diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..b861e7d --- /dev/null +++ b/.gitignore @@ -0,0 +1,164 @@ + +# Created by https://www.toptal.com/developers/gitignore/api/macos,go,intellij +# Edit at https://www.toptal.com/developers/gitignore?templates=macos,go,intellij + +### Go ### +# Binaries for programs and plugins +*.exe +*.exe~ +*.dll +*.so +*.dylib + +# Test binary, built with `go test -c` +*.test + +# Output of the go coverage tool, specifically when used with LiteIDE +*.out + +# Dependency directories (remove the comment below to include it) +# vendor/ + +### Go Patch ### +/vendor/ +/Godeps/ + +### Intellij ### +# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider +# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839 + +# User-specific stuff +.idea/**/workspace.xml +.idea/**/tasks.xml +.idea/**/usage.statistics.xml +.idea/**/dictionaries +.idea/**/shelf + +# Generated files +.idea/**/contentModel.xml + +# Sensitive or high-churn files +.idea/**/dataSources/ +.idea/**/dataSources.ids +.idea/**/dataSources.local.xml +.idea/**/sqlDataSources.xml +.idea/**/dynamic.xml +.idea/**/uiDesigner.xml +.idea/**/dbnavigator.xml + +# Gradle +.idea/**/gradle.xml +.idea/**/libraries + +# Gradle and Maven with auto-import +# When using Gradle or Maven with auto-import, you should exclude module files, +# since they will be recreated, and may cause churn. Uncomment if using +# auto-import. +# .idea/artifacts +# .idea/compiler.xml +# .idea/jarRepositories.xml +# .idea/modules.xml +# .idea/*.iml +# .idea/modules +# *.iml +# *.ipr + +# CMake +cmake-build-*/ + +# Mongo Explorer plugin +.idea/**/mongoSettings.xml + +# File-based project format +*.iws + +# IntelliJ +out/ + +# mpeltonen/sbt-idea plugin +.idea_modules/ + +# JIRA plugin +atlassian-ide-plugin.xml + +# Cursive Clojure plugin +.idea/replstate.xml + +# Crashlytics plugin (for Android Studio and IntelliJ) +com_crashlytics_export_strings.xml +crashlytics.properties +crashlytics-build.properties +fabric.properties + +# Editor-based Rest Client +.idea/httpRequests + +# Android studio 3.1+ serialized cache file +.idea/caches/build_file_checksums.ser + +### Intellij Patch ### +# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721 + +# *.iml +# modules.xml +# .idea/misc.xml +# *.ipr + +# Sonarlint plugin +# https://plugins.jetbrains.com/plugin/7973-sonarlint +.idea/**/sonarlint/ + +# SonarQube Plugin +# https://plugins.jetbrains.com/plugin/7238-sonarqube-community-plugin +.idea/**/sonarIssues.xml + +# Markdown Navigator plugin +# https://plugins.jetbrains.com/plugin/7896-markdown-navigator-enhanced +.idea/**/markdown-navigator.xml +.idea/**/markdown-navigator-enh.xml +.idea/**/markdown-navigator/ + +# Cache file creation bug +# See https://youtrack.jetbrains.com/issue/JBR-2257 +.idea/$CACHE_FILE$ + +# CodeStream plugin +# https://plugins.jetbrains.com/plugin/12206-codestream +.idea/codestream.xml + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +# End of https://www.toptal.com/developers/gitignore/api/macos,go,intellij + +# CUSTOM +.env +gpsconfig.yml +config.yml +_db diff --git a/.idea/codeStyles/codeStyleConfig.xml b/.idea/codeStyles/codeStyleConfig.xml new file mode 100644 index 0000000..a55e7a1 --- /dev/null +++ b/.idea/codeStyles/codeStyleConfig.xml @@ -0,0 +1,5 @@ + + + + \ No newline at end of file diff --git a/cmd/serial_only/serial_only.go b/cmd/serial_only/serial_only.go deleted file mode 100644 index 352585e..0000000 --- a/cmd/serial_only/serial_only.go +++ /dev/null @@ -1,21 +0,0 @@ -package main - -import ( - "fmt" - "git.timovolkmann.de/gyrogpsc/core" -) - -const ( - SERIAL_PORT = "/dev/tty.usbmodem14201" -) - -func main() { - core.SerialCollector(&printer{}, SERIAL_PORT) -} - -type printer struct{} - -func (p *printer) Process(data *core.Sensordata) error { - fmt.Println(data) - return nil -} diff --git a/cmd/server/server.go b/cmd/server/server.go index 3e7f029..f69458e 100644 --- a/cmd/server/server.go +++ b/cmd/server/server.go @@ -2,29 +2,48 @@ package main import ( "git.timovolkmann.de/gyrogpsc/core" - "log" -) - -const ( - TCP_PORT = ":3010" - HTTP_PORT = ":3011" - SERIAL_PORT = "COM6" + "git.timovolkmann.de/gyrogpsc/storage" + "git.timovolkmann.de/gyrogpsc/web" + "github.com/sirupsen/logrus" + "github.com/spf13/viper" ) func main() { - log.Println("setup dispatcher") - dispatcher := core.NewDispatcher() - log.Println("initialize processing pipeline") - processor := core.NewPipeline(dispatcher, 50, 494) - processor.Run() - collectRoutines(processor) - log.Println("start http server") - core.HttpListenAndServe(dispatcher, HTTP_PORT) + conf := configurationFromFile() + + repo := storage.NewRepository(conf) + disp := core.NewDispatcher() + + service := core.TrackingService(repo, disp, conf) + + web.CreateServer(service, disp, conf) } -func collectRoutines(proc core.Processor) { - // collect Sensor data from Serial UBX in Goroutine - go core.SerialCollector(proc, SERIAL_PORT) - // collect Sensor data from JSON over TCP in Goroutine - go core.TcpCollector(proc, TCP_PORT) +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.