306 lines
10 KiB
Go
306 lines
10 KiB
Go
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package uncanny
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/*
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// include our message format definitions
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#cgo CPPFLAGS: -I${SRCDIR}/..
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#include <messages.h>
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// since we can't use macros in Go directly, let's add some wrappers
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// to avoid conflicts, we'll simply lowercase the symbol names
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const uint16_t can_msg_feedback_status = CAN_MSG_FEEDBACK_STATUS;
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const size_t can_msg_feedback_status_field_reset_sw = CAN_MSG_FEEDBACK_STATUS_FIELD_RESET_SW;
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const uint8_t can_msg_feedback_status_bit_reset_sw = CAN_MSG_FEEDBACK_STATUS_BIT_RESET_SW;
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const size_t can_msg_feedback_status_field_empty_h = CAN_MSG_FEEDBACK_STATUS_FIELD_EMPTY_H;
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const uint8_t can_msg_feedback_status_bit_empty_h = CAN_MSG_FEEDBACK_STATUS_BIT_EMPTY_H;
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const size_t can_msg_feedback_status_field_empty_g = CAN_MSG_FEEDBACK_STATUS_FIELD_EMPTY_G;
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const uint8_t can_msg_feedback_status_bit_empty_g = CAN_MSG_FEEDBACK_STATUS_BIT_EMPTY_G;
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const size_t can_msg_feedback_status_field_empty_f = CAN_MSG_FEEDBACK_STATUS_FIELD_EMPTY_F;
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const uint8_t can_msg_feedback_status_bit_empty_f = CAN_MSG_FEEDBACK_STATUS_BIT_EMPTY_F;
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const size_t can_msg_feedback_status_field_empty_e = CAN_MSG_FEEDBACK_STATUS_FIELD_EMPTY_E;
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const uint8_t can_msg_feedback_status_bit_empty_e = CAN_MSG_FEEDBACK_STATUS_BIT_EMPTY_E;
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const size_t can_msg_feedback_status_field_empty_d = CAN_MSG_FEEDBACK_STATUS_FIELD_EMPTY_D;
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const uint8_t can_msg_feedback_status_bit_empty_d = CAN_MSG_FEEDBACK_STATUS_BIT_EMPTY_D;
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const size_t can_msg_feedback_status_field_end_h = CAN_MSG_FEEDBACK_STATUS_FIELD_END_H;
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const uint8_t can_msg_feedback_status_bit_end_h = CAN_MSG_FEEDBACK_STATUS_BIT_END_H;
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const size_t can_msg_feedback_status_field_end_g = CAN_MSG_FEEDBACK_STATUS_FIELD_END_G;
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const uint8_t can_msg_feedback_status_bit_end_g = CAN_MSG_FEEDBACK_STATUS_BIT_END_G;
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const size_t can_msg_feedback_status_field_end_f = CAN_MSG_FEEDBACK_STATUS_FIELD_END_F;
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const uint8_t can_msg_feedback_status_bit_end_f = CAN_MSG_FEEDBACK_STATUS_BIT_END_F;
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const size_t can_msg_feedback_status_field_end_e = CAN_MSG_FEEDBACK_STATUS_FIELD_END_E;
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const uint8_t can_msg_feedback_status_bit_end_e = CAN_MSG_FEEDBACK_STATUS_BIT_END_E;
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const size_t can_msg_feedback_status_field_end_d = CAN_MSG_FEEDBACK_STATUS_FIELD_END_D;
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const uint8_t can_msg_feedback_status_bit_end_d = CAN_MSG_FEEDBACK_STATUS_BIT_END_D;
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const uint16_t can_msg_power_status = CAN_MSG_POWER_STATUS;
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const uint16_t can_msg_power_dispense = CAN_MSG_POWER_DISPENSE;
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const uint8_t can_msg_power_dispense_off = CAN_MSG_POWER_DISPENSE_OFF;
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const uint8_t can_msg_power_dispense_slot1 = CAN_MSG_POWER_DISPENSE_SLOT1;
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const uint8_t can_msg_power_dispense_slot2 = CAN_MSG_POWER_DISPENSE_SLOT2;
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const uint8_t can_msg_power_dispense_slot3 = CAN_MSG_POWER_DISPENSE_SLOT3;
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const uint8_t can_msg_power_dispense_slot4 = CAN_MSG_POWER_DISPENSE_SLOT4;
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const uint8_t can_msg_power_dispense_slot5 = CAN_MSG_POWER_DISPENSE_SLOT5;
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const uint16_t can_msg_auto_status = CAN_MSG_AUTO_STATUS;
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const uint8_t can_msg_auto_status_disable = CAN_MSG_AUTO_STATUS_DISABLE;
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const uint8_t can_msg_auto_status_enable = CAN_MSG_AUTO_STATUS_ENABLE;
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*/
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import "C"
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import (
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"errors"
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"github.com/brutella/can"
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)
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var (
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InvalidMessageID = errors.New("Invalid message ID, cannot decode")
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InvalidMessageLength = errors.New("Invalid message length, cannot decode")
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UnsupportedMessageType = errors.New("Unsupported message type, cannot decode")
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)
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type MessageType int
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const (
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MessageTypeInvalid MessageType = iota
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MessageTypeFeedback
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MessageTypeFeedbackRequest
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MessageTypePower
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MessageTypePowerRequest
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MessageTypeDispense
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MessageTypeAuto
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)
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// DecodeMessage decodes a CAN frame and returns an appropriate message
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// object and the message type.
