dispatcher) Publish(message string) {
logrus.Debugf("publish to %v listeners:\n%v\n", len(d.listeners), message)
for _, ch := range d.listeners {
ch <- message
}
logrus.Debugf("publish to %v listeners:\n%v\n", len(d.listeners))
logrus.Debug(message)
for _, ch := range d.listeners {
ch <- message
}
}
func (d *dispatcher) Subscribe() (id int16, receiver <-chan string) {
key := d.counter
d.counter++
rec := make(chan string)
d.listeners[key] = rec
return key, rec
key := d.counter
d.counter++
rec := make(chan string)
d.listeners[key] = rec
return key, rec
}
func (d *dispatcher) Unsubscribe(id int16) error {
receiver, ok := d.listeners[id]
if !ok {
return errors.New("no subscription with id")
}
delete(d.listeners, id)
close(receiver)
return nil
receiver, ok := d.listeners[id]
if !ok {
return errors.New("no subscription with id")
}
delete(d.listeners, id)
close(receiver)
return nil
}

42
core/interfaces.go
View File

@ -3,44 +3,40 @@ package core
import "github.com/google/uuid"
type Subscriber interface {
Subscribe() (int16, <-chan string)
Unsubscribe(id int16) error
Subscribe() (int16, <-chan string)
Unsubscribe(id int16) error
}
type Publisher interface {
Publish(message string)
Publish(message string)
}
type Pusher interface {
Push(data *sensorData) error
Push(data *sensorData) error
}
type Storer interface {
EnqueuePair(tcp sensorData, ser sensorData)
EnqueueRaw(data sensorData)
EnqueuePair(tcp sensorData, ser sensorData)
EnqueueRaw(data sensorData)
}
type Repo interface {
Save(tracking Tracking) error
LoadAll() ([]TrackingMetadata, error)
Load(id uuid.UUID) (Tracking, error)
Save(tracking Tracking) error
LoadAll() ([]TrackingMetadata, error)
Load(id uuid.UUID) (Tracking, error)
}
type Service interface {
AllTrackings()
NewTracking(cols ...CollectorType)
StartRecord()
StopRecord()
Reset()
AllTrackings()
NewSetup(cols ...CollectorType)
StartRecord()
StopRecord()
StopAll()
LoadTracking(trackingId uuid.UUID)
DeleteTracking(trackingId uuid.UUID)
LoadTracking(trackingId uuid.UUID)
DeleteTracking(trackingId uuid.UUID)
StartReplay()
PauseReplay()
StopReplay()
StartReplay()
PauseReplay()
StopReplay()
}

