powerpods/goTool/client_api.go

package main

import (
	"fmt"
	"time"

	"google.golang.org/protobuf/proto"

	"powerpod/gotool/pb"
)

func (m *managedSerial) getVersion() (*pb.VersionResponse, error) {
	payload, err := m.exchange(byte(pb.MessageType_VERSION), "VERSION")
	if err != nil {
		return nil, err
	}
	return decodeVersionPayload(payload)
}

func (m *managedSerial) getVersionPoll() (*pb.VersionResponse, error) {
	payload, err := m.exchangePoll(byte(pb.MessageType_VERSION), "VERSION")
	if err != nil {
		return nil, err
	}
	return decodeVersionPayload(payload)
}

func (m *managedSerial) listClients() ([]*pb.ClientInfo, error) {
	payload, err := m.exchange(byte(pb.MessageType_CLIENT_INFO), "CLIENT_INFO")
	if err != nil {
		return nil, err
	}
	return decodeClientsPayload(payload)
}

func (m *managedSerial) listClientsPoll() ([]*pb.ClientInfo, error) {
	payload, err := m.exchangePoll(byte(pb.MessageType_CLIENT_INFO), "CLIENT_INFO")
	if err != nil {
		return nil, err
	}
	return decodeClientsPayload(payload)
}

func decodeBatteryStatusPayload(payload []byte) (*pb.BatteryStatusResponse, error) {
	if len(payload) < 2 {
		return nil, fmt.Errorf("short battery response")
	}
	if payload[0] != byte(pb.MessageType_BATTERY_STATUS) {
		return nil, fmt.Errorf("unexpected command id 0x%02x (want 0x%02x)",
			payload[0], byte(pb.MessageType_BATTERY_STATUS))
	}
	var msg pb.UartMessage
	if err := proto.Unmarshal(payload[1:], &msg); err != nil {
		return nil, fmt.Errorf("decode: %w", err)
	}
	if msg.GetType() != pb.MessageType_BATTERY_STATUS {
		return nil, fmt.Errorf("unexpected type %v", msg.GetType())
	}
	r := msg.GetBatteryStatusResponse()
	if r == nil {
		return nil, fmt.Errorf("missing battery_status_response")
	}
	return r, nil
}

func (m *managedSerial) BatteryStatus(req *pb.BatteryStatusRequest) (*pb.BatteryStatusResponse, error) {
	var resp *pb.BatteryStatusResponse
	err := m.withPort(func(sp *serialPort) error {
		var e error
		resp, e = sp.batteryStatus(req)
		return e
	})
	return resp, err
}

func (m *managedSerial) BatteryStatusPoll(req *pb.BatteryStatusRequest) (*pb.BatteryStatusResponse, error) {
	msg := &pb.UartMessage{
		Type: pb.MessageType_BATTERY_STATUS,
		Payload: &pb.UartMessage_BatteryStatusRequest{
			BatteryStatusRequest: req,
		},
	}
	body, err := proto.Marshal(msg)
	if err != nil {
		return nil, fmt.Errorf("encode: %w", err)
	}
	payload := append([]byte{byte(pb.MessageType_BATTERY_STATUS)}, body...)
	respPayload, err := m.batteryStatusPayloadPoll(payload)
	if err != nil {
		return nil, err
	}
	return decodeBatteryStatusPayload(respPayload)
}

func (m *managedSerial) batteryStatusPayloadPoll(payload []byte) ([]byte, error) {
	var resp []byte
	err := m.withPortPoll(func(sp *serialPort) error {
		var e error
		resp, e = sp.exchangePayloadForBattery(payload, "BATTERY_STATUS")
		return e
	})
	return resp, err
}

func (s *serialPort) batteryStatus(req *pb.BatteryStatusRequest) (*pb.BatteryStatusResponse, error) {
	msg := &pb.UartMessage{
		Type: pb.MessageType_BATTERY_STATUS,
		Payload: &pb.UartMessage_BatteryStatusRequest{
			BatteryStatusRequest: req,
		},
	}
	body, err := proto.Marshal(msg)
	if err != nil {
		return nil, fmt.Errorf("encode: %w", err)
	}
	payload := append([]byte{byte(pb.MessageType_BATTERY_STATUS)}, body...)
	respPayload, err := s.exchangePayloadForBattery(payload, "BATTERY_STATUS")
	if err != nil {
		return nil, err
	}
	return decodeBatteryStatusPayload(respPayload)
}

func (m *managedSerial) AccelStream(req *pb.AccelStreamRequest) (*pb.AccelStreamResponse, error) {
	return m.accelStreamVia(m.withPort, req)
}

func (m *managedSerial) AccelStreamPoll(req *pb.AccelStreamRequest) (*pb.AccelStreamResponse, error) {
	return m.accelStreamVia(m.withPortPoll, req)
}

