}
func init() {
- flag.StringVar(&cmd_port_, "cmdport", "tcp://localhost:5555", "zmq command socket path")
- flag.StringVar(&sub_port_, "pubport", "gmp://*:6666", "zmq subscribe/listen socket path")
+ flag.StringVar(&cmd_port_, "cmdport", "tcp://127.0.0.1:3232", "zmq command socket path")
+ flag.StringVar(&sub_port_, "pubport", "pgm://233.252.1.42:4242", "zmq subscribe/listen socket path")
flag.Usage = usage
flag.Parse()
}
func LineReader(out chan <- [][]byte, stdin * os.File) {
linescanner := bufio.NewScanner(stdin)
linescanner.Split(bufio.ScanLines)
+ defer close(out)
for linescanner.Scan() {
if err := linescanner.Err(); err != nil {
log.Print(err)
- close(out)
return
}
- text := bytes.Fields([]byte(linescanner.Text()))
+ //text := bytes.Fields(linescanner.Bytes()) //this returns a slice (aka pointer, no array deep-copy here)
+ text := bytes.Fields([]byte(linescanner.Text())) //this allocates a string and slices it -> no race-condition with overwriting any data
if len(text) == 0 {
continue
}
}
}
+func ByteArrayToString(bb [][]byte) string {
+ b := bytes.Join(bb, []byte(" "))
+ return string(b)
+}
+
func main() {
cmd_chans, sub_chans := ZmqsInit(cmd_port_, sub_port_)
defer cmd_chans.Close()
listen = true
fmt.Println("Now listening")
case "quit":
- break
+ os.Exit(0)
default:
ignore_next = true
cmd_chans.Out() <- input
- fmt.Println( <- cmd_chans.In())
+ log.Print("input sent")
+ reply := <- cmd_chans.In()
+ log.Print("reply received")
+ fmt.Println(ByteArrayToString(reply))
}
} else {
- break
+ os.Exit(0)
}
case pubsubstuff := <- sub_chans.In():
+ log.Print("pubsubstuff",pubsubstuff)
+ if len(pubsubstuff) == 0 { continue}
if ignore_next {
ignore_next = false
continue
import (
zmq "github.com/vaughan0/go-zmq"
+ "time"
)
// ---------- ZeroMQ Code -------------
-func ZmqsInit(cmd_port, sub_port string) (cmd_chans, pub_chans *zmq.Channels) {
+func ZmqsInit(cmd_port, sub_port string) (cmd_chans, sub_chans *zmq.Channels) {
- cmd_ctx, err := zmq.NewContext()
+ ctx, err := zmq.NewContext()
if err != nil {
panic(err)
}
//close only on panic, otherwise leave open:
- defer func(){ if r:= recover(); r != nil { cmd_ctx.Close(); panic(r) } }()
+ defer func(){ if r:= recover(); r != nil { ctx.Close(); panic(r) } }()
- pub_ctx, err := zmq.NewContext()
- if err != nil {
- panic(err)
- }
- defer func() { if r:= recover(); r != nil { pub_ctx.Close(); panic(r) } }()
-
- cmd_sock, err := cmd_ctx.Socket(zmq.Req)
+ cmd_sock, err := ctx.Socket(zmq.Req)
if err != nil {
panic(err)
}
defer func() { if r:= recover(); r != nil { cmd_sock.Close(); panic(r) } }()
- pub_sock, err := pub_ctx.Socket(zmq.Sub)
+ cmd_sock.SetRecvTimeout(2 * time.Second)
+ cmd_sock.SetSendTimeout(2 * time.Second)
+
+ sub_sock, err := ctx.Socket(zmq.Sub)
if err != nil {
panic(err)
}
- defer func() { if r:= recover(); r != nil { pub_sock.Close(); panic(r) } }()
+ defer func() { if r:= recover(); r != nil { sub_sock.Close(); panic(r) } }()
- if err = cmd_sock.Bind(cmd_port); err != nil {
+ if err = cmd_sock.Connect(cmd_port); err != nil {
panic(err)
}
- if err = pub_sock.Bind(sub_port); err != nil {