335
core/pipeline.go
View File

@ -1,204 +1,225 @@
package core
import (
"encoding/json"
"errors"
"github.com/google/go-cmp/cmp"
"github.com/google/go-cmp/cmp/cmpopts"
"github.com/sirupsen/logrus"
"sync"
"time"
"context"
"encoding/json"
"errors"
"github.com/google/go-cmp/cmp"
"github.com/google/go-cmp/cmp/cmpopts"
"github.com/sirupsen/logrus"
"golang.org/x/sync/semaphore"
"sync"
"time"
)
type pipeline struct {
active bool
record bool
synchroniz synchronizer
buffer pipeBuffer
publisher Publisher
storer Storer
publishTicker *time.Ticker
active bool
record bool
synchroniz synchronizer
buffer pipeBuffer
publisher Publisher
storer Storer
publishTicker *time.Ticker
mu sync.RWMutex
sema *semaphore.Weighted
}
// pipe implements Runner & Pusher
func NewPipeline(d Publisher, s Storer, conf *Configuration) *pipeline {
return &pipeline{
false,
false,
synchronizer{
//bufferSize: 100,
mutex: &sync.RWMutex{},
updateTicker: time.NewTicker(time.Duration(conf.Pipeline.SyncUpdateIntervalMs) * time.Millisecond),
},
pipeBuffer{
tcpMutex: &sync.Mutex{},
serialMutex: &sync.Mutex{},
},
d,
s,
time.NewTicker(time.Duration(conf.Pipeline.PublishIntervalMs) * time.Millisecond),
}
return &pipeline{
false,
false,
synchronizer{
//bufferSize: 100,
mutex: &sync.RWMutex{},
updateTicker: time.NewTicker(time.Duration(conf.Pipeline.SyncUpdateIntervalMs) * time.Millisecond),
},
pipeBuffer{
tcpMutex: &sync.Mutex{},
serialMutex: &sync.Mutex{},
},
d,
s,
time.NewTicker(time.Duration(conf.Pipeline.PublishIntervalMs) * time.Millisecond),
sync.RWMutex{},
semaphore.NewWeighted(2),
}
}
func (p *pipeline) isPipeActive() bool {
p.mu.RLock()
defer p.mu.RUnlock()
return p.active
}
func (p *pipeline) Run() {
p.active = true
logrus.Println("pipe: processing service started")
go func() {
for p.active {
<-p.synchroniz.updateTicker.C
err := p.refreshDelay()
if err != nil {
logrus.Debugln(err)
}
}
logrus.Println("pipe: updater stopped")
}()
go func() {
for p.active {
<-p.publishTicker.C
err := p.publish()
if err != nil && err.Error() != "no data available" {
logrus.Debug(err)
}
}
logrus.Println("pipe: publisher stopped")
}()
p.sema.Acquire(context.Background(), 2)
p.mu.Lock()
p.active = true
p.mu.Unlock()
logrus.Println("pipe: processing service started")
go func() {
for p.isPipeActive() {
<-p.synchroniz.updateTicker.C
err := p.refreshDelay()
if err != nil {
logrus.Debugln(err)
}
}
p.sema.Release(1)
logrus.Println("pipe: updater stopped")
}()
go func() {
for p.isPipeActive() {
<-p.publishTicker.C
err := p.publish()
if err != nil && err.Error() != "no data available" {
logrus.Debug(err)
}
}
p.sema.Release(1)
logrus.Println("pipe: publisher stopped")
}()
}
func (p *pipeline) Record() {
p.record = true
p.record = true
}
func (p *pipeline) Stop() {
p.record = false
func (p *pipeline) StopRecord() {
p.record = false
}
func (p *pipeline) publish() error {
p.buffer.tcpMutex.Lock()
p.buffer.serialMutex.Lock()
p.buffer.tcpMutex.Lock()
p.buffer.serialMutex.Lock()
if (p.buffer.MeasTcp == sensorData{} && p.buffer.MeasSerial == sensorData{}) {
p.buffer.tcpMutex.Unlock()
p.buffer.serialMutex.Unlock()
return errors.New("no data available")
}
if cmp.Equal(p.buffer.MeasTcp, p.buffer.LastMeasTcp, cmpopts.IgnoreUnexported(sensorData{})) &&
cmp.Equal(p.buffer.MeasSerial, p.buffer.LastMeasSerial, cmpopts.IgnoreUnexported(sensorData{})) {
p.buffer.tcpMutex.Unlock()
p.buffer.serialMutex.Unlock()
return errors.New("same data")
}
logrus.Debug("––––––––––––––––––––––––––––––––––––")
logrus.Debugf("MEAS old: %v", p.buffer.LastMeasTcp)
logrus.Debugf("MEAS new: %v", p.buffer.MeasTcp)
logrus.Debug("––––––––––––––––––––––––––––––––––––")
p.buffer.LastMeasTcp = p.buffer.MeasTcp
p.buffer.LastMeasSerial = p.buffer.MeasSerial
p.storer.EnqueuePair(p.buffer.MeasTcp, p.buffer.MeasSerial)
if (p.buffer.MeasTcp == sensorData{} && p.buffer.MeasSerial == sensorData{}) {
p.buffer.tcpMutex.Unlock()
p.buffer.serialMutex.Unlock()
return errors.New("no data available")
}
if cmp.Equal(p.buffer.MeasTcp, p.buffer.LastMeasTcp, cmpopts.IgnoreUnexported(sensorData{})) &&
cmp.Equal(p.buffer.MeasSerial, p.buffer.LastMeasSerial, cmpopts.IgnoreUnexported(sensorData{})) {
p.buffer.tcpMutex.Unlock()
p.buffer.serialMutex.Unlock()
return errors.New("same data")
}
logrus.Debug("––––––––––––––––––––––––––––––––––––")
logrus.Debugf("SER old: %v", p.buffer.LastMeasSerial)
logrus.Debugf("SER new: %v", p.buffer.MeasSerial)
logrus.Debugf("TCP old: %v", p.buffer.LastMeasTcp)
logrus.Debugf("TCP new: %v", p.buffer.MeasTcp)
logrus.Debug("––––––––––––––––––––––––––––––––––––")
p.buffer.LastMeasTcp = p.buffer.MeasTcp
p.buffer.LastMeasSerial = p.buffer.MeasSerial
p.storer.EnqueuePair(p.buffer.MeasTcp, p.buffer.MeasSerial)
data := map[string]sensorData{
string(SOURCE_TCP): p.buffer.MeasTcp,
string(SOURCE_SERIAL): p.buffer.MeasSerial,
}
data := map[string]sensorData{
string(SOURCE_TCP): p.buffer.MeasTcp,
string(SOURCE_SERIAL): p.buffer.MeasSerial,
}
p.buffer.tcpMutex.Unlock()
p.buffer.serialMutex.Unlock()
p.buffer.tcpMutex.Unlock()
p.buffer.serialMutex.Unlock()
jdata, err := json.Marshal(data)
//logrus.Println(string(pretty.Pretty(jdata)))
if err != nil {
return err
}
p.publisher.Publish(string(jdata))
return nil
jdata, err := json.Marshal(data)
//logrus.Println(string(pretty.Pretty(jdata)))
if err != nil {
return err
}
p.publisher.Publish(string(jdata))
return nil
}
type pipeBuffer struct {
MeasTcp sensorData
MeasSerial sensorData
LastMeasTcp sensorData
LastMeasSerial sensorData
tcpMutex *sync.Mutex
serialMutex *sync.Mutex
MeasTcp sensorData
MeasSerial sensorData
LastMeasTcp sensorData
LastMeasSerial sensorData
tcpMutex *sync.Mutex
serialMutex *sync.Mutex
}
type UnixNanoTime int64
type synchronizer struct {
tcpSerialDelayMs int64
mutex *sync.RWMutex
updateTicker *time.Ticker
tcpSerialDelayMs int64
mutex *sync.RWMutex
updateTicker *time.Ticker
}
func (p *pipeline) refreshDelay() error {
p.synchroniz.mutex.RLock()
if p.synchroniz.tcpSerialDelayMs != 0 {
logrus.Println("Delay TCP/SERIAL", p.synchroniz.tcpSerialDelayMs)
}
p.synchroniz.mutex.RUnlock()
p.buffer.serialMutex.Lock()
p.buffer.tcpMutex.Lock()
tcpTime := time.Unix(0, p.buffer.MeasTcp.Timestamp)
serTime := time.Unix(0, p.buffer.MeasSerial.Timestamp)
p.buffer.tcpMutex.Unlock()
p.buffer.serialMutex.Unlock()
if tcpTime.UnixNano() == 0 || serTime.UnixNano() == 0 {
return errors.New("no sync possible. check if both collectors running. otherwise check GPS fix")
}
currentDelay := tcpTime.Sub(serTime).Milliseconds()
if currentDelay > 5000 || currentDelay < -5000 {
p.synchroniz.mutex.Lock()
p.synchroniz.tcpSerialDelayMs = 0
p.synchroniz.mutex.Unlock()
return errors.New("skipping synchronisation! time not properly configured or facing network problems.")
}
logrus.Debug("TCP", tcpTime.String())
logrus.Debug("SER", serTime.String())
logrus.Debug("Difference", tcpTime.Sub(serTime).Milliseconds(), "ms")
delay := tcpTime.Sub(serTime).Milliseconds()
p.synchroniz.mutex.Lock()
p.synchroniz.tcpSerialDelayMs += delay
p.synchroniz.mutex.Unlock()
return nil
p.synchroniz.mutex.RLock()
if p.synchroniz.tcpSerialDelayMs != 0 {
logrus.Println("Delay TCP/SERIAL", p.synchroniz.tcpSerialDelayMs)
}
p.synchroniz.mutex.RUnlock()
p.buffer.serialMutex.Lock()
p.buffer.tcpMutex.Lock()
tcpTime := time.Unix(0, p.buffer.MeasTcp.Timestamp)
serTime := time.Unix(0, p.buffer.MeasSerial.Timestamp)
p.buffer.tcpMutex.Unlock()
p.buffer.serialMutex.Unlock()
if tcpTime.UnixNano() == 0 || serTime.UnixNano() == 0 {
return errors.New("no sync possible. check if both Collectors running. otherwise check GPS fix")
}
currentDelay := tcpTime.Sub(serTime).Milliseconds()
if currentDelay > 5000 || currentDelay < -5000 {
p.synchroniz.mutex.Lock()
p.synchroniz.tcpSerialDelayMs = 0
p.synchroniz.mutex.Unlock()
return errors.New("skipping synchronisation! time not properly configured or facing network problems.")
}
logrus.Debug("TCP", tcpTime.String())
logrus.Debug("SER", serTime.String())
logrus.Debug("Difference", tcpTime.Sub(serTime).Milliseconds(), "ms")
delay := tcpTime.Sub(serTime).Milliseconds()
p.synchroniz.mutex.Lock()
p.synchroniz.tcpSerialDelayMs += delay
p.synchroniz.mutex.Unlock()
return nil
}
func (p *pipeline) Push(data *sensorData) error {
if data == nil {
return errors.New("nil processing not allowed")
}
//logrus.Println("push data to pipe:", string(data.source))
p.storer.EnqueueRaw(*data)
switch data.source {
case SOURCE_TCP:
go p.pushTcpDataToBuffer(*data)
case SOURCE_SERIAL:
go p.pushSerialDataToBuffer(*data)
default:
panic("pipe: invalid data source")
}
return nil
if data == nil {
return errors.New("nil processing not allowed")
}
//logrus.Println("push data to pipe:", string(data.source))
p.storer.EnqueueRaw(*data)
switch data.source {
case SOURCE_TCP:
go p.pushTcpDataToBuffer(*data)
case SOURCE_SERIAL:
go p.pushSerialDataToBuffer(*data)
default:
panic("pipe: invalid data source")
}
return nil
}
func (p *pipeline) pushTcpDataToBuffer(data sensorData) {
p.synchroniz.mutex.RLock()
if p.synchroniz.tcpSerialDelayMs > 0 {
time.Sleep(time.Duration(p.synchroniz.tcpSerialDelayMs) * time.Millisecond)
}
p.synchroniz.mutex.RLock()
p.buffer.tcpMutex.Lock()
p.buffer.MeasTcp = p.buffer.MeasTcp.ConsolidateExTime(data)
p.buffer.tcpMutex.Unlock()
p.synchroniz.mutex.RLock()
if p.synchroniz.tcpSerialDelayMs > 0 {
time.Sleep(time.Duration(p.synchroniz.tcpSerialDelayMs) * time.Millisecond)
}
p.synchroniz.mutex.RLock()
p.buffer.tcpMutex.Lock()
p.buffer.MeasTcp = p.buffer.MeasTcp.ConsolidateExTime(data)
p.buffer.tcpMutex.Unlock()
}
func (p *pipeline) pushSerialDataToBuffer(data sensorData) {
p.synchroniz.mutex.RLock()
if p.synchroniz.tcpSerialDelayMs < 0 {
time.Sleep(time.Duration(-p.synchroniz.tcpSerialDelayMs) * time.Millisecond)
}
p.synchroniz.mutex.RUnlock()
p.buffer.serialMutex.Lock()
p.buffer.MeasSerial = p.buffer.MeasSerial.ConsolidateEpochsOnly(data)
p.buffer.serialMutex.Unlock()
p.synchroniz.mutex.RLock()
if p.synchroniz.tcpSerialDelayMs < 0 {
time.Sleep(time.Duration(-p.synchroniz.tcpSerialDelayMs) * time.Millisecond)
}
p.synchroniz.mutex.RUnlock()
p.buffer.serialMutex.Lock()
p.buffer.MeasSerial = p.buffer.MeasSerial.ConsolidateEpochsOnly(data)
p.buffer.serialMutex.Unlock()
}
func (p *pipeline) Close() {
p.active = false
p.mu.Lock()
p.active = false
p.mu.Unlock()
}

