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Merge branch 'develop' into frank-dev2

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# Conflicts:
#	cmd/server/server.go
#	templates/index.html
This commit is contained in:
unknown 2020-12-14 10:38:06 +01:00
commit 26014b0c34
25 changed files with 2181 additions and 588 deletions
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164
.gitignore vendored Normal file
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@ -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
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# 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

5
.idea/codeStyles/codeStyleConfig.xml generated Normal file
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<component name="ProjectCodeStyleConfiguration">
<state>
<option name="PREFERRED_PROJECT_CODE_STYLE" value="Default" />
</state>
</component>

21
cmd/serial_only/serial_only.go
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@ -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
}

59
cmd/server/server.go
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@ -2,29 +2,48 @@ package main
import ( import (
"git.timovolkmann.de/gyrogpsc/core" "git.timovolkmann.de/gyrogpsc/core"
"log" "git.timovolkmann.de/gyrogpsc/storage"
) "git.timovolkmann.de/gyrogpsc/web"
"github.com/sirupsen/logrus"
const ( "github.com/spf13/viper"
TCP_PORT = ":3010"
HTTP_PORT = ":3011"
SERIAL_PORT = "COM6"
) )
func main() { func main() {
log.Println("setup dispatcher") conf := configurationFromFile()
dispatcher := core.NewDispatcher()
log.Println("initialize processing pipeline") repo := storage.NewRepository(conf)
processor := core.NewPipeline(dispatcher, 50, 494) disp := core.NewDispatcher()
processor.Run()
collectRoutines(processor) service := core.TrackingService(repo, disp, conf)
log.Println("start http server")
core.HttpListenAndServe(dispatcher, HTTP_PORT) web.CreateServer(service, disp, conf)
} }
func collectRoutines(proc core.Processor) { func configurationFromFile() *core.Configuration {
// collect Sensor data from Serial UBX in Goroutine viper.SetDefault("collectors.porttcp", ":3010")
go core.SerialCollector(proc, SERIAL_PORT) viper.SetDefault("collectors.portserial", "/dev/tty.usbmodem14201")
// collect Sensor data from JSON over TCP in Goroutine viper.SetDefault("webserver.port", ":3011")
go core.TcpCollector(proc, TCP_PORT) 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
} }

27
cmd/tcp_only/tcp_only.go
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@ -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)
}

83
cmd/test/autorun.go Normal file
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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
}

237
core/collectors.go
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@ -2,41 +2,182 @@ package core
import ( import (
"fmt" "fmt"
"log" "git.timovolkmann.de/gyrogpsc/ublox"
"github.com/sirupsen/logrus"
"go.bug.st/serial"
"net" "net"
"os" "os"
"sync"
"git.timovolkmann.de/gyrogpsc/ublox" "time"
"go.bug.st/serial"
) )
func TcpCollector(proc Processor, tcpPort string) { type Collector interface {
log.Println("start tcp collectors") Collect()
Close()
}
listener, err := net.Listen("tcp", tcpPort) type CollectorType string
if err != nil {
fmt.Println("Error listening:", err.Error())
os.Exit(1)
}
// Close the listener when the application closes.
defer listener.Close()
for { const (
// Listen for an incoming connection. SERIAL CollectorType = "SERIAL_COLLECTOR" //"\x00SERIAL?/"
conn, err := listener.Accept() TCP CollectorType = "TCP_COLLECTOR" //"\x00TCP?/"
if err != nil { )
fmt.Println("Error accepting: ", err.Error())
os.Exit(1) 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. type serialCollector struct {
go jsonHandler(conn, proc) 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. // handles incoming tcp connections with json payload.
func jsonHandler(conn net.Conn, proc Processor) { func (c *tcpCollector) jsonHandler(conn net.Conn) {
defer conn.Close() defer conn.Close()
@ -54,52 +195,16 @@ func jsonHandler(conn net.Conn, proc Processor) {
//fmt.Println(string(buf[:n])) //fmt.Println(string(buf[:n]))
sd, err := ConvertSensorDataPhone(buf[:n]) sd, err := ConvertSensorDataPhone(buf[:n])
if err != nil { if err != nil {
log.Println(err) logrus.Println(err)
continue continue
} }
if !c.active {
err = proc.Process(sd) //time.Sleep(50 * time.Millisecond)
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)
continue continue
} }
err = c.processor.Push(sd)
if err != nil {
logrus.Fatalln(err)
}
} }
} }

16
core/config.go Normal file
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@ -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"`
}

14
core/dispatcher.go
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@ -2,18 +2,9 @@ package core
import ( import (
"errors" "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 { type dispatcher struct {
listeners map[int16]chan string listeners map[int16]chan string
counter int16 counter int16
@ -27,7 +18,8 @@ func NewDispatcher() *dispatcher {
} }
func (d *dispatcher) Publish(message string) { 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 { for _, ch := range d.listeners {
ch <- message ch <- message
} }

71
core/http.go
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@ -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))
}

27
core/interfaces.go Normal file
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@ -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)
}