+ if err = sub_sock.Connect(sub_port); err != nil {
panic(err)
}
- cmd_chans = cmd_sock.Channels()
- pub_chans = cmd_sock.Channels()
- go zmqsHandleError(cmd_chans, pub_chans)
+ cmd_chans = cmd_sock.ChannelsBuffer(10)
+ sub_chans = cmd_sock.ChannelsBuffer(10)
+
+ go zmqsHandleError(cmd_chans, sub_chans)
return
}
-func zmqsHandleError(cmd_chans, pub_chans *zmq.Channels) {
+func zmqsHandleError(cmd_chans, sub_chans *zmq.Channels) {
for {
select {
case cmd_error := <- cmd_chans.Errors():
cmd_chans.Close()
- pub_chans.Close()
+ sub_chans.Close()
panic(cmd_error)
- case pub_error := <- pub_chans.Errors():
+ case sub_error := <- sub_chans.Errors():
cmd_chans.Close()
- pub_chans.Close()
- panic(pub_error)
+ sub_chans.Close()
+ panic(sub_error)
}
}
}
\ No newline at end of file
return nil
}
-func HandleCommand(tokens [][]byte, topub chan <- [][]byte, serial_wr chan string, serial_rd chan [][]byte) ([][]byte, error){
+func HandleCommand(tokens [][]byte, topub chan <- [][]byte, serial_wr chan string) ([][]byte, error){
if len(tokens) < 1 {
return nil, errors.New("No Command to handle")
}
topub <- tokens
serial_wr <- dch.FirmwareChar
- fw_reply := <- serial_rd
+ fw_reply := GetLastSerialLine()
return fw_reply, nil
}
"fmt"
"os"
"flag"
- "log"
+ //~ "log"
)
//~ func StringArrayToByteArray(ss []string) [][]byte {
}
func init() {
- flag.StringVar(&cmd_port_, "cmdport", "tcp://localhost:5555", "zmq command socket path")
- flag.StringVar(&pub_port_, "pubport", "gmp://*:6666", "zmq public/listen socket path")
+ flag.StringVar(&cmd_port_, "cmdport", "tcp://127.0.01:3232", "zmq command socket path")
+ flag.StringVar(&pub_port_, "pubport", "pgm://233.252.1.42:4242", "zmq public/listen socket path")
flag.Usage = usage
flag.Parse()
}
cmd_chans, pub_chans := ZmqsInit(cmd_port_, pub_port_)
- serial_wr, serial_rd, err := OpenAndHandleSerial(args[0], pub_chans.Out())
+ serial_wr, err := OpenAndHandleSerial(args[0], pub_chans.Out())
+ defer close(serial_wr)
if err != nil {
- close(serial_wr)
panic(err)
}
- serial_wr <- "f"
- firmware_version := <- serial_rd
- log.Print("Firmware version:", firmware_version)
+ //~ serial_wr <- "f"
+ //~ firmware_version := <- serial_rd
+ //~ log.Print("Firmware version:", firmware_version)
for incoming_request := range cmd_chans.In() {
- reply, err := HandleCommand(incoming_request, pub_chans.Out(), serial_wr, serial_rd)
+ //~ log.Print(incoming_request)
+ reply, err := HandleCommand(incoming_request, pub_chans.Out(), serial_wr)
if err != nil {
- cmd_chans.Out() <- [][]byte{[]byte("ERROR"), []byte(err.Error())}
- log.Print(err)
+ //~ 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")
}
}
}
"os"
"svn.spreadspace.org/realraum/go.svn/termios"
"log"
+ "sync"
)
// ---------- Serial TTY Code -------------
return file, nil
}
-func SerialWriter(in <- chan string, serial * os.File) {
+func serialWriter(in <- chan string, serial * os.File) {
for totty := range(in) {
serial.WriteString(totty)
serial.Sync()
}
}
-func SerialReader(out chan <- [][]byte, topub chan <- [][]byte, serial * os.File) {
