LedD.PCA9685/main.go

package main

import (
	"encoding/binary"
	"fmt"
	"gen/ledd"
	"github.com/golang/protobuf/proto"
	"github.com/op/go-logging"
	"golang.org/x/exp/io/i2c"
	"gopkg.in/yaml.v2"
	"io/ioutil"
	"math"
	"net"
	"os"
	"os/signal"
	"syscall"
)

// CONSTANTS

const VERSION = "0.1"
const RESOLUTION = 4095
const CHANNEL = 16

// STRUCTS

type config struct {
	Name string
	Ledd struct {
		Host string
		Port int
	}
	Pca9685 struct {
		Device   string
		Address  int
		MinPulse uint16
		MaxPulse uint16
		Gamma    float64
	}
}

type LedDaemon struct {
	name   string
	socket net.Conn
	data   chan []byte
}

var log = logging.MustGetLogger("LedD")
var ledDaemon *LedDaemon
var pca9685 *PCA9685
var pwmMap map[int32]*Pwm
var readConfig config

func check(e error) {
	if e != nil {
		panic(e)
	}
}

func (daemon *LedDaemon) receive() {
	for {
		message := make([]byte, 8192)
		length, err := daemon.socket.Read(message)
		if err != nil {
			daemon.socket.Close()
			break
		}
		if length > 0 {
			log.Debugf("[%s] Read %d bytes", daemon.socket.RemoteAddr(), length)

			for i := 0; i < length; {
				msgLen := int(binary.BigEndian.Uint32(message[i : i+4]))

				log.Debugf("[%s] Reading protobuf after %d (len=%d)", daemon.socket.RemoteAddr(), i, msgLen)

				if i+msgLen+4 > len(message)-1 {
					log.Warningf("[%s] Buffer overflow. At least one message has been discarded!", daemon.socket.RemoteAddr())
					break
				}

				backendMsg := &ledd.BackendWrapperMessage{}
				err = proto.Unmarshal(message[i+4:i+msgLen+4], backendMsg)
				i += msgLen + 4
				if err != nil {
					log.Warningf("[%s] Couldn't decode protobuf msg!", daemon.name)
					continue
				}

				switch msg := backendMsg.Msg.(type) {
				case *ledd.BackendWrapperMessage_MLedd:
					daemon.name = msg.MLedd.Name
					log.Infof("Connection with %s established; backend registered", msg.MLedd.Name)
				case *ledd.BackendWrapperMessage_MSetChannel:
					for c, v := range msg.MSetChannel.Values {
						if c > CHANNEL {
							log.Warningf("[%s] Channel index %d is higher then this device's max channel index %d. Skipping.", daemon.name, c, CHANNEL)
							continue
						}

						v = math.Pow(v, 1/readConfig.Pca9685.Gamma)

						if pwm, ok := pwmMap[c]; ok {
							pwm.setPercentage(float32(v) * 100 * msg.MSetChannel.Correction[c])
						} else {
							pwmMap[c] = pca9685.NewPwm(int(c))
							pwm.setPercentage(float32(v) * 100 * msg.MSetChannel.Correction[c])
						}
					}
				}
			}
		}
	}
}

func (daemon *LedDaemon) send() {
	defer daemon.socket.Close()
	for {
		select {
		case message, ok := <-daemon.data:
			if !ok {
				return
			}
			daemon.socket.Write(message)
		}
	}
}

func prepareProtobuf(data []byte) []byte {
	size := make([]byte, 4)
	binary.BigEndian.PutUint32(size, uint32(len(data)))
	return append(size, data...)
}

func main() {
	killSignals := make(chan os.Signal, 1)
	signal.Notify(killSignals, syscall.SIGINT, syscall.SIGTERM)

	log.Info("LedD PCA9685 backend", VERSION)

	content, err := ioutil.ReadFile("config.yaml")
	check(err)

	err = yaml.Unmarshal(content, &readConfig)
	check(err)

	i2cDevice, err := i2c.Open(&i2c.Devfs{Dev: readConfig.Pca9685.Device}, readConfig.Pca9685.Address)
	check(err)
	defer i2cDevice.Close()

	pca9685 = createPCA9685(i2cDevice, readConfig.Name, readConfig.Pca9685.MinPulse, readConfig.Pca9685.MaxPulse, logging.MustGetLogger("PCA9685"))
	pca9685.Init()

	pwmMap = make(map[int32]*Pwm, 0)

	conn, err := net.Dial("tcp4", fmt.Sprintf("%s:%d", readConfig.Ledd.Host, readConfig.Ledd.Port))
	check(err)

	ledDaemon = &LedDaemon{
		socket: conn,
		data:   make(chan []byte, 20),
		name:   "?",
	}

	go ledDaemon.send()
	go ledDaemon.receive()

	wrapperMsg := &ledd.BackendWrapperMessage{
		Msg: &ledd.BackendWrapperMessage_MBackend{
			MBackend: &ledd.Backend{
				Name:       readConfig.Name,
				Channel:    CHANNEL,
				Type:       "PCA9685",
				Resolution: RESOLUTION,
				Version:    VERSION,
			},
		},
	}

	data, err := proto.Marshal(wrapperMsg)
	check(err)

	ledDaemon.data <- prepareProtobuf(data)

	<-killSignals

	keys := make([]int, 0, len(pwmMap))
	for c := range pwmMap {
		keys = append(keys, int(c))
	}

	pca9685.SwitchOff(keys)
}