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//
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// For request messages, only the type is returned (object and error are nil)
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//
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// When the message cannot be decoded, a nil object and MessageTypeInvalid is
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// returned, plus an appropriate error. If the message ID is unknown, error
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// will be UnsupportedMessageType.
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func DecodeMessage(frame can.Frame) (MessageType, interface{}, error) {
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switch frame.ID {
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case uint32(C.can_msg_feedback_status):
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msg, err := DecodeFeedbackMessage(frame)
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return MessageTypeFeedback, msg, err
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case uint32(C.can_msg_feedback_status) | can.MaskRtr:
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return MessageTypeFeedbackRequest, nil, nil
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case uint32(C.can_msg_power_status):
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msg, err := DecodePowerMessage(frame)
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return MessageTypePower, msg, err
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case uint32(C.can_msg_power_status) | can.MaskRtr:
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return MessageTypePowerRequest, nil, nil
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case uint32(C.can_msg_power_dispense):
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msg, err := DecodeDispenseMessage(frame)
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return MessageTypeDispense, msg, err
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case uint32(C.can_msg_auto_status):
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msg, err := DecodeAutoMessage(frame)
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return MessageTypeAuto, msg, err
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}
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return MessageTypeInvalid, nil, UnsupportedMessageType
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}
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type FeedbackMessage struct {
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EndD bool
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EndE bool
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EndF bool
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EndG bool
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EndH bool
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EmptyD bool
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EmptyE bool
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EmptyF bool
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EmptyG bool
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EmptyH bool
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ResetSw bool
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}
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func RequestFeedbackMessage() can.Frame {
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return can.Frame{
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ID: uint32(C.can_msg_feedback_status) | can.MaskRtr,
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}
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}
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func DecodeFeedbackMessage(frame can.Frame) (FeedbackMessage, error) {
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var ret FeedbackMessage
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if frame.ID != uint32(C.can_msg_feedback_status) {
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return ret, InvalidMessageID
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}
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if frame.Length != 2 {
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return ret, InvalidMessageLength
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}
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ret.EndD = frame.Data[C.can_msg_feedback_status_field_end_d] & C.can_msg_feedback_status_bit_end_d != 0
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ret.EndE = frame.Data[C.can_msg_feedback_status_field_end_e] & C.can_msg_feedback_status_bit_end_e != 0
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ret.EndF = frame.Data[C.can_msg_feedback_status_field_end_f] & C.can_msg_feedback_status_bit_end_f != 0
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ret.EndG = frame.Data[C.can_msg_feedback_status_field_end_g] & C.can_msg_feedback_status_bit_end_g != 0
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ret.EndH = frame.Data[C.can_msg_feedback_status_field_end_h] & C.can_msg_feedback_status_bit_end_h != 0
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ret.EmptyD = frame.Data[C.can_msg_feedback_status_field_empty_d] & C.can_msg_feedback_status_bit_empty_d != 0
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ret.EmptyE = frame.Data[C.can_msg_feedback_status_field_empty_e] & C.can_msg_feedback_status_bit_empty_e != 0
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ret.EmptyF = frame.Data[C.can_msg_feedback_status_field_empty_f] & C.can_msg_feedback_status_bit_empty_f != 0
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ret.EmptyG = frame.Data[C.can_msg_feedback_status_field_empty_g] & C.can_msg_feedback_status_bit_empty_g != 0
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ret.EmptyH = frame.Data[C.can_msg_feedback_status_field_empty_h] & C.can_msg_feedback_status_bit_empty_h != 0
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ret.ResetSw = frame.Data[C.can_msg_feedback_status_field_reset_sw] & C.can_msg_feedback_status_bit_reset_sw != 0
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return ret, nil
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}
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func (f FeedbackMessage) Encode() can.Frame {
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data := [8]uint8{}
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if f.EndD {
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data[C.can_msg_feedback_status_field_end_d] |= C.can_msg_feedback_status_bit_end_d
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}
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if f.EndE {
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data[C.can_msg_feedback_status_field_end_e] |= C.can_msg_feedback_status_bit_end_e
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}
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if f.EndF {
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data[C.can_msg_feedback_status_field_end_f] |= C.can_msg_feedback_status_bit_end_f
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}
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if f.EndG {
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data[C.can_msg_feedback_status_field_end_g] |= C.can_msg_feedback_status_bit_end_g
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}
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if f.EndH {
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data[C.can_msg_feedback_status_field_end_h] |= C.can_msg_feedback_status_bit_end_h
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}
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if f.EmptyD {
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data[C.can_msg_feedback_status_field_empty_d] |= C.can_msg_feedback_status_bit_empty_d
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}
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if f.EmptyE {
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data[C.can_msg_feedback_status_field_empty_e] |= C.can_msg_feedback_status_bit_empty_e
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}
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if f.EmptyF {
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data[C.can_msg_feedback_status_field_empty_f] |= C.can_msg_feedback_status_bit_empty_f
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}
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if f.EmptyG {
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data[C.can_msg_feedback_status_field_empty_g] |= C.can_msg_feedback_status_bit_empty_g
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}
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if f.EmptyH {
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data[C.can_msg_feedback_status_field_empty_h] |= C.can_msg_feedback_status_bit_empty_h
