inital commit of PCA9685 backend in go

2017-12-12 19:18:31 +01:00
parent 09cf91e638
commit ffe46a0f4b
5 changed files with 261 additions and 0 deletions
--- a/main.go
+++ b/main.go
@@ -0,0 +1,149 @@
+package main
+
+import (
+	"github.com/op/go-logging"
+	"golang.org/x/exp/io/i2c"
+	"gopkg.in/yaml.v2"
+	"os"
+	"os/signal"
+	"syscall"
+	"io/ioutil"
+	"net"
+	"encoding/binary"
+	"gen/ledd"
+	"github.com/golang/protobuf/proto"
+	"github.com/sergiorb/pca9685-golang/device"
+	"fmt"
+)
+
+// CONSTANTS
+
+const VERSION = "0.1"
+const RESOLUTION = 4096
+const CHANNEL = 16
+
+// STRUCTS
+
+type config struct {
+	Name string
+	Ledd struct {
+		Host string
+		Port int
+	}
+	Pca9685 struct {
+		Device   string
+		Address  int
+		MinPulse int
+		MaxPulse int
+	}
+}
+
+type LedD struct {
+	name string
+	socket net.Conn
+	data   chan []byte
+}
+
+var log = logging.MustGetLogger("LedD")
+var ledDaemon = &LedD{}
+var pca9685 = device.PCA9685{}
+
+
+func check(e error) {
+	if e != nil {
+		panic(e)
+	}
+}
+
+func (ledd *LedD) receive() {
+	for {
+		message := make([]byte, 4096)
+		length, err := ledd.socket.Read(message)
+		if err != nil {
+			ledd.socket.Close()
+			break
+		}
+		if length > 0 {
+			msgLen := binary.BigEndian.Uint32(message[0:3])
+
+			log.Debugf("[%s] Read %d bytes, first protobuf is %d long", ledd.name, length, msgLen)
+
+			backendMsg := &ledd.BackendWrapperMessage{}
+			err = proto.Unmarshal(message[4:msgLen], backendMsg)
+			if err != nil {
+				log.Warningf("[%s] Couldn't decode protobuf msg!", backend.niceName())
+				continue
+			}
+
+			switch msg := backendMsg.Msg.(type) {
+			case *ledd.BackendWrapperMessage_MLedd:
+				ledd.name = msg.MLedd.Name
+				log.Infof("Connection with LedD (%s) etablished and registered", msg.MLedd.Name)
+			}
+		}
+	}
+}
+
+func (ledd *LedD) send() {
+	defer ledd.socket.Close()
+	for {
+		select {
+		case message, ok := <-ledd.data:
+			if !ok {
+				return
+			}
+			ledd.socket.Write(message)
+		}
+	}
+}
+
+func main() {
+	killSignals := make(chan os.Signal, 1)
+	signal.Notify(killSignals, syscall.SIGINT, syscall.SIGTERM)
+
+	log.Info("LedD", VERSION)
+	config := config{}
+
+	content, err := ioutil.ReadFile("config.yaml")
+	check(err)
+
+	err = yaml.Unmarshal(content, &config)
+	check(err)
+
+	i2cDevice, err := i2c.Open(&i2c.Devfs{Dev: config.Pca9685.Device}, config.Pca9685.Address)
+	check(err)
+	defer i2cDevice.Close()
+
+	pca9685 := device.NewPCA9685(i2cDevice, "PWM Controller", config.Pca9685.MinPulse, config.Pca9685.MaxPulse, log)
+	pca9685.Init()
+
+	conn, err := net.Dial("tcp4", fmt.Sprintf("%s:%d", config.Ledd.Host, config.Ledd.Port))
+	check(err)
+
+	ledDaemon = &LedD{
+		socket:conn,
+		data: make (chan []byte),
+	}
+
+	go ledDaemon.send()
+	go ledDaemon.receive()
+
+	wrapperMsg := &ledd.BackendWrapperMessage{
+		Msg: &ledd.BackendWrapperMessage_MBackend{
+			MBackend: &ledd.Backend{
+				Name: config.Name,
+				Channel: CHANNEL,
+				Type: "PCA9685",
+				Resolution: RESOLUTION,
+				Version: VERSION,
+			},
+		},
+	}
+
+	data, err := proto.Marshal(wrapperMsg)
+	check(err)
+
+	ledDaemon.data <- data
+
+	<-killSignals
+}