248
core/sensordata.go
View File

@ -1,174 +1,174 @@
package core
import (
"errors"
"git.timovolkmann.de/gyrogpsc/ublox"
"github.com/sirupsen/logrus"
"github.com/tidwall/gjson"
"math"
"time"
"errors"
"git.timovolkmann.de/gyrogpsc/ublox"
"github.com/sirupsen/logrus"
"github.com/tidwall/gjson"
"math"
"time"
)
type sourceId string
const (
SOURCE_TCP sourceId = "SOURCE_TCP"
SOURCE_SERIAL sourceId = "SOURCE_SERIAL"
SOURCE_TCP sourceId = "SOURCE_TCP"
SOURCE_SERIAL sourceId = "SOURCE_SERIAL"
)
type sensorData struct {
itow uint32
source sourceId
ServerTime time.Time
Timestamp int64
Position [3]float64
Orientation [3]float64
itow uint32
source sourceId
ServerTime time.Time
Timestamp int64
Position [3]float64
Orientation [3]float64
}
type recordPair struct {
RecordTime time.Time
data map[sourceId]sensorData
RecordTime time.Time
data map[sourceId]sensorData
}
type rawRecord struct {
RecordTime time.Time
sensorData
RecordTime time.Time
sensorData
}
func (s sensorData) isSameEpoch(n sensorData) bool {
if n.itow == 0 {
return false
}
return s.itow == n.itow
if n.itow == 0 {
return false
}
return s.itow == n.itow
}
// Consolidates two sensordata elements if they are in the same epoch
func (s sensorData) ConsolidateEpochsOnly(n sensorData) sensorData {
s.checkSources(&n)
if s.isSameEpoch(n) {
null := sensorData{}
s.checkSources(&n)
if s.isSameEpoch(n) {
null := sensorData{}
if n.Timestamp == null.Timestamp {
n.Timestamp = s.Timestamp
}
if n.Position == null.Position {
n.Position = s.Position
}
if n.Orientation == null.Orientation {
n.Orientation = s.Orientation
}
}
return n
if n.Timestamp == null.Timestamp {
n.Timestamp = s.Timestamp
}
if n.Position == null.Position {
n.Position = s.Position
}
if n.Orientation == null.Orientation {
n.Orientation = s.Orientation
}
}
return n
}
// Consolidates two sensordata elements but ignores timestamps
func (s sensorData) ConsolidateExTime(n sensorData) sensorData {
s.checkSources(&n)
null := sensorData{}
s.checkSources(&n)
null := sensorData{}
if n.Position == null.Position {
n.Position = s.Position
}
if n.Orientation == null.Orientation {
n.Orientation = s.Orientation
}
return n
if n.Position == null.Position {
n.Position = s.Position
}
if n.Orientation == null.Orientation {
n.Orientation = s.Orientation
}
return n
}
func (s *sensorData) checkSources(n *sensorData) {
if (s.source != n.source && *s != sensorData{}) {
logrus.Println(s)
logrus.Println(n)
logrus.Fatalln("Do not consolidate sensorData from different Sources")
}
if (s.source != n.source && *s != sensorData{}) {
logrus.Println(s)
logrus.Println(n)
logrus.Fatalln("Do not consolidate sensorData from different Sources")
}
}
var (
errNotImplemented = errors.New("message not implemented")
errRawMessage = errors.New("raw message")
errNotImplemented = errors.New("message not implemented")
errRawMessage = errors.New("raw message")
)
func ConvertUbxToSensorData(msg interface{}) (*sensorData, error) {
sd := &sensorData{
ServerTime: time.Now(),
source: SOURCE_SERIAL,
}
switch v := msg.(type) {
case *ublox.NavPvt:
//logrus.Println("NAV-PVT")
sd.itow = v.ITOW_ms
sd.Timestamp = time.Date(int(v.Year_y), time.Month(v.Month_month), int(v.Day_d), int(v.Hour_h), int(v.Min_min), int(v.Sec_s), int(v.Nano_ns), time.UTC).UnixNano()
sd.Position[0] = float64(v.Lat_dege7) / 1e+7
sd.Position[1] = float64(v.Lon_dege7) / 1e+7
sd.Position[2] = float64(v.HMSL_mm) / 1e+3 // mm in m
case *ublox.HnrPvt:
//logrus.Println("HNR-PVT")
sd.itow = v.ITOW_ms
sd.Timestamp = time.Date(int(v.Year_y), time.Month(v.Month_month), int(v.Day_d), int(v.Hour_h), int(v.Min_min), int(v.Sec_s), int(v.Nano_ns), time.UTC).UnixNano()
sd.Position[0] = float64(v.Lat_dege7) / 1e+7
sd.Position[1] = float64(v.Lon_dege7) / 1e+7
sd.Position[2] = float64(v.HMSL_mm) / 1e+3 // mm in m
case *ublox.NavAtt:
//logrus.Println("NAV-ATT")
sd.itow = v.ITOW_ms
sd.Orientation[0] = float64(v.Pitch_deg) * 1e-5
sd.Orientation[1] = float64(v.Roll_deg) * 1e-5
sd.Orientation[2] = float64(v.Heading_deg) * 1e-5
case *ublox.RawMessage:
//class := make([]byte, 2)
//binary.LittleEndian.PutUint16(class, v.ClassID())
//logrus.Printf("%#v, %#v", class[0],class[1])
return nil, nil
default:
return nil, errNotImplemented
}
return sd, nil
sd := &sensorData{
ServerTime: time.Now(),
source: SOURCE_SERIAL,
}
switch v := msg.(type) {
case *ublox.NavPvt:
//logrus.Println("NAV-PVT")
sd.itow = v.ITOW_ms
sd.Timestamp = time.Date(int(v.Year_y), time.Month(v.Month_month), int(v.Day_d), int(v.Hour_h), int(v.Min_min), int(v.Sec_s), int(v.Nano_ns), time.UTC).UnixNano()
sd.Position[0] = float64(v.Lat_dege7) / 1e+7
sd.Position[1] = float64(v.Lon_dege7) / 1e+7
sd.Position[2] = float64(v.HMSL_mm) / 1e+3 // mm in m
case *ublox.HnrPvt:
//logrus.Println("HNR-PVT")
sd.itow = v.ITOW_ms
sd.Timestamp = time.Date(int(v.Year_y), time.Month(v.Month_month), int(v.Day_d), int(v.Hour_h), int(v.Min_min), int(v.Sec_s), int(v.Nano_ns), time.UTC).UnixNano()
sd.Position[0] = float64(v.Lat_dege7) / 1e+7
sd.Position[1] = float64(v.Lon_dege7) / 1e+7
sd.Position[2] = float64(v.HMSL_mm) / 1e+3 // mm in m
case *ublox.NavAtt:
//logrus.Println("NAV-ATT")
sd.itow = v.ITOW_ms
sd.Orientation[0] = float64(v.Pitch_deg) * 1e-5
sd.Orientation[1] = float64(v.Roll_deg) * 1e-5
sd.Orientation[2] = float64(v.Heading_deg) * 1e-5
case *ublox.RawMessage:
//class := make([]byte, 2)
//binary.LittleEndian.PutUint16(class, v.ClassID())
//logrus.Printf("%#v, %#v", class[0],class[1])
return nil, nil
default:
return nil, errNotImplemented
}
return sd, nil
}
func ConvertSensorDataPhone(jsonData []byte) (*sensorData, error) {
if gjson.Get(string(jsonData), "os").String() == "hyperimu" {
return convertAndroidHyperImu(jsonData)
}
return convertIPhoneSensorLog(jsonData)
if gjson.Get(string(jsonData), "os").String() == "hyperimu" {
return convertAndroidHyperImu(jsonData)
}
return convertIPhoneSensorLog(jsonData)
}
func convertIPhoneSensorLog(jsonData []byte) (*sensorData, error) {
timestamp := gjson.Get(string(jsonData), "locationTimestamp_since1970").Float()
lat := gjson.Get(string(jsonData), "locationLatitude").Float()
lon := gjson.Get(string(jsonData), "locationLongitude").Float()
alt := gjson.Get(string(jsonData), "locationAltitude").Float()
pitch := gjson.Get(string(jsonData), "motionPitch").Float() * 180 / math.Pi
roll := gjson.Get(string(jsonData), "motionRoll").Float() * 180 / math.Pi
yaw := gjson.Get(string(jsonData), "motionYaw").Float() * 180 / math.Pi
sd := &sensorData{
ServerTime: time.Now(),
source: SOURCE_TCP,
Timestamp: int64(timestamp * float64(time.Second)),
Position: [3]float64{lat, lon, alt},
Orientation: [3]float64{pitch, roll, yaw},
//Timestamp: time.Unix(0, prep.Timestamp * int64(time.Millisecond)),
}
//logrus.Println(string(pretty.Pretty(jsonData)))
//logrus.Println(sd)
return sd, nil
timestamp := gjson.Get(string(jsonData), "locationTimestamp_since1970").Float()
lat := gjson.Get(string(jsonData), "locationLatitude").Float()
lon := gjson.Get(string(jsonData), "locationLongitude").Float()
alt := gjson.Get(string(jsonData), "locationAltitude").Float()
pitch := gjson.Get(string(jsonData), "motionPitch").Float() * 180 / math.Pi
roll := gjson.Get(string(jsonData), "motionRoll").Float() * 180 / math.Pi
yaw := gjson.Get(string(jsonData), "motionYaw").Float() * 180 / math.Pi
sd := &sensorData{
ServerTime: time.Now(),
source: SOURCE_TCP,
Timestamp: int64(timestamp * float64(time.Second)),
Position: [3]float64{lat, lon, alt},
Orientation: [3]float64{pitch, roll, yaw},
//Timestamp: time.Unix(0, prep.Timestamp * int64(time.Millisecond)),
}
//logrus.Println(string(pretty.Pretty(jsonData)))
//logrus.Println(sd)
return sd, nil
}
func convertAndroidHyperImu(jsonData []byte) (*sensorData, error) {
timestamp := gjson.Get(string(jsonData), "Timestamp").Int()
lat := gjson.Get(string(jsonData), "GPS.0").Float()
lon := gjson.Get(string(jsonData), "GPS.1").Float()
alt := gjson.Get(string(jsonData), "GPS.2").Float()
pitch := gjson.Get(string(jsonData), "orientation.0").Float()
roll := gjson.Get(string(jsonData), "orientation.1").Float()
yaw := gjson.Get(string(jsonData), "orientation.2").Float()
timestamp := gjson.Get(string(jsonData), "Timestamp").Int()
lat := gjson.Get(string(jsonData), "GPS.0").Float()
lon := gjson.Get(string(jsonData), "GPS.1").Float()
alt := gjson.Get(string(jsonData), "GPS.2").Float()
pitch := gjson.Get(string(jsonData), "orientation.0").Float()
roll := gjson.Get(string(jsonData), "orientation.1").Float()
yaw := gjson.Get(string(jsonData), "orientation.2").Float()
sd := &sensorData{
ServerTime: time.Now(),
source: SOURCE_TCP,
Timestamp: timestamp * int64(time.Millisecond),
Position: [3]float64{lat, lon, alt},
Orientation: [3]float64{pitch, roll, yaw},
//Timestamp: time.Unix(0, prep.Timestamp * int64(time.Millisecond)),
}
return sd, nil
sd := &sensorData{
ServerTime: time.Now(),
source: SOURCE_TCP,
Timestamp: timestamp * int64(time.Millisecond),
Position: [3]float64{lat, lon, alt},
Orientation: [3]float64{pitch, roll, yaw},
//Timestamp: time.Unix(0, prep.Timestamp * int64(time.Millisecond)),
}
return sd, nil
}

