From ae9b08e0c4328f30cacf9d0d012baaf6715c1ed0 Mon Sep 17 00:00:00 2001 From: Timo Volkmann Date: Fri, 11 Dec 2020 17:34:31 +0100 Subject: [PATCH] [WIP] repository and service encapsulation --- .gitignore | 3 +- .idea/codeStyles/codeStyleConfig.xml | 5 + cmd/autostart/autostart.go | 55 ++++++ cmd/serial_only/serial_only.go | 21 --- cmd/server/server.go | 52 +++--- cmd/tcp_only/tcp_only.go | 27 --- core/collectors.go | 53 ++---- core/config.go | 24 ++- core/dispatcher.go | 10 +- core/http.go | 142 -------------- core/interfaces.go | 46 +++++ core/pipeline.go | 76 ++++---- core/repository.go | 46 ----- core/sensordata.go | 51 +++-- core/service.go | 107 +++++++++++ core/trackings.go | 143 +++++--------- database/repository.go | 27 +++ example_config.yml | 19 +- go.mod | 1 + go.sum | 270 +++++++++++++++++++++++++++ web/http.go | 85 +++++++++ 21 files changed, 780 insertions(+), 483 deletions(-) create mode 100644 .idea/codeStyles/codeStyleConfig.xml create mode 100644 cmd/autostart/autostart.go delete mode 100644 cmd/serial_only/serial_only.go delete mode 100644 cmd/tcp_only/tcp_only.go delete mode 100644 core/http.go create mode 100644 core/interfaces.go delete mode 100644 core/repository.go create mode 100644 core/service.go create mode 100644 database/repository.go create mode 100644 web/http.go diff --git a/.gitignore b/.gitignore index 7908a1f..e57b859 100644 --- a/.gitignore +++ b/.gitignore @@ -159,4 +159,5 @@ Temporary Items # CUSTOM .env -config.yml \ No newline at end of file +gpsconfig.yml +config.yml 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/autostart/autostart.go b/cmd/autostart/autostart.go new file mode 100644 index 0000000..ad55990 --- /dev/null +++ b/cmd/autostart/autostart.go @@ -0,0 +1,55 @@ +package main + +import ( + "git.timovolkmann.de/gyrogpsc/core" + "git.timovolkmann.de/gyrogpsc/database" + "git.timovolkmann.de/gyrogpsc/web" + "github.com/spf13/viper" + "log" + "time" +) + +func main() { + conf := configurationFromFile() + + repo := database.NewRepository(conf) + disp := core.NewDispatcher() + + service := core.TrackingService(repo, disp, conf) + + go func() { + service.NewTracking(core.TCP, core.SERIAL) + time.Sleep(5 * time.Second) + service.StartRecord() + time.Sleep(15 * time.Second) + service.StopRecord() + }() + + web.CreateServer(service, disp, conf) +} + +func configurationFromFile() *core.Configuration { + viper.SetDefault("collectors.port_tcp", ":3010") + viper.SetDefault("collectors.port_serial", "/dev/tty.usbmodem14201") + viper.SetDefault("webserver.port", ":3011") + viper.SetDefault("pipeline.publishIntervalMs", 50) + viper.SetDefault("pipeline.syncUpdateIntervalMs", 494) + + viper.SetConfigName("gpsconfig") // name of config file (without extension) + viper.SetConfigType("yaml") + viper.AddConfigPath(".") + viper.AddConfigPath("./../../") + if err := viper.ReadInConfig(); err != nil { + log.Println("couldn't find config file. using standard configuration") + } + log.Println(viper.AllKeys()) + log.Println(viper.AllSettings()) + + c := core.Configuration{} + if err := viper.Unmarshal(&c); err != nil { + log.Println("couldn't load config...") + log.Println(err) + } + log.Println(c) + return &c +} \ 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 feaa4f2..a5a9ef1 100644 --- a/cmd/server/server.go +++ b/cmd/server/server.go @@ -2,36 +2,36 @@ package main import ( "git.timovolkmann.de/gyrogpsc/core" + "git.timovolkmann.de/gyrogpsc/database" + "git.timovolkmann.de/gyrogpsc/web" + "github.com/spf13/viper" "log" - "os" - "runtime" -) - -const ( - TCP_PORT = ":3010" - HTTP_PORT = ":3011" - SERIAL_PORT = "/dev/tty.usbmodem14201" ) func main() { - log.Println("GOROOT:", runtime.GOROOT()) - wd, _ := os.Getwd() - log.Println("WorkingDir:", wd) + conf := &core.Configuration{} + configurationFromFile(conf) - 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.FiberListen(dispatcher) - //core.HttpListenAndServe(dispatcher, HTTP_PORT) + repo := database.