// SetAccelStream enables or disables the ESP-NOW accel stream for one slave (master UART).
func (m *managedSerial) SetAccelStream(clientID uint32, enable bool) (*pb.AccelStreamResponse, error) {
	return m.AccelStream(&pb.AccelStreamRequest{
		Write:    true,
		Enable:   enable,
		ClientId: clientID,
	})
}

// GetAccelStream returns whether the accel stream is enabled for a slave on the master.
func (m *managedSerial) GetAccelStream(clientID uint32) (bool, error) {
	resp, err := m.AccelStreamPoll(&pb.AccelStreamRequest{
		Write:    false,
		ClientId: clientID,
	})
	if err != nil {
		return false, err
	}
	if !resp.GetSuccess() {
		return false, fmt.Errorf("accel stream read failed for client %d", clientID)
	}
	return resp.GetEnabled(), nil
}

func (m *managedSerial) TapNotify(req *pb.TapNotifyRequest) (*pb.TapNotifyResponse, error) {
	return m.tapNotifyVia(m.withPort, req)
}

func (m *managedSerial) TapNotifyPoll(req *pb.TapNotifyRequest) (*pb.TapNotifyResponse, error) {
	return m.tapNotifyVia(m.withPortPoll, req)
}

func (m *managedSerial) tapNotifyVia(
	portFn func(func(*serialPort) error) error,
	req *pb.TapNotifyRequest,
) (*pb.TapNotifyResponse, error) {
	var resp *pb.TapNotifyResponse
	err := portFn(func(sp *serialPort) error {
		var e error
		resp, e = sp.TapNotify(req)
		return e
	})
	return resp, err
}

func (m *managedSerial) readCacheStatusPoll() (*pb.CacheStatusResponse, error) {
	payload, err := m.exchangePoll(byte(pb.MessageType_CACHE_STATUS), "CACHE_STATUS")
	if err != nil {
		return nil, err
	}
	return decodeCacheStatusPayload(payload)
}

func decodeCacheStatusPayload(payload []byte) (*pb.CacheStatusResponse, error) {
	if len(payload) < 1 {
		return nil, fmt.Errorf("empty response payload")
	}
	if payload[0] != byte(pb.MessageType_CACHE_STATUS) {
		return nil, fmt.Errorf("unexpected command id 0x%02x (want 0x%02x)",
			payload[0], byte(pb.MessageType_CACHE_STATUS))
	}
	var msg pb.UartMessage
	if err := proto.Unmarshal(payload[1:], &msg); err != nil {
		return nil, fmt.Errorf("decode: %w", err)
	}
	if msg.GetType() != pb.MessageType_CACHE_STATUS {
		return nil, fmt.Errorf("unexpected type %v", msg.GetType())
	}
	r := msg.GetCacheStatusResponse()
	if r == nil {
		return nil, fmt.Errorf("missing cache_status_response")
	}
	return r, nil
}

func (m *managedSerial) accelStreamVia(
	portFn func(func(*serialPort) error) error,
	req *pb.AccelStreamRequest,
) (*pb.AccelStreamResponse, error) {
	var resp *pb.AccelStreamResponse
	err := portFn(func(sp *serialPort) error {
		var e error
		resp, e = sp.AccelStream(req)
		return e
	})
	return resp, err
}

func (m *managedSerial) AccelDeadzone(req *pb.AccelDeadzoneRequest) (*pb.AccelDeadzoneResponse, error) {
	return m.accelDeadzoneVia(m.withPort, req)
}

func (m *managedSerial) AccelDeadzonePoll(req *pb.AccelDeadzoneRequest) (*pb.AccelDeadzoneResponse, error) {
	return m.accelDeadzoneVia(m.withPortPoll, req)
}

func (m *managedSerial) accelDeadzoneVia(
	portFn func(func(*serialPort) error) error,
	req *pb.AccelDeadzoneRequest,
) (*pb.AccelDeadzoneResponse, error) {
	var resp *pb.AccelDeadzoneResponse
	err := portFn(func(sp *serialPort) error {
		var e error
		resp, e = sp.AccelDeadzone(req)
		return e
	})
	return resp, err
}