165
core/service.go
View File

@ -1,104 +1,149 @@
package core
import (
"github.com/google/uuid"
"github.com/sirupsen/logrus"
"time"
"github.com/google/uuid"
"github.com/sirupsen/logrus"
"time"
)
type OpMode uint8
const (
STOPPED OpMode = iota
LIVE
REPLAY
STOPPED OpMode = iota
LIVE
RECORDING
REPLAY
)
type trackingService struct {
current *Tracking
config *Configuration
pipe *pipeline
repo Repo
opMode OpMode
collectors []Collector
current *Tracking
config *Configuration
pipe *pipeline
repo Repo
opMode OpMode
collectors []Collector
}
func TrackingService(r Repo, d Publisher, c *Configuration) *trackingService {
t := &Tracking{}
return &trackingService{
current: t,
opMode: STOPPED,
config: c,
repo: r,
pipe: NewPipeline(d, t, c),
collectors: nil,
}
t := &Tracking{}
ts := &trackingService{
current: t,
opMode: STOPPED,
config: c,
repo: r,
pipe: NewPipeline(d, t, c),
collectors: nil,
}
//ts.pipe.Run()
return ts
}
//const(
// errA error = errors.New("A")
//)
func (t *trackingService) AllTrackings() {
panic("implement me")
panic("implement me")
}
func (t *trackingService) NewTracking(cols ...CollectorType) {
logrus.Debug("new tracking:", cols)
t.opMode = LIVE
t.collectors = nil
for _, col := range cols {
t.collectors = append(t.collectors, NewCollector(col, t.pipe, t.config))
}
*t.current = emptyTracking()
t.current.collectors = cols
for _, e := range t.collectors {
e.Collect()
}
t.pipe.Run()
func (t *trackingService) NewSetup(cols ...CollectorType) {
logrus.Info("SERVICE: NEW SETUP")
if t.opMode == RECORDING {
logrus.Println("trackingservice: no reset while recording")
return
}
if t.opMode == LIVE {
logrus.Println("trackingservice: stop currently running setup before creating new one")
t.StopAll()
}
logrus.Debug("new tracking:", cols)
t.opMode = LIVE
t.collectors = nil
for _, col := range cols {
t.collectors = append(t.collectors, NewCollector(col, t.pipe, t.config))
}
t.safelyReplaceTracking(emptyTracking())
t.current.Collectors = cols
for _, e := range t.collectors {
e.Collect()
}
t.pipe.Run()
//time.Sleep(3 * time.Second)
}
func (t *trackingService) StartRecord() {
if t.opMode != LIVE {
logrus.Println("trackingservice: wrong mode of operation")
}
t.current.TimeCreated = time.Now()
t.pipe.Record()
logrus.Info("SERVICE: START RECORD")
if t.opMode != LIVE {
logrus.Println("trackingservice: wrong mode of operation")
return
}
t.opMode = RECORDING
t.current.TimeCreated = time.Now()
t.pipe.Record()
}
func (t *trackingService) StopRecord() {
if t.opMode != LIVE {
logrus.Println("trackingservice: wrong mode of operation")
}
t.pipe.Stop()
for _, e := range t.collectors {
e.Stop()
}
err := t.repo.Save(*t.current)
if err != nil {
logrus.Println(err)
}
t.NewTracking(t.current.collectors...)
logrus.Info("SERVICE: STOP RECORD")
if t.opMode != RECORDING {
logrus.Println("trackingservice: couldn't stop. not recording")
return
}
t.opMode = LIVE
t.pipe.StopRecord()
m1.Lock()
m2.Lock()
err := t.repo.Save(*t.current)
m2.Unlock()
m1.Unlock()
if err != nil {
logrus.Println(err)
}
t.safelyReplaceTracking(emptyTracking())
}
func (t *trackingService) Reset() {
t.opMode = STOPPED
t.collectors = nil
func (t *trackingService) StopAll() {
logrus.Info("SERVICE: STOP ALL")
if t.opMode == RECORDING {
logrus.Println("trackingservice: stop recording gracefully")
t.StopRecord()
}
t.opMode = STOPPED
t.pipe.Close()
for _, e := range t.collectors {
e.Close()
}
t.collectors = nil
t.safelyReplaceTracking(emptyTracking())
}
func (t *trackingService) DeleteTracking(trackingId uuid.UUID) {
panic("implement me")
panic("implement me")
}
func (t *trackingService) StartReplay() {
panic("implement me")
panic("implement me")
}
func (t *trackingService) PauseReplay() {
panic("implement me")
panic("implement me")
}
func (t *trackingService) StopReplay() {
panic("implement me")
panic("implement me")
}
func (t *trackingService) LoadTracking(trackingId uuid.UUID) {
}
func (t *trackingService) safelyReplaceTracking(tr Tracking) {
m1.Lock()
m2.Lock()
*t.current = tr
m2.Unlock()
m1.Unlock()
}