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(c *core.Configuration) { + viper.SetDefault("TcpCollectorPort", ":3010") + viper.SetDefault("SerialCollectorPort", "/dev/tty.usbmodem14201") + viper.SetDefault("HttpPort", "layouts") + viper.SetDefault("publishIntervalMs", 50) + viper.SetDefault("syncUpdateIntervalMs", 494) + + viper.SetConfigName("gpsconfig") // name of config file (without extension) + viper.SetConfigType("yaml") + viper.AddConfigPath(".") + viper.AddConfigPath("./../../") + + viper.Unmarshal(c) + log.Println(c) +} \ No newline at end of file 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/core/collectors.go b/core/collectors.go index 71ca6e6..d4bc595 100644 --- a/core/collectors.go +++ b/core/collectors.go @@ -2,7 +2,6 @@ package core import ( "fmt" - "github.com/google/uuid" "log" "net" "os" @@ -26,7 +25,7 @@ const ( var tcpSingleton *tcpCollector -func NewCollector(typ CollectorType, proc Processor, config *Configuration) Collector { +func NewCollector(typ CollectorType, proc Pusher, config *Configuration) Collector { var coll Collector switch typ { case SERIAL: @@ -38,11 +37,6 @@ func NewCollector(typ CollectorType, proc Processor, config *Configuration) Coll tcpSingleton.SetProcessor(proc) } coll = tcpSingleton - //case DATABASE: - // if len(trackingId) != 1 { - // panic("only 1 tracking per collector") - // } - // coll = newDbReplay(proc, config, trackingId[0]) default: panic("selected collector type not implemented") } @@ -51,17 +45,18 @@ func NewCollector(typ CollectorType, proc Processor, config *Configuration) Coll type serialCollector struct { active bool - proc Processor + proc Pusher config *Configuration } func (s *serialCollector) Collect() { + s.active = true go func() { - log.Println("start serial collectors") + log.Println("start serial collector") mode := &serial.Mode{ BaudRate: 115200, } - port, err := serial.Open(s.config.SerialCollectorPort, mode) + port, err := serial.Open(s.config.Collectors.SerialCollectorPort, mode) if err != nil { log.Fatalln(err.Error()) } @@ -79,29 +74,27 @@ func (s *serialCollector) Collect() { break } sd, err := ConvertUbxToSensorData(meas) - if err != nil { - log.Println("convert err:", err, meas) - continue - } - if sd == nil { + if err != nil || sd == nil { + log.Println("convert err:", err, meas, sd) continue } + err = s.proc.Push(sd) if err != nil { log.Println("process err:", err, *sd) continue } } - + log.Println("serial collector stopped") }() } func (s *serialCollector) Stop() { - panic("implement me") + s.active = false } -func newSerial(proc Processor, config *Configuration) *serialCollector { +func newSerial(proc Pusher, config *Configuration) *serialCollector { return &serialCollector{ active: false, proc: proc, @@ -111,7 +104,7 @@ func newSerial(proc Processor, config *Configuration) *serialCollector { type tcpCollector struct { active bool - processor Processor + processor Pusher //config *Configuration } @@ -123,14 +116,14 @@ func (t *tcpCollector) Stop() { t.active = false } -func (t *tcpCollector) SetProcessor(p Processor) { +func (t *tcpCollector) SetProcessor(p Pusher) { t.processor = p } -func newTcp(proc Processor, config *Configuration) *tcpCollector { +func newTcp(proc Pusher, config *Configuration) *tcpCollector { log.Println("start tcp collector") - listener, err := net.Listen("tcp", config.TcpCollectorPort) + listener, err := net.Listen("tcp", config.Collectors.TcpCollectorPort) if err != nil { fmt.Println("Error listening:", err.Error()) //os.Exit(1) @@ -187,18 +180,4 @@ func (c *tcpCollector) jsonHandler(conn net.Conn) { log.Fatalln(err) } } -} - -type replayCollector struct{} - -func (r *replayCollector) Collect() { - panic("implement me") -} - -func (r *replayCollector) Stop() { - panic("implement me") -} - -func newDbReplay(proc Processor, config *Configuration, trackingId uuid.UUID) *replayCollector { - return nil -} +} \ No newline at end of file diff --git a/core/config.go b/core/config.go index b31e71f..dad3510 100644 --- a/core/config.go +++ b/core/config.go @@ -1,13 +1,23 @@ package core type Configuration struct { - TcpCollectorPort string - SerialCollectorPort string - HttpPort string - publishIntervalMs int - syncUpdateIntervalMs int + 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"` } -func LoadConfigYaml() error { - return nil +type Configuration2 struct { + TcpCollectorPort string `mapstructure:"collectors.porttcp"` + SerialCollectorPort string `mapstructure:"collectors.portserial"` + HttpPort string `mapstructure:"webserver.port"` + PublishIntervalMs int `mapstructure:"pipeline.publishintervalms"` + SyncUpdateIntervalMs int `mapstructure:"pipeline.syncupdateintervalms"` } diff --git a/core/dispatcher.go b/core/dispatcher.go index e6a97b7..f2c7684 100644 --- a/core/dispatcher.go +++ b/core/dispatcher.go @@ -5,15 +5,6 @@ import ( "log" ) -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 @@ -26,6 +17,7 @@ func NewDispatcher() *dispatcher { } } + func (d *dispatcher) Publish(message string) { log.Printf("publish to %v listeners:\n%v\n", len(d.listeners), message) for _, ch := range d.listeners { diff --git a/core/http.go b/core/http.go deleted file mode 100644 index b22c896..0000000 --- a/core/http.go +++ /dev/null @@ -1,142 +0,0 @@ -package core - -import ( - "fmt" - "github.com/gofiber/fiber/v2" - ws "github.com/gofiber/websocket/v2" - "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)) -} - -func FiberListen(sub Subscriber) { - app := fiber.New() - app.Static("/static", "static") - - // Application Main Page - app.Get("/", fiberHomeHandler) - - // Websocket - app.Get("/ws", ws.New(createFiberWebsocketHandler(sub))) - - // TODO: Get all SerialPorts - app.Get("/serialports") - - // Tracking persistence controls - trackings := app.Group("/trackings") - trackings.Get("/") // Get all trackings Metadata - trackings.Post("/") // Initialize new tracking, open websocket and prepare for automatic recording. Toggle ?serial=true and ?tcp=true. Returns trackingId - trackings.Patch("/") // Starts recording - trackings.Put("/") // Stops current recording. Returns trackingId if record was successful - trackings.Delete("/") // Stops websocket connection, pipelines and collectors - - trackings.Get("/:trackingId") // Gets Tracking Metadata and loads sensorRecords from database. - trackings.Post("/:trackingId") // Starts Replay. - trackings.Patch("/:trackingId") // Pauses Replay. - trackings.Put("/:trackingId") // Stops Replay. - trackings.Delete("/:trackingId") // Deletes Tracking from database - - log.Fatal(app.Listen(":3011")) -} - -func createFiberWebsocketHandler(s Subscriber) func(conn *ws.Conn) { - return func(c *ws.Conn) { - // Handle and discard inbound messages - go func() { - for { - if _, _, err := c.NextReader(); err != nil { - c.Close() - break - } - } - }() - - dispatcherId, channel := s.Subscribe() - defer s.Unsubscribe(dispatcherId) - for { - cmsg := <-channel - err := c.WriteMessage(ws.TextMessage, []byte(cmsg)) - if err != nil { - log.Println("write:", err) - - break - } - } - } - -} - -func fiberHomeHandler(c *fiber.Ctx) error { - tpl, err := template.ParseFiles("static/index.html") - if