esp_alox/goTool/state/state.go

package state

import (
	"context"
	"log"
	"sync"

	"alox.tool/api"
	"alox.tool/eventbus"
	"alox.tool/uart"
)

type ESPStateHandler struct {
	RWMutex sync.RWMutex
	Master  MasterESP
}

type ESPVersion struct {
	Version   uint16
	Buildhash [7]byte
}

type BaseESP struct {
	ClientId         byte
	IsUpdating       bool
	UpdateProgress   float32
	Version          ESPVersion
	RunningPartition int
	MAC              [6]byte
}

type MasterESP struct {
	BaseESP
	Slaves map[byte]*SlaveESP
}

type SlaveESP struct {
	BaseESP
	SlotAvailable       bool
	SlotUsed            bool
	Bitmask             uint32
	LageX               float32
	LageY               float32
	LastPing            uint32
	LastSuccessfullPing uint32
}

func New() *ESPStateHandler {
	return &ESPStateHandler{
		RWMutex: sync.RWMutex{},
		Master:  NewMasterESP(),
	}
}

func NewMasterESP() MasterESP {
	return MasterESP{
		BaseESP: BaseESP{
			ClientId:       0,
			IsUpdating:     false,
			UpdateProgress: 0,
			Version: ESPVersion{
				Version:   0,
				Buildhash: [7]byte{},
			},
			RunningPartition: 0,
			MAC:              [6]byte{},
		},
		Slaves: map[byte]*SlaveESP{},
	}
}

func NewSlaveESP() *SlaveESP {
	return &SlaveESP{
		BaseESP: BaseESP{
			ClientId:       0,
			IsUpdating:     false,
			UpdateProgress: 0,
			Version: ESPVersion{
				Version:   0,
				Buildhash: [7]byte{},
			},
			RunningPartition: 0,
			MAC:              [6]byte{},
		},
		SlotAvailable:       false,
		SlotUsed:            false,
		Bitmask:             0,
		LageX:               0,
		LageY:               0,
		LastPing:            0,
		LastSuccessfullPing: 0,
	}
}

func (s *ESPStateHandler) Start(ctx context.Context, bus eventbus.EventBus) {
	go func() {
		RXC := bus.Subscribe(api.TopicUARTRx)
		defer bus.Unsubscribe(api.TopicUARTRx, RXC)

		for {
			select {
			case <-ctx.Done():
				return
			case msg := <-RXC:
				val, ok := msg.(api.Frame)
				if !ok {
					log.Printf("val is not type api.Frame its %T", val)
					continue
				}
				log.Printf("[%d] Frame: %X, % X", val.Time, val.ID, val.Data)
				s.processFrame(val)
			}
		}
	}()
}

func (s *ESPStateHandler) processFrame(val api.Frame) {
	s.RWMutex.Lock()
	defer s.RWMutex.Unlock()

	switch val.ID {
	case api.CmdEcho:
		log.Printf("Echo %v", val)
	case api.CmdVersion:
		v, err := uart.ParseFrameVersion(val)
		if err != nil {
			log.Printf("Could not Parse Version %v", err)
			return
		}
		log.Printf("Version Info %d %s", v.Version, v.Buildhash)

		// Update State
		s.Master.Version.Version = v.Version
		s.Master.Version.Buildhash = v.Buildhash

	case api.CmdClientInfo:
		v, err := uart.ParseFrameClientInfo(val)
		if err != nil {
			log.Printf("Could not Parse Client Info %v", err)
			return
		}
		for _, c := range v {
			log.Printf("Client ID  %d", c.ClientID)
			log.Printf("\tIsAvailable %d", c.IsAvailable)
			log.Printf("\tLastPing %d", c.LastPing)
			log.Printf("\tLastSuccessfulPing %d", c.LastSuccessfulPing)
			log.Printf("\tSlotIsUsed %d", c.SlotIsUsed)
			log.Printf("\tVersion %d", c.Version)
			log.Printf("\tMACAddr % X", c.MACAddr)

			_, ok := s.Master.Slaves[c.ClientID]
			if !ok {
				s.Master.Slaves[c.ClientID] = NewSlaveESP()
			}

			s.Master.Slaves[c.ClientID].SlotAvailable = c.IsAvailable != 0
			s.Master.Slaves[c.ClientID].SlotUsed = c.SlotIsUsed != 0
			s.Master.Slaves[c.ClientID].LastPing = c.LastPing
			s.Master.Slaves[c.ClientID].LastSuccessfullPing = c.LastSuccessfulPing
			s.Master.Slaves[c.ClientID].Version.Version = c.Version
			s.Master.Slaves[c.ClientID].MAC = c.MACAddr
		}

	case api.CmdClientInput:
		v, err := uart.ParseFrameClientInput(val)
		if err != nil {
			log.Printf("Could not Parse Client Input %v", err)
			return
		}
		for _, c := range v {
			log.Printf("Client ID  %d", c.ClientID)
			log.Printf("\tX %f", c.X)
			log.Printf("\tY %f", c.Y)
			log.Printf("\tBitmask %08b", c.InputMask)

			_, ok := s.Master.Slaves[c.ClientID]
			if !ok {
				s.Master.Slaves[c.ClientID] = NewSlaveESP()
			}

			s.Master.Slaves[c.ClientID].LageX = c.X
			s.Master.Slaves[c.ClientID].LageY = c.Y
			s.Master.Slaves[c.ClientID].Bitmask = c.InputMask
		}
	}
}