78
core/trackings.go
View File

@ -1,60 +1,62 @@
package core
import (
"github.com/google/uuid"
"github.com/sirupsen/logrus"
"sync"
"time"
"github.com/google/uuid"
"github.com/sirupsen/logrus"
"sync"
"time"
)
var m1 sync.RWMutex
var m2 sync.RWMutex
type Tracking struct {
TrackingMetadata
Records []recordPair
Rawdata []rawRecord
mu sync.Mutex
TrackingMetadata
Records []recordPair
Rawdata []rawRecord
}
type TrackingMetadata struct {
UUID uuid.UUID
TimeCreated time.Time
collectors []CollectorType
UUID uuid.UUID
TimeCreated time.Time
Collectors []CollectorType
}
func (s *Tracking) EnqueuePair(tcp sensorData, ser sensorData) {
s.mu.Lock()
defer s.mu.Unlock()
rp := recordPair{
RecordTime: time.Now(),
data: map[sourceId]sensorData{
tcp.source: tcp,
ser.source: ser,
},
}
s.Records = append(s.Records, rp)
logrus.Debugln("tracking Records: len->", len(s.Records))
rp := recordPair{
RecordTime: time.Now(),
data: map[sourceId]sensorData{
tcp.source: tcp,
ser.source: ser,
},
}
m1.Lock()
s.Records = append(s.Records, rp)
logrus.Debugln("tracking Records: len->", len(s.Records))
m1.Unlock()
}
func (s *Tracking) EnqueueRaw(data sensorData) {
s.mu.Lock()
defer s.mu.Unlock()
sr := rawRecord{
time.Now(),
data,
}
s.Rawdata = append(s.Rawdata, sr)
logrus.Debugln("raw data points: len->", len(s.Records))
sr := rawRecord{
time.Now(),
data,
}
m1.Lock()
s.Rawdata = append(s.Rawdata, sr)
logrus.Debugln("raw data points: len->", len(s.Rawdata))
m1.Unlock()
}
func emptyTracking() Tracking {
return Tracking{
TrackingMetadata: TrackingMetadata{
UUID: uuid.New(),
},
Records: []recordPair{},
Rawdata: []rawRecord{},
}
return Tracking{
TrackingMetadata: TrackingMetadata{
UUID: uuid.New(),
},
Records: []recordPair{},
Rawdata: []rawRecord{},
}
}
func (s *Tracking) isEmpty() bool {
return len(s.Rawdata)+len(s.Records) == 0
return len(s.Rawdata)+len(s.Records) == 0
}

1
go.mod
View File

@ -14,4 +14,5 @@ require (
github.com/tidwall/gjson v1.6.0
github.com/tidwall/pretty v1.0.2 // indirect
go.bug.st/serial v1.1.1
golang.org/x/sync v0.0.0-20190423024810-112230192c58
)

1
go.sum
View File

@ -304,6 +304,7 @@ golang.org/x/sync v0.0.0-20180314180146-1d60e4601c6f/go.mod h1:RxMgew5VJxzue5/jJ
golang.org/x/sync v0.0.0-20181108010431-42b317875d0f/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
golang.org/x/sync v0.0.0-20181221193216-37e7f081c4d4/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
golang.org/x/sync v0.0.0-20190227155943-e225da77a7e6/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
golang.org/x/sync v0.0.0-20190423024810-112230192c58 h1:8gQV6CLnAEikrhgkHFbMAEhagSSnXWGV915qUMm9mrU=
golang.org/x/sync v0.0.0-20190423024810-112230192c58/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
golang.org/x/sys v0.0.0-20180823144017-11551d06cbcc/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
golang.org/x/sys v0.0.0-20180830151530-49385e6e1522/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=

192
storage/kvstore.go
View File

@ -1,33 +1,197 @@
package storage
import (
"git.timovolkmann.de/gyrogpsc/core"
"github.com/dgraph-io/badger/v2"
"github.com/google/uuid"
"github.com/sirupsen/logrus"
"encoding/binary"
"encoding/json"
"git.timovolkmann.de/gyrogpsc/core"
"github.com/dgraph-io/badger/v2"
"github.com/google/uuid"
"github.com/sirupsen/logrus"
"os"
"path/filepath"
)
// Must implement Repo
type badgerStore struct {
db *badger.DB
trackings *badger.DB
records *badger.DB
rawdata *badger.DB
}
func NewRepository(c *core.Configuration) *badgerStore {
db, err := badger.Open(badger.DefaultOptions("."))
if err != nil {
logrus.Warn(err)
}
return &badgerStore{db}
dir, _ := os.Getwd()
logrus.Debug(dir)
if _, err := os.Stat(filepath.Join(dir,"_db")); os.IsNotExist(err) {
os.Mkdir(filepath.Join(dir,"_db"), os.ModePerm)
}
tr, err := badger.Open(badger.DefaultOptions("_db/trackings"))
dp, err := badger.Open(badger.DefaultOptions("_db/records"))
rd, err := badger.Open(badger.DefaultOptions("_db/raw"))
if err != nil {
logrus.Error(err)
}
return &badgerStore{trackings: tr, records: dp, rawdata: rd}
}
func (r *badgerStore) Save(tracking core.Tracking) error {
panic("implement me")
func (r *badgerStore) isDbAvailable() bool {
return r.trackings.IsClosed() || r.records.IsClosed() || r.rawdata.IsClosed()
}
func (r *badgerStore) Save(tr core.Tracking) error {
if ok := r.isDbAvailable(); ok {
logrus.Error("unable to write to database. database closed!")
return badger.ErrDBClosed
}
ts, err := tr.TimeCreated.MarshalText()
if err != nil {
logrus.Error(err, tr)
}
logrus.Info("save tracking:", tr.TimeCreated)
meta, err := json.Marshal(tr.TrackingMetadata)
if err != nil {
logrus.Error(err, tr)
return err
}
err = r.records.Update(func(txn *badger.Txn) error {
for _, v := range tr.Records {
k := createDataKey(tr.UUID, v.RecordTime.UnixNano())
j, err := json.Marshal(v)
if err != nil {
return err
}
txn.Set(k, j)
}
return nil
})
if err != nil {
logrus.Error(err, tr)
return err
}
err = r.records.Update(func(txn *badger.Txn) error {
for _, v := range tr.Rawdata {
k := createDataKey(tr.UUID, v.Timestamp)
j, err := json.Marshal(v)
if err != nil {
return err
}
txn.Set(k, j)
}
return nil
})
if err != nil {
logrus.Error(err, tr)
return err
}
err = r.trackings.Update(func(txn *badger.Txn) error {
err := txn.Set(ts, meta)
return err
})
if err != nil {
logrus.Error(err, tr)
return err
}
logrus.Info("sucessfully saved tracking")
return nil
}
//func (r *badgerStore) Save(tracking *core.Tracking) error {
// ts, err := tracking.TimeCreated.MarshalText()
// if err != nil {
// logrus.Error(err, tracking)
// }
// logrus.Info("save tracking:", ts)
// meta, err := json.Marshal(tracking.TrackingMetadata)
// if err != nil {
// logrus.Error(err, tracking)
// return err
// }
// wg := sync.WaitGroup{}
// wg.Add(3)
// ch := make(chan error, 3)
// go func() {
// defer wg.Done()
// err = r.records.Update(func(txn *badger.Txn) error {
// for _, v := range tracking.Records {
// k := createDataKey(tracking.UUID, v.RecordTime.UnixNano())
// j, err := json.Marshal(v)
// if err != nil {
// return err
// }
// txn.Set(k, j)
// }
// return nil
// })
// ch <- err
// }()
// go func() {
// defer wg.Done()
// err = r.records.Update(func(txn *badger.Txn) error {
// for _, v := range tracking.Rawdata {
// k := createDataKey(tracking.UUID, v.Timestamp)
// j, err := json.Marshal(v)
// if err != nil {
// return err
// }
// txn.Set(k, j)
// }
// return nil
// })
// ch <- err
// }()
// go func() {
// defer wg.Done()
// err = r.trackings.Update(func(txn *badger.Txn) error {
// err := txn.Set(ts, meta)
// return err
// })
// ch <- err
// }()
// wg.Wait()
// for {
// select {
// case err := <-ch:
// if err != nil {
// logrus.Error(err, tracking)
// return err
// }
// default:
// close(ch)
// break
// }
// }
// return nil
//}
func (r *badgerStore) LoadAll() ([]core.TrackingMetadata, error) {
panic("implement me")
panic("implement me")
}
func (r *badgerStore) Load(id uuid.UUID) (core.Tracking, error) {
panic("implement me")
panic("implement me")
}
func createDataKey(uid uuid.UUID, timestamp int64) []byte {
prefix, err := uid.MarshalText()
if err != nil || timestamp < 0 {
logrus.Error("unable to create key", err)
}
suffix := make([]byte, 8)
binary.LittleEndian.PutUint64(suffix, uint64(timestamp))
return append(prefix, suffix...)
}
func unmarshalDataKey(key []byte) (uuid.UUID, int64) {
if len(key) != 24 {
panic("corrupted key")
}
prefix := key[0:15]
suffix := key[15:24]
uid, err := uuid.FromBytes(prefix)
if err != nil {
panic("corrupted key")
}
timestamp := int64(binary.LittleEndian.Uint64(suffix))
return uid, timestamp
}

