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reciever.go
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/
reciever.go
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package main
import (
"bufio"
"context"
"io"
"math/rand"
"strconv"
"strings"
"time"
"github.com/samber/do"
"github.com/samber/lo"
"go.bug.st/serial"
)
type (
StatusMessage struct {
Time float32
Status string
StatusReason string
KP, KI, KD float32
Error float32
Output float32
}
SignalMessage struct {
Time float32
Signal int
Message string
}
Reciever interface {
AssignChannel(chan<- StatusMessage, chan<- SignalMessage) error
Listen() error
do.Shutdownable
do.Healthcheckable
}
SerialReciever struct {
statChan chan<- StatusMessage
sigChan chan<- SignalMessage
ctx context.Context
ctxCancel context.CancelFunc
port serial.Port
}
RandomTestReciever struct {
statChan chan<- StatusMessage
sigChan chan<- SignalMessage
ctx context.Context
ctxCancel context.CancelFunc
}
)
func (recv *SerialReciever) OpenPort(portName string, portBaud int) error {
cfg := &serial.Mode{
BaudRate: portBaud,
Parity: serial.NoParity,
DataBits: 8,
StopBits: serial.OneStopBit,
}
var err error
recv.port, err = serial.Open(portName, cfg)
return err
}
func (recv *SerialReciever) AssignChannel(stat chan<- StatusMessage, sig chan<- SignalMessage) error {
recv.statChan = stat
recv.sigChan = sig
return nil
}
func (recv *SerialReciever) Listen() error {
recv.ctx, recv.ctxCancel = context.WithCancel(context.Background())
r, w := io.Pipe()
copyBuffer := make([]byte, 32768)
recv.port.SetReadTimeout(serial.NoTimeout)
go func() {
for {
select {
case <-recv.ctx.Done():
return
default:
}
n, err := recv.port.Read(copyBuffer)
if err != nil {
GlobalLogger.WithError(err).Error("failed to copy serial buffer")
}
if n == 0 {
time.Sleep(100 * time.Millisecond)
} else {
if nn, err := w.Write(copyBuffer[:n]); err != nil {
GlobalLogger.WithError(err).Errorf("buffer is fragmented, expected writing %d, wrote %d", len(copyBuffer), nn)
}
}
}
}()
go func() {
nr := bufio.NewReader(r)
for {
select {
case <-recv.ctx.Done():
recv.sigChan <- SignalMessage{
Signal: -1,
Message: "reciever halted",
}
return
default:
time.Sleep(10 * time.Millisecond)
}
rawLine, isPrefix, err := nr.ReadLine()
if isPrefix {
continue
}
if err != nil {
GlobalLogger.WithError(err).Errorf("failed to read buffer, isPrefix=%t", isPrefix)
continue
}
tokens := strings.Split(string(rawLine), ",")
if len(tokens) != 6 {
GlobalLogger.Errorf("token is incomplete: %d tokens", len(tokens))
continue
}
values := lo.Map[string, float32](tokens, func(item string, index int) float32 {
f, err := strconv.ParseFloat(item, 32)
if err != nil {
GlobalLogger.WithError(err).Errorf("failed to parse serial token : %s", item)
f = 0
}
return float32(f)
})
recv.statChan <- StatusMessage{
Status: "normal",
StatusReason: "",
KP: values[3],
KI: values[4],
KD: values[5],
Error: values[1],
Output: values[2],
Time: values[0],
}
}
}()
return nil
}
func (recv *SerialReciever) Shutdown() error {
if err := recv.port.Close(); err != nil {
GlobalLogger.WithError(err).Error("failed to close serial port")
}
recv.ctxCancel()
return nil
}
func (recv *SerialReciever) HealthCheck() error {
return nil
}
func (recv *RandomTestReciever) AssignChannel(stat chan<- StatusMessage, sig chan<- SignalMessage) error {
recv.statChan = stat
recv.sigChan = sig
return nil
}
func (recv *RandomTestReciever) Listen() error {
recv.ctx, recv.ctxCancel = context.WithCancel(context.Background())
go func() {
timeStart := time.Now()
for {
timeCurrect := time.Now()
secondElasped := float32(timeCurrect.Sub(timeStart).Seconds())
recv.statChan <- StatusMessage{
Status: "normal",
StatusReason: "random test reciever",
KP: rand.Float32(),
KI: rand.Float32(),
KD: rand.Float32(),
Error: rand.Float32(),
Output: rand.Float32(),
Time: secondElasped,
}
recv.sigChan <- SignalMessage{
Signal: 0,
Message: "reciever still alive",
Time: secondElasped,
}
select {
case <-recv.ctx.Done():
recv.sigChan <- SignalMessage{
Signal: -1,
Message: "reciever halted",
}
return
default:
}
time.Sleep(200 * time.Millisecond)
}
}()
return nil
}
func (recv *RandomTestReciever) Shutdown() error {
recv.ctxCancel()
return nil
}
func (recv *RandomTestReciever) HealthCheck() error {
return nil
}
func NewSerialRecieverService(i *do.Injector) (Reciever, error) {
return &SerialReciever{}, nil
}
func NewRandomTestRecieverService(i *do.Injector) (Reciever, error) {
return &RandomTestReciever{}, nil
}