254
core/pipeline.go
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@ -1,169 +1,227 @@
package core package core
import ( import (
"context"
"encoding/json" "encoding/json"
"errors" "errors"
"fmt" "github.com/google/go-cmp/cmp"
"log" "github.com/google/go-cmp/cmp/cmpopts"
"github.com/sirupsen/logrus"
"golang.org/x/sync/semaphore"
"sync" "sync"
"time" "time"
) )
// TODO: adapt HNR-INS data to continue orientation stream
type Processor interface {
Process(data *Sensordata) error
}
type pipeline struct { type pipeline struct {
syn synchronizer active bool
agr aggregator record bool
pub Publisher synchroniz synchronizer
buffer pipeBuffer
publisher Publisher
storer Storer
publishTicker *time.Ticker 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{ return &pipeline{
false,
false,
synchronizer{ synchronizer{
//bufferSize: 100, //bufferSize: 100,
mutex: &sync.Mutex{}, mutex: &sync.RWMutex{},
updateTicker: time.NewTicker(time.Duration(delayUpdateIntervalMs) * time.Millisecond), updateTicker: time.NewTicker(time.Duration(conf.Pipeline.SyncUpdateIntervalMs) * time.Millisecond),
}, },
aggregator{ pipeBuffer{
tcpMutex: &sync.Mutex{}, tcpMutex: &sync.Mutex{},
serialMutex: &sync.Mutex{}, serialMutex: &sync.Mutex{},
}, },
d, 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() { 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() { go func() {
for { for p.isPipeActive() {
<-p.publishTicker.C <-p.synchroniz.updateTicker.C
err := p.Publish() err := p.refreshDelay()
if err != nil && err.Error() != "no data available" { if err != nil {
log.Println(err) 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 { func (p *pipeline) Record() {
p.agr.tcpMutex.Lock() p.record = true
p.agr.serialMutex.Lock() }
//log.Println(pub.tcpSensorData) func (p *pipeline) StopRecord() {
//log.Println(pub.serialSensorData) p.record = false
if (p.agr.tcpSensorData == Sensordata{} && p.agr.serialSensorData == Sensordata{}) { }
p.agr.tcpMutex.Unlock()
p.agr.serialMutex.Unlock() 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") return errors.New("no data available")
} }
data := map[string]Sensordata{ if cmp.Equal(p.buffer.MeasTcp, p.buffer.LastMeasTcp, cmpopts.IgnoreUnexported(sensorData{})) &&
string(SOURCE_TCP): p.agr.tcpSensorData, cmp.Equal(p.buffer.MeasSerial, p.buffer.LastMeasSerial, cmpopts.IgnoreUnexported(sensorData{})) {
string(SOURCE_SERIAL): p.agr.serialSensorData, p.buffer.tcpMutex.Unlock()
p.buffer.serialMutex.Unlock()
return errors.New("same data")
} }
//p.agr.tcpSensorData = Sensordata{} logrus.Debug("––––––––––––––––––––––––––––––––––––")
//p.agr.serialSensorData = Sensordata{} logrus.Debugf("SER old: %v", p.buffer.LastMeasSerial)
p.agr.tcpMutex.Unlock() logrus.Debugf("SER new: %v", p.buffer.MeasSerial)
p.agr.serialMutex.Unlock() 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) jdata, err := json.Marshal(data)
//log.Println(string(pretty.Pretty(jdata))) //logrus.Println(string(pretty.Pretty(jdata)))
if err != nil { if err != nil {
return err return err
} }
p.pub.Publish(string(jdata)) p.publisher.Publish(string(jdata))
return nil return nil
} }
type aggregator struct { type pipeBuffer struct {
tcpSensorData Sensordata MeasTcp sensorData
serialSensorData Sensordata MeasSerial sensorData
tcpMutex *sync.Mutex LastMeasTcp sensorData
serialMutex *sync.Mutex LastMeasSerial sensorData
tcpMutex *sync.Mutex
serialMutex *sync.Mutex
} }
type UnixNanoTime int64 type UnixNanoTime int64
type synchronizer struct { type synchronizer struct {
tcpSerialDelayMs int64 tcpSerialDelayMs int64
//tcpBuffer map[UnixNanoTime]Sensordata mutex *sync.RWMutex
//serialBuffer map[UnixNanoTime]Sensordata updateTicker *time.Ticker
//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)
}
}
} }
func (p *pipeline) refreshDelay() error { func (p *pipeline) refreshDelay() error {
log.Println("refreshing delay....") p.synchroniz.mutex.RLock()
fmt.Println("Delay TCP/SERIAL", p.syn.tcpSerialDelayMs) if p.synchroniz.tcpSerialDelayMs != 0 {
p.agr.serialMutex.Lock() logrus.Println("Delay TCP/SERIAL", p.synchroniz.tcpSerialDelayMs)
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")
} }
log.Println("TCP", tcpTime.String()) p.synchroniz.mutex.RUnlock()
log.Println("SER", serTime.String()) p.buffer.serialMutex.Lock()
log.Println("Difference", tcpTime.Sub(serTime).Milliseconds()) 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() delay := tcpTime.Sub(serTime).Milliseconds()
p.syn.tcpSerialDelayMs += delay p.synchroniz.mutex.Lock()
p.synchroniz.tcpSerialDelayMs += delay
p.synchroniz.mutex.Unlock()
return nil return nil
} }
func (p *pipeline) Process(data *Sensordata) error { func (p *pipeline) Push(data *sensorData) error {
if data == nil { if data == nil {
return errors.New("nil processing not allowed") return errors.New("nil processing not allowed")
} }
//log.Println(string(data.SourceId)) //logrus.Println("push data to pipe:", string(data.source))
switch data.SourceId { if p.isPipeActive() {
p.storer.EnqueueRaw(*data)
}
switch data.source {
case SOURCE_TCP: case SOURCE_TCP:
go p.pushTcpDataToBuffer(*data) go p.pushTcpDataToBuffer(*data)
case SOURCE_SERIAL: case SOURCE_SERIAL:
go p.pushSerialDataToBuffer(*data) go p.pushSerialDataToBuffer(*data)
default: default:
return errors.New("invalid data source") panic("pipe: invalid data source")
} }
return nil return nil
} }
func (p *pipeline) pushTcpDataToBuffer(data Sensordata) { func (p *pipeline) pushTcpDataToBuffer(data sensorData) {
if p.syn.tcpSerialDelayMs > 0 { p.synchroniz.mutex.RLock()
time.Sleep(time.Duration(p.syn.tcpSerialDelayMs) * time.Millisecond) if p.synchroniz.tcpSerialDelayMs > 0 {
time.Sleep(time.Duration(p.synchroniz.tcpSerialDelayMs) * time.Millisecond)
} }
p.agr.tcpMutex.Lock() p.synchroniz.mutex.RLock()
p.agr.tcpSensorData = p.agr.tcpSensorData.Consolidate2(data) p.buffer.tcpMutex.Lock()
p.agr.tcpMutex.Unlock() p.buffer.MeasTcp = p.buffer.MeasTcp.ConsolidateExTime(data)
p.buffer.tcpMutex.Unlock()
} }
func (p *pipeline) pushSerialDataToBuffer(data Sensordata) { func (p *pipeline) pushSerialDataToBuffer(data sensorData) {
if p.syn.tcpSerialDelayMs < 0 { p.synchroniz.mutex.RLock()
time.Sleep(time.Duration(-p.syn.tcpSerialDelayMs) * time.Millisecond) if p.synchroniz.tcpSerialDelayMs < 0 {
time.Sleep(time.Duration(-p.synchroniz.tcpSerialDelayMs) * time.Millisecond)
} }
p.agr.serialMutex.Lock() p.synchroniz.mutex.RUnlock()
p.agr.serialSensorData = p.agr.serialSensorData.Consolidate2(data) p.buffer.serialMutex.Lock()
p.agr.serialMutex.Unlock() 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()
} }

