go-harry/pkg/comm/main.go

package comm

import (
	"codeisalie/gono/cfg"
	"fmt"
	"log"
	"math"
	"regexp"
	"sync"
	"time"

	"github.com/tarm/serial"
)

const (
	// SetPenDown ...
	SetPenDown string = "C13"
	// SetPenUp ... - args = 0
	SetPenUp string = "C14"
	// SetMachineSize saves machine width and height - args = 2
	SetMachineSize string = "C24"
	// SetMachineMmPerRev ... - args = 1
	SetMachineMmPerRev string = "C29"
	// SetMachineStepsPerRev ... - args = 1
	SetMachineStepsPerRev string = "C30"
	// SetMachineMotorSpeed ... - args = 1
	SetMachineMotorSpeed string = "C31"
	// SetMachineMotorAccel ... - args = 1
	SetMachineMotorAccel string = "C32"
	// SetMachineStepMultiplier ... - args = 1
	SetMachineStepMultiplier string = "C37"
	// GetMachineDetails ... - args = 0
	GetMachineDetails string = "C26"
	// DisableMotors ...
	DisableMotors string = "CA0"
	// EnableMotors ...
	EnableMotors string = "CA1"
	// DrawLine ... - args = 0
	DrawLine string = "C17"
	// DrawCircle ... - args = 0
	DrawCircle string = "CB0"
	// GetReportPosition ...
	GetReportPosition string = "CC0"
)

// SetCMD saves one EEPROM command
type SetCMD struct {
	Cmd  string
	Args []float64
}

// Comm context
type Comm struct {
	isReady   bool
	mutex     sync.Mutex
	sync      chan int
	list      chan string
	com       string
	Cfg       cfg.Config
	serialCfg *serial.Config
	handler   *serial.Port
}

// Init returns an initialized serial handler
// Def: /dev/ttyACM0
func Init(com string, cfg cfg.Config) *Comm {

	c := Comm{}
	c.list = make(chan string)
	c.sync = make(chan int)
	c.Cfg = cfg

	if com == "" {
		com = "/dev/ttyACM0"
	}

	c.com = com

	c.serialCfg = &serial.Config{Name: c.com, Baud: 57600}
	handler, err := serial.OpenPort(c.serialCfg)
	if err != nil {
		log.Println(err)
		return &c
	}

	log.Printf("[-] comm | %v opened\n", c.com)

	c.handler = handler

	go c.readSerial()
	log.Printf("[-] comm | Waiting plotter stating\n")
	<-c.sync
	log.Printf("[-] comm | Plotter ready\n")
	go c.sendMsg()

	// q := make(chan os.Signal, 1)
	// signal.Notify(q, os.Interrupt)
	// go func() {
	// 	for sig := range q {
	// 		fmt.Println(sig)
	// 		close(c.list)
	// 		close(c.sync)
	// 	}
	// }()

	return &c
}

// Queue one new message to send to serial interface
func (c *Comm) Queue(msg string) {
	c.list <- msg
}

// Send ...
func (c *Comm) Send(cmd string, args ...float64) {
	msg := cmd
	switch cmd {
	case DrawLine:
		r1, r2 := c.convertCartToPolar(args[0], args[1])
		args[0] = math.Floor(r1*100) / 100
		args[1] = math.Floor(r2*100) / 100
	}
	for _, arg := range args {
		msg += fmt.Sprintf(",%v", arg)
	}
	msg += ",END;"
	// fmt.Println(msg)
	c.Queue(msg)
}

// SendPPP one message to machine
func (c *Comm) SendPPP(cmd SetCMD) {
	msg := cmd.Cmd
	switch cmd.Cmd {
	case DrawLine:
		r1, r2 := c.convertCartToPolar(cmd.Args[0], cmd.Args[1])
		cmd.Args[0] = r1
		cmd.Args[1] = r2
	}
	for _, arg := range cmd.Args {
		msg += fmt.Sprintf(",%v", arg)
	}
	msg += ",END;"
	// fmt.Println(msg)
	c.Queue(msg)
}

func (c *Comm) convertCartToPolar(x, y float64) (float64, float64) {
	r1 := math.Sqrt(math.Pow(x, 2) + math.Pow(y, 2))
	r2 := math.Sqrt(math.Pow(c.Cfg.MachineWidth-x, 2) + math.Pow(y, 2))
	return r1, r2
}

// Send a message when it's serial com is ready
func (c *Comm) sendMsg() {
	log.Printf("[-] comm | routine sendMsg started\n")
	for {
		<-c.sync
		c.mutex.Lock()
		c.isReady = true
		c.mutex.Unlock()
		time.Sleep(100 * time.Millisecond)
		msg := <-c.list
		log.Printf("[-] comm | Sending: %v\n", msg)
		_, err := c.handler.Write([]byte(msg))
		if err != nil {
			log.Fatal(err)
		} else {
			// log.Println("written", n)
		}
	}
}

func (c *Comm) GetIsReady() {
	isReady := false
	c.mutex.Lock()
	isReady = c.isReady
	c.mutex.Unlock()

	return isReady
}

func (c *Comm) processSerialMsg(msg string) {
	reReady := regexp.MustCompile("READY")
	if reReady.MatchString(msg) {
		c.sync <- 0
	}
}

func (c *Comm) readSerial() {
	log.Printf("[-] comm | routine readSerial started\n")

	var char byte
	var msg string
	cr := byte('\r')
	eol := byte('\n')
	baf := make([]byte, 1)
	buf := make([]byte, 128)
	ptr := 0
	for {
		n, err := c.handler.Read(baf)
		if err != nil {
			log.Fatal(err)
		}

		if n != 1 {
			continue
		}

		char = baf[0]

		if char == cr || char == eol {
			if ptr > 0 {
				msg = string(buf[:ptr])
				fmt.Println(msg)
				c.processSerialMsg(msg)
			}
			ptr = 0
		} else {
			buf[ptr] = char
			ptr++
		}
	}
}

// codeReady := []byte("READY")
// reReady := regexp.MustCompile("READY")
// reSync := regexp.MustCompile("SYNC,(.*),(.*),END")

// n, err := s.Read(buf)
// if err != nil {
// 	log.Fatal(err)
// }
// msg := string(buf[:n])
// fmt.Printf("%v", msg)

// if reReady.Match(buf) {
// 	// fmt.Print("READY FROM RE")
// 	sync <- 0
// } else {
// 	// match := reSync.FindAllSubmatch(buf, -1)
// 	// if len(match) > 0 {
// 	// 	r1 := string(match[0][1])
// 	// 	r2 := string(match[0][2])
// 	// 	r1i, _ := strconv.Atoi(r1)
// 	// 	r2i, _ := strconv.Atoi(r2)
// 	// 	x, y := getXY(float64(r1i), float64(r2i))
// 	// 	fmt.Printf("R1: %v, R2:%v - X:%v - Y:%v\n", r1i, r2i, x, y)
// 	// }
// }