err != nil { - return err - } - err = tpl.Execute(c, "ws://"+c.Hostname()+"/ws") - if err != nil { - return err - } - return nil -} diff --git a/core/interfaces.go b/core/interfaces.go new file mode 100644 index 0000000..d2ce9af --- /dev/null +++ b/core/interfaces.go @@ -0,0 +1,46 @@ +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) +} + + +type Service interface { + AllTrackings() + NewTracking(cols ...CollectorType) + StartRecord() + StopRecord() + Reset() + + LoadTracking(trackingId uuid.UUID) + DeleteTracking(trackingId uuid.UUID) + + StartReplay() + PauseReplay() + StopReplay() +} diff --git a/core/pipeline.go b/core/pipeline.go index 7ce3018..23a9a5e 100644 --- a/core/pipeline.go +++ b/core/pipeline.go @@ -9,21 +9,9 @@ import ( "time" ) -type Processor interface { - Push(data *Sensordata) error -} - -type Pipeline interface { - Run() - Stop() -} - -type Storer interface { - Store(data Sensordata) -} - type pipeline struct { active bool + record bool syn synchronizer agr aggregator pub Publisher @@ -31,14 +19,15 @@ type pipeline struct { publishTicker *time.Ticker } -// pipe implements Runner & Processor +// 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(conf.syncUpdateIntervalMs) * time.Millisecond), + updateTicker: time.NewTicker(time.Duration(conf.Pipeline.SyncUpdateIntervalMs) * time.Millisecond), }, aggregator{ tcpMutex: &sync.Mutex{}, @@ -46,11 +35,13 @@ func NewPipeline(d Publisher, s Storer, conf *Configuration) *pipeline { }, d, s, - time.NewTicker(time.Duration(conf.publishIntervalMs) * time.Millisecond), + time.NewTicker(time.Duration(conf.Pipeline.PublishIntervalMs) * time.Millisecond), } } func (p *pipeline) Run() { + p.active = true + log.Println("pipe: processing service started") go func() { for p.active { <-p.syn.updateTicker.C @@ -59,7 +50,7 @@ func (p *pipeline) Run() { log.Println(err) } } - + log.Println("pipe: updater stopped") }() go func() { for p.active { @@ -69,26 +60,34 @@ func (p *pipeline) Run() { log.Println(err) } } + log.Println("pipe: publisher stopped") }() - log.Println("pipe: processing service started") +} + +func (p *pipeline) Record() { + p.record = true +} +func (p *pipeline) Stop() { + p.record = false } 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{}) { + + if (p.agr.tcpSensorData == sensorData{} && p.agr.serialSensorData == sensorData{}) { p.agr.tcpMutex.Unlock() p.agr.serialMutex.Unlock() return errors.New("no data available") } - data := map[string]Sensordata{ + + p.stor.EnqueuePair(p.agr.tcpSensorData, p.agr.serialSensorData) + + data := map[string]sensorData{ string(SOURCE_TCP): p.agr.tcpSensorData, string(SOURCE_SERIAL): p.agr.serialSensorData, } - //p.agr.tcpSensorData = Sensordata{} - //p.agr.serialSensorData = Sensordata{} + p.agr.tcpMutex.Unlock() p.agr.serialMutex.Unlock() @@ -102,8 +101,8 @@ func (p *pipeline) Publish() error { } type aggregator struct { - tcpSensorData Sensordata - serialSensorData Sensordata + tcpSensorData sensorData + serialSensorData sensorData tcpMutex *sync.Mutex serialMutex *sync.Mutex } @@ -112,20 +111,8 @@ 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() { } func (p *pipeline) refreshDelay() error { @@ -153,13 +140,14 @@ func (p *pipeline) refreshDelay() error { return nil } -func (p *pipeline) Push(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)) + //log.Println(string(data.source)) // TODO: persist data here with current timestamp - switch data.SourceId { + p.stor.EnqueueRaw(*data) + switch data.source { case SOURCE_TCP: go p.pushTcpDataToBuffer(*data) case SOURCE_SERIAL: @@ -170,7 +158,7 @@ func (p *pipeline) Push(data *Sensordata) error { return nil } -func (p *pipeline) pushTcpDataToBuffer(data Sensordata) { +func (p *pipeline) pushTcpDataToBuffer(data sensorData) { if p.syn.tcpSerialDelayMs > 0 { time.Sleep(time.Duration(p.syn.tcpSerialDelayMs) * time.Millisecond) } @@ -178,7 +166,7 @@ func (p *pipeline) pushTcpDataToBuffer(data Sensordata) { p.agr.tcpSensorData = p.agr.tcpSensorData.ConsolidateExTime(data) p.agr.tcpMutex.Unlock() } -func (p *pipeline) pushSerialDataToBuffer(data Sensordata) { +func (p *pipeline) pushSerialDataToBuffer(data sensorData) { if p.syn.tcpSerialDelayMs < 0 { time.Sleep(time.Duration(-p.syn.tcpSerialDelayMs) * time.Millisecond) } @@ -187,6 +175,6 @@ func (p *pipeline) pushSerialDataToBuffer(data Sensordata) { p.agr.serialMutex.Unlock() } -func (p *pipeline) Stop() { +func (p *pipeline) Close() { p.active = false } diff --git a/core/repository.go b/core/repository.go deleted file mode 100644 index d3c1fae..0000000 --- a/core/repository.go +++ /dev/null @@ -1,46 +0,0 @@ -package core - -import ( - "github.com/google/uuid" - "sync" -) - -type writeRepo interface { - SaveTracking(tracking *Tracking) error -} - -type readRepo interface { - AllTrackings() ([]trackingMetadata, error) - LoadTracking(id uuid.UUID) (Tracking, error) -} - -type repository struct { - repoStubSave - loader repoStubLoad -} - -type repoStubSave struct { - sensordataBuffer -} -type repoStubLoad struct{} - -func (r *repoStubSave) SaveTracking(tracking *Tracking) error { - panic("implement me") -} - -func (r *repoStubLoad) AllTrackings() ([]trackingMetadata, error) { - panic("implement me") -} - -func (r *repoStubLoad) LoadTracking(id uuid.UUID) (Tracking, error) { - panic("implement me") -} - -type sensordataBuffer struct { - // TODO: database stub - data []Sensordata - mu sync.Mutex -} - -func (s *sensordataBuffer) Store(data Sensordata) { -} diff --git a/core/sensordata.go b/core/sensordata.go index c9a9d85..f13dc31 100644 --- a/core/sensordata.go +++ b/core/sensordata.go @@ -16,15 +16,26 @@ const ( SOURCE_SERIAL sourceId = "SOURCE_SERIAL" ) -type Sensordata struct { +type sensorData struct { itow uint32 - SourceId sourceId + source sourceId Timestamp int64 Position [3]float64 Orientation [3]float64 } -func (s Sensordata) isSameEpoch(n Sensordata) bool { +type recordPair struct { + RecordTime time.Time + data map[sourceId]sensorData +} + +type rawRecord struct { + RecordTime time.Time + sensorData +} + + +func (s sensorData) isSameEpoch(n sensorData) bool { if n.itow == 0 { return false } @@ -32,10 +43,10 @@ func (s Sensordata) isSameEpoch(n Sensordata) bool { } // Consolidates two sensordata elements if they are in the same epoch -func (s Sensordata) ConsolidateEpochsOnly(n Sensordata) Sensordata { +func (s sensorData) ConsolidateEpochsOnly(n sensorData) sensorData { s.checkSources(&n) if s.isSameEpoch(n) { - null := Sensordata{} + null := sensorData{} if n.Timestamp == null.Timestamp { n.Timestamp = s.Timestamp @@ -51,9 +62,9 @@ func (s Sensordata) ConsolidateEpochsOnly(n Sensordata) Sensordata { } // Consolidates two sensordata elements but ignores timestamps -func (s Sensordata) ConsolidateExTime(n Sensordata) Sensordata { +func (s sensorData) ConsolidateExTime(n sensorData) sensorData { s.checkSources(&n) - null := Sensordata{} + null := sensorData{} if n.Position == null.Position { n.Position = s.Position @@ -64,11 +75,11 @@ func (s Sensordata) ConsolidateExTime(n Sensordata) Sensordata { return n } -func (s *Sensordata) checkSources(n *Sensordata) { - if (s.SourceId != n.SourceId && *s != Sensordata{}) { +func (s *sensorData) checkSources(n *sensorData) { + if (s.source != n.source && *s != sensorData{}) { log.Println(s) log.Println(n) - log.Fatalln("Do not consolidate Sensordata from different Sources") + log.Fatalln("Do not consolidate sensorData from different Sources") } } @@ -77,9 +88,9 @@ var ( errRawMessage = errors.New("raw message") ) -func ConvertUbxToSensorData(msg interface{}) (*Sensordata, error) { - sd := &Sensordata{ - SourceId: SOURCE_SERIAL, +func ConvertUbxToSensorData(msg interface{}) (*sensorData, error) { + sd := &sensorData{ + source: SOURCE_SERIAL, } switch v := msg.