1
core/replay.go Normal file
View File

@ -0,0 +1 @@
package core

126
core/format.go → core/sensordata.go
View File

@ -3,25 +3,12 @@ package core
import ( import (
"errors" "errors"
"git.timovolkmann.de/gyrogpsc/ublox" "git.timovolkmann.de/gyrogpsc/ublox"
"github.com/sirupsen/logrus"
"github.com/tidwall/gjson" "github.com/tidwall/gjson"
"log"
"math" "math"
"time" "time"
) )
/*{
"smartphone": {
// hier daten von hyperimu
},
"serial": {
// hier Daten von M8U:
"timestamp": 37539672354
"position": [0, 0, 0],
"orientation": [0, 0, 0]
}
}
*/
type sourceId string type sourceId string
const ( const (
@ -29,90 +16,90 @@ const (
SOURCE_SERIAL sourceId = "SOURCE_SERIAL" SOURCE_SERIAL sourceId = "SOURCE_SERIAL"
) )
type Sensordata struct { type sensorData struct {
itow uint32 itow uint32
SourceId sourceId source sourceId
ServerTime time.Time
Timestamp int64 Timestamp int64
Position [3]float64 Position [3]float64
Orientation [3]float64 Orientation [3]float64
} }
func (s Sensordata) isSameEpoch(n Sensordata) bool { func (s sensorData) isSameEpoch(n sensorData) bool {
if n.itow == 0 { if n.itow == 0 {
return false return false
} }
return s.itow == n.itow return s.itow == n.itow
} }
func (s Sensordata) Consolidate(n Sensordata) Sensordata { // Consolidates two sensordata elements if they are in the same epoch
if (s.SourceId != n.SourceId && s != Sensordata{}) { func (s sensorData) ConsolidateEpochsOnly(n sensorData) sensorData {
log.Println(s) s.checkSources(&n)
log.Println(n)
log.Fatalln("Do not consolidate Sensordata from different Sources")
}
if s.isSameEpoch(n) { if s.isSameEpoch(n) {
null := 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 && 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
}
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 return n
} }
func (s Sensordata) Consolidate2(n Sensordata) Sensordata { // Consolidates two sensordata elements but ignores timestamps
null := Sensordata{} func (s sensorData) ConsolidateExTime(n sensorData) sensorData {
//if s.Timestamp == null.Timestamp { s.Timestamp = n.Timestamp } s.checkSources(&n)
//if s.Position == null.Position { s.Position = n.Position } null := sensorData{}
//if s.Orientation == null.Orientation { s.Orientation = n.Orientation }
//if n.Timestamp == null.Timestamp {
// n.Timestamp = s.Timestamp
//}
if n.Position == null.Position { if n.Position == null.Position {
n.Position = s.Position n.Position = s.Position
} }
if n.Orientation == null.Orientation{ if n.Orientation == null.Orientation {
n.Orientation = s.Orientation n.Orientation = s.Orientation
} }
return n 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 ( var (
errNotImplemented = errors.New("message not implemented") errNotImplemented = errors.New("message not implemented")
errRawMessage = errors.New("raw message") errRawMessage = errors.New("raw message")
) )
func ConvertUbxToSensorData(msg interface{}) (*Sensordata, error) { func ConvertUbxToSensorData(msg interface{}) (*sensorData, error) {
sd := &Sensordata{ sd := &sensorData{
SourceId: SOURCE_SERIAL, ServerTime: time.Now(),
source: SOURCE_SERIAL,
} }
switch v := msg.(type) { switch v := msg.(type) {
case *ublox.NavPvt: case *ublox.NavPvt:
//log.Println("NAV-PVT") //logrus.Println("NAV-PVT")
sd.itow = v.ITOW_ms 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.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[0] = float64(v.Lat_dege7) / 1e+7
sd.Position[1] = float64(v.Lon_dege7) / 1e+7 sd.Position[1] = float64(v.Lon_dege7) / 1e+7
sd.Position[2] = float64(v.HMSL_mm) / 1e+3 // mm in m sd.Position[2] = float64(v.HMSL_mm) / 1e+3 // mm in m
case *ublox.HnrPvt: case *ublox.HnrPvt:
//log.Println("HNR-PVT") //logrus.Println("HNR-PVT")
sd.itow = v.ITOW_ms 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.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[0] = float64(v.Lat_dege7) / 1e+7
sd.Position[1] = float64(v.Lon_dege7) / 1e+7 sd.Position[1] = float64(v.Lon_dege7) / 1e+7
sd.Position[2] = float64(v.HMSL_mm) / 1e+3 // mm in m sd.Position[2] = float64(v.HMSL_mm) / 1e+3 // mm in m
case *ublox.NavAtt: case *ublox.NavAtt:
//log.Println("NAV-ATT") //logrus.Println("NAV-ATT")
sd.itow = v.ITOW_ms sd.itow = v.ITOW_ms
sd.Orientation[0] = float64(v.Pitch_deg) * 1e-5 sd.Orientation[0] = float64(v.Pitch_deg) * 1e-5
sd.Orientation[1] = float64(v.Roll_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: case *ublox.RawMessage:
//class := make([]byte, 2) //class := make([]byte, 2)
//binary.LittleEndian.PutUint16(class, v.ClassID()) //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 return nil, nil
default: default:
return nil, errNotImplemented return nil, errNotImplemented
@ -128,14 +115,14 @@ func ConvertUbxToSensorData(msg interface{}) (*Sensordata, error) {
return sd, nil return sd, nil
} }
func ConvertSensorDataPhone(jsonData []byte) (*Sensordata, error) { func ConvertSensorDataPhone(jsonData []byte) (*sensorData, error) {
if gjson.Get(string(jsonData), "os").String() == "hyperimu" { if gjson.Get(string(jsonData), "os").String() == "hyperimu" {
return convertAndroidHyperImu(jsonData) return convertAndroidHyperImu(jsonData)
} }
return convertIPhoneSensorLog(jsonData) return convertIPhoneSensorLog(jsonData)
} }
func convertIPhoneSensorLog(jsonData []byte) (*Sensordata, error) { func convertIPhoneSensorLog(jsonData []byte) (*sensorData, error) {
timestamp := gjson.Get(string(jsonData), "locationTimestamp_since1970").Float() timestamp := gjson.Get(string(jsonData), "locationTimestamp_since1970").Float()
lat := gjson.Get(string(jsonData), "locationLatitude").Float() lat := gjson.Get(string(jsonData), "locationLatitude").Float()
lon := gjson.Get(string(jsonData), "locationLongitude").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 pitch := gjson.Get(string(jsonData), "motionPitch").Float() * 180 / math.Pi
roll := gjson.Get(string(jsonData), "motionRoll").Float() * 180 / math.Pi roll := gjson.Get(string(jsonData), "motionRoll").Float() * 180 / math.Pi
yaw := gjson.Get(string(jsonData), "motionYaw").Float() * 180 / math.Pi yaw := gjson.Get(string(jsonData), "motionYaw").Float() * 180 / math.Pi
sd := &Sensordata{ sd := &sensorData{
SourceId: SOURCE_TCP, ServerTime: time.Now(),
Timestamp: int64(timestamp * float64(time.Second)), source: SOURCE_TCP,
//Timestamp: time.Unix(0, prep.Timestamp * int64(time.Millisecond)), Timestamp: int64(timestamp * float64(time.Second)),
Position: [3]float64{lat, lon, alt}, Position: [3]float64{lat, lon, alt},
Orientation: [3]float64{pitch, roll, yaw}, Orientation: [3]float64{pitch, roll, yaw},
//Timestamp: time.Unix(0, prep.Timestamp * int64(time.Millisecond)),
} }
//log.Println(string(pretty.Pretty(jsonData))) //logrus.Println(string(pretty.Pretty(jsonData)))
//log.Println(sd) //logrus.Println(sd)
return sd, nil return sd, nil
} }
func convertAndroidHyperImu(jsonData []byte) (*sensorData, error) {
func convertAndroidHyperImu(jsonData []byte) (*Sensordata, error) {
timestamp := gjson.Get(string(jsonData), "Timestamp").Int() timestamp := gjson.Get(string(jsonData), "Timestamp").Int()
lat := gjson.Get(string(jsonData), "GPS.0").Float() lat := gjson.Get(string(jsonData), "GPS.0").Float()
lon := gjson.Get(string(jsonData), "GPS.1").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() roll := gjson.Get(string(jsonData), "orientation.1").Float()
yaw := gjson.Get(string(jsonData), "orientation.2").Float() yaw := gjson.Get(string(jsonData), "orientation.2").Float()
sd := &Sensordata{ sd := &sensorData{
SourceId: SOURCE_TCP, ServerTime: time.Now(),
Timestamp: timestamp * int64(time.Millisecond), source: SOURCE_TCP,
//Timestamp: time.Unix(0, prep.Timestamp * int64(time.Millisecond)), Timestamp: timestamp * int64(time.Millisecond),
Position: [3]float64{lat, lon, alt}, Position: [3]float64{lat, lon, alt},
Orientation: [3]float64{pitch, roll, yaw}, Orientation: [3]float64{pitch, roll, yaw},
//Timestamp: time.Unix(0, prep.Timestamp * int64(time.Millisecond)),
} }
return sd, nil return sd, nil
} }

176
core/service.go Normal file
View File

@ -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()
}

75
core/trackings.go Normal file
View File

@ -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
}

32
example_config.yml Normal file
View File

@ -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

13
go.mod
View File

@ -3,10 +3,17 @@ module git.timovolkmann.de/gyrogpsc
go 1.15 go 1.15
require ( require (
github.com/gorilla/websocket v1.4.2 github.com/dgraph-io/badger/v2 v2.2007.2
github.com/m7shapan/njson v1.0.1 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/gjson v1.6.0
github.com/tidwall/pretty v1.0.2 github.com/tidwall/pretty v1.0.2
go.bug.st/serial v1.1.1 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
) )

