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Added control server

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This commit is contained in:
Gregor Riepl 2021-01-31 16:56:33 +01:00
parent a2cccbde71
commit d5713b5e43
7 changed files with 577 additions and 0 deletions
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2
.gitignore vendored
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@ -17,3 +17,5 @@ fp-info-cache
*.lst *.lst
*.map *.map
*.srec *.srec
uncanny/uncanny

115
uncanny/can.go Normal file
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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
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) {
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:
c.swstate = obj.(FeedbackMessage)
case MessageTypeFeedbackRequest:
// ignore
case MessageTypePower:
// ignore
case MessageTypePowerRequest:
// ignore
case MessageTypeDispense:
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 {
return c.bus.Publish(DispenseMessage{slot}.Encode())
}
func (c *Can) Cancel() error {
return c.bus.Publish(DispenseMessage{DispenseSlotOff}.Encode())
}
func (c *Can) initialize() error {
// enable automatic status updates
return c.bus.Publish(AutoMessage{true}.Encode())
}

27
uncanny/cmd/uncanny/main.go Normal file
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package main
import (
"flag"
"git.kabelsalat.ch/seto/matemat/uncanny"
"log"
)
const (
CanInterface = "can0"
ListenAddress = "localhost:8000"
)
func main() {
var intf string
var addr string
flag.StringVar(&intf, "interface", CanInterface, "CAN interface name")
flag.StringVar(&addr, "listen", ListenAddress, "HTTP listen address")
flag.Parse()
can, err := uncanny.NewCan(intf)
if err != nil {
log.Fatal(err)
}
server := uncanny.NewServer(can)
can.Start()
log.Fatal(server.ListenAndServe(addr))
}

5
uncanny/go.mod Normal file
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@ -0,0 +1,5 @@
module git.kabelsalat.ch/seto/matemat/uncanny
go 1.15
require github.com/brutella/can v0.0.1

4
uncanny/go.sum Normal file
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@ -0,0 +1,4 @@
github.com/brutella/can v0.0.1 h1:Rz+2Zuje3NT79daon8wPN9+VphH3/kl1DP8Dhf/k1NI=
github.com/brutella/can v0.0.1/go.mod h1:NYDxbQito3w4+4DcjWs/fpQ3xyaFdpXw/KYqtZFU98k=
golang.org/x/sys v0.0.0-20181213200352-4d1cda033e06 h1:0oC8rFnE+74kEmuHZ46F6KHsMr5Gx2gUQPuNz28iQZM=
golang.org/x/sys v0.0.0-20181213200352-4d1cda033e06/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=

305
uncanny/message.go Normal file
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@ -0,0 +1,305 @@
package uncanny
/*
// include our message format definitions
#cgo CPPFLAGS: -I${SRCDIR}/..
#include <messages.h>
// since we can't use macros in Go directly, let's add some wrappers
// to avoid conflicts, we'll simply lowercase the symbol names
const uint16_t can_msg_feedback_status = CAN_MSG_FEEDBACK_STATUS;
const size_t can_msg_feedback_status_field_reset_sw = CAN_MSG_FEEDBACK_STATUS_FIELD_RESET_SW;
const uint8_t can_msg_feedback_status_bit_reset_sw = CAN_MSG_FEEDBACK_STATUS_BIT_RESET_SW;
