- flag.Usage = usage
- flag.Parse()
-
- args := flag.Args()
- if len(args) < 1 {
- fmt.Fprintf(os.Stderr, "Input file is missing!\n");
- usage()
- os.Exit(1);
- }
-
- cmd_chans, pub_chans := ZmqsInit("tcp://localhost:5555", "gmp://*:6666")
-
- serial_wr, serial_rd, err := OpenAndHandleSerial(args[0], pub_chans.Out())
- if err != nil {
- close(serial_wr)
- panic(err)
- }
-
- 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)
- if err != nil {
- cmd_chans.Out() <- [][]byte{[]byte("ERROR"), []byte(err.Error())}
- log.Print(err)
- } else {
- cmd_chans.Out() <- reply
- }
- }
+ if enable_syslog_ {
+ LogEnableSyslog()
+ }
+ if enable_debug_ {
+ LogEnableDebuglog()
+ }
+ Syslog_.Print("started")
+ defer Syslog_.Print("exiting")
+
+ zmqctx, cmd_chans, pub_chans := ZmqsInit(cmd_port_, pub_port_)
+ defer cmd_chans.Close()
+ defer pub_chans.Close()
+ defer zmqctx.Close()
+
+ serial_wr, serial_rd, err := OpenAndHandleSerial(door_tty_path_, 0)
+ defer close(serial_wr)
+ if err != nil {
+ panic(err)
+ }
+
+ workaround_in_chan := WorkaroundFirmware(serial_wr)
+ defer close(workaround_in_chan)
+
+ 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 Syslog_ != nil { Syslog_.Print(ByteArrayToString(incoming_ser_line)) }
+ if Syslog_ != nil {
+ Syslog_.Printf("%s", incoming_ser_line)
+ }
+ 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
+ workaround_in_chan <- incoming_ser_line
+ } else {
+ Syslog_.Print("serial device disappeared, exiting")
+ 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 {
+ Syslog_.Print("zmq socket died, exiting")
+ os.Exit(2)
+ }
+ if string(incoming_request[0]) == "log" {
+ if len(incoming_request) < 2 {
+ cmd_chans.Out() <- [][]byte{[]byte("ERROR"), []byte("argument missing")}
+ continue
+ }
+ Syslog_.Printf("Log: %s", incoming_request[1:])
+ cmd_chans.Out() <- [][]byte{[]byte("Ok")}
+ continue
+ }
+ Syslog_.Printf("%s", incoming_request)
+ 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 }()
+ }
+ }
+ }