568
go.sum
View File

@ -1,18 +1,355 @@
cloud.google.com/go v0.26.0/go.mod h1:aQUYkXzVsufM+DwF1aE+0xfcU+56JwCaLick0ClmMTw=
cloud.google.com/go v0.34.0/go.mod h1:aQUYkXzVsufM+DwF1aE+0xfcU+56JwCaLick0ClmMTw=
cloud.google.com/go v0.38.0/go.mod h1:990N+gfupTy94rShfmMCWGDn0LpTmnzTp2qbd1dvSRU=
cloud.google.com/go v0.44.1/go.mod h1:iSa0KzasP4Uvy3f1mN/7PiObzGgflwredwwASm/v6AU=
cloud.google.com/go v0.44.2/go.mod h1:60680Gw3Yr4ikxnPRS/oxxkBccT6SA1yMk63TGekxKY=
cloud.google.com/go v0.45.1/go.mod h1:RpBamKRgapWJb87xiFSdk4g1CME7QZg3uwTez+TSTjc=
cloud.google.com/go v0.46.3/go.mod h1:a6bKKbmY7er1mI7TEI4lsAkts/mkhTSZK8w33B4RAg0=
cloud.google.com/go/bigquery v1.0.1/go.mod h1:i/xbL2UlR5RvWAURpBYZTtm/cXjCha9lbfbpx4poX+o=
cloud.google.com/go/datastore v1.0.0/go.mod h1:LXYbyblFSglQ5pkeyhO+Qmw7ukd3C+pD7TKLgZqpHYE=
cloud.google.com/go/firestore v1.1.0/go.mod h1:ulACoGHTpvq5r8rxGJ4ddJZBZqakUQqClKRT5SZwBmk=
cloud.google.com/go/pubsub v1.0.1/go.mod h1:R0Gpsv3s54REJCy4fxDixWD93lHJMoZTyQ2kNxGRt3I=
cloud.google.com/go/storage v1.0.0/go.mod h1:IhtSnM/ZTZV8YYJWCY8RULGVqBDmpoyjwiyrjsg+URw=
dmitri.shuralyov.com/gpu/mtl v0.0.0-20190408044501-666a987793e9/go.mod h1:H6x//7gZCb22OMCxBHrMx7a5I7Hp++hsVxbQ4BYO7hU=
github.com/BurntSushi/toml v0.3.1 h1:WXkYYl6Yr3qBf1K79EBnL4mak0OimBfB0XUf9Vl28OQ=
github.com/BurntSushi/toml v0.3.1/go.mod h1:xHWCNGjB5oqiDr8zfno3MHue2Ht5sIBksp03qcyfWMU=
github.com/BurntSushi/xgb v0.0.0-20160522181843-27f122750802/go.mod h1:IVnqGOEym/WlBOVXweHU+Q+/VP0lqqI8lqeDx9IjBqo=
github.com/CloudyKit/fastprinter v0.0.0-20200109182630-33d98a066a53/go.mod h1:+3IMCy2vIlbG1XG/0ggNQv0SvxCAIpPM5b1nCz56Xno=
github.com/CloudyKit/jet/v3 v3.0.1/go.mod h1:HKQPgSJmdK8hdoAbKUUWajkHyHo4RaU5rMdUywE7VMo=
github.com/DataDog/zstd v1.4.1 h1:3oxKN3wbHibqx897utPC2LTQU4J+IHWWJO+glkAkpFM=
github.com/DataDog/zstd v1.4.1/go.mod h1:1jcaCB/ufaK+sKp1NBhlGmpz41jOoPQ35bpF36t7BBo=
github.com/Djarvur/go-err113 v0.0.0-20200511133814-5174e21577d5/go.mod h1:4UJr5HIiMZrwgkSPdsjy2uOQExX/WEILpIrO9UPGuXs=
github.com/Joker/hpp v0.0.0-20180418125244-6893e659854a/go.mod h1:MzD2WMdSxvbHw5fM/OXOFily/lipJWRc9C1px0Mt0ZE=
github.com/Joker/hpp v1.0.0/go.mod h1:8x5n+M1Hp5hC0g8okX3sR3vFQwynaX/UgSOM9MeBKzY=
github.com/Joker/jade v1.0.0/go.mod h1:efZIdO0py/LtcJRSa/j2WEklMSAw84WV0zZVMxNToB8=
github.com/Masterminds/semver v1.5.0/go.mod h1:MB6lktGJrhw8PrUyiEoblNEGEQ+RzHPF078ddwwvV3Y=
github.com/OneOfOne/xxhash v1.2.2 h1:KMrpdQIwFcEqXDklaen+P1axHaj9BSKzvpUUfnHldSE=
github.com/OneOfOne/xxhash v1.2.2/go.mod h1:HSdplMjZKSmBqAxg5vPj2TmRDmfkzw+cTzAElWljhcU=
github.com/OpenPeeDeeP/depguard v1.0.1/go.mod h1:xsIw86fROiiwelg+jB2uM9PiKihMMmUx/1V+TNhjQvM=
github.com/StackExchange/wmi v0.0.0-20180116203802-5d049714c4a6/go.mod h1:3eOhrUMpNV+6aFIbp5/iudMxNCF27Vw2OZgy4xEx0Fg=
github.com/alecthomas/template v0.0.0-20160405071501-a0175ee3bccc/go.mod h1:LOuyumcjzFXgccqObfd/Ljyb9UuFJ6TxHnclSeseNhc=
github.com/alecthomas/units v0.0.0-20151022065526-2efee857e7cf/go.mod h1:ybxpYRFXyAe+OPACYpWeL0wqObRcbAqCMya13uyzqw0=
github.com/andybalholm/brotli v1.0.0 h1:7UCwP93aiSfvWpapti8g88vVVGp2qqtGyePsSuDafo4=
github.com/andybalholm/brotli v1.0.0/go.mod h1:loMXtMfwqflxFJPmdbJO0a3KNoPuLBgiu3qAvBg8x/Y=
github.com/armon/circbuf v0.0.0-20150827004946-bbbad097214e/go.mod h1:3U/XgcO3hCbHZ8TKRvWD2dDTCfh9M9ya+I9JpbB7O8o=
github.com/armon/consul-api v0.0.0-20180202201655-eb2c6b5be1b6/go.mod h1:grANhF5doyWs3UAsr3K4I6qtAmlQcZDesFNEHPZAzj8=
github.com/armon/go-metrics v0.0.0-20180917152333-f0300d1749da/go.mod h1:Q73ZrmVTwzkszR9V5SSuryQ31EELlFMUz1kKyl939pY=
github.com/armon/go-radix v0.0.0-20180808171621-7fddfc383310/go.mod h1:ufUuZ+zHj4x4TnLV4JWEpy2hxWSpsRywHrMgIH9cCH8=
github.com/aymerick/raymond v2.0.2+incompatible/go.mod h1:osfaiScAUVup+UC9Nfq76eWqDhXlp+4UYaA8uhTBO6g=