const size_t can_msg_feedback_status_field_empty_h = CAN_MSG_FEEDBACK_STATUS_FIELD_EMPTY_H;
const uint8_t can_msg_feedback_status_bit_empty_h = CAN_MSG_FEEDBACK_STATUS_BIT_EMPTY_H;
const size_t can_msg_feedback_status_field_empty_g = CAN_MSG_FEEDBACK_STATUS_FIELD_EMPTY_G;
const uint8_t can_msg_feedback_status_bit_empty_g = CAN_MSG_FEEDBACK_STATUS_BIT_EMPTY_G;
const size_t can_msg_feedback_status_field_empty_f = CAN_MSG_FEEDBACK_STATUS_FIELD_EMPTY_F;
const uint8_t can_msg_feedback_status_bit_empty_f = CAN_MSG_FEEDBACK_STATUS_BIT_EMPTY_F;
const size_t can_msg_feedback_status_field_empty_e = CAN_MSG_FEEDBACK_STATUS_FIELD_EMPTY_E;
const uint8_t can_msg_feedback_status_bit_empty_e = CAN_MSG_FEEDBACK_STATUS_BIT_EMPTY_E;
const size_t can_msg_feedback_status_field_empty_d = CAN_MSG_FEEDBACK_STATUS_FIELD_EMPTY_D;
const uint8_t can_msg_feedback_status_bit_empty_d = CAN_MSG_FEEDBACK_STATUS_BIT_EMPTY_D;
const size_t can_msg_feedback_status_field_end_h = CAN_MSG_FEEDBACK_STATUS_FIELD_END_H;
const uint8_t can_msg_feedback_status_bit_end_h = CAN_MSG_FEEDBACK_STATUS_BIT_END_H;
const size_t can_msg_feedback_status_field_end_g = CAN_MSG_FEEDBACK_STATUS_FIELD_END_G;
const uint8_t can_msg_feedback_status_bit_end_g = CAN_MSG_FEEDBACK_STATUS_BIT_END_G;
const size_t can_msg_feedback_status_field_end_f = CAN_MSG_FEEDBACK_STATUS_FIELD_END_F;
const uint8_t can_msg_feedback_status_bit_end_f = CAN_MSG_FEEDBACK_STATUS_BIT_END_F;
const size_t can_msg_feedback_status_field_end_e = CAN_MSG_FEEDBACK_STATUS_FIELD_END_E;
const uint8_t can_msg_feedback_status_bit_end_e = CAN_MSG_FEEDBACK_STATUS_BIT_END_E;
const size_t can_msg_feedback_status_field_end_d = CAN_MSG_FEEDBACK_STATUS_FIELD_END_D;
const uint8_t can_msg_feedback_status_bit_end_d = CAN_MSG_FEEDBACK_STATUS_BIT_END_D;
const uint16_t can_msg_power_status = CAN_MSG_POWER_STATUS;
const uint16_t can_msg_power_dispense = CAN_MSG_POWER_DISPENSE;
const uint8_t can_msg_power_dispense_off = CAN_MSG_POWER_DISPENSE_OFF;
const uint8_t can_msg_power_dispense_slot1 = CAN_MSG_POWER_DISPENSE_SLOT1;
const uint8_t can_msg_power_dispense_slot2 = CAN_MSG_POWER_DISPENSE_SLOT2;
const uint8_t can_msg_power_dispense_slot3 = CAN_MSG_POWER_DISPENSE_SLOT3;
const uint8_t can_msg_power_dispense_slot4 = CAN_MSG_POWER_DISPENSE_SLOT4;
const uint8_t can_msg_power_dispense_slot5 = CAN_MSG_POWER_DISPENSE_SLOT5;
const uint16_t can_msg_auto_status = CAN_MSG_AUTO_STATUS;
const uint8_t can_msg_auto_status_disable = CAN_MSG_AUTO_STATUS_DISABLE;
const uint8_t can_msg_auto_status_enable = CAN_MSG_AUTO_STATUS_ENABLE;
*/
import "C"
import (
"errors"
"github.com/brutella/can"
)
var (
InvalidMessageID = errors.New("Invalid message ID, cannot decode")
InvalidMessageLength = errors.New("Invalid message length, cannot decode")
UnsupportedMessageType = errors.New("Unsupported message type, cannot decode")
)
type MessageType int
const (
MessageTypeInvalid MessageType = iota
MessageTypeFeedback
MessageTypeFeedbackRequest
MessageTypePower
MessageTypePowerRequest
MessageTypeDispense
MessageTypeAuto
)
// DecodeMessage decodes a CAN frame and returns an appropriate message
// object and the message type.