+var last_read_serial_input [][]byte = [][]byte{{}}
+var last_read_mutex sync.Mutex
+
+func serialReader(topub chan <- [][]byte, serial * os.File) {
linescanner := bufio.NewScanner(serial)
linescanner.Split(bufio.ScanLines)
for linescanner.Scan() {
if err := linescanner.Err(); err != nil {
panic(fmt.Sprintf("Error in read from serial: %v\n",err.Error()))
}
+ fmt.Println("read text", linescanner.Text())
text := bytes.Fields([]byte(linescanner.Text()))
if len(text) == 0 {
continue
}
- out <- text
+ //~ for len(serial_read) > 5 {
+ //~ //drain channel before putting new line into it
+ //~ //thus we make sure "out" only ever holds the last line
+ //~ //thus the buffer never blocks and we don't need to read from out unless we need it
+ //~ // BUT: don't drain the chan dry, or we might have a race condition resulting in a deadlock
+ //~ <- serial_read
+ //~ }
+ last_read_mutex.Lock()
+ last_read_serial_input = text
+ fmt.Println("Put Text", text)
+ last_read_mutex.Unlock()
topub <- text
}
}
-func OpenAndHandleSerial(filename string, topub chan <- [][]byte) (chan string, chan [][]byte, error) {
+//TODO: improve this, make it work for multiple open serial devices
+func GetLastSerialLine() [][]byte {
+ var last_line_pointer [][]byte
+ last_read_mutex.Lock()
+ last_line_pointer = last_read_serial_input
+ last_read_mutex.Unlock()
+ fmt.Println("Retrieve Text", last_line_pointer)
+ return last_line_pointer
+}
+
+func OpenAndHandleSerial(filename string, topub chan <- [][]byte) (chan string, error) {
serial, err :=openTTY(filename)
if err != nil {
- return nil, nil, err
+ return nil, err
}
- var wr chan string
- var rd chan [][]byte
- go SerialWriter(wr, serial)
- go SerialReader(rd, topub, serial)
- return wr, rd, nil
+ wr := make(chan string)
+ go serialWriter(wr, serial)
+ go serialReader(topub, serial)
+ return wr, nil
}
import (
zmq "github.com/vaughan0/go-zmq"
+ "time"
)
// ---------- ZeroMQ Code -------------
func ZmqsInit(cmd_port, pub_port string) (cmd_chans, pub_chans *zmq.Channels) {
- cmd_ctx, err := zmq.NewContext()
+ ctx, err := zmq.NewContext()
if err != nil {
panic(err)
}
//close only on panic, otherwise leave open:
- defer func(){ if r:= recover(); r != nil { cmd_ctx.Close(); panic(r) } }()
+ defer func(){ if r:= recover(); r != nil { ctx.Close(); panic(r) } }()
- pub_ctx, err := zmq.NewContext()
- if err != nil {
- panic(err)
- }
- defer func() { if r:= recover(); r != nil { pub_ctx.Close(); panic(r) } }()
-
- cmd_sock, err := cmd_ctx.Socket(zmq.Rep)
+ cmd_sock, err := ctx.Socket(zmq.Rep)
if err != nil {
panic(err)
}
defer func() { if r:= recover(); r != nil { cmd_sock.Close(); panic(r) } }()
- pub_sock, err := pub_ctx.Socket(zmq.Pub)
+ cmd_sock.SetRecvTimeout(2 * time.Second)
+ cmd_sock.SetSendTimeout(2 * time.Second)
+
+ pub_sock, err := ctx.Socket(zmq.Pub)
if err != nil {
panic(err)
}
panic(err)
}
- cmd_chans = cmd_sock.Channels()
- pub_chans = cmd_sock.Channels()
+ cmd_chans = cmd_sock.ChannelsBuffer(10)
+ pub_chans = cmd_sock.ChannelsBuffer(10)
go zmqsHandleError(cmd_chans, pub_chans)
return
}
projects / svn42.git / commitdiff