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 } diff --git a/cmd/tcp_only/tcp_only.go b/cmd/tcp_only/tcp_only.go deleted file mode 100644 index d535377..0000000 --- a/cmd/tcp_only/tcp_only.go +++ /dev/null @@ -1,27 +0,0 @@ -package main - -import ( - "git.timovolkmann.de/gyrogpsc/core" - "log" -) - -const ( - TCP_PORT = ":3010" - HTTP_PORT = ":3011" -) - -func main() { - log.Println("setup dispatcher") - dispatcher := core.NewDispatcher() - log.Println("initialize processing pipeline") - processor := core.NewPipeline(dispatcher, 50, 494) - processor.Run() - collectRoutines(processor) - log.Println("start http server") - core.HttpListenAndServe(dispatcher, HTTP_PORT) -} - -func collectRoutines(proc core.Processor) { - // collect Sensor data from JSON over TCP in Goroutine - go core.TcpCollector(proc, TCP_PORT) -} diff --git a/cmd/test/autorun.go b/cmd/test/autorun.go new file mode 100644 index 0000000..ea54994 --- /dev/null +++ b/cmd/test/autorun.go @@ -0,0 +1,83 @@ +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" + "net/http" + _ "net/http/pprof" + "os" + "time" +) + +func main() { + //f, err := os.Create("_profile.pprof") + //if err != nil { + // logrus.Fatal(err) + //} + //pprof.StartCPUProfile(f) + go func() { + logrus.Println(http.ListenAndServe("localhost:6060", nil)) + }() + //defer pprof.StopCPUProfile() + + conf := configurationFromFile() + + repo := storage.NewRepository(conf) + disp := core.NewDispatcher() + + service := core.TrackingService(repo, disp, conf) + + go func() { + service.StartPipeline(core.TCP, core.SERIAL) + time.Sleep(5 * time.Second) + service.StartRecord() + time.Sleep(10 * time.Second) + service.StopRecord() + time.Sleep(5 * time.Second) + service.StartPipeline(core.TCP, core.SERIAL) + time.Sleep(5 * time.Second) + service.StartRecord() + time.Sleep(60 * time.Second) + service.StopRecord() + time.Sleep(2 * time.Second) + service.StopAll() + time.Sleep(1 * time.Second) + + //pprof.StopCPUProfile() + os.Exit(0) + }() + + 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.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 +} diff --git a/core/collectors.go b/core/collectors.go index 923d6fe..0cac1d9 100644 --- a/core/collectors.go +++ b/core/collectors.go @@ -2,41 +2,182 @@ package core import ( "fmt" - "log" + "git.timovolkmann.de/gyrogpsc/ublox" + "github.com/sirupsen/logrus" + "go.bug.st/serial" "net" "os" - - "git.timovolkmann.de/gyrogpsc/ublox" - "go.bug.st/serial" + "sync" + "time" ) -func TcpCollector(proc Processor, tcpPort string) { - log.Println("start tcp collectors") +type Collector interface { + Collect() + Close() +} - listener, err := net.Listen("tcp", tcpPort) - if err != nil { - fmt.Println("Error listening:", err.Error()) - os.Exit(1) - } - // Close the listener when the application closes. - defer listener.Close() +type CollectorType string - for { - // Listen for an incoming connection. - conn, err := listener.Accept() - if err != nil { - fmt.Println("Error accepting: ", err.Error()) - os.Exit(1) +const ( + SERIAL CollectorType = "SERIAL_COLLECTOR" //"\x00SERIAL?/" + TCP CollectorType = "TCP_COLLECTOR" //"\x00TCP?/" +) + +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) } - log.Println("...new incoming tcp connection...") + coll = tcpSingleton + default: + panic("selected collector type not implemented") + } + return coll +} - // Handle connections in a new goroutine. - go jsonHandler(conn, proc) +type serialCollector struct { + 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.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.Warn("can't open serial port:", err) + //if e, ok := err.(serial.PortError); ok && e.Code() == serial.PortBusy { + for i := 3; i < 20; i = i + 2 { + logrus.Warnf("try again in -> %vms", i*i) + time.Sleep(time.Millisecond * time.Duration(i*i)) + port, err = serial.Open(s.config.Collectors.SerialCollectorPort, mode) + if err == nil { + break + } + } + if err != nil { + logrus.Fatal(err) + } + //} + } + defer port.Close() + + decoder := ublox.NewDecoder(port) + + 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") + }() +} + +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, } } +type tcpCollector struct { + active bool + processor Pusher + //config *Configuration +} + +func (t *tcpCollector) Collect() { + t.active = true +} + +func (t *tcpCollector) Close() { + t.active = false +} + +func (t *tcpCollector) SetProcessor(p Pusher) { + t.processor = p +} + +func newTcp(proc Pusher, config *Configuration) *tcpCollector { + logrus.Println("start tcp collector") + + 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 +} + // handles incoming tcp connections with json payload. -func jsonHandler(conn net.Conn, proc Processor) { +func (c *tcpCollector) jsonHandler(conn net.Conn) { defer conn.Close() @@ -54,52 +195,16 @@ func jsonHandler(conn net.Conn, proc Processor) { //fmt.Println(string(buf[:n])) sd, err := ConvertSensorDataPhone(buf[:n]) if err != nil { - log.Println(err) + logrus.Println(err) continue } - - err = proc.Process(sd) - if err != nil { - log.Println(err) - continue - } - } -} - -func SerialCollector(proc Processor, serialPort string) { - log.Println("start serial collectors") - mode := &serial.Mode{ - BaudRate: 115200, - } - port, err := serial.Open(serialPort, mode) - if err != nil { - log.Fatalln(err.Error()) - } - - decoder := ublox.NewDecoder(port) - - for { - meas, err := decoder.Decode() - if err != nil { - if err.Error() == "NMEA not implemented" { - continue - } - log.Println(err) - continue - } - sd, err := ConvertUbxToSensorData(meas) - if err != nil { - log.Println("convert err:", err, meas) - continue - } - if sd == nil { - continue - } - - err = proc.Process(sd) - if err != nil { - log.Println("process err:", err, *sd) + if !c.active { + //time.Sleep(50 * time.Millisecond) continue } + err = c.processor.Push(sd) + if err != nil { + logrus.Fatalln(err) + } } } diff --git a/core/config.go b/core/config.go new file mode 100644 index 0000000..adabf79 --- /dev/null +++ b/core/config.go @@ -0,0 +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"` +} diff --git a/core/dispatcher.go b/core/dispatcher.go index e6a97b7..a705d67 100644 --- a/core/dispatcher.go +++ b/core/dispatcher.go @@ -2,18 +2,9 @@ package core import ( "errors" - "log" + "github.com/sirupsen/logrus" ) -type Subscriber interface { - Subscribe() (int16, <-chan string) - Unsubscribe(id int16) error -} - -type Publisher interface { - Publish(message string) -} - type dispatcher struct { listeners map[int16]chan string counter int16 @@ -27,7 +18,8 @@ func NewDispatcher() *dispatcher { } func (d *dispatcher) Publish(message string) { - log.Printf("publish to %v listeners:\n%v\n", len(d.listeners), message) + logrus.Debugf("publish to %v listeners\n", len(d.listeners)) + logrus.Debug(message) for _, ch := range d.listeners { ch <- message } diff --git a/core/http.go b/core/http.go deleted file mode 100644 index 8e9468d..0000000 --- a/core/http.go +++ /dev/null @@ -1,71 +0,0 @@ -package core - -import ( - "fmt" - "github.com/gorilla/websocket" - "html/template" - "log" - "net/http" -) - -func echo(sub Subscriber) func(w http.ResponseWriter, r *http.Request) { - var upgrader = websocket.Upgrader{} // use default options - return func(w http.ResponseWriter, r *http.Request) { - fmt.Println("upgrading to ws") - c, err := upgrader.Upgrade(w, r, nil) - if err != nil { - log.Print("upgrade:", err) - return - } - //defer c.Close() - go func() { - for { - if _, _, err := c.NextReader(); err != nil { - c.Close() - break - } - } - }() - - dispatcherId, channel := sub.Subscribe() - defer sub.Unsubscribe(dispatcherId) - for { - //log.Println("") - //if err != nil { - // log.Println("read:", err) - // break - //} - cmsg := <-channel - err = c.WriteMessage(websocket.TextMessage, []byte(cmsg)) - if err != nil { - log.Println("write:", err) - - break - } - } - } -} - -func home(w http.ResponseWriter, r *http.Request) { - //var homeTemplate = template.Must(template.NewDispatcher("").ParseFiles("index.html")) - tpl, err := template.ParseFiles("static/index.html") - if err != nil { - log.Fatalln(err) - } - err = tpl.Execute(w, "ws://"+r.Host+"/echo") - if err != nil { - log.Fatalln(err) - } -} - -func HttpListenAndServe(sub Subscriber, httpPort string) { - log.Println("register websocket handler") - http.HandleFunc("/echo", echo(sub)) - log.Println("register index handler") - http.HandleFunc("/", home) - log.Println("register static file handler") - http.Handle("/static/", http.FileServer(http.Dir("."))) - - log.Println("start server") - log.Fatal(http.ListenAndServe(httpPort, nil)) -} diff --git a/core/interfaces.go b/core/interfaces.go new file mode 100644 index 0000000..4beafe9 --- /dev/null +++ b/core/interfaces.go @@ -0,0 +1,27 @@ +package core + +import "github.com/google/uuid" + +type Subscriber interface { + Subscribe() (int16, <-chan string) + Unsubscribe(id int16) error +} + +type Publisher interface { + Publish(message string) +} + +type Pusher interface { + Push(data *sensorData) error +} + +type Storer interface { + EnqueuePair(tcp sensorData, ser sensorData) + EnqueueRaw(data sensorData) +} + +type Repo interface { + Save(tracking Tracking) error + LoadAll() ([]TrackingMetadata, error) + Load(id uuid.UUID) (Tracking, error) +} diff --git a/core/pipeline.go b/core/pipeline.go index 4be7863..36cfc58 100644 --- a/core/pipeline.go +++ b/core/pipeline.go @@ -1,169 +1,227 @@ package core import ( + "context" "encoding/json" "errors" - "fmt" - "log" + "github.com/google/go-cmp/cmp" + "github.com/google/go-cmp/cmp/cmpopts" + "github.com/sirupsen/logrus" + "golang.org/x/sync/semaphore" "sync" "time" ) -// TODO: adapt HNR-INS data to continue orientation stream - -type Processor interface { - Process(data *Sensordata) error -} - type pipeline struct { - syn synchronizer - agr aggregator - pub Publisher + active bool + record bool + synchroniz synchronizer + buffer pipeBuffer + publisher Publisher + storer Storer publishTicker *time.Ticker + mu sync.RWMutex + sema *semaphore.Weighted } -func NewPipeline(d Publisher, publishIntervalMs int, delayUpdateIntervalMs int) *pipeline { +// pipe implements Runner & Pusher +func NewPipeline(d Publisher, s Storer, conf *Configuration) *pipeline { return &pipeline{ + false, + false, synchronizer{ //bufferSize: 100, - mutex: &sync.Mutex{}, - updateTicker: time.NewTicker(time.Duration(delayUpdateIntervalMs) * time.Millisecond), + mutex: &sync.RWMutex{}, + updateTicker: time.NewTicker(time.Duration(conf.Pipeline.SyncUpdateIntervalMs) * time.Millisecond), }, - aggregator{ + pipeBuffer{ tcpMutex: &sync.Mutex{}, serialMutex: &sync.Mutex{}, }, d, - time.NewTicker(time.Duration(publishIntervalMs) * time.Millisecond), + 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() { - go p.scheduleSynchronizer() + 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.publishTicker.C - err := p.Publish() - if err != nil && err.Error() != "no data available" { - log.Println(err) + 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") }() - log.Println("pipeline: processing service started") } -func (p *pipeline) Publish() error { - p.agr.tcpMutex.Lock() - p.agr.serialMutex.Lock() - //log.Println(pub.tcpSensorData) - //log.Println(pub.serialSensorData) - if (p.agr.tcpSensorData == Sensordata{} && p.agr.serialSensorData == Sensordata{}) { - p.agr.tcpMutex.Unlock() - p.agr.serialMutex.Unlock() +func (p *pipeline) Record() { + p.record = true +} +func (p *pipeline) StopRecord() { + p.record = false +} + +func (p *pipeline) publish() error { + 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") } - data := map[string]Sensordata{ - string(SOURCE_TCP): p.agr.tcpSensorData, - string(SOURCE_SERIAL): p.agr.serialSensorData, + 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") } - //p.agr.tcpSensorData = Sensordata{} - //p.agr.serialSensorData = Sensordata{} - p.agr.tcpMutex.Unlock() - p.agr.serialMutex.Unlock() + 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, + } + + p.buffer.tcpMutex.Unlock() + p.buffer.serialMutex.Unlock() jdata, err := json.Marshal(data) - //log.Println(string(pretty.Pretty(jdata))) + //logrus.Println(string(pretty.Pretty(jdata))) if err != nil { return err } - p.pub.Publish(string(jdata)) + p.publisher.Publish(string(jdata)) return nil } -type aggregator struct { - tcpSensorData Sensordata - serialSensorData Sensordata - tcpMutex *sync.Mutex - serialMutex *sync.Mutex +type pipeBuffer struct { + MeasTcp sensorData + MeasSerial sensorData + LastMeasTcp sensorData + LastMeasSerial sensorData + tcpMutex *sync.Mutex + serialMutex *sync.Mutex } type UnixNanoTime int64 type synchronizer struct { - tcpSerialDelayMs int64 - //tcpBuffer map[UnixNanoTime]Sensordata - //serialBuffer map[UnixNanoTime]Sensordata - //bufferSize int - mutex *sync.Mutex - updateTicker *time.Ticker - // should run concurrently - // - // Methods: - // pushSensordata(Sensordata), remove oldest if larger than bufferSize - // refreshDelay() - // Schedule() -} - -func (p *pipeline) scheduleSynchronizer() { - log.Println("synchronizer: started") - for { - <-p.syn.updateTicker.C - err := p.refreshDelay() - if err != nil { - log.Println(err) - } - } + tcpSerialDelayMs int64 + mutex *sync.RWMutex + updateTicker *time.Ticker } func (p *pipeline) refreshDelay() error { - log.Println("refreshing delay....") - fmt.Println("Delay TCP/SERIAL", p.syn.tcpSerialDelayMs) - p.agr.serialMutex.Lock() - p.agr.tcpMutex.Lock() - tcpTime := time.Unix(0, p.agr.tcpSensorData.Timestamp) - serTime := time.Unix(0, p.agr.serialSensorData.Timestamp) - p.agr.serialMutex.Unlock() - p.agr.tcpMutex.Unlock() - if tcpTime.UnixNano() == 0 || serTime.UnixNano() == 0 { - return errors.New("no sync possible. no data to compare") + p.synchroniz.mutex.RLock() + if p.synchroniz.tcpSerialDelayMs != 0 { + logrus.Println("Delay TCP/SERIAL", p.synchroniz.tcpSerialDelayMs) } - log.Println("TCP", tcpTime.String()) - log.Println("SER", serTime.String()) - log.Println("Difference", tcpTime.Sub(serTime).Milliseconds()) + 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.syn.tcpSerialDelayMs += delay + p.synchroniz.mutex.Lock() + p.synchroniz.tcpSerialDelayMs += delay + p.synchroniz.mutex.Unlock() return nil } -func (p *pipeline) Process(data *Sensordata) error { +func (p *pipeline) Push(data *sensorData) error { if data == nil { return errors.New("nil processing not allowed") } - //log.Println(string(data.SourceId)) - switch data.SourceId { + //logrus.Println("push data to pipe:", string(data.source)) + if p.isPipeActive() { + p.storer.EnqueueRaw(*data) + } + switch data.source { case SOURCE_TCP: go p.pushTcpDataToBuffer(*data) case SOURCE_SERIAL: go p.pushSerialDataToBuffer(*data) default: - return errors.New("invalid data source") + panic("pipe: invalid data source") } return nil } -func (p *pipeline) pushTcpDataToBuffer(data Sensordata) { - if p.syn.tcpSerialDelayMs > 0 { - time.Sleep(time.Duration(p.syn.tcpSerialDelayMs) * time.Millisecond) +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.agr.tcpMutex.Lock() - p.agr.tcpSensorData = p.agr.tcpSensorData.Consolidate2(data) - p.agr.tcpMutex.Unlock() + 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) { - if p.syn.tcpSerialDelayMs < 0 { - time.Sleep(time.Duration(-p.syn.tcpSerialDelayMs) * time.Millisecond) +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.agr.serialMutex.Lock() - p.agr.serialSensorData = p.agr.serialSensorData.Consolidate2(data) - p.agr.serialMutex.Unlock() + 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.mu.Lock() + p.active = false + p.mu.Unlock() } diff --git a/core/replay.go b/core/replay.go new file mode 100644 index 0000000..9a8bc95 --- /dev/null +++ b/core/replay.go @@ -0,0 +1 @@ +package core diff --git a/core/format.go b/core/sensordata.go similarity index 59% rename from core/format.go rename to core/sensordata.go index 4124f64..1114f37 100644 --- a/core/format.go +++ b/core/sensordata.go @@ -3,25 +3,12 @@ package core import ( "errors" "git.timovolkmann.de/gyrogpsc/ublox" + "github.com/sirupsen/logrus" "github.com/tidwall/gjson" - "log" "math" "time" ) -/*{ -"smartphone": { -// hier daten von hyperimu -}, -"serial": { -// hier Daten von M8U: -"timestamp": 37539672354 -"position": [0, 0, 0], -"orientation": [0, 0, 0] -} -} -*/ - type sourceId string const ( @@ -29,90 +16,90 @@ const ( SOURCE_SERIAL sourceId = "SOURCE_SERIAL" ) -type Sensordata struct { +type sensorData struct { itow uint32 - SourceId sourceId + source sourceId + ServerTime time.Time Timestamp int64 Position [3]float64 Orientation [3]float64 } -func (s Sensordata) isSameEpoch(n Sensordata) bool { +func (s sensorData) isSameEpoch(n sensorData) bool { if n.itow == 0 { return false } return s.itow == n.itow } -func (s Sensordata) Consolidate(n Sensordata) Sensordata { - if (s.SourceId != n.SourceId && s != Sensordata{}) { - log.Println(s) - log.Println(n) - log.Fatalln("Do