216
ublox/decode.go
View File

@ -6,152 +6,152 @@
package ublox
import (
"bufio"
"bytes"
"encoding/binary"
"errors"
"fmt"
"io"
"bufio"
"bytes"
"encoding/binary"
"errors"
"fmt"
"io"
)
// A decoder scans an io stream into UBX (0xB5-0x62 separated) or NMEA ("$xxx,,,,*FF\r\n") frames.
// If you have an unmixed stream of NMEA-only data you can use nmea.Decode() on bufio.Scanner.Bytes() directly.
type decoder struct {
s *bufio.Scanner
s *bufio.Scanner
}
// NewDecoder creates a new bufio Scanner with a splitfunc that can handle both UBX and NMEA frames.
func NewDecoder(r io.Reader) *decoder {
d := bufio.NewScanner(r)
d.Split(splitFunc)
return &decoder{s: d}
d := bufio.NewScanner(r)
d.Split(splitFunc)
return &decoder{s: d}
}
// Assume we're either at the start of an NMEA sentence or at the start of a UBX message
// if not, skip to the first $ or UBX SOM.
func splitFunc(data []byte, atEOF bool) (advance int, token []byte, err error) {
if len(data) == 0 {
return 0, nil, nil
}
if len(data) == 0 {
return 0, nil, nil
}
switch data[0] {
case '$':
return bufio.ScanLines(data, atEOF)
switch data[0] {
case '$':
return bufio.ScanLines(data, atEOF)
case 0xB5:
if len(data) < 8 {
if atEOF {
return len(data), nil, io.ErrUnexpectedEOF
}
return 0, nil, nil
}
case 0xB5:
if len(data) < 8 {
if atEOF {
return len(data), nil, io.ErrUnexpectedEOF
}
return 0, nil, nil
}
sz := 8 + int(data[4]) + int(data[5])*256
if data[1] == 0x62 {
if sz <= len(data) {
return sz, data[:sz], nil
}
if sz <= bufio.MaxScanTokenSize {
return 0, nil, nil
}
}
}
sz := 8 + int(data[4]) + int(data[5])*256
if data[1] == 0x62 {
if sz <= len(data) {
return sz, data[:sz], nil
}
if sz <= bufio.MaxScanTokenSize {
return 0, nil, nil
}
}
}
// resync to SOM or $
data = data[1:]
i1 := bytes.IndexByte(data, '$')
if i1 < 0 {
i1 = len(data)
}
// resync to SOM or $
data = data[1:]
i1 := bytes.IndexByte(data, '$')
if i1 < 0 {
i1 = len(data)
}
i2 := bytes.IndexByte(data, 0xB5)
if i2 < 0 {
i2 = len(data)
}
if i1 > i2 {
i1 = i2
}
return 1 + i1, nil, nil
i2 := bytes.IndexByte(data, 0xB5)
if i2 < 0 {
i2 = len(data)
}
if i1 > i2 {
i1 = i2
}
return 1 + i1, nil, nil
}
// Decode reads on NMEA or UBX frame and calls decodeUbx accordingly to parse the message, while skipping NMEA.
func (d *decoder) Decode() (msg interface{}, err error) {
if !d.s.Scan() {
if err = d.s.Err(); err == nil {
err = io.EOF
}
return nil, err
}
if !d.s.Scan() {
if err = d.s.Err(); err == nil {
err = io.EOF
}
return nil, err
}
switch d.s.Bytes()[0] {
case '$':
return nil, errors.New("NMEA not implemented")
//return nmea.Decode(d.s.Bytes())
case 0xB5:
return decodeUbx(d.s.Bytes())
}
panic("impossible frame")
switch d.s.Bytes()[0] {
case '$':
return nil, errors.New("NMEA not implemented")
//return nmea.Decode(d.s.Bytes())
case 0xB5:
return decodeUbx(d.s.Bytes())
}
panic("impossible frame")
}
var (
errInvalidFrame = errors.New("invalid UBX frame")
errInvalidChkSum = errors.New("invalid UBX checksum")
errInvalidFrame = errors.New("invalid UBX frame")
errInvalidChkSum = errors.New("invalid UBX checksum")
)
func decodeUbx(frame []byte) (msg Message, err error) {
buf := bytes.NewReader(frame)
buf := bytes.NewReader(frame)
var header struct {
Preamble uint16
ClassID uint16
Length uint16
}
var header struct {
Preamble uint16
ClassID uint16
Length uint16
}
if err := binary.Read(buf, binary.LittleEndian, &header); err != nil {
return nil, err
}
if err := binary.Read(buf, binary.LittleEndian, &header); err != nil {
return nil, err
}
if header.Preamble != 0x62B5 {
return nil, errInvalidFrame
}
if header.Preamble != 0x62B5 {
return nil, errInvalidFrame
}
if buf.Len()+2 < int(header.Length) {
return nil, io.ErrShortBuffer
}
if buf.Len()+2 < int(header.Length) {
return nil, io.ErrShortBuffer
}
var a, b byte
for _, v := range frame[2 : header.Length+6] {
a += byte(v)
b += a
}
var a, b byte
for _, v := range frame[2 : header.Length+6] {
a += byte(v)
b += a
}
if frame[header.Length+6] != a || frame[header.Length+7] != b {
return nil, errInvalidChkSum
}
if frame[header.Length+6] != a || frame[header.Length+7] != b {
return nil, errInvalidChkSum
}
switch header.ClassID {
case 0x0105: // ACK-ACK
fmt.Println("ACK-ACK not implemented")
//msg = &AckAck{}
case 0x0005: // ACK-NAK
fmt.Println("ACK-NAK not implemented")
//msg = &AckNak{}
case 0x0701: // NAV-PVT
msg = &NavPvt{}
case 0x0028: // HNR-PVT
msg = &HnrPvt{}
case 0x0501: // NAV-ATT
msg = &NavAtt{}
default:
}
if msg != nil {
err = binary.Read(buf, binary.LittleEndian, msg)
} else {
msg = &RawMessage{classID: header.ClassID, Data: append([]byte(nil), frame[6:len(frame)-2]...)}
}
//fmt.Println(msg)
switch header.ClassID {
case 0x0105: // ACK-ACK
fmt.Println("ACK-ACK not implemented")
//msg = &AckAck{}
case 0x0005: // ACK-NAK
fmt.Println("ACK-NAK not implemented")
//msg = &AckNak{}
case 0x0701: // NAV-PVT
msg = &NavPvt{}
case 0x0028: // HNR-PVT
msg = &HnrPvt{}
case 0x0501: // NAV-ATT
msg = &NavAtt{}
default:
}
if msg != nil {
err = binary.Read(buf, binary.LittleEndian, msg)
} else {
msg = &RawMessage{classID: header.ClassID, Data: append([]byte(nil), frame[6:len(frame)-2]...)}
}
//fmt.Println(msg)
return msg, err
return msg, err
}

