tbm-go-rots/protocol/tbm.go

package main

import (
	"fmt"
	"io"
	"log"
	"strings"
	"time"

	"github.com/tarm/serial"
)

type TBM struct {
	Commands chan *Command
	Results  chan *Result
	Port     *serial.Port
}

type Command struct {
	command string
	args    []string
	payload []byte
}

type Result struct {
	output  []byte
	errcode []byte
}

func (t *TBM) Connect(device string, baud int) error {
	t.Commands = make(chan *Command)
	t.Results = make(chan *Result)

	serialconfig := &serial.Config{Name: device, Baud: baud}

	port, err := serial.OpenPort(serialconfig)
	if err != nil {
		return err
	}

	t.Port = port

	return nil
}

func (t *TBM) Handle() error {
	go handleResults(t.Port, t.Results)
	go handleCommands(t.Port, t.Commands)

	return nil
}

func (t *TBM) Close() {
	t.Port.Close()
}

func deserialise(in io.Reader, init []byte) (*Result, []byte, error) {
	var (
		output, errorcode []byte
		data, rest        []byte
	)

	want_output := true
	_ = copy(data, init)

	for {
		buf := make([]byte, 4096)
		n, err := in.Read(buf)
		if err != nil {
			return nil, nil, err
		}

		n2 := n + len(data)

		data = append(data, buf[:n]...)

		for i := 0; i < n2; i++ {
			// '\r' is really '\n'
			if data[i] == '\r' {
				data = append(data[:i], data[i+1:]...)
				n2--
				continue
			}

			if data[i] == 0x4 {
				if want_output {
					want_output = false
					output = data[:i]
					data = data[i+1:]
						// The TBM gives us our own commands back
						for j := 0; j < len(output); j++ {
							if output[j] == '\n' {
								output = output[j+1:]
								break
							}
						}
					break
				} else {
					errorcode = data[:i]

					rest = data[i+1:]
					return &Result{output, errorcode}, rest, nil
				}
			}
		}

	}

}

func handleResults(in io.Reader, c chan *Result) {
	var (
		res  *Result
		rest []byte
		err  error
	)

	for {
		res, rest, err = deserialise(in, rest)

		if err != nil {
			log.Fatal(err)
		}

		c <- res
	}
}

func serialise(out io.Writer, command string, args []string, payload []byte) error {
	var quoted_args []string
	var err error

	quoted_args = append(quoted_args, command)

	for _, arg := range args {
		quoted_args = append(quoted_args, fmt.Sprintf("\"%s\"", arg))
	}

	out_string := strings.Join(quoted_args, " ")

	output := []byte(out_string)
	output = append(output, '\r')

	_, err = out.Write(output)
	// err is non nil if n != len(output)
	if err != nil {
		return err
	}

	if payload == nil {
		return nil
	}

	// FIXME: wait for command to finish
	time.Sleep(time.Second)

	output = append(payload, 0x4)
	_, err = out.Write(output)

	return err
}

func handleCommands(out io.Writer, c chan *Command) {
	for command := range c {
		err := serialise(out, command.command, command.args, command.payload)
		if err != nil {
			log.Fatal(err)
		}
	}
}