(type) { case *ublox.NavPvt: @@ -113,14 +124,14 @@ 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() @@ -128,8 +139,8 @@ 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, + sd := &sensorData{ + source: SOURCE_TCP, Timestamp: int64(timestamp * float64(time.Second)), //Timestamp: time.Unix(0, prep.Timestamp * int64(time.Millisecond)), Position: [3]float64{lat, lon, alt}, @@ -140,7 +151,7 @@ func convertIPhoneSensorLog(jsonData []byte) (*Sensordata, error) { 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() @@ -149,8 +160,8 @@ 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, + sd := &sensorData{ + source: SOURCE_TCP, Timestamp: timestamp * int64(time.Millisecond), //Timestamp: time.Unix(0, prep.Timestamp * int64(time.Millisecond)), Position: [3]float64{lat, lon, alt}, diff --git a/core/service.go b/core/service.go new file mode 100644 index 0000000..8df6a23 --- /dev/null +++ b/core/service.go @@ -0,0 +1,107 @@ +package core + +import ( + "github.com/google/uuid" + "log" + "time" +) + +type OpMode uint8 + +const ( + STOPPED OpMode = iota + LIVE + REPLAY +) + +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{} + return &trackingService{ + current: t, + opMode: STOPPED, + config: c, + repo: r, + pipe: NewPipeline(d, t, c), + collectors: nil, + } +} + +func (t *trackingService) AllTrackings() { + panic("implement me") +} + +func (t *trackingService) NewTracking(cols ...CollectorType) { + log.Println("new tracking:", cols) + t.opMode = LIVE + t.collectors = nil + for _, col := range cols { + t.collectors = append(t.collectors, NewCollector(col, t.pipe, t.config)) + } + *t.current = emptyTracking() + t.current.collectors = cols + for _, e := range t.collectors { + e.Collect() + } + t.pipe.Run() + +} + +func (t *trackingService) StartRecord() { + if t.opMode != LIVE { + log.Println("trackingservice: wrong mode of operation") + } + t.current.TimeCreated = time.Now() + t.pipe.Record() +} + +func (t *trackingService) StopRecord() { + if t.opMode != LIVE { + log.Println("trackingservice: wrong mode of operation") + } + t.pipe.Stop() + for _, e := range t.collectors { + e.Stop() + } + err := t.repo.Save(*t.current) + if err != nil { + log.Println(err) + } + t.NewTracking(t.current.collectors...) +} + +func (t *trackingService) Reset() { + t.opMode = STOPPED + t.collectors = nil +} + + +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) LoadTracking(trackingId uuid.UUID) { + +} + + diff --git a/core/trackings.go b/core/trackings.go index 1d7a28b..1864d17 100644 --- a/core/trackings.go +++ b/core/trackings.go @@ -1,106 +1,61 @@ package core import ( - "github.com/google/uuid" - "log" - "time" + "github.com/google/uuid" + "log" + "sync" + "time" ) -type OpMode uint8 - -const ( - STOPPED OpMode = iota - LIVE - REPLAY -) - -type TrackingService struct { - Current *Tracking - config *Configuration - repo *repository - pipe *pipeline - opMode OpMode - collectors []Collector - //publish Publisher -} - type Tracking struct { - trackingMetadata - data []*sensorRecord -} - -type trackingMetadata struct { - UUID uuid.UUID - TimeCreated time.Time -} - -type sensorRecord struct { - RecordTime time.Time - Sensordata -} - -func Service(c *Configuration) *TrackingService { - d := NewDispatcher() - r := &repository{} - return &TrackingService{ - Current: nil, - opMode: STOPPED, - config: c, - repo: r, - pipe: NewPipeline(d, r, c), - collectors: nil, - } -} - -func (t *TrackingService) NewTracking(cols ...CollectorType) { - t.opMode = LIVE - for _, col := range cols { - t.collectors = append(t.collectors, NewCollector(col, t.pipe, t.config)) - } - t.Current = emptyTracking() -} - -func (t *TrackingService) StartRecord() { - if t.opMode != LIVE { - log.Println("trackingservice: wrong mode of operation") - } - t.pipe.Run() - for _, e := range t.collectors { - e.Collect() - } -} - -func (t *TrackingService) StopRecord() { - if t.opMode != LIVE { - log.Println("trackingservice: wrong mode of operation") - } - t.pipe.Stop() - for _, e := range t.collectors { - e.Stop() - } - err := t.repo.SaveTracking(t.Current) - if err != nil { - log.Println(err) - } - t.Current = emptyTracking() -} - -func (t *TrackingService) Reset() { -} - -func (t *TrackingService) LoadTrackings() { + TrackingMetadata + Records []recordPair + Rawdata []rawRecord + mu sync.Mutex } -func (t *TrackingService) LoadTracking(trackingId uuid.UUID) { - +type TrackingMetadata struct { + UUID uuid.UUID + TimeCreated time.Time + collectors []CollectorType } -func emptyTracking() *Tracking { - return &Tracking{ - trackingMetadata: trackingMetadata{ - UUID: uuid.New(), - }, - data: []*sensorRecord{}, - } +func (s *Tracking) EnqueuePair(tcp sensorData, ser sensorData) { + s.mu.Lock() + defer s.mu.Unlock() + rp := recordPair{ + RecordTime: time.Now(), + data: map[sourceId]sensorData{ + tcp.source: tcp, + ser.source: ser, + }, + } + s.Records = append(s.Records, rp) + log.Println("tracking Records: len->", len(s.Records)) +} + +func (s *Tracking) EnqueueRaw(data sensorData) { + s.mu.Lock() + defer s.mu.Unlock() + sr := rawRecord{ + time.Now(), + data, + } + s.Rawdata = append(s.Rawdata, sr) + log.Println("raw data points: len->", len(s.Records)) +} + +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/database/repository.go b/database/repository.go new file mode 100644 index 0000000..1f9d413 --- /dev/null +++ b/database/repository.go @@ -0,0 +1,27 @@ +package database + +import ( + "git.timovolkmann.de/gyrogpsc/core" + "github.com/google/uuid" +) + +// Must implement Repo +type repository struct { +} + +func NewRepository(c *core.Configuration) *repository { + return &repository{} +} + +func (r *repository) Save(tracking core.Tracking) error { + panic("implement me") +} + +func (r *repository) LoadAll() ([]core.TrackingMetadata, error) { + panic("implement me") +} + +func (r *repository) Load(id uuid.UUID) (core.Tracking, error) { + panic("implement me") +} + diff --git a/example_config.yml b/example_config.yml index 9cd8ade..5d18e96 100644 --- a/example_config.yml +++ b/example_config.yml @@ -1,12 +1,13 @@ -# Server configurations -server: - port: 8000 +# server configurations +webserver: + port: ":3011" +# collector configurations collectors: - port_tcp: - port_serial: + porttcp: ":3010" + portserial: "/dev/tty.usbmodem14201" -# Database credentials -database: - user: "admin" - pass: "super-pedro-1980" \ No newline at end of file +# processing pipeline configurations +pipeline: + publishIntervalMs: 50 + syncUpdateIntervalMs: 494 \ No newline at end of file diff --git a/go.mod b/go.mod index 1872bc9..a034228 100644 --- a/go.mod +++ b/go.mod @@ -7,6 +7,7 @@ require ( github.com/gofiber/websocket/v2 v2.0.2 github.com/google/uuid v1.1.2 github.com/gorilla/websocket v1.4.2 + github.com/spf13/viper v1.7.1 github.com/stretchr/testify v1.6.1 // indirect github.com/tidwall/gjson v1.6.0 github.com/tidwall/pretty v1.0.2 // indirect diff --git a/go.sum b/go.sum index da3fa22..321eef8 100644 --- a/go.sum +++ b/go.sum @@ -1,48 +1,203 @@ +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/go.mod