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Merge pull request #5 from samsamfire/dev
Refactoring, fixes and improvements
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,4 +1,5 @@ | ||
| __pycache__/ | ||
| *.py[cod] | ||
| *$py.class | ||
| *.vscode | ||
| *.vscode | ||
| node_modules |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,102 @@ | ||
| package canopen | ||
|
|
||
| import ( | ||
| "sync" | ||
|
|
||
| log "github.com/sirupsen/logrus" | ||
| ) | ||
|
|
||
| // Bus manager is a wrapper around the CAN bus interface | ||
| // Used by the CANopen stack to control errors, callbacks for specific IDs, etc. | ||
| type BusManager struct { | ||
| mu sync.Mutex | ||
| bus Bus // Bus interface that can be adapted | ||
| frameListeners map[uint32][]FrameListener | ||
| canError uint16 | ||
| } | ||
|
|
||
| // Implements the FrameListener interface | ||
| // This handles all received CAN frames from Bus | ||
| func (bm *BusManager) Handle(frame Frame) { | ||
| bm.mu.Lock() | ||
| defer bm.mu.Unlock() | ||
| listeners, ok := bm.frameListeners[frame.ID] | ||
| if !ok { | ||
| return | ||
| } | ||
| for _, listener := range listeners { | ||
| listener.Handle(frame) | ||
| } | ||
| } | ||
|
|
||
| // Set bus | ||
| func (bm *BusManager) SetBus(bus Bus) { | ||
| bm.mu.Lock() | ||
| defer bm.mu.Unlock() | ||
| bm.bus = bus | ||
| } | ||
|
|
||
| func (bm *BusManager) Bus() Bus { | ||
| bm.mu.Lock() | ||
| defer bm.mu.Unlock() | ||
| return bm.bus | ||
| } | ||
|
|
||
| // Send a CAN message | ||
| // Limited error handling | ||
| func (bm *BusManager) Send(frame Frame) error { | ||
| err := bm.bus.Send(frame) | ||
| if err != nil { | ||
| log.Warnf("[CAN] %v", err) | ||
| } | ||
| return err | ||
| } | ||
|
|
||
| // This should be called cyclically to update errors | ||
| func (bm *BusManager) Process() error { | ||
| bm.mu.Lock() | ||
| defer bm.mu.Unlock() | ||
| // TODO get bus state error | ||
| bm.canError = 0 | ||
| return nil | ||
| } | ||
|
|
||
| // Subscribe to a specific CAN ID | ||
| func (bm *BusManager) Subscribe(ident uint32, mask uint32, rtr bool, callback FrameListener) error { | ||
| bm.mu.Lock() | ||
| defer bm.mu.Unlock() | ||
| ident = ident & CanSffMask | ||
| if rtr { | ||
| ident |= CanRtrFlag | ||
| } | ||
| _, ok := bm.frameListeners[ident] | ||
| if !ok { | ||
| bm.frameListeners[ident] = []FrameListener{callback} | ||
| return nil | ||
| } | ||
| // Iterate over all callbacks and verify that we are not adding the same one twice | ||
| for _, cb := range bm.frameListeners[ident] { | ||
| if cb == callback { | ||
| log.Warnf("[CAN] callback for frame id %x already added", ident) | ||
| return nil | ||
| } | ||
| } | ||
| bm.frameListeners[ident] = append(bm.frameListeners[ident], callback) | ||
| return nil | ||
| } | ||
|
|
||
| // Get CAN error | ||
| func (bm *BusManager) Error() uint16 { | ||
| bm.mu.Lock() | ||
| defer bm.mu.Unlock() | ||
| return bm.canError | ||
| } | ||
|
|
||
| func NewBusManager(bus Bus) *BusManager { | ||
| bm := &BusManager{ | ||
| bus: bus, | ||
| frameListeners: make(map[uint32][]FrameListener), | ||
| canError: 0, | ||
| } | ||
| return bm | ||
| } |
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