github.com/beorn7/perks v0.0.0-20180321164747-3a771d992973/go.mod h1:Dwedo/Wpr24TaqPxmxbtue+5NUziq4I4S80YR8gNf3Q=
github.com/beorn7/perks v1.0.0/go.mod h1:KWe93zE9D1o94FZ5RNwFwVgaQK1VOXiVxmqh+CedLV8=
github.com/bgentry/speakeasy v0.1.0/go.mod h1:+zsyZBPWlz7T6j88CTgSN5bM796AkVf0kBD4zp0CCIs=
github.com/bketelsen/crypt v0.0.3-0.20200106085610-5cbc8cc4026c/go.mod h1:MKsuJmJgSg28kpZDP6UIiPt0e0Oz0kqKNGyRaWEPv84=
github.com/bombsimon/wsl/v3 v3.1.0/go.mod h1:st10JtZYLE4D5sC7b8xV4zTKZwAQjCH/Hy2Pm1FNZIc=
github.com/cbroglie/mustache v1.2.0/go.mod h1:gomHsVlF4zTcsY2H8d7U9SipCYbbrAks5breARbqAM0=
github.com/cespare/xxhash v1.1.0 h1:a6HrQnmkObjyL+Gs60czilIUGqrzKutQD6XZog3p+ko=
github.com/cespare/xxhash v1.1.0/go.mod h1:XrSqR1VqqWfGrhpAt58auRo0WTKS1nRRg3ghfAqPWnc=
github.com/client9/misspell v0.3.4/go.mod h1:qj6jICC3Q7zFZvVWo7KLAzC3yx5G7kyvSDkc90ppPyw=
github.com/coreos/bbolt v1.3.2/go.mod h1:iRUV2dpdMOn7Bo10OQBFzIJO9kkE559Wcmn+qkEiiKk=
github.com/coreos/etcd v3.3.10+incompatible/go.mod h1:uF7uidLiAD3TWHmW31ZFd/JWoc32PjwdhPthX9715RE=
github.com/coreos/etcd v3.3.13+incompatible/go.mod h1:uF7uidLiAD3TWHmW31ZFd/JWoc32PjwdhPthX9715RE=
github.com/coreos/go-etcd v2.0.0+incompatible/go.mod h1:Jez6KQU2B/sWsbdaef3ED8NzMklzPG4d5KIOhIy30Tk=
github.com/coreos/go-semver v0.2.0/go.mod h1:nnelYz7RCh+5ahJtPPxZlU+153eP4D4r3EedlOD2RNk=
github.com/coreos/go-semver v0.3.0/go.mod h1:nnelYz7RCh+5ahJtPPxZlU+153eP4D4r3EedlOD2RNk=
github.com/coreos/go-systemd v0.0.0-20190321100706-95778dfbb74e/go.mod h1:F5haX7vjVVG0kc13fIWeqUViNPyEJxv/OmvnBo0Yme4=
github.com/coreos/pkg v0.0.0-20180928190104-399ea9e2e55f/go.mod h1:E3G3o1h8I7cfcXa63jLwjI0eiQQMgzzUDFVpN/nH/eA=
github.com/cpuguy83/go-md2man v1.0.10/go.mod h1:SmD6nW6nTyfqj6ABTjUi3V3JVMnlJmwcJI5acqYI6dE=
github.com/cpuguy83/go-md2man/v2 v2.0.0/go.mod h1:maD7wRr/U5Z6m/iR4s+kqSMx2CaBsrgA7czyZG/E6dU=
github.com/creack/goselect v0.1.1 h1:tiSSgKE1eJtxs1h/VgGQWuXUP0YS4CDIFMp6vaI1ls0= github.com/creack/goselect v0.1.1 h1:tiSSgKE1eJtxs1h/VgGQWuXUP0YS4CDIFMp6vaI1ls0=
github.com/creack/goselect v0.1.1/go.mod h1:a/NhLweNvqIYMuxcMOuWY516Cimucms3DglDzQP3hKY= github.com/creack/goselect v0.1.1/go.mod h1:a/NhLweNvqIYMuxcMOuWY516Cimucms3DglDzQP3hKY=
github.com/creack/pty v1.1.9/go.mod h1:oKZEueFk5CKHvIhNR5MUki03XCEU+Q6VDXinZuGJ33E=
github.com/davecgh/go-spew v1.1.0 h1:ZDRjVQ15GmhC3fiQ8ni8+OwkZQO4DARzQgrnXU1Liz8= github.com/davecgh/go-spew v1.1.0 h1:ZDRjVQ15GmhC3fiQ8ni8+OwkZQO4DARzQgrnXU1Liz8=
github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38= github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
github.com/denis-tingajkin/go-header v0.3.1/go.mod h1:sq/2IxMhaZX+RRcgHfCRx/m0M5na0fBt4/CRe7Lrji0=
github.com/dgraph-io/badger/v2 v2.2007.2 h1:EjjK0KqwaFMlPin1ajhP943VPENHJdEz1KLIegjaI3k=
github.com/dgraph-io/badger/v2 v2.2007.2/go.mod h1:26P/7fbL4kUZVEVKLAKXkBXKOydDmM2p1e+NhhnBCAE=
github.com/dgraph-io/ristretto v0.0.3-0.20200630154024-f66de99634de h1:t0UHb5vdojIDUqktM6+xJAfScFBsVpXZmqC9dsgJmeA=
github.com/dgraph-io/ristretto v0.0.3-0.20200630154024-f66de99634de/go.mod h1:KPxhHT9ZxKefz+PCeOGsrHpl1qZ7i70dGTu2u+Ahh6E=
github.com/dgrijalva/jwt-go v3.2.0+incompatible/go.mod h1:E3ru+11k8xSBh+hMPgOLZmtrrCbhqsmaPHjLKYnJCaQ=
github.com/dgryski/go-farm v0.0.0-20190423205320-6a90982ecee2 h1:tdlZCpZ/P9DhczCTSixgIKmwPv6+wP5DGjqLYw5SUiA=
github.com/dgryski/go-farm v0.0.0-20190423205320-6a90982ecee2/go.mod h1:SqUrOPUnsFjfmXRMNPybcSiG0BgUW2AuFH8PAnS2iTw=
github.com/dgryski/go-sip13 v0.0.0-20181026042036-e10d5fee7954/go.mod h1:vAd38F8PWV+bWy6jNmig1y/TA+kYO4g3RSRF0IAv0no=
github.com/dustin/go-humanize v1.0.0 h1:VSnTsYCnlFHaM2/igO1h6X3HA71jcobQuxemgkq4zYo=
github.com/dustin/go-humanize v1.0.0/go.mod h1:HtrtbFcZ19U5GC7JDqmcUSB87Iq5E25KnS6fMYU6eOk=