h1:xHWCNGjB5oqiDr8zfno3MHue2Ht5sIBksp03qcyfWMU= github.com/BurntSushi/xgb v0.0.0-20160522181843-27f122750802/go.mod h1:IVnqGOEym/WlBOVXweHU+Q+/VP0lqqI8lqeDx9IjBqo= +github.com/OneOfOne/xxhash v1.2.2/go.mod h1:HSdplMjZKSmBqAxg5vPj2TmRDmfkzw+cTzAElWljhcU= github.com/PuerkitoBio/goquery v1.5.1/go.mod h1:GsLWisAFVj4WgDibEWF4pvYnkVQBpKBKeU+7zCJoLcc= +github.com/alecthomas/template 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h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4= +honnef.co/go/tools v0.0.1-2019.2.3/go.mod h1:a3bituU0lyd329TUQxRnasdCoJDkEUEAqEt0JzvZhAg= modernc.org/b v1.0.0/go.mod h1:uZWcZfRj1BpYzfN9JTerzlNUnnPsV9O2ZA8JsRcubNg= modernc.org/db v1.0.0/go.mod h1:kYD/cO29L/29RM0hXYl4i3+Q5VojL31kTUVpVJDw0s8= modernc.org/ebnfutil v1.0.0/go.mod h1:+2n/OnQXoild9pzrPa/2wmVtR+ufWjB/0fYkc0BV9sc= @@ -116,3 +385,4 @@ modernc.org/ql v1.1.0/go.mod h1:Fj1ylcVyzcu/fgWZTrvBO9j/aEUg/ixLFnGtmzh7quI= modernc.org/sortutil v1.0.0/go.mod h1:1QO0q8IlIlmjBIwm6t/7sof874+xCfZouyqZMLIAtxM= modernc.org/strutil v1.0.0/go.mod h1:lstksw84oURvj9y3tn8lGvRxyRC1S2+g5uuIzNfIOBs= modernc.org/zappy v1.0.0/go.mod h1:hHe+oGahLVII/aTTyWK/b53VDHMAGCBYYeZ9sn83HC4= +rsc.io/binaryregexp v0.2.0/go.mod h1:qTv7/COck+e2FymRvadv62gMdZztPaShugOCi3I+8D8= diff --git a/web/http.go b/web/http.go new file mode 100644 index 0000000..3eb6033 --- /dev/null +++ b/web/http.go @@ -0,0 +1,85 @@ +package web + +import ( + "git.timovolkmann.de/gyrogpsc/core" + "github.com/gofiber/fiber/v2" + "github.com/gofiber/websocket/v2" + "html/template" + "log" +) + +func CreateServer(s core.Service, sub core.Subscriber, c *core.Configuration) { + app := fiber.New() + app.Static("/static", "static") + + // Application Main Page + app.Get("/", fiberHomeHandler) + + // Websocket + app.Get("/", websocket.New(createFiberWebsocketHandler(sub))) + + // TODO: Get all SerialPorts + // app.Get("/serialports") + + // Tracking persistence controls + trackings := app.Group("/trackings") + trackings.Get("/", stubhander()) // Get all trackings Metadata + trackings.Post("/", stubhander()) // Initialize new tracking, open websocket and prepare for automatic recording. Toggle ?serial=true and ?tcp=true. Returns trackingId + trackings.Patch("/", stubhander()) // Starts recording + trackings.Put("/", stubhander()) // Stops current recording. Returns trackingId if record was successful + trackings.Delete("/", stubhander()) // Stops websocket connection, pipelines and collectors + + trackings.Get("/:trackingId", stubhander()) // Gets Tracking Metadata and loads sensorRecords from database. + trackings.Delete("/:trackingId", stubhander()) // Deletes Tracking from database + + trackings.Post("/current", stubhander()) // Starts Replay. + trackings.Patch("/current", stubhander()) // Pauses Replay. + trackings.Put("/current", stubhander()) // Stops Replay. + + log.Fatal(app.Listen(c.Webserver.Port)) +} + +func stubhander() fiber.Handler { + return func(ctx *fiber.Ctx) error { + return nil + } +} + +func createFiberWebsocketHandler(s core.Subscriber) func(conn *websocket.Conn) { + return func(c *websocket.Conn) { + // Handle and discard inbound messages + go func() { + for { + if _, _, err := c.NextReader(); err != nil { + c.Close() + break + } + } + }() + + dispatcherId, channel := s.Subscribe() + defer s.Unsubscribe(dispatcherId) + for { + cmsg := <-channel + err := c.WriteMessage(websocket.TextMessage, []byte(cmsg)) + if err != nil { + log.Println("write:", err) + + break + } + } + } + +} + +func fiberHomeHandler(c *fiber.Ctx) error { + tpl, err := template.ParseFiles("static/index.html") + if err != nil { + return err + } + err = tpl.Execute(c, "://"+c.Hostname()+"/") + if err != nil { + return err + } + return nil +}