"fmt"
"os"
"flag"
- //~ "log"
+ "time"
)
//~ func StringArrayToByteArray(ss []string) [][]byte {
defer pub_chans.Close()
defer zmqctx.Close()
- serial_wr, err := OpenAndHandleSerial(args[0], pub_chans.Out())
+ serial_wr, serial_rd, err := OpenAndHandleSerial(args[0])
defer close(serial_wr)
if err != nil {
panic(err)
//~ serial_wr <- "f"
//~ firmware_version := <- serial_rd
//~ log.Print("Firmware version:", firmware_version)
-
- for incoming_request := range cmd_chans.In() {
- //~ log.Print(incoming_request)
- reply, err := HandleCommand(incoming_request, pub_chans.Out(), serial_wr)
- if err != nil {
- //~ log.Print(err)
- out_msg := [][]byte{[]byte("ERROR"), []byte(err.Error())}
- cmd_chans.Out() <- out_msg
- //~ log.Print("sent error")
- } else {
- //~ log.Print(reply)
- cmd_chans.Out() <- reply
- //~ log.Print("sent reply")
- }
+ var next_incoming_serial_is_client_reply bool
+ timeout_chan := make(chan bool)
+ defer close(timeout_chan)
+ for {
+ select {
+ case incoming_ser_line, is_notclosed := <- serial_rd:
+ if is_notclosed {
+ if next_incoming_serial_is_client_reply {
+ next_incoming_serial_is_client_reply = false
+ cmd_chans.Out() <- incoming_ser_line
+ }
+ pub_chans.Out() <- incoming_ser_line
+ } else {
+ os.Exit(1)
+ }
+ case tv, timeout_notclosed := <- timeout_chan:
+ if timeout_notclosed && tv && next_incoming_serial_is_client_reply {
+ next_incoming_serial_is_client_reply = false
+ cmd_chans.Out() <- [][]byte{[]byte("ERROR"), []byte("No reply from firmware")}
+ }
+ case incoming_request, ic_notclosed := <- cmd_chans.In():
+ if ! ic_notclosed {os.Exit(2)}
+ if err := HandleCommand(incoming_request, serial_wr, serial_rd); err != nil {
+ out_msg := [][]byte{[]byte("ERROR"), []byte(err.Error())}
+ cmd_chans.Out() <- out_msg
+ } else {
+ pub_chans.Out() <- incoming_request
+ next_incoming_serial_is_client_reply = true
+ go func(){time.Sleep(3*time.Second); timeout_chan <- true;}()
+ }
+ }
}
}