github.com/eknkc/amber v0.0.0-20171010120322-cdade1c07385/go.mod h1:0vRUJqYpeSZifjYj7uP3BG/gKcuzL9xWVV/Y+cK33KM=
github.com/fasthttp/websocket v1.4.3 h1:qjhRJ/rTy4KB8oBxljEC00SDt6HUY9jLRfM601SUdS4=
github.com/fasthttp/websocket v1.4.3/go.mod h1:5r4oKssgS7W6Zn6mPWap3NWzNPJNzUUh3baWTOhcYQk=
github.com/fatih/color v1.7.0/go.mod h1:Zm6kSWBoL9eyXnKyktHP6abPY2pDugNf5KwzbycvMj4=
github.com/fatih/color v1.9.0/go.mod h1:eQcE1qtQxscV5RaZvpXrrb8Drkc3/DdQ+uUYCNjL+zU=
github.com/flosch/pongo2/v4 v4.0.1/go.mod h1:B5ObFANs/36VwxxlgKpdchIJHMvHB562PW+BWPhwZD8=
github.com/fsnotify/fsnotify v1.4.7 h1:IXs+QLmnXW2CcXuY+8Mzv/fWEsPGWxqefPtCP5CnV9I=
github.com/fsnotify/fsnotify v1.4.7/go.mod h1:jwhsz4b93w/PPRr/qN1Yymfu8t87LnFCMoQvtojpjFo=
github.com/ghodss/yaml v1.0.0/go.mod h1:4dBDuWmgqj2HViK6kFavaiC9ZROes6MMH2rRYeMEF04=
github.com/go-critic/go-critic v0.5.0/go.mod h1:4jeRh3ZAVnRYhuWdOEvwzVqLUpxMSoAT0xZ74JsTPlo=
github.com/go-gl/glfw v0.0.0-20190409004039-e6da0acd62b1/go.mod h1:vR7hzQXu2zJy9AVAgeJqvqgH9Q5CA+iKCZ2gyEVpxRU=
github.com/go-kit/kit v0.8.0/go.mod h1:xBxKIO96dXMWWy0MnWVtmwkA9/13aqxPnvrjFYMA2as=
github.com/go-lintpack/lintpack v0.5.2/go.mod h1:NwZuYi2nUHho8XEIZ6SIxihrnPoqBTDqfpXvXAN0sXM=
github.com/go-logfmt/logfmt v0.3.0/go.mod h1:Qt1PoO58o5twSAckw1HlFXLmHsOX5/0LbT9GBnD5lWE=
github.com/go-logfmt/logfmt v0.4.0/go.mod h1:3RMwSq7FuexP4Kalkev3ejPJsZTpXXBr9+V4qmtdjCk=
github.com/go-ole/go-ole v1.2.1/go.mod h1:7FAglXiTm7HKlQRDeOQ6ZNUHidzCWXuZWq/1dTyBNF8=
github.com/go-sql-driver/mysql v1.4.0/go.mod h1:zAC/RDZ24gD3HViQzih4MyKcchzm+sOG5ZlKdlhCg5w=
github.com/go-stack/stack v1.8.0/go.mod h1:v0f6uXyyMGvRgIKkXu+yp6POWl0qKG85gN/melR3HDY=
github.com/go-toolsmith/astcast v1.0.0/go.mod h1:mt2OdQTeAQcY4DQgPSArJjHCcOwlX+Wl/kwN+LbLGQ4=
github.com/go-toolsmith/astcopy v1.0.0/go.mod h1:vrgyG+5Bxrnz4MZWPF+pI4R8h3qKRjjyvV/DSez4WVQ=
github.com/go-toolsmith/astequal v0.0.0-20180903214952-dcb477bfacd6/go.mod h1:H+xSiq0+LtiDC11+h1G32h7Of5O3CYFJ99GVbS5lDKY=
github.com/go-toolsmith/astequal v1.0.0/go.mod h1:H+xSiq0+LtiDC11+h1G32h7Of5O3CYFJ99GVbS5lDKY=
github.com/go-toolsmith/astfmt v0.0.0-20180903215011-8f8ee99c3086/go.mod h1:mP93XdblcopXwlyN4X4uodxXQhldPGZbcEJIimQHrkg=
github.com/go-toolsmith/astfmt v1.0.0/go.mod h1:cnWmsOAuq4jJY6Ct5YWlVLmcmLMn1JUPuQIHCY7CJDw=
github.com/go-toolsmith/astinfo v0.0.0-20180906194353-9809ff7efb21/go.mod h1:dDStQCHtmZpYOmjRP/8gHHnCCch3Zz3oEgCdZVdtweU=
github.com/go-toolsmith/astp v0.0.0-20180903215135-0af7e3c24f30/go.mod h1:SV2ur98SGypH1UjcPpCatrV5hPazG6+IfNHbkDXBRrk=
github.com/go-toolsmith/astp v1.0.0/go.mod h1:RSyrtpVlfTFGDYRbrjyWP1pYu//tSFcvdYrA8meBmLI=
github.com/go-toolsmith/pkgload v0.0.0-20181119091011-e9e65178eee8/go.mod h1:WoMrjiy4zvdS+Bg6z9jZH82QXwkcgCBX6nOfnmdaHks=
github.com/go-toolsmith/pkgload v1.0.0/go.mod h1:5eFArkbO80v7Z0kdngIxsRXRMTaX4Ilcwuh3clNrQJc=
github.com/go-toolsmith/strparse v1.0.0/go.mod h1:YI2nUKP9YGZnL/L1/DLFBfixrcjslWct4wyljWhSRy8=
github.com/go-toolsmith/typep v1.0.0/go.mod h1:JSQCQMUPdRlMZFswiq3TGpNp1GMktqkR2Ns5AIQkATU=
github.com/go-toolsmith/typep v1.0.2/go.mod h1:JSQCQMUPdRlMZFswiq3TGpNp1GMktqkR2Ns5AIQkATU=
github.com/go-xmlfmt/xmlfmt v0.0.0-20191208150333-d5b6f63a941b/go.mod h1:aUCEOzzezBEjDBbFBoSiya/gduyIiWYRP6CnSFIV8AM=
github.com/gobwas/glob v0.2.3/go.mod h1:d3Ez4x06l9bZtSvzIay5+Yzi0fmZzPgnTbPcKjJAkT8=
github.com/gofiber/fiber/v2 v2.1.0/go.mod h1:aG+lMkwy3LyVit4CnmYUbUdgjpc3UYOltvlJZ78rgQ0=
github.com/gofiber/fiber/v2 v2.2.2/go.mod h1:Aso7/M+EQOinVkWp4LUYjdlTpKTBoCk2Qo4djnMsyHE=
github.com/gofiber/fiber/v2 v2.2.4 h1:t2V2SxlbQGdt8+SS/Mo+tQB0pDQn7OajKdA72qHcBVw=
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@ -20,14 +357,237 @@ github.com/tidwall/match v1.0.1/go.mod h1:LujAq0jyVjBy028G1WhWfIzbpQfMO8bBZ6Tyb0