not consolidate Sensordata from different Sources") - } +// 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{} - //if s.Timestamp == null.Timestamp { s.Timestamp = n.Timestamp } - //if s.Position == null.Position { s.Position = n.Position } - //if s.Orientation == null.Orientation { s.Orientation = n.Orientation } - if n.Timestamp != null.Timestamp && s.Timestamp != n.Timestamp { - s.Timestamp = n.Timestamp - } - if n.Position != null.Position && s.Position != n.Position { - s.Position = n.Position - } - if n.Orientation != null.Orientation && s.Orientation != n.Orientation { - s.Orientation = n.Orientation - } + null := sensorData{} - return s + 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 } -func (s Sensordata) Consolidate2(n Sensordata) Sensordata { - null := Sensordata{} - //if s.Timestamp == null.Timestamp { s.Timestamp = n.Timestamp } - //if s.Position == null.Position { s.Position = n.Position } - //if s.Orientation == null.Orientation { s.Orientation = n.Orientation } - //if n.Timestamp == null.Timestamp { - // n.Timestamp = s.Timestamp - //} +// Consolidates two sensordata elements but ignores timestamps +func (s sensorData) ConsolidateExTime(n sensorData) sensorData { + s.checkSources(&n) + null := sensorData{} + if n.Position == null.Position { n.Position = s.Position } - if n.Orientation == null.Orientation{ + 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") + } +} + var ( errNotImplemented = errors.New("message not implemented") errRawMessage = errors.New("raw message") ) -func ConvertUbxToSensorData(msg interface{}) (*Sensordata, error) { - sd := &Sensordata{ - SourceId: SOURCE_SERIAL, +func ConvertUbxToSensorData(msg interface{}) (*sensorData, error) { + sd := &sensorData{ + ServerTime: time.Now(), + source: SOURCE_SERIAL, } switch v := msg.(type) { case *ublox.NavPvt: - //log.Println("NAV-PVT") + //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: - //log.Println("HNR-PVT") + //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: - //log.Println("NAV-ATT") + //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 @@ -120,7 +107,7 @@ func ConvertUbxToSensorData(msg interface{}) (*Sensordata, error) { case *ublox.RawMessage: //class := make([]byte, 2) //binary.LittleEndian.PutUint16(class, v.ClassID()) - //log.Printf("%#v, %#v", class[0],class[1]) + //logrus.Printf("%#v, %#v", class[0],class[1]) return nil, nil default: return nil, errNotImplemented @@ -128,14 +115,14 @@ func ConvertUbxToSensorData(msg interface{}) (*Sensordata, error) { return sd, nil } -func ConvertSensorDataPhone(jsonData []byte) (*Sensordata, error) { +func ConvertSensorDataPhone(jsonData []byte) (*sensorData, error) { if gjson.Get(string(jsonData), "os").String() == "hyperimu" { return convertAndroidHyperImu(jsonData) } return convertIPhoneSensorLog(jsonData) } -func convertIPhoneSensorLog(jsonData []byte) (*Sensordata, error) { +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() @@ -143,20 +130,20 @@ func convertIPhoneSensorLog(jsonData []byte) (*Sensordata, error) { 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{ - SourceId: SOURCE_TCP, - Timestamp: int64(timestamp * float64(time.Second)), - //Timestamp: time.Unix(0, prep.Timestamp * int64(time.Millisecond)), - Position: [3]float64{lat, lon, alt}, + 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)), } - //log.Println(string(pretty.Pretty(jsonData))) - //log.Println(sd) + //logrus.Println(string(pretty.Pretty(jsonData))) + //logrus.Println(sd) return sd, nil } - -func convertAndroidHyperImu(jsonData []byte) (*Sensordata, error) { +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() @@ -165,12 +152,13 @@ func convertAndroidHyperImu(jsonData []byte) (*Sensordata, error) { roll := gjson.Get(string(jsonData), "orientation.1").Float() yaw := gjson.Get(string(jsonData), "orientation.2").Float() - sd := &Sensordata{ - SourceId: SOURCE_TCP, - Timestamp: timestamp * int64(time.Millisecond), - //Timestamp: time.Unix(0, prep.Timestamp * int64(time.Millisecond)), - Position: [3]float64{lat, lon, alt}, + 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 } diff --git a/core/service.go b/core/service.go new file mode 100644 index 0000000..b05db75 --- /dev/null +++ b/core/service.go @@ -0,0 +1,176 @@ +package core + +import ( + "errors" + "github.com/google/uuid" + "github.com/sirupsen/logrus" + "time" +) + +type OpMode uint8 + +const ( + STOPPED OpMode = iota + LIVE + RECORDING + REPLAY +) + +type Service interface { + AllTrackings() ([]TrackingMetadata, error) + StartPipeline(cols ...CollectorType) (string, error) + StartRecord() (string, error) + StopRecord() (*TrackingMetadata, error) + StopAll() (*TrackingMetadata, error) + + LoadTracking(trackingId uuid.UUID) + DeleteTracking(trackingId uuid.UUID) + + StartReplay() + PauseReplay() + StopReplay() +} + +type trackingService struct { + current *Tracking + config *Configuration + pipe *pipeline + repo Repo + opMode OpMode + collectors []Collector +} + +func TrackingService(r Repo, d Publisher, c *Configuration) *trackingService { + t := &Tracking{} + ts := &trackingService{ + current: t, + opMode: STOPPED, + config: c, + repo: r, + pipe: NewPipeline(d, t, c), + collectors: nil, + } + //ts.pipe.Run() + return ts +} + +func (t *trackingService) StartPipeline(cols ...CollectorType) (string, error) { + logrus.Info("SERVICE: NEW SETUP") + if t.opMode == RECORDING { + txt := "trackingservice: please stop recording before resetting