//
// For request messages, only the type is returned (object and error are nil)
//
// When the message cannot be decoded, a nil object and MessageTypeInvalid is
// returned, plus an appropriate error. If the message ID is unknown, error
// will be UnsupportedMessageType.
func DecodeMessage(frame can.Frame) (MessageType, interface{}, error) {
switch frame.ID {
case uint32(C.can_msg_feedback_status):
msg, err := DecodeFeedbackMessage(frame)
return MessageTypeFeedback, msg, err
case uint32(C.can_msg_feedback_status) | can.MaskRtr:
return MessageTypeFeedbackRequest, nil, nil
case uint32(C.can_msg_power_status):
msg, err := DecodePowerMessage(frame)
return MessageTypePower, msg, err
case uint32(C.can_msg_power_status) | can.MaskRtr:
return MessageTypePowerRequest, nil, nil
case uint32(C.can_msg_power_dispense):
msg, err := DecodeDispenseMessage(frame)
return MessageTypeDispense, msg, err
case uint32(C.can_msg_auto_status):
msg, err := DecodeAutoMessage(frame)
return MessageTypeAuto, msg, err
}
return MessageTypeInvalid, nil, UnsupportedMessageType
}
type FeedbackMessage struct {
EndD bool
EndE bool
EndF bool
EndG bool
EndH bool
EmptyD bool
EmptyE bool
EmptyF bool
EmptyG bool
EmptyH bool
ResetSw bool
}
func RequestFeedbackMessage() can.Frame {
return can.Frame{
ID: uint32(C.can_msg_feedback_status) | can.MaskRtr,
}
}
func DecodeFeedbackMessage(frame can.Frame) (FeedbackMessage, error) {
var ret FeedbackMessage
if frame.ID != uint32(C.can_msg_feedback_status) {
return ret, InvalidMessageID
}
if frame.Length != 2 {
return ret, InvalidMessageLength
}
ret.EndD = frame.Data[C.can_msg_feedback_status_field_end_d] & C.can_msg_feedback_status_bit_end_d != 0
ret.EndE = frame.Data[C.can_msg_feedback_status_field_end_e] & C.can_msg_feedback_status_bit_end_e != 0
ret.EndF = frame.Data[C.can_msg_feedback_status_field_end_f] & C.can_msg_feedback_status_bit_end_f != 0
ret.EndG = frame.Data[C.can_msg_feedback_status_field_end_g] & C.can_msg_feedback_status_bit_end_g != 0
ret.EndH = frame.Data[C.can_msg_feedback_status_field_end_h] & C.can_msg_feedback_status_bit_end_h != 0
ret.EmptyD = frame.Data[C.can_msg_feedback_status_field_empty_d] & C.can_msg_feedback_status_bit_empty_d != 0
ret.EmptyE = frame.Data[C.can_msg_feedback_status_field_empty_e] & C.can_msg_feedback_status_bit_empty_e != 0
ret.EmptyF = frame.Data[C.can_msg_feedback_status_field_empty_f] & C.can_msg_feedback_status_bit_empty_f != 0
ret.EmptyG = frame.Data[C.can_msg_feedback_status_field_empty_g] & C.can_msg_feedback_status_bit_empty_g != 0
ret.EmptyH = frame.Data[C.can_msg_feedback_status_field_empty_h] & C.can_msg_feedback_status_bit_empty_h != 0
ret.ResetSw = frame.Data[C.can_msg_feedback_status_field_reset_sw] & C.can_msg_feedback_status_bit_reset_sw != 0
return ret, nil
}
func (f FeedbackMessage) Encode() can.Frame {
data := [8]uint8{}
if f.EndD {
data[C.can_msg_feedback_status_field_end_d] |= C.can_msg_feedback_status_bit_end_d
}
if f.EndE {
data[C.can_msg_feedback_status_field_end_e] |= C.can_msg_feedback_status_bit_end_e
}
if f.EndF {
data[C.can_msg_feedback_status_field_end_f] |= C.can_msg_feedback_status_bit_end_f
}
if f.EndG {
data[C.can_msg_feedback_status_field_end_g] |= C.can_msg_feedback_status_bit_end_g
}
if f.EndH {
data[C.can_msg_feedback_status_field_end_h] |= C.can_msg_feedback_status_bit_end_h
}
if f.EmptyD {