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github.com/tmc/grpc-websocket-proxy v0.0.0-20190109142713-0ad062ec5ee5/go.mod h1:ncp9v5uamzpCO7NfCPTXjqaC+bZgJeR0sMTm6dMHP7U=
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github.com/ugorji/go v1.1.4/go.mod h1:uQMGLiO92mf5W77hV/PUCpI3pbzQx3CRekS0kk+RGrc=
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github.com/ultraware/funlen v0.0.2/go.mod h1:Dp4UiAus7Wdb9KUZsYWZEWiRzGuM2kXM1lPbfaF6xhA=
github.com/ultraware/whitespace v0.0.4/go.mod h1:aVMh/gQve5Maj9hQ/hg+F75lr/X5A89uZnzAmWSineA=
github.com/uudashr/gocognit v1.0.1/go.mod h1:j44Ayx2KW4+oB6SWMv8KsmHzZrOInQav7D3cQMJ5JUM=
github.com/valyala/bytebufferpool v1.0.0 h1:GqA5TC/0021Y/b9FG4Oi9Mr3q7XYx6KllzawFIhcdPw=
github.com/valyala/bytebufferpool v1.0.0/go.mod h1:6bBcMArwyJ5K/AmCkWv1jt77kVWyCJ6HpOuEn7z0Csc=
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github.com/valyala/fasthttp v1.17.0 h1:P8/koH4aSnJ4xbd0cUUFEGQs3jQqIxoDDyRQrUiAkqg=
github.com/valyala/fasthttp v1.17.0/go.mod h1:jjraHZVbKOXftJfsOYoAjaeygpj5hr8ermTRJNroD7A=
github.com/valyala/quicktemplate v1.5.0/go.mod h1:v7yYWpBEiutDyNfVaph6oC/yKwejzVyTX/2cwwHxyok=
github.com/valyala/tcplisten v0.0.0-20161114210144-ceec8f93295a h1:0R4NLDRDZX6JcmhJgXi5E4b8Wg84ihbmUKp/GvSPEzc=
github.com/valyala/tcplisten v0.0.0-20161114210144-ceec8f93295a/go.mod h1:v3UYOV9WzVtRmSR+PDvWpU/qWl4Wa5LApYYX4ZtKbio=
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github.com/yuin/goldmark v1.1.25/go.mod h1:3hX8gzYuyVAZsxl0MRgGTJEmQBFcNTphYh9decYSb74=
github.com/yuin/goldmark v1.1.27/go.mod h1:3hX8gzYuyVAZsxl0MRgGTJEmQBFcNTphYh9decYSb74=
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go.opencensus.io v0.21.0/go.mod h1:mSImk1erAIZhrmZN+AvHh14ztQfjbGwt4TtuofqLduU=
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go.uber.org/zap v1.10.0/go.mod h1:vwi/ZaCAaUcBkycHslxD9B2zi4UTXhF60s6SWpuDF0Q=
golang.org/x/crypto v0.0.0-20180904163835-0709b304e793/go.mod h1:6SG95UA2DQfeDnfUPMdvaQW0Q7yPrPDi9nlGo2tz2b4=
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golang.org/x/crypto v0.0.0-20181203042331-505ab145d0a9/go.mod h1:6SG95UA2DQfeDnfUPMdvaQW0Q7yPrPDi9nlGo2tz2b4=
golang.org/x/crypto v0.0.0-20190308221718-c2843e01d9a2/go.mod h1:djNgcEr1/C05ACkg1iLfiJU5Ep61QUkGW8qpdssI0+w=
golang.org/x/crypto v0.0.0-20190510104115-cbcb75029529/go.mod h1:yigFU9vqHzYiE8UmvKecakEJjdnWj3jj499lnFckfCI=
golang.org/x/crypto v0.0.0-20190605123033-f99c8df09eb5/go.mod h1:yigFU9vqHzYiE8UmvKecakEJjdnWj3jj499lnFckfCI=
golang.org/x/crypto v0.0.0-20191011191535-87dc89f01550/go.mod h1:yigFU9vqHzYiE8UmvKecakEJjdnWj3jj499lnFckfCI=
golang.org/x/crypto v0.0.0-20200622213623-75b288015ac9/go.mod h1:LzIPMQfyMNhhGPhUkYOs5KpL4U8rLKemX1yGLhDgUto=
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honnef.co/go/tools v0.0.0-20190418001031-e561f6794a2a/go.mod h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4=
honnef.co/go/tools v0.0.1-2019.2.3/go.mod h1:a3bituU0lyd329TUQxRnasdCoJDkEUEAqEt0JzvZhAg=
honnef.co/go/tools v0.0.1-2020.1.4/go.mod h1:X/FiERA/W4tHapMX5mGpAtMSVEeEUOyHaw9vFzvIQ3k=
mvdan.cc/gofumpt v0.0.0-20200513141252-abc0db2c416a/go.mod h1:4q/PlrZKQLU5MowSvCKM3U4xJUPtJ8vKWx7vsWFJ3MI=
mvdan.cc/interfacer v0.0.0-20180901003855-c20040233aed/go.mod h1:Xkxe497xwlCKkIaQYRfC7CSLworTXY9RMqwhhCm+8Nc=
mvdan.cc/lint v0.0.0-20170908181259-adc824a0674b/go.mod h1:2odslEg/xrtNQqCYg2/jCoyKnw3vv5biOc3JnIcYfL4=
mvdan.cc/unparam v0.0.0-20190720180237-d51796306d8f/go.mod h1:4G1h5nDURzA3bwVMZIVpwbkw+04kSxk3rAtzlimaUJw=
rsc.io/binaryregexp v0.2.0/go.mod h1:qTv7/COck+e2FymRvadv62gMdZztPaShugOCi3I+8D8=
sourcegraph.com/sqs/pbtypes v0.0.0-20180604144634-d3ebe8f20ae4/go.mod h1:ketZ/q3QxT9HOBeFhu6RdvsftgpsbFHBF5Cas6cDKZ0=