pipeline" + logrus.Warn(txt) + return "RECORDING", errors.New(txt) + } + if t.opMode == LIVE { + logrus.Warn("trackingservice: stop current running stream/record before creating new one") + t.StopAll() + //time.Sleep(1000 * time.Millisecond) + } + 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) + return "LIVE", nil +} + +func (t *trackingService) AllTrackings() ([]TrackingMetadata, error) { + logrus.Info("SERVICE: GET ALL TRACKINGS") + data, err := t.repo.LoadAll() + return data, err +} + +func (t *trackingService) StartRecord() (string, error) { + logrus.Info("SERVICE: START RECORD") + if t.opMode != LIVE { + if t.opMode == RECORDING { + txt := "trackingservice: already recording" + logrus.Warn(txt) + return "record already running since: " + t.current.TimeCreated.String(), errors.New(txt) + } else { + txt := "trackingservice: start collector pipeline to record data" + logrus.Warn(txt) + return "record already running since: " + t.current.TimeCreated.String(), errors.New(txt) + } + } + t.opMode = RECORDING + t.current.TimeCreated = time.Now() + t.pipe.Record() + return "record started at: " + t.current.TimeCreated.String(), nil +} + +func (t *trackingService) StopRecord() (*TrackingMetadata, error) { + logrus.Info("SERVICE: STOP RECORD") + if t.opMode != RECORDING { + txt := "trackingservice: couldn't stop. not recording" + logrus.Info(txt) + return nil, errors.New(txt) + } + t.pipe.StopRecord() + mRec.Lock() + mRaw.Lock() + err := t.repo.Save(*t.current) + mRaw.Unlock() + mRec.Unlock() + if err != nil { + logrus.Error(err) + } + t.opMode = LIVE + //time.Sleep(20 * time.Millisecond) + tm := t.current.TrackingMetadata + t.safelyReplaceTracking(emptyTracking()) + t.current.Collectors = tm.Collectors + return &tm, err +} + +func (t *trackingService) StopAll() (*TrackingMetadata, error) { + logrus.Info("SERVICE: STOP ALL") + var tm *TrackingMetadata = nil + var err error + t.pipe.Close() + for _, e := range t.collectors { + e.Close() + } + if t.opMode == RECORDING { + logrus.Warn("trackingservice: stop recording gracefully") + tm, err = t.StopRecord() + } + t.opMode = STOPPED + return tm, err +} + +func (t *trackingService) LoadTracking(trackingId uuid.UUID) { + panic("implement me") +} + +func (t *trackingService) DeleteTracking(trackingId uuid.UUID) { + panic("implement me") +} + +func (t *trackingService) StartReplay() { + panic("implement me") +} + +func (t *trackingService) PauseReplay() { + panic("implement me") +} + +func (t *trackingService) StopReplay() { + panic("implement me") +} + +func (t *trackingService) safelyReplaceTracking(tr Tracking) { + mRec.Lock() + mRaw.Lock() + *t.current = tr + mRaw.Unlock() + mRec.Unlock() +} diff --git a/core/trackings.go b/core/trackings.go new file mode 100644 index 0000000..6df3672 --- /dev/null +++ b/core/trackings.go @@ -0,0 +1,75 @@ +package core + +import ( + "github.com/google/uuid" + "github.com/sirupsen/logrus" + "sync" + "time" +) + +type Tracking struct { + TrackingMetadata + Records []recordPair + Rawdata []rawRecord +} + +var mRec sync.RWMutex +var mRaw sync.RWMutex + +type TrackingMetadata struct { + UUID uuid.UUID + TimeCreated time.Time + Collectors []CollectorType +} + +// persistence wrapper for sensordata +type recordPair struct { + RecordTimeKey time.Time // uniqueness ensured through mutex + DataPair map[sourceId]sensorData +} + +type rawRecord struct { + RecordTimeKey time.Time // uniqueness ensured through mutex + Data sensorData +} + +// END persistence wrapper for sensordata + +func (s *Tracking) EnqueuePair(tcp sensorData, ser sensorData) { + rp := recordPair{ + RecordTimeKey: time.Now(), + DataPair: map[sourceId]sensorData{ + tcp.source: tcp, + ser.source: ser, + }, + } + mRec.Lock() + s.Records = append(s.Records, rp) + logrus.Debugln("tracking Records: len->", len(s.Records)) + mRec.Unlock() +} + +func (s *Tracking) EnqueueRaw(data sensorData) { + sr := rawRecord{ + time.Now(), + data, + } + mRec.Lock() + s.Rawdata = append(s.Rawdata, sr) + logrus.Debugln("raw data points: len->", len(s.Rawdata)) + mRec.Unlock() +} + +func emptyTracking() Tracking { + return Tracking{ + TrackingMetadata: TrackingMetadata{ + UUID: uuid.New(), + }, + Records: []recordPair{}, + Rawdata: []rawRecord{}, + } +} + +func (s *Tracking) isEmpty() bool { + return len(s.Rawdata)+len(s.Records) == 0 +} diff --git a/example_config.yml b/example_config.yml new file mode 100644 index 0000000..872032e --- /dev/null +++ b/example_config.yml @@ -0,0 +1,32 @@ +# !!! copy this file and rename it to gpsconfig.yml !!! +# !!! file must be located in working directory !!! + +# server configurations +webserver: + port: ":3011" + +# collector configurations +collectors: + porttcp: ":3010" + portserial: "/dev/tty.usbmodem14201" + +# processing pipeline configurations +pipeline: + publishIntervalMs: 50 + syncUpdateIntervalMs: 494 + +debuglevel: "INFO" + +#// ErrorLevel level. Logs. Used for errors that should definitely be noted. +#// Commonly used for hooks to send errors to an error tracking service. +#ErrorLevel + +#// WarnLevel level. Non-critical entries that deserve eyes. +#WarnLevel + +#// InfoLevel level. General operational entries about what's going on inside the +#// application. +#InfoLevel + +#// DebugLevel level. Usually only enabled when debugging. Very verbose logging. +#DebugLevel \ No newline at end of file diff --git a/go.mod b/go.mod index 1b52ad7..2483a21 100644 --- a/go.mod +++ b/go.mod @@ -3,10 +3,17 @@ module git.timovolkmann.de/gyrogpsc go 1.15 