data[C.can_msg_feedback_status_field_empty_d] |= C.can_msg_feedback_status_bit_empty_d
}
if f.EmptyE {
data[C.can_msg_feedback_status_field_empty_e] |= C.can_msg_feedback_status_bit_empty_e
}
if f.EmptyF {
data[C.can_msg_feedback_status_field_empty_f] |= C.can_msg_feedback_status_bit_empty_f
}
if f.EmptyG {
data[C.can_msg_feedback_status_field_empty_g] |= C.can_msg_feedback_status_bit_empty_g
}
if f.EmptyH {
data[C.can_msg_feedback_status_field_empty_h] |= C.can_msg_feedback_status_bit_empty_h
}
if f.ResetSw {
data[C.can_msg_feedback_status_field_reset_sw] |= C.can_msg_feedback_status_bit_reset_sw
}
return can.Frame{
ID: uint32(C.can_msg_feedback_status),
Length: 2,
Data: data,
}
}
type PowerMessage struct {
Bits int
}
func RequestPowerMessage() can.Frame {
return can.Frame{
ID: uint32(C.can_msg_power_status) | can.MaskRtr,
}
}
func DecodePowerMessage(frame can.Frame) (PowerMessage, error) {
var ret PowerMessage
if frame.ID != uint32(C.can_msg_power_status) {
return ret, InvalidMessageID
}
if frame.Length != 2 {
return ret, InvalidMessageLength
}
ret.Bits = (int(frame.Data[0]) << 8) | int(frame.Data[1])
return ret, nil
}
func (f PowerMessage) Encode() can.Frame {
data := [8]uint8{}
data[0] = uint8(f.Bits >> 8)
data[1] = uint8(f.Bits)
return can.Frame{
ID: uint32(C.can_msg_power_status),
Length: 2,
Data: data,
}
}
const DispenseSlotOff int = -1
type DispenseMessage struct {
Slot int
}
func DecodeDispenseMessage(frame can.Frame) (DispenseMessage, error) {
var ret DispenseMessage
if frame.ID != uint32(C.can_msg_power_dispense) {
return ret, InvalidMessageID
}
if frame.Length != 1 {
return ret, InvalidMessageLength
}
switch frame.Data[0] {
case C.can_msg_power_dispense_off:
ret.Slot = DispenseSlotOff
case C.can_msg_power_dispense_slot1:
ret.Slot = 0
case C.can_msg_power_dispense_slot2:
ret.Slot = 1
case C.can_msg_power_dispense_slot3:
ret.Slot = 2
case C.can_msg_power_dispense_slot4:
ret.Slot = 3
case C.can_msg_power_dispense_slot5:
ret.Slot = 4
}
return ret, nil
}
func (f DispenseMessage) Encode() can.Frame {
data := [8]uint8{}
switch f.Slot {
case DispenseSlotOff:
data[0] = C.can_msg_power_dispense_off
case 0:
data[0] = C.can_msg_power_dispense_slot1
case 1:
data[0] = C.can_msg_power_dispense_slot2
case 2:
data[0] = C.can_msg_power_dispense_slot3
case 3:
data[0] = C.can_msg_power_dispense_slot4
case 4:
data[0] = C.can_msg_power_dispense_slot5
}
return can.Frame{
ID: uint32(C.can_msg_power_dispense),
Length: 1,
Data: data,
}
}
type AutoMessage struct {
AutoUpdate bool
}
func DecodeAutoMessage(frame can.Frame) (AutoMessage, error) {
var ret AutoMessage
if frame.ID != uint32(C.can_msg_auto_status) {
return ret, InvalidMessageID
}
if frame.Length != 1 {
return ret, InvalidMessageLength
}
// we accept all non-null values as "enable"
if frame.Data[0] != C.can_msg_auto_status_disable {
ret.AutoUpdate = true
}
return ret, nil
}
func (f AutoMessage) Encode() can.Frame {
data := [8]uint8{}
if f.AutoUpdate {
data[0] = C.can_msg_auto_status_enable
} else {
data[0] = C.can_msg_auto_status_disable
}
return can.Frame{
ID: uint32(C.can_msg_auto_status),
Length: 1,
Data: data,
}
}

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uncanny/server.go Normal file
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package uncanny
import (
"log"
"fmt"
"net/http"
"path"
"strconv"
)
const (
// highest slot number (range: 0..maxSlot)
