matemat/uncanny/can.go

package uncanny

import (
	"errors"
	"fmt"
	"log"
	"github.com/brutella/can"
)

type Can struct {
	bus       *can.Bus
	swstate   FeedbackMessage
	dispstate int
}

func NewCan(intf string) (*Can, error) {
	bus, err := can.NewBusForInterfaceWithName(intf)
	if err != nil {
		return nil, errors.New(fmt.Sprintf("Can't open %s: %v", intf, err))
	}
	can := &Can{
		bus:       bus,
		dispstate: -1,
	}
	bus.Subscribe(can)
	return can, nil
}

func (c *Can) Start() {
	go func() {
		// send the init sequence, but (hopefully) defer until after we start listening
		// FIXME this is inherently racy :(
		go c.initialize()
		// ConnectAndPublish will block, so we'll just leave the Printf hanging here
		log.Printf("CAN bus shut down: %v", c.bus.ConnectAndPublish())
	}()
}

func (c *Can) Stop() {
	c.bus.Disconnect()
}

func (c *Can) Handle(frame can.Frame) {
	log.Printf("Got CAN frame to 0x%08x", frame.ID)
	typ, obj, err := DecodeMessage(frame)
	if err != nil {
		if err == UnsupportedMessageType {
			log.Printf("Unsupported message type: 0x%08x", frame.ID)
		} else {
			log.Printf("Cannot decode message: %v", err)
		}
	} else {
		switch typ {
		case MessageTypeFeedback:
			log.Printf("Got feedback message: %+v", obj.(FeedbackMessage))
			log.Printf("Data: 0x%02x 0x%02x", frame.Data[0], frame.Data[1])
			c.swstate = obj.(FeedbackMessage)
			// when all end switches are off: send stop command
			if !c.swstate.EmptyD && !c.swstate.EmptyE && !c.swstate.EmptyF && !c.swstate.EmptyG && !c.swstate.EmptyH {
				log.Printf("All end switches off, stopping dispenser")
				c.Cancel()
			}
		case MessageTypeFeedbackRequest:
			// ignore
		case MessageTypePower:
			log.Printf("Got power message: %+v", obj.(PowerMessage))
			// ignore
		case MessageTypePowerRequest:
			// ignore
		case MessageTypeDispense:
			log.Printf("Got dispense message: %+v", obj.(DispenseMessage))
			c.dispstate = obj.(DispenseMessage).Slot
		case MessageTypeAuto:
			// ignore
		}
	}
}

func (c *Can) IsEmpty(slot int) bool {
	switch (slot) {
	case 0:
		return c.swstate.EmptyD
	case 1:
		return c.swstate.EmptyE
	case 2:
		return c.swstate.EmptyF
	case 3:
		return c.swstate.EmptyG
	case 4:
		return c.swstate.EmptyH
	}
	return false
}

func (c *Can) IsDispensing(slot int) bool {
	switch (slot) {
	case 0:
		return c.swstate.EndD
	case 1:
		return c.swstate.EndE
	case 2:
		return c.swstate.EndF
	case 3:
		return c.swstate.EndG
	case 4:
		return c.swstate.EndH
	}
	return false
}

func (c *Can) ActiveDispenser() int {
	return c.dispstate
}

func (c *Can) Dispense(slot int) error {
	log.Printf("Starting dispense on slot %d", slot)
	return c.bus.Publish(DispenseMessage{slot}.Encode())
}

func (c *Can) Cancel() error {
	log.Printf("Stopping dispense")
	return c.bus.Publish(DispenseMessage{DispenseSlotOff}.Encode())
}

func (c *Can) initialize() {
	log.Printf("Initializing")
	// enable automatic status updates
	c.bus.Publish(AutoMessage{true}.Encode())
	c.bus.Publish(RequestFeedbackMessage())
	c.bus.Publish(RequestPowerMessage())
}