require ( - github.com/gorilla/websocket v1.4.2 - github.com/m7shapan/njson v1.0.1 + github.com/dgraph-io/badger/v2 v2.2007.2 + github.com/gofiber/fiber/v2 v2.2.4 + github.com/gofiber/template v1.6.6 + github.com/gofiber/websocket/v2 v2.0.2 + github.com/google/go-cmp v0.4.0 + github.com/google/uuid v1.1.2 + github.com/sirupsen/logrus v1.6.0 + github.com/spf13/viper v1.7.1 github.com/tidwall/gjson v1.6.0 github.com/tidwall/pretty v1.0.2 go.bug.st/serial v1.1.1 - golang.org/x/sys v0.0.0-20201107080550-4d91cf3a1aaf // indirect + golang.org/x/sync v0.0.0-20190911185100-cd5d95a43a6e + golang.org/x/sys v0.0.0-20201211090839-8ad439b19e0f // indirect ) diff --git a/go.sum b/go.sum index 6d0f678..15133b6 100644 --- a/go.sum +++ b/go.sum @@ -1,18 +1,355 @@ +cloud.google.com/go 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ws.onopen = function(evt) { print("OPEN"); } diff --git a/storage/kvstore.go b/storage/kvstore.go new file mode 100644 index 0000000..3997b9b --- /dev/null +++ b/storage/kvstore.go @@ -0,0 +1,165 @@ +package storage + +import ( + "encoding/binary" + "encoding/json" + "git.timovolkmann.de/gyrogpsc/core" + "github.com/dgraph-io/badger/v2" + "github.com/google/uuid" + "github.com/sirupsen/logrus" + "github.com/tidwall/pretty" + "os" + "path/filepath" + "strconv" +) + +// Must implement Repo +type badgerStore struct { + trackingsDb *badger.DB + recordsDb *badger.DB + rawdataDb *badger.DB +} + +func NewRepository(c *core.Configuration) *badgerStore { + 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{trackingsDb: tr, recordsDb: dp, rawdataDb: rd} +} + +func (r *badgerStore) isDbAvailable() bool { + return r.trackingsDb.IsClosed() || r.recordsDb.IsClosed() || r.rawdataDb.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.recordsDb.Update(func(txn *badger.Txn) error { + for _, v := range tr.Records { + k := createRecordKey(tr.UUID, v.RecordTimeKey.UnixNano()) + j, err := json.Marshal(v.DataPair) + logrus.Debugln("save record k/v:\n", tr.UUID.String(), strconv.FormatInt(v.RecordTimeKey.UnixNano(), 10)) + logrus.Debugln(string(pretty.Pretty(j))) + if err != nil { + return err + } + txn.Set(k, j) + } + return nil + }) + if err != nil { + logrus.Error(err, tr) + return err + } + err = r.rawdataDb.Update(func(txn *badger.Txn) error { + for _, v := range tr.Rawdata { + k := createRecordKey(tr.UUID, v.RecordTimeKey.UnixNano()) + j, err := json.Marshal(v) + logrus.Debugln("save raw k/v:\n", tr.UUID.String(), strconv.FormatInt(v.RecordTimeKey.UnixNano(), 10)) + logrus.Debugln(string(pretty.Pretty(j))) + if err != nil { + return err + } + txn.Set(k, j) + } + return nil + }) + if err != nil { + logrus.Error(err, tr) + return err + } + err = r.trackingsDb.Update(func(txn *badger.Txn) error { + logrus.Debug("save tracking meta k/v:\n", string(ts), string(meta)) + err := txn.Set(ts, meta) + return err + }) + if err != nil { + logrus.Error(err, tr) + return err + } + + dr := 0.5 + err = r.trackingsDb.RunValueLogGC(dr) + logrus.Debug("DB GC:", err) + err = r.recordsDb.RunValueLogGC(dr) + logrus.Debug("DB GC:", err) + err = r.rawdataDb.RunValueLogGC(dr) + logrus.Debug("DB GC:", err) + logrus.Info("sucessfully saved tracking") + return nil +} + +func (r *badgerStore) LoadAll() ([]core.TrackingMetadata, error) { + var result []core.TrackingMetadata + err := r.trackingsDb.View(func(txn *badger.Txn) error { + opts := badger.DefaultIteratorOptions + it := txn.NewIterator(opts) + defer it.Close() + for it.Rewind(); it.Valid(); it.Next() { + item := it.Item() + el := core.TrackingMetadata{} + item.Value(func(val []byte) error { + logrus.Debugln(string(val)) + err := json.Unmarshal(val, &el) + return err + }) + result = append(result, el) + } + return nil + }) + if err != nil { + return nil, err + } + return result, nil +} + +func (r *badgerStore) Load(id uuid.UUID) (core.Tracking, error) { + panic("implement me") +} + +func createRecordKey(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.BigEndian.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.BigEndian.Uint64(suffix)) + return uid, timestamp +} diff --git a/static/index.html b/templates/index.html similarity index 100% rename from static/index.html rename to templates/index.html diff --git a/ublox/decode.go b/ublox/decode.go index 3e0ccab..5e98eba 100644 --- a/ublox/decode.go +++ b/ublox/decode.go @@ -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 } diff --git a/ublox/messages.go b/ublox/messages.go index 610f7b2..fbebb09 100644 --- a/ublox/messages.go +++ b/ublox/messages.go @@ -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 ) diff --git a/web/http.go b/web/http.go new file mode 100644 index 0000000..daee7fe --- /dev/null +++ b/web/http.go @@ -0,0 +1,239 @@ +package web + +import ( + "errors" + "git.timovolkmann.de/gyrogpsc/core" + "github.com/gofiber/fiber/v2" + "github.com/gofiber/template/html" + "github.com/gofiber/websocket/v2" + "github.com/sirupsen/logrus" +) + +func CreateServer(s core.Service, sub core.Subscriber, c *core.Configuration) { + app := fiber.New(fiber.Config{ + Views: fiberTemplateEngine(c), + }) + app.Static("/static", "static") + + // Application Main Page + app.Get("/", fiberHomeHandler) + + // Websocket + app.Get("/ws", websocket.New(createFiberWebsocketHandler(sub))) + + // TODO: Get all SerialPorts + // app.Get("/serialports") + + // Tracking persistence controls HTTP JSON RPC API + trackings := app.Group("/trackings") + trackings.Get("/", allTrackingsHandler(s, c)) // Get all trackings Metadata + trackings.Post("/", startPipelineHandler(s, c)) // Initialize new tracking, open websocket and prepare for automatic recording. Toggle ?serial=true and ?tcp=true. Returns trackingId + trackings.Patch("/", startRecordingHandler(s, c)) // Starts recording + trackings.Put("/", stopRecordingHandler(s, c)) // Stops current recording. Returns trackingId if record was successful + trackings.Delete("/", stopAllHandler(s, c)) // 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.Post("/current", stubhander()) // Starts Replay. + trackings.Patch("/current", stubhander()) // Pauses Replay. + trackings.Put("/current", stubhander()) // Stops Replay. + + logrus.Fatal(app.Listen(c.Webserver.Port)) +} + +func stubhander() fiber.Handler { + return func(ctx *fiber.Ctx) error { + return nil + } +} +func allTrackingsHandler(s core.Service, c *core.Configuration) fiber.Handler { + return func(ctx *fiber.Ctx) error { + trackings, err := s.AllTrackings() + if err != nil { + //ctx.Status(500).JSON(err) + //return err + } + prepres := map[string]interface{}{} + prepres["data"] = trackings + if err != nil { + prepres["error"] = err.Error() + + } + err2 := ctx.JSON(prepres) + if err2 != nil { + ctx.Status(500).JSON(err2) + return err2 + } + return nil + } +} + +func startPipelineHandler(s core.Service, c *core.Configuration) fiber.Handler { + return func(ctx *fiber.Ctx) error { + var collecs []core.CollectorType + ser := ctx.Query("serial", "true") + if ser == "true" { + collecs = append(collecs, core.SERIAL) + } else if ser != "false" && ser != "" { + collecs = append(collecs, core.CollectorType(ser)) // TODO: allow passing serial port as url parameter + } + tcp := ctx.Query("tcp", "true") + logrus.Debugln("query values: serial/tcp", ser, tcp) + if tcp == "true" { + collecs = append(collecs, core.TCP) + } + res, err := s.StartPipeline(collecs...) + if err != nil { + //ctx.Status(500).JSON(err) + //return err + } + prepres := map[string]interface{}{} + prepres["tracking_state"] = res + prepres["data"] = collecs + if err != nil { + prepres["error"] = err.Error() + } + if len(collecs) == 0 { + e := errors.New("attention! no collectors running. start a new pipeline") + prepres["error"] = e.Error() + } + err2 := ctx.JSON(prepres) + if err2 != nil { + ctx.Status(500).JSON(err2) + return err2 + } + return nil + } +} + +func startRecordingHandler(s core.Service, c *core.Configuration) fiber.Handler { + return func(ctx *fiber.Ctx) error { + rec, err := s.StartRecord() + if err != nil { + //ctx.Status(500).JSON(err) + //return err + } + prepres := map[string]interface{}{} + prepres["tracking_state"] = "RECORD" + prepres["data"] = rec + if err != nil { + prepres["error"] = err.Error() + + } + err2 := ctx.JSON(prepres) + if err2 != nil { + ctx.Status(500).JSON(err2) + return err2 + } + return nil + } +} + +func stopRecordingHandler(s core.Service, c *core.Configuration) fiber.Handler { + return func(ctx *fiber.Ctx) error { + rec, err := s.StopRecord() + if err != nil { + //ctx.Status(500).JSON(err) + //return err + } + prepres := map[string]interface{}{} + prepres["tracking_state"] = "LIVE" + prepres["data"] = rec + if err != nil { + prepres["error"] = err.Error() + + } + err2 := ctx.JSON(prepres) + if err2 != nil { + ctx.Status(500).JSON(err2) + return err2 + } + return nil + } +} + +func stopAllHandler(s core.Service, c *core.Configuration) fiber.Handler { + return func(ctx *fiber.Ctx) error { + rec, err := s.StopAll() + if err != nil { + //ctx.Status(500).JSON(err) + //return err + } + prepres := map[string]interface{}{} + prepres["tracking_state"] = "STOPPED" + prepres["data"] = rec + if err != nil { + prepres["error"] = err.Error() + + } + err2 := ctx.JSON(prepres) + if err2 != nil { + ctx.Status(500).JSON(err2) + return err2 + } + return nil + } +} + +func createFiberWebsocketHandler(s core.Subscriber) func(conn *websocket.Conn) { + return func(c *websocket.Conn) { + logrus.Info("new websocket client") + // 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.Info("close websocket connection") + c.Close() + break + } + } + } +} + +func fiberTemplateEngine(c *core.Configuration) *html.Engine { + // Create a new engine by passing the template folder + // and template extension using .New(dir, ext string) + engine := html.New("./templates", ".html") + + // We also support the http.FileSystem interface + // See examples below to load templates from embedded files + // engine := html.NewFileSystem(http.Dir("./views"), ".html") + + // Reload the templates on each render, good for development + //engine.Reload(strings.ToLower(c.Debuglevel) == "debug") // Optional. Default: false + engine.Reload(true) // Optional. Default: false + + // Debug will print each template that is parsed, good for debugging + //engine.Debug(strings.ToLower(c.Debuglevel) == "debug") // Optional. Default: false + engine.Debug(true) // Optional. Default: false + + // Layout defines the variable name that is used to yield templates within layouts + //engine.Layout("embed") // Optional. Default: "embed" + + // Delims sets the action delimiters to the specified strings + //engine.Delims("{{", "}}") // Optional. Default: engine delimiters + + // AddFunc adds a function to the template's global function map. + //engine.AddFunc("greet", func(name string) string { + // return "Hello, " + name + "!" + //}) + return engine +} + +func fiberHomeHandler(c *fiber.Ctx) error { + // Render index template + return c.Render("index", "ws://"+c.Hostname()+"/ws") +}