func (m *managedSerial) EspnowUnicastTest(clientID, seq uint32) (*pb.EspNowUnicastTestResponse, error) {
	var resp *pb.EspNowUnicastTestResponse
	err := m.withPort(func(sp *serialPort) error {
		var e error
		resp, e = sp.EspnowUnicastTest(clientID, seq)
		return e
	})
	return resp, err
}

func decodeVersionPayload(payload []byte) (*pb.VersionResponse, error) {
	var msg pb.UartMessage
	if err := proto.Unmarshal(payload[1:], &msg); err != nil {
		return nil, fmt.Errorf("decode: %w", err)
	}
	if msg.GetType() != pb.MessageType_VERSION {
		return nil, fmt.Errorf("unexpected type %v", msg.GetType())
	}
	ver := msg.GetVersionResponse()
	if ver == nil {
		return nil, fmt.Errorf("missing version_response")
	}
	return ver, nil
}

func decodeClientsPayload(payload []byte) ([]*pb.ClientInfo, error) {
	var msg pb.UartMessage
	if err := proto.Unmarshal(payload[1:], &msg); err != nil {
		return nil, fmt.Errorf("decode: %w", err)
	}
	if msg.GetType() != pb.MessageType_CLIENT_INFO {
		return nil, fmt.Errorf("unexpected type %v", msg.GetType())
	}
	info := msg.GetClientInfoResponse()
	if info == nil {
		return nil, fmt.Errorf("missing client_info_response")
	}
	return info.GetClients(), nil
}

func (s *serialPort) getVersion() (*pb.VersionResponse, error) {
	payload, err := s.exchange(byte(pb.MessageType_VERSION), "VERSION")
	if err != nil {
		return nil, err
	}
	return decodeVersionPayload(payload)
}

func (s *serialPort) listClients() ([]*pb.ClientInfo, error) {
	payload, err := s.exchange(byte(pb.MessageType_CLIENT_INFO), "CLIENT_INFO")
	if err != nil {
		return nil, err
	}
	return decodeClientsPayload(payload)
}

func (s *serialPort) AccelStream(req *pb.AccelStreamRequest) (*pb.AccelStreamResponse, error) {
	msg := &pb.UartMessage{
		Type: pb.MessageType_ACCEL_STREAM,
		Payload: &pb.UartMessage_AccelStreamRequest{
			AccelStreamRequest: req,
		},
	}
	body, err := proto.Marshal(msg)
	if err != nil {
		return nil, fmt.Errorf("encode: %w", err)
	}
	payload := append([]byte{byte(pb.MessageType_ACCEL_STREAM)}, body...)
	respPayload, err := s.exchangePayload(payload, "ACCEL_STREAM")
	if err != nil {
		return nil, err
	}
	var respMsg pb.UartMessage
	if err := proto.Unmarshal(respPayload[1:], &respMsg); err != nil {
		return nil, fmt.Errorf("decode: %w", err)
	}
	r := respMsg.GetAccelStreamResponse()
	if r == nil {
		return nil, fmt.Errorf("missing accel_stream_response")
	}
	return r, nil
}

func (s *serialPort) TapNotify(req *pb.TapNotifyRequest) (*pb.TapNotifyResponse, error) {
	msg := &pb.UartMessage{
		Type: pb.MessageType_TAP_NOTIFY,
		Payload: &pb.UartMessage_TapNotifyRequest{
			TapNotifyRequest: req,
		},
	}
	body, err := proto.Marshal(msg)
	if err != nil {
		return nil, fmt.Errorf("encode: %w", err)
	}
	payload := append([]byte{byte(pb.MessageType_TAP_NOTIFY)}, body...)
	respPayload, err := s.exchangePayload(payload, "TAP_NOTIFY")
	if err != nil {
		return nil, err
	}
	var respMsg pb.UartMessage
	if err := proto.Unmarshal(respPayload[1:], &respMsg); err != nil {
		return nil, fmt.Errorf("decode: %w", err)
	}
	r := respMsg.GetTapNotifyResponse()
	if r == nil {
		return nil, fmt.Errorf("missing tap_notify_response")
	}
	return r, nil
}

func (s *serialPort) readCacheStatus() (*pb.CacheStatusResponse, error) {
	payload, err := s.exchange(byte(pb.MessageType_CACHE_STATUS), "CACHE_STATUS")
	if err != nil {
		return nil, err
	}
	return decodeCacheStatusPayload(payload)
}