178
ublox/messages.go
View File

@ -1,7 +1,7 @@
package ublox
type Message interface {
ClassID() uint16
ClassID() uint16
}
//type UbxMessage interface {
@ -11,90 +11,90 @@ type Message interface {
//}
type RawMessage struct {
classID uint16
Data []byte
classID uint16
Data []byte
}
func (msg *RawMessage) ClassID() uint16 { return msg.classID }
type NavPvt struct {
ITOW_ms uint32 // - GPS time of week of the navigation epoch. See the description of iTOW for details.
Year_y uint16 // - Year (UTC)
Month_month byte // - Month, range 1..12 (UTC)
Day_d byte // - Day of month, range 1..31 (UTC)
Hour_h byte // - Hour of day, range 0..23 (UTC)
Min_min byte // - Minute of hour, range 0..59 (UTC)
Sec_s byte // - Seconds of minute, range 0..60 (UTC)
Valid NavPVTValid // - Validity flags (see graphic below)
TAcc_ns uint32 // - Time accuracy estimate (UTC)
Nano_ns int32 // - Fraction of second, range -1e9 .. 1e9 (UTC)
FixType NavPVTFixType // - GNSSfix Type
Flags NavPVTFlags // - Fix status flags (see graphic below)
Flags2 NavPVTFlags2 // - Additional flags (see graphic below)
NumSV byte // - Number of satellites used in Nav Solution
Lon_dege7 int32 // 1e-7 Longitude
Lat_dege7 int32 // 1e-7 Latitude
Height_mm int32 // - Height above ellipsoid
HMSL_mm int32 // - Height above mean sea level
HAcc_mm uint32 // - Horizontal accuracy estimate
VAcc_mm uint32 // - Vertical accuracy estimate
VelN_mm_s int32 // - NED north velocity
VelE_mm_s int32 // - NED east velocity
VelD_mm_s int32 // - NED down velocity
GSpeed_mm_s int32 // - Ground Speed (2-D)
HeadMot_dege5 int32 // 1e-5 Heading of motion (2-D)
SAcc_mm_s uint32 // - Speed accuracy estimate
HeadAcc_dege5 uint32 // 1e-5 Heading accuracy estimate (both motion and vehicle)
PDOPe2 uint16 // 0.01 Position DOP
Flags3 NavPVTFlags3 // - Additional flags (see graphic below)
Reserved1 [5]byte // - Reserved
HeadVeh_dege5 int32 // 1e-5 Heading of vehicle (2-D), this is only valid when headVehValid is set, otherwise the output is set to the heading of motion
MagDec_dege2 int16 // 1e-2 Magnetic declination. Only supported in ADR 4.10 and later.
MagAcc_deg2e uint16 // 1e-2 Magnetic declination accuracy. Only supported in ADR 4.10 and later.
ITOW_ms uint32 // - GPS time of week of the navigation epoch. See the description of iTOW for details.
Year_y uint16 // - Year (UTC)
Month_month byte // - Month, range 1..12 (UTC)
Day_d byte // - Day of month, range 1..31 (UTC)
Hour_h byte // - Hour of day, range 0..23 (UTC)
Min_min byte // - Minute of hour, range 0..59 (UTC)
Sec_s byte // - Seconds of minute, range 0..60 (UTC)
Valid NavPVTValid // - Validity flags (see graphic below)
TAcc_ns uint32 // - Time accuracy estimate (UTC)
Nano_ns int32 // - Fraction of second, range -1e9 .. 1e9 (UTC)
FixType NavPVTFixType // - GNSSfix Type
Flags NavPVTFlags // - Fix status flags (see graphic below)
Flags2 NavPVTFlags2 // - Additional flags (see graphic below)
NumSV byte // - Number of satellites used in Nav Solution
Lon_dege7 int32 // 1e-7 Longitude
Lat_dege7 int32 // 1e-7 Latitude
Height_mm int32 // - Height above ellipsoid
HMSL_mm int32 // - Height above mean sea level
HAcc_mm uint32 // - Horizontal accuracy estimate
VAcc_mm uint32 // - Vertical accuracy estimate
VelN_mm_s int32 // - NED north velocity
VelE_mm_s int32 // - NED east velocity
VelD_mm_s int32 // - NED down velocity
GSpeed_mm_s int32 // - Ground Speed (2-D)
HeadMot_dege5 int32 // 1e-5 Heading of motion (2-D)
SAcc_mm_s uint32 // - Speed accuracy estimate
HeadAcc_dege5 uint32 // 1e-5 Heading accuracy estimate (both motion and vehicle)
PDOPe2 uint16 // 0.01 Position DOP
Flags3 NavPVTFlags3 // - Additional flags (see graphic below)
Reserved1 [5]byte // - Reserved
HeadVeh_dege5 int32 // 1e-5 Heading of vehicle (2-D), this is only valid when headVehValid is set, otherwise the output is set to the heading of motion
MagDec_dege2 int16 // 1e-2 Magnetic declination. Only supported in ADR 4.10 and later.
MagAcc_deg2e uint16 // 1e-2 Magnetic declination accuracy. Only supported in ADR 4.10 and later.
}
func (NavPvt) ClassID() uint16 { return 0x0701 }
type HnrPvt struct {
ITOW_ms uint32 // - GPS time of week of the navigation epoch. See the description of iTOW for details.
Year_y uint16 // - Year (UTC)
Month_month byte // - Month, range 1..12 (UTC)
Day_d byte // - Day of month, range 1..31 (UTC)
Hour_h byte // - Hour of day, range 0..23 (UTC)
Min_min byte // - Minute of hour, range 0..59 (UTC)
Sec_s byte // - Seconds of minute, range 0..60 (UTC)
Valid byte // - Validity flags (see graphic below)
Nano_ns int32 // - Fraction of second, range -1e9 .. 1e9 (UTC)
FixType byte // - GNSSfix Type
Flags byte // - Fix status flags (see graphic below)
Reserved [2]byte
Lon_dege7 int32 // 1e-7 Longitude
Lat_dege7 int32 // 1e-7 Latitude
Height_mm int32 // - Height above ellipsoid
HMSL_mm int32 // - Height above mean sea level
GSpeed_mm_s int32 // - Ground Speed (2-D)
Speed_mm_s int32 // Speed (3-D)
HeadMot_dege5 int32 // 1e-5 Heading of motion (2-D)
HeadVeh_dege5 int32 // 1e-5 Heading of vehicle (2-D), this is only valid when headVehValid is set, otherwise the output is set to the heading of motion
HAcc uint32 // 1e-5 Heading accuracy estimate (both motion and vehicle)
VAcc uint32 // 1e-5 Heading accuracy estimate (both motion and vehicle)
SAcc uint32 // 1e-5 Heading accuracy estimate (both motion and vehicle)
HeadAcc_dege5 uint32 // 1e-5 Heading accuracy estimate (both motion and vehicle)
Reserved1 [4]byte // - Reserved
ITOW_ms uint32 // - GPS time of week of the navigation epoch. See the description of iTOW for details.
Year_y uint16 // - Year (UTC)
Month_month byte // - Month, range 1..12 (UTC)
Day_d byte // - Day of month, range 1..31 (UTC)
Hour_h byte // - Hour of day, range 0..23 (UTC)
Min_min byte // - Minute of hour, range 0..59 (UTC)
Sec_s byte // - Seconds of minute, range 0..60 (UTC)
Valid byte // - Validity flags (see graphic below)
Nano_ns int32 // - Fraction of second, range -1e9 .. 1e9 (UTC)
FixType byte // - GNSSfix Type
Flags byte // - Fix status flags (see graphic below)
Reserved [2]byte
Lon_dege7 int32 // 1e-7 Longitude
Lat_dege7 int32 // 1e-7 Latitude
Height_mm int32 // - Height above ellipsoid
HMSL_mm int32 // - Height above mean sea level
GSpeed_mm_s int32 // - Ground Speed (2-D)
Speed_mm_s int32 // Speed (3-D)
HeadMot_dege5 int32 // 1e-5 Heading of motion (2-D)
HeadVeh_dege5 int32 // 1e-5 Heading of vehicle (2-D), this is only valid when headVehValid is set, otherwise the output is set to the heading of motion
HAcc uint32 // 1e-5 Heading accuracy estimate (both motion and vehicle)
VAcc uint32 // 1e-5 Heading accuracy estimate (both motion and vehicle)
SAcc uint32 // 1e-5 Heading accuracy estimate (both motion and vehicle)
HeadAcc_dege5 uint32 // 1e-5 Heading accuracy estimate (both motion and vehicle)
Reserved1 [4]byte // - Reserved
}
func (HnrPvt) ClassID() uint16 { return 0x0028 }
type NavAtt struct {
ITOW_ms uint32 // - GPS time of week of the navigation epoch. See the description of iTOW for details.
Version byte
Reserved1 [3]byte
Roll_deg int32
Pitch_deg int32
Heading_deg int32
AccRoll_deg uint32
AccPitch_deg uint32
AccHeading_deg uint32
ITOW_ms uint32 // - GPS time of week of the navigation epoch. See the description of iTOW for details.
Version byte
Reserved1 [3]byte
Roll_deg int32
Pitch_deg int32
Heading_deg int32
AccRoll_deg uint32
AccPitch_deg uint32
AccHeading_deg uint32
}
func (NavAtt) ClassID() uint16 { return 0x0501 }
@ -104,43 +104,43 @@ func (NavAtt) ClassID() uint16 { return 0x0501 }
type NavPVTFixType byte
const (
NavPVTNoFix NavPVTFixType = iota
NavPVTDeadReckoning
NavPVTFix2D
NavPVTFix3D
NavPVTGNSS
NavPVTTimeOnly
NavPVTNoFix NavPVTFixType = iota
NavPVTDeadReckoning
NavPVTFix2D
NavPVTFix3D
NavPVTGNSS
NavPVTTimeOnly
)
type NavPVTValid byte
const (
NavPVTValidDate NavPVTValid = (1 << iota) // valid UTC Date (see Time Validity section for details)
NavPVTValidTime // valid UTC time of day (see Time Validity section for details)
NavPVTFullyResolved // UTC time of day has been fully resolved (no seconds uncertainty). Cannot be used to check if time is completely solved.
NavPVTValidMag // valid magnetic declination
NavPVTValidDate NavPVTValid = (1 << iota) // valid UTC Date (see Time Validity section for details)
NavPVTValidTime // valid UTC time of day (see Time Validity section for details)
NavPVTFullyResolved // UTC time of day has been fully resolved (no seconds uncertainty). Cannot be used to check if time is completely solved.
NavPVTValidMag // valid magnetic declination
)
type NavPVTFlags byte
const (
NavPVTGnssFixOK NavPVTFlags = 1 << 0 // valid fix (i.e within DOP & accuracy masks)
NavPVTDiffSoln NavPVTFlags = 1 << 1 // differential corrections were applied
NavPVTHeadVehValid NavPVTFlags = 1 << 5 // heading of vehicle is valid, only set if the receiver is in sensor fusion mode
NavPVTCarrSolnFloat NavPVTFlags = 1 << 6 // carrier phase range solution with floating ambiguities
NavPVTCarrSolnFixed NavPVTFlags = 1 << 7 // carrier phase range solution with fixed ambiguities
NavPVTGnssFixOK NavPVTFlags = 1 << 0 // valid fix (i.e within DOP & accuracy masks)
NavPVTDiffSoln NavPVTFlags = 1 << 1 // differential corrections were applied
NavPVTHeadVehValid NavPVTFlags = 1 << 5 // heading of vehicle is valid, only set if the receiver is in sensor fusion mode
NavPVTCarrSolnFloat NavPVTFlags = 1 << 6 // carrier phase range solution with floating ambiguities
NavPVTCarrSolnFixed NavPVTFlags = 1 << 7 // carrier phase range solution with fixed ambiguities
)
type NavPVTFlags2 byte
const (
NavPVTConfirmedAvai NavPVTFlags2 = 1 << 5 // information about UTC Date and Time of Day validity confirmation is available (see Time Validity section for details)
NavPVTConfirmedDate NavPVTFlags2 = 1 << 6 // UTC Date validity could be confirmed (see Time Validity section for details)
NavPVTConfirmedTime NavPVTFlags2 = 1 << 7 // UTC Time of Day could be confirmed (see Time Validity section for details)
NavPVTConfirmedAvai NavPVTFlags2 = 1 << 5 // information about UTC Date and Time of Day validity confirmation is available (see Time Validity section for details)
NavPVTConfirmedDate NavPVTFlags2 = 1 << 6 // UTC Date validity could be confirmed (see Time Validity section for details)
NavPVTConfirmedTime NavPVTFlags2 = 1 << 7 // UTC Time of Day could be confirmed (see Time Validity section for details)
)
type NavPVTFlags3 byte
const (
NavPVTInvalidLlh NavPVTFlags3 = (1 << iota) // 1 = Invalid lon, lat, height and hMSL
NavPVTInvalidLlh NavPVTFlags3 = (1 << iota) // 1 = Invalid lon, lat, height and hMSL
)