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}
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if f.ResetSw {
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data[C.can_msg_feedback_status_field_reset_sw] |= C.can_msg_feedback_status_bit_reset_sw
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}
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return can.Frame{
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ID: uint32(C.can_msg_feedback_status),
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Length: 2,
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Data: data,
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}
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}
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type PowerMessage struct {
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Bits int
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}
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func RequestPowerMessage() can.Frame {
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return can.Frame{
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ID: uint32(C.can_msg_power_status) | can.MaskRtr,
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}
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}
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func DecodePowerMessage(frame can.Frame) (PowerMessage, error) {
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var ret PowerMessage
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if frame.ID != uint32(C.can_msg_power_status) {
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return ret, InvalidMessageID
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}
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if frame.Length != 2 {
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return ret, InvalidMessageLength
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}
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ret.Bits = (int(frame.Data[0]) << 8) | int(frame.Data[1])
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return ret, nil
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}
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func (f PowerMessage) Encode() can.Frame {
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data := [8]uint8{}
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data[0] = uint8(f.Bits >> 8)
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data[1] = uint8(f.Bits)
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return can.Frame{
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ID: uint32(C.can_msg_power_status),
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Length: 2,
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Data: data,
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}
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}
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const DispenseSlotOff int = -1
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type DispenseMessage struct {
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Slot int
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}
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func DecodeDispenseMessage(frame can.Frame) (DispenseMessage, error) {
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var ret DispenseMessage
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if frame.ID != uint32(C.can_msg_power_dispense) {
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return ret, InvalidMessageID
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}
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if frame.Length != 1 {
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return ret, InvalidMessageLength
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}
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switch frame.Data[0] {
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case C.can_msg_power_dispense_off:
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ret.Slot = DispenseSlotOff
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case C.can_msg_power_dispense_slot1:
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ret.Slot = 0
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case C.can_msg_power_dispense_slot2:
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ret.Slot = 1
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case C.can_msg_power_dispense_slot3:
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ret.Slot = 2
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case C.can_msg_power_dispense_slot4:
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ret.Slot = 3
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case C.can_msg_power_dispense_slot5:
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ret.Slot = 4
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}
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return ret, nil
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}
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func (f DispenseMessage) Encode() can.Frame {
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data := [8]uint8{}
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switch f.Slot {
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case DispenseSlotOff:
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data[0] = C.can_msg_power_dispense_off
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case 0:
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data[0] = C.can_msg_power_dispense_slot1
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case 1:
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data[0] = C.can_msg_power_dispense_slot2
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case 2:
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data[0] = C.can_msg_power_dispense_slot3
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case 3:
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data[0] = C.can_msg_power_dispense_slot4
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case 4:
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data[0] = C.can_msg_power_dispense_slot5
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}
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return can.Frame{
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ID: uint32(C.can_msg_power_dispense),
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Length: 1,
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Data: data,
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}
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}
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type AutoMessage struct {
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AutoUpdate bool
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}
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func DecodeAutoMessage(frame can.Frame) (AutoMessage, error) {
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var ret AutoMessage
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if frame.ID != uint32(C.can_msg_auto_status) {
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return ret, InvalidMessageID
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}
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if frame.Length != 1 {
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return ret, InvalidMessageLength
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}
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// we accept all non-null values as "enable"
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if frame.Data[0] != C.can_msg_auto_status_disable {
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ret.AutoUpdate = true
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}
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return ret, nil
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}
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func (f AutoMessage) Encode() can.Frame {
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data := [8]uint8{}
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if f.AutoUpdate {
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data[0] = C.can_msg_auto_status_enable
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} else {
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data[0] = C.can_msg_auto_status_disable
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}
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return can.Frame{
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ID: uint32(C.can_msg_auto_status),
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Length: 1,
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Data: data,
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}
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}
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