2
static/scripts/websocket.js
View File

@ -22,7 +22,7 @@ window.addEventListener("load", function(evt) {
print("Websocket already open") print("Websocket already open")
return false; return false;
} }
ws = new WebSocket("ws://localhost:3011/echo"); ws = new WebSocket("ws://localhost:3011/ws");
ws.onopen = function(evt) { ws.onopen = function(evt) {
print("OPEN"); print("OPEN");
} }

165
storage/kvstore.go Normal file
View File

@ -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
}

0
static/index.html → templates/index.html
View File

216
ublox/decode.go
View File

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

178
ublox/messages.go
View File

@ -1,7 +1,7 @@
package ublox package ublox
type Message interface { type Message interface {
ClassID() uint16 ClassID() uint16
} }
//type UbxMessage interface { //type UbxMessage interface {
@ -11,90 +11,90 @@ type Message interface {
//} //}
type RawMessage struct { type RawMessage struct {
classID uint16 classID uint16
Data []byte Data []byte
} }
func (msg *RawMessage) ClassID() uint16 { return msg.classID } func (msg *RawMessage) ClassID() uint16 { return msg.classID }
type NavPvt struct { type NavPvt struct {
ITOW_ms uint32 // - GPS time of week of the navigation epoch. See the description of iTOW for details. ITOW_ms uint32 // - GPS time of week of the navigation epoch. See the description of iTOW for details.
Year_y uint16 // - Year (UTC) Year_y uint16 // - Year (UTC)
Month_month byte // - Month, range 1..12 (UTC) Month_month byte // - Month, range 1..12 (UTC)
Day_d byte // - Day of month, range 1..31 (UTC) Day_d byte // - Day of month, range 1..31 (UTC)
Hour_h byte // - Hour of day, range 0..23 (UTC) Hour_h byte // - Hour of day, range 0..23 (UTC)
Min_min byte // - Minute of hour, range 0..59 (UTC) Min_min byte // - Minute of hour, range 0..59 (UTC)
Sec_s byte // - Seconds of minute, range 0..60 (UTC) Sec_s byte // - Seconds of minute, range 0..60 (UTC)
Valid NavPVTValid // - Validity flags (see graphic below) Valid NavPVTValid // - Validity flags (see graphic below)
TAcc_ns uint32 // - Time accuracy estimate (UTC) TAcc_ns uint32 // - Time accuracy estimate (UTC)
Nano_ns int32 // - Fraction of second, range -1e9 .. 1e9 (UTC) Nano_ns int32 // - Fraction of second, range -1e9 .. 1e9 (UTC)
FixType NavPVTFixType // - GNSSfix Type FixType NavPVTFixType // - GNSSfix Type
Flags NavPVTFlags // - Fix status flags (see graphic below) Flags NavPVTFlags // - Fix status flags (see graphic below)
Flags2 NavPVTFlags2 // - Additional flags (see graphic below) Flags2 NavPVTFlags2 // - Additional flags (see graphic below)
NumSV byte // - Number of satellites used in Nav Solution NumSV byte // - Number of satellites used in Nav Solution
Lon_dege7 int32 // 1e-7 Longitude Lon_dege7 int32 // 1e-7 Longitude
Lat_dege7 int32 // 1e-7 Latitude Lat_dege7 int32 // 1e-7 Latitude
Height_mm int32 // - Height above ellipsoid Height_mm int32 // - Height above ellipsoid
HMSL_mm int32 // - Height above mean sea level HMSL_mm int32 // - Height above mean sea level
HAcc_mm uint32 // - Horizontal accuracy estimate HAcc_mm uint32 // - Horizontal accuracy estimate
VAcc_mm uint32 // - Vertical accuracy estimate VAcc_mm uint32 // - Vertical accuracy estimate
VelN_mm_s int32 // - NED north velocity VelN_mm_s int32 // - NED north velocity
VelE_mm_s int32 // - NED east velocity VelE_mm_s int32 // - NED east velocity
VelD_mm_s int32 // - NED down velocity VelD_mm_s int32 // - NED down velocity
GSpeed_mm_s int32 // - Ground Speed (2-D) GSpeed_mm_s int32 // - Ground Speed (2-D)
HeadMot_dege5 int32 // 1e-5 Heading of motion (2-D) HeadMot_dege5 int32 // 1e-5 Heading of motion (2-D)
SAcc_mm_s uint32 // - Speed accuracy estimate SAcc_mm_s uint32 // - Speed accuracy estimate
HeadAcc_dege5 uint32 // 1e-5 Heading accuracy estimate (both motion and vehicle) HeadAcc_dege5 uint32 // 1e-5 Heading accuracy estimate (both motion and vehicle)
PDOPe2 uint16 // 0.01 Position DOP PDOPe2 uint16 // 0.01 Position DOP
Flags3 NavPVTFlags3 // - Additional flags (see graphic below) Flags3 NavPVTFlags3 // - Additional flags (see graphic below)
Reserved1 [5]byte // - Reserved 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 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. 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. MagAcc_deg2e uint16 // 1e-2 Magnetic declination accuracy. Only supported in ADR 4.10 and later.
} }
func (NavPvt) ClassID() uint16 { return 0x0701 } func (NavPvt) ClassID() uint16 { return 0x0701 }
type HnrPvt struct { type HnrPvt struct {
ITOW_ms uint32 // - GPS time of week of the navigation epoch. See the description of iTOW for details. ITOW_ms uint32 // - GPS time of week of the navigation epoch. See the description of iTOW for details.
Year_y uint16 // - Year (UTC) Year_y uint16 // - Year (UTC)
Month_month byte // - Month, range 1..12 (UTC) Month_month byte // - Month, range 1..12 (UTC)
Day_d byte // - Day of month, range 1..31 (UTC) Day_d byte // - Day of month, range 1..31 (UTC)
Hour_h byte // - Hour of day, range 0..23 (UTC) Hour_h byte // - Hour of day, range 0..23 (UTC)
Min_min byte // - Minute of hour, range 0..59 (UTC) Min_min byte // - Minute of hour, range 0..59 (UTC)
Sec_s byte // - Seconds of minute, range 0..60 (UTC) Sec_s byte // - Seconds of minute, range 0..60 (UTC)
Valid byte // - Validity flags (see graphic below) Valid byte // - Validity flags (see graphic below)
Nano_ns int32 // - Fraction of second, range -1e9 .. 1e9 (UTC) Nano_ns int32 // - Fraction of second, range -1e9 .. 1e9 (UTC)
FixType byte // - GNSSfix Type FixType byte // - GNSSfix Type
Flags byte // - Fix status flags (see graphic below) Flags byte // - Fix status flags (see graphic below)
Reserved [2]byte Reserved [2]byte
Lon_dege7 int32 // 1e-7 Longitude Lon_dege7 int32 // 1e-7 Longitude
Lat_dege7 int32 // 1e-7 Latitude Lat_dege7 int32 // 1e-7 Latitude
Height_mm int32 // - Height above ellipsoid Height_mm int32 // - Height above ellipsoid
HMSL_mm int32 // - Height above mean sea level HMSL_mm int32 // - Height above mean sea level
GSpeed_mm_s int32 // - Ground Speed (2-D) GSpeed_mm_s int32 // - Ground Speed (2-D)
Speed_mm_s int32 // Speed (3-D) Speed_mm_s int32 // Speed (3-D)
HeadMot_dege5 int32 // 1e-5 Heading of motion (2-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 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) HAcc uint32 // 1e-5 Heading accuracy estimate (both motion and vehicle)
VAcc 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) SAcc uint32 // 1e-5 Heading accuracy estimate (both motion and vehicle)
HeadAcc_dege5 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 Reserved1 [4]byte // - Reserved
} }
func (HnrPvt) ClassID() uint16 { return 0x0028 } func (HnrPvt) ClassID() uint16 { return 0x0028 }
type NavAtt struct { type NavAtt struct {
ITOW_ms uint32 // - GPS time of week of the navigation epoch. See the description of iTOW for details. ITOW_ms uint32 // - GPS time of week of the navigation epoch. See the description of iTOW for details.
Version byte Version byte
Reserved1 [3]byte Reserved1 [3]byte
Roll_deg int32 Roll_deg int32
Pitch_deg int32 Pitch_deg int32
Heading_deg int32 Heading_deg int32
AccRoll_deg uint32 AccRoll_deg uint32
AccPitch_deg uint32 AccPitch_deg uint32
AccHeading_deg uint32 AccHeading_deg uint32
} }
func (NavAtt) ClassID() uint16 { return 0x0501 } func (NavAtt) ClassID() uint16 { return 0x0501 }
@ -104,43 +104,43 @@ func (NavAtt) ClassID() uint16 { return 0x0501 }
type NavPVTFixType byte type NavPVTFixType byte
const ( const (
NavPVTNoFix NavPVTFixType = iota NavPVTNoFix NavPVTFixType = iota
NavPVTDeadReckoning NavPVTDeadReckoning
NavPVTFix2D NavPVTFix2D
NavPVTFix3D NavPVTFix3D
NavPVTGNSS NavPVTGNSS
NavPVTTimeOnly NavPVTTimeOnly
) )
type NavPVTValid byte type NavPVTValid byte
const ( const (
NavPVTValidDate NavPVTValid = (1 << iota) // valid UTC Date (see Time Validity section for details) 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) 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. 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 NavPVTValidMag // valid magnetic declination
) )
type NavPVTFlags byte type NavPVTFlags byte
const ( const (
NavPVTGnssFixOK NavPVTFlags = 1 << 0 // valid fix (i.e within DOP & accuracy masks) NavPVTGnssFixOK NavPVTFlags = 1 << 0 // valid fix (i.e within DOP & accuracy masks)
NavPVTDiffSoln NavPVTFlags = 1 << 1 // differential corrections were applied 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 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 NavPVTCarrSolnFloat NavPVTFlags = 1 << 6 // carrier phase range solution with floating ambiguities
NavPVTCarrSolnFixed NavPVTFlags = 1 << 7 // carrier phase range solution with fixed ambiguities NavPVTCarrSolnFixed NavPVTFlags = 1 << 7 // carrier phase range solution with fixed ambiguities
) )
type NavPVTFlags2 byte type NavPVTFlags2 byte
const ( const (
NavPVTConfirmedAvai NavPVTFlags2 = 1 << 5 // information about UTC Date and Time of Day validity confirmation is available (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) 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) NavPVTConfirmedTime NavPVTFlags2 = 1 << 7 // UTC Time of Day could be confirmed (see Time Validity section for details)
) )
type NavPVTFlags3 byte type NavPVTFlags3 byte
const ( const (
NavPVTInvalidLlh NavPVTFlags3 = (1 << iota) // 1 = Invalid lon, lat, height and hMSL NavPVTInvalidLlh NavPVTFlags3 = (1 << iota) // 1 = Invalid lon, lat, height and hMSL
) )

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web/http.go Normal file
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@ -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 <engine>.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")
}