maxSlot = 4
)
type Server struct {
*http.ServeMux
can *Can
}
func NewServer(can *Can) *Server {
ret := &Server{
ServeMux: http.NewServeMux(),
can: can,
}
ret.registerHandlers()
return ret
}
func (s *Server) registerHandlers() {
s.HandleFunc("/", http.NotFound)
s.HandleFunc("/dispense/", func(rw http.ResponseWriter, r *http.Request) {
if matched, _ := path.Match("/dispense/[0-9]?[0-9]*", r.URL.Path); matched {
slot, err := strconv.ParseUint(path.Base(r.URL.Path), 10, 32)
if err != nil {
log.Printf("Error decoding slot number: %v", err)
http.Error(rw, http.StatusText(http.StatusBadRequest), http.StatusBadRequest)
} else if slot < 0 || slot > maxSlot {
log.Printf("Invalid slot number: %u", slot)
http.Error(rw, http.StatusText(http.StatusBadRequest), http.StatusBadRequest)
} else {
err = s.can.Dispense(int(slot))
if err != nil {
log.Printf("Error sending dispense command: %v", err)
rw.Header().Set("Content-Type", "text/plain")
rw.WriteHeader(http.StatusServiceUnavailable)
fmt.Fprintf(rw, "%u error", slot)
} else {
rw.Header().Set("Content-Type", "text/plain")
rw.WriteHeader(http.StatusOK)
fmt.Fprintf(rw, "%u dispense", slot)
}
}
} else {
http.Error(rw, http.StatusText(http.StatusBadRequest), http.StatusBadRequest)
}
})
s.HandleFunc("/stop", func(rw http.ResponseWriter, r *http.Request) {
err := s.can.Cancel()
if err != nil {
log.Printf("Error sending stop command: %v", err)
rw.Header().Set("Content-Type", "text/plain")
rw.WriteHeader(http.StatusServiceUnavailable)
fmt.Fprintf(rw, "error")
} else {
rw.Header().Set("Content-Type", "text/plain")
rw.WriteHeader(http.StatusOK)
fmt.Fprintf(rw, "stopped")
}
})
s.HandleFunc("/level/", func(rw http.ResponseWriter, r *http.Request) {
if matched, _ := path.Match("/level/[0-9]?[0-9]*", r.URL.Path); matched {
slot, err := strconv.ParseUint(path.Base(r.URL.Path), 10, 32)
if err != nil {
log.Printf("Error decoding slot number: %v", err)
http.Error(rw, http.StatusText(http.StatusBadRequest), http.StatusBadRequest)
} else if slot < 0 || slot > maxSlot {
log.Printf("Invalid slot number: %u", slot)
http.Error(rw, http.StatusText(http.StatusBadRequest), http.StatusBadRequest)
} else {
rw.Header().Set("Content-Type", "text/plain")
rw.WriteHeader(http.StatusOK)
if s.can.IsEmpty(int(slot)) {
fmt.Fprintf(rw, "%u empty", slot)
} else {
fmt.Fprintf(rw, "%u full", slot)
}
}
} else {
http.Error(rw, http.StatusText(http.StatusBadRequest), http.StatusBadRequest)
}
})
s.HandleFunc("/active/", func(rw http.ResponseWriter, r *http.Request) {
if matched, _ := path.Match("/active/[0-9]?[0-9]*", r.URL.Path); matched {
slot, err := strconv.ParseUint(path.Base(r.URL.Path), 10, 32)
if err != nil {
log.Printf("Error decoding slot number: %v", err)
http.Error(rw, http.StatusText(http.StatusBadRequest), http.StatusBadRequest)
} else if slot < 0 || slot > maxSlot {
log.Printf("Invalid slot number: %u", slot)
http.Error(rw, http.StatusText(http.StatusBadRequest), http.StatusBadRequest)
} else {
rw.Header().Set("Content-Type", "text/plain")
rw.WriteHeader(http.StatusOK)
if s.can.IsDispensing(int(slot)) {
fmt.Fprintf(rw, "%u dispensing", slot)
} else {
fmt.Fprintf(rw, "%u off", slot)
}
}
} else {
http.Error(rw, http.StatusText(http.StatusBadRequest), http.StatusBadRequest)
}
})
}
func (s *Server) ListenAndServe(addr string) error {
return http.ListenAndServe(addr, s)
}