func (s *serialPort) accelDeadzone(req *pb.AccelDeadzoneRequest) (*pb.AccelDeadzoneResponse, error) {
	msg := &pb.UartMessage{
		Type: pb.MessageType_ACCEL_DEADZONE,
		Payload: &pb.UartMessage_AccelDeadzoneRequest{
			AccelDeadzoneRequest: req,
		},
	}
	body, err := proto.Marshal(msg)
	if err != nil {
		return nil, fmt.Errorf("encode: %w", err)
	}
	payload := append([]byte{byte(pb.MessageType_ACCEL_DEADZONE)}, body...)
	respPayload, err := s.exchangePayload(payload, "ACCEL_DEADZONE")
	if err != nil {
		return nil, err
	}
	var respMsg pb.UartMessage
	if err := proto.Unmarshal(respPayload[1:], &respMsg); err != nil {
		return nil, fmt.Errorf("decode: %w", err)
	}
	r := respMsg.GetAccelDeadzoneResponse()
	if r == nil {
		return nil, fmt.Errorf("missing accel_deadzone_response")
	}
	return r, nil
}

func (s *serialPort) espnowUnicastTest(clientID, seq uint32) (*pb.EspNowUnicastTestResponse, error) {
	req := &pb.EspNowUnicastTestRequest{ClientId: clientID, Seq: seq}
	msg := &pb.UartMessage{
		Type: pb.MessageType_ESPNOW_UNICAST_TEST,
		Payload: &pb.UartMessage_EspnowUnicastTestRequest{
			EspnowUnicastTestRequest: req,
		},
	}
	body, err := proto.Marshal(msg)
	if err != nil {
		return nil, fmt.Errorf("encode: %w", err)
	}
	payload := append([]byte{byte(pb.MessageType_ESPNOW_UNICAST_TEST)}, body...)
	respPayload, err := s.exchangePayload(payload, "ESPNOW_UNICAST_TEST")
	if err != nil {
		return nil, err
	}
	var respMsg pb.UartMessage
	if err := proto.Unmarshal(respPayload[1:], &respMsg); err != nil {
		return nil, fmt.Errorf("decode: %w", err)
	}
	r := respMsg.GetEspnowUnicastTestResponse()
	if r == nil {
		return nil, fmt.Errorf("missing espnow_unicast_test_response")
	}
	return r, nil
}

// EchoPingResult is the host-side round-trip for ESP-NOW echo ping.
type EchoPingResult struct {
	Success     bool    `json:"success"`
	ClientID    uint32  `json:"client_id"`
	TimestampUs uint64  `json:"timestamp_us"`
	RttMs       float64 `json:"rtt_ms"`     // goTool: full UART round-trip
	EspRttUs    uint32  `json:"esp_rtt_us"` // master: µs delta ping send → pong recv
}

func (s *serialPort) echoPing(clientID uint32) (*EchoPingResult, error) {
	t0 := time.Now()
	timestampUs := uint64(t0.UnixMicro())
	req := &pb.EspNowEchoPingRequest{
		ClientId:    clientID,
		TimestampUs: timestampUs,
	}
	msg := &pb.UartMessage{
		Type: pb.MessageType_ESPNOW_ECHO_PING,
		Payload: &pb.UartMessage_EspnowEchoPingRequest{
			EspnowEchoPingRequest: req,
		},
	}
	body, err := proto.Marshal(msg)
	if err != nil {
		return nil, fmt.Errorf("encode: %w", err)
	}
	payload := append([]byte{byte(pb.MessageType_ESPNOW_ECHO_PING)}, body...)
	respPayload, err := s.exchangePayload(payload, "ESPNOW_ECHO_PING")
	if err != nil {
		return nil, err
	}
	rttMs := float64(time.Since(t0).Microseconds()) / 1000.0

	var respMsg pb.UartMessage
	if err := proto.Unmarshal(respPayload[1:], &respMsg); err != nil {
		return nil, fmt.Errorf("decode: %w", err)
	}
	r := respMsg.GetEspnowEchoPingResponse()
	if r == nil {
		return nil, fmt.Errorf("missing espnow_echo_ping_response")
	}
	if !r.GetSuccess() {
		return &EchoPingResult{
			Success:  false,
			ClientID: r.GetClientId(),
			RttMs:    rttMs,
		}, nil
	}
	if r.GetTimestampUs() != timestampUs {
		return nil, fmt.Errorf("timestamp mismatch: sent %d got %d", timestampUs, r.GetTimestampUs())
	}
	return &EchoPingResult{
		Success:     true,
		ClientID:    r.GetClientId(),
		TimestampUs: r.GetTimestampUs(),
		RttMs:       rttMs,
		EspRttUs:    r.GetEspRttUs(),
	}, nil
}