118
web/http.go
View File

@ -1,85 +1,85 @@
package web
import (
"git.timovolkmann.de/gyrogpsc/core"
"github.com/gofiber/fiber/v2"
"github.com/gofiber/websocket/v2"
"github.com/sirupsen/logrus"
"html/template"
"git.timovolkmann.de/gyrogpsc/core"
"github.com/gofiber/fiber/v2"
"github.com/gofiber/websocket/v2"
"github.com/sirupsen/logrus"
"html/template"
)
func CreateServer(s core.Service, sub core.Subscriber, c *core.Configuration) {
app := fiber.New()
app.Static("/static", "static")
app := fiber.New()
app.Static("/static", "static")
// Application Main Page
app.Get("/", fiberHomeHandler)
// Application Main Page
app.Get("/", fiberHomeHandler)
// Websocket
app.Get("/", websocket.New(createFiberWebsocketHandler(sub)))
// Websocket
app.Get("/", websocket.New(createFiberWebsocketHandler(sub)))
// TODO: Get all SerialPorts
// app.Get("/serialports")
// TODO: Get all SerialPorts
// app.Get("/serialports")
// Tracking persistence controls
trackings := app.Group("/trackings")
trackings.Get("/", stubhander()) // Get all trackings Metadata
trackings.Post("/", stubhander()) // Initialize new tracking, open websocket and prepare for automatic recording. Toggle ?serial=true and ?tcp=true. Returns trackingId
trackings.Patch("/", stubhander()) // Starts recording
trackings.Put("/", stubhander()) // Stops current recording. Returns trackingId if record was successful
trackings.Delete("/", stubhander()) // Stops websocket connection, pipelines and collectors
// Tracking persistence controls
trackings := app.Group("/trackings")
trackings.Get("/", stubhander()) // Get all trackings Metadata
trackings.Post("/", stubhander()) // Initialize new tracking, open websocket and prepare for automatic recording. Toggle ?serial=true and ?tcp=true. Returns trackingId
trackings.Patch("/", stubhander()) // Starts recording
trackings.Put("/", stubhander()) // Stops current recording. Returns trackingId if record was successful
trackings.Delete("/", stubhander()) // Stops websocket connection, pipelines and collectors
trackings.Get("/:trackingId", stubhander()) // Gets Tracking Metadata and loads sensorRecords from storage.
trackings.Delete("/:trackingId", stubhander()) // Deletes Tracking from storage
trackings.Get("/:trackingId", stubhander()) // Gets Tracking Metadata and loads sensorRecords from storage.
trackings.Delete("/:trackingId", stubhander()) // Deletes Tracking from storage
trackings.Post("/current", stubhander()) // Starts Replay.
trackings.Patch("/current", stubhander()) // Pauses Replay.
trackings.Put("/current", stubhander()) // Stops Replay.
trackings.Post("/current", stubhander()) // Starts Replay.
trackings.Patch("/current", stubhander()) // Pauses Replay.
trackings.Put("/current", stubhander()) // Stops Replay.
logrus.Fatal(app.Listen(c.Webserver.Port))
logrus.Fatal(app.Listen(c.Webserver.Port))
}
func stubhander() fiber.Handler {
return func(ctx *fiber.Ctx) error {
return nil
}
return func(ctx *fiber.Ctx) error {
return nil
}
}
func createFiberWebsocketHandler(s core.Subscriber) func(conn *websocket.Conn) {
return func(c *websocket.Conn) {
// Handle and discard inbound messages
go func() {
for {
if _, _, err := c.NextReader(); err != nil {
c.Close()
break
}
}
}()
return func(c *websocket.Conn) {
// Handle and discard inbound messages
go func() {
for {
if _, _, err := c.NextReader(); err != nil {
c.Close()
break
}
}
}()
dispatcherId, channel := s.Subscribe()
defer s.Unsubscribe(dispatcherId)
for {
cmsg := <-channel
err := c.WriteMessage(websocket.TextMessage, []byte(cmsg))
if err != nil {
logrus.Println("write:", err)
dispatcherId, channel := s.Subscribe()
defer s.Unsubscribe(dispatcherId)
for {
cmsg := <-channel
err := c.WriteMessage(websocket.TextMessage, []byte(cmsg))
if err != nil {
logrus.Println("write:", err)
break
}
}
}
break
}
}
}
}
func fiberHomeHandler(c *fiber.Ctx) error {
tpl, err := template.ParseFiles("static/index.html")
if err != nil {
return err
}
err = tpl.Execute(c, "://"+c.Hostname()+"/")
if err != nil {
return err
}
return nil
tpl, err := template.ParseFiles("static/index.html")
if err != nil {
return err
}
err = tpl.Execute(c, "://"+c.Hostname()+"/")
if err != nil {
return err
}
return nil
}