func (m *managedSerial) FindMe(clientID uint32) error {
	return m.withPort(func(sp *serialPort) error {
		return runFindMeClient(sp, clientID)
	})
}

func (m *managedSerial) Restart(clientID uint32) error {
	err := m.withPort(func(sp *serialPort) error {
		return runRestartClient(sp, clientID)
	})
	if err != nil {
		return err
	}
	if clientID == 0 {
		m.recoverAfterMasterRestart()
	}
	return nil
}

func (s *serialPort) ledRingProgress(req *pb.LedRingProgressRequest) (*pb.LedRingProgressResponse, error) {
	msg := &pb.UartMessage{
		Type: pb.MessageType_LED_RING,
		Payload: &pb.UartMessage_LedRingProgressRequest{
			LedRingProgressRequest: req,
		},
	}
	body, err := proto.Marshal(msg)
	if err != nil {
		return nil, fmt.Errorf("encode: %w", err)
	}
	payload := append([]byte{byte(pb.MessageType_LED_RING)}, body...)
	respPayload, err := s.exchangePayload(payload, "LED_RING")
	if err != nil {
		return nil, err
	}
	var respMsg pb.UartMessage
	if err := proto.Unmarshal(respPayload[1:], &respMsg); err != nil {
		return nil, fmt.Errorf("decode: %w", err)
	}
	r := respMsg.GetLedRingProgressResponse()
	if r == nil {
		return nil, fmt.Errorf("missing led_ring_progress_response")
	}
	return r, nil
}

func (s *serialPort) GetVersion() (*pb.VersionResponse, error) { return s.getVersion() }

func (s *serialPort) ListClients() ([]*pb.ClientInfo, error) { return s.listClients() }

func (s *serialPort) SetAccelStream(clientID uint32, enable bool) (*pb.AccelStreamResponse, error) {
	return s.AccelStream(&pb.AccelStreamRequest{
		Write:    true,
		Enable:   enable,
		ClientId: clientID,
	})
}

func (s *serialPort) GetAccelStream(clientID uint32) (bool, error) {
	resp, err := s.AccelStream(&pb.AccelStreamRequest{
		Write:    false,
		ClientId: clientID,
	})
	if err != nil {
		return false, err
	}
	if !resp.GetSuccess() {
		return false, fmt.Errorf("accel stream read failed for client %d", clientID)
	}
	return resp.GetEnabled(), nil
}

func (s *serialPort) AccelDeadzone(req *pb.AccelDeadzoneRequest) (*pb.AccelDeadzoneResponse, error) {
	return s.accelDeadzone(req)
}

func (s *serialPort) EspnowUnicastTest(clientID, seq uint32) (*pb.EspNowUnicastTestResponse, error) {
	return s.espnowUnicastTest(clientID, seq)
}

func (s *serialPort) EchoPing(clientID uint32) (*EchoPingResult, error) {
	return s.echoPing(clientID)
}

func (m *managedSerial) EchoPing(clientID uint32) (*EchoPingResult, error) {
	var result *EchoPingResult
	err := m.withPort(func(sp *serialPort) error {
		var e error
		result, e = sp.echoPing(clientID)
		return e
	})
	return result, err
}

func (s *serialPort) LedRing(req *pb.LedRingProgressRequest) (*pb.LedRingProgressResponse, error) {
	return s.ledRingProgress(req)
}

func (m *managedSerial) LedRing(req *pb.LedRingProgressRequest) (*pb.LedRingProgressResponse, error) {
	var resp *pb.LedRingProgressResponse
	err := m.withPort(func(sp *serialPort) error {
		var e error
		resp, e = sp.LedRing(req)
		return e
	})
	return resp, err
}

func (s *serialPort) FindMe(clientID uint32) (*pb.EspNowFindMeResponse, error) {
	return s.espnowFindMe(clientID)
}

func (s *serialPort) Restart(clientID uint32) (*pb.RestartResponse, error) {
	return s.restart(clientID)
}

func (s *serialPort) OtaSlaveProgress(clientID uint32) (*pb.OtaSlaveProgressResponse, error) {
	return QueryOtaSlaveProgress(s, clientID)
}