From 1bd003843cfc181228218f013cb01169c54d720a Mon Sep 17 00:00:00 2001
From: saji <champ189@umn.edu>
Date: Tue, 9 May 2023 10:25:29 -0500
Subject: [PATCH] rename can frame type enums

---
 frame.go                    | 43 +++++++++++++++++++++++++++++++++----
 frame_kind.go               |  8 +++----
 socketcan/socketcan.go      | 14 ++++++------
 socketcan/socketcan_test.go |  5 +++--
 4 files changed, 54 insertions(+), 16 deletions(-)

diff --git a/frame.go b/frame.go
index da837b3..0fe07cd 100644
--- a/frame.go
+++ b/frame.go
@@ -6,6 +6,12 @@
 // by writing "adapters" to various devices/formats (xbee, sqlite, network socket, socketcan)
 package gotelem
 
+import (
+	"fmt"
+	"os"
+	"time"
+)
+
 // Frame represents a protocol-agnostic CAN frame. The Id can be standard or extended,
 // but if it is extended, the Kind should be EFF.
 type Frame struct {
@@ -26,10 +32,10 @@ type CANFrame interface {
 type Kind uint8
 
 const (
-	SFF Kind = iota // Standard ID Frame
-	EFF             // Extended ID Frame
-	RTR             // Remote Transmission Request Frame
-	ERR             // Error Frame
+	CanSFFFrame Kind = iota // Standard ID Frame
+	CanEFFFrame             // Extended ID Frame
+	CanRTRFrame             // Remote Transmission Request Frame
+	CanErrFrame             // Error Frame
 )
 
 // CanFilter is a basic filter for masking out data. It has an Inverted flag
@@ -56,3 +62,32 @@ type CanTransciever interface {
 	CanSink
 	CanSource
 }
+
+// CanWriter
+type CanWriter struct {
+	output *os.File
+}
+
+// send writes the frame to the file.
+func (cw *CanWriter) Send(f *Frame) error {
+	ts := time.Now().Unix()
+
+	_, err := fmt.Fprintf(cw.output, "%d %X %X", ts, f.Id, f.Data)
+	return err
+}
+
+func (cw *CanWriter) Close() error {
+	return cw.output.Close()
+}
+
+func OpenCanWriter(name string) (*CanWriter, error) {
+	f, err := os.Create(name)
+	if err != nil {
+		return nil, err
+	}
+
+	cw := &CanWriter{
+		output: f,
+	}
+	return cw, nil
+}
diff --git a/frame_kind.go b/frame_kind.go
index 5a29470..3ab0b3c 100644
--- a/frame_kind.go
+++ b/frame_kind.go
@@ -8,10 +8,10 @@ func _() {
 	// An "invalid array index" compiler error signifies that the constant values have changed.
 	// Re-run the stringer command to generate them again.
 	var x [1]struct{}
-	_ = x[SFF-0]
-	_ = x[EFF-1]
-	_ = x[RTR-2]
-	_ = x[ERR-3]
+	_ = x[CanSFFFrame-0]
+	_ = x[CanEFFFrame-1]
+	_ = x[CanRTRFrame-2]
+	_ = x[CanErrFrame-3]
 }
 
 const _Kind_name = "SFFEFFRTRERR"
diff --git a/socketcan/socketcan.go b/socketcan/socketcan.go
index a8c231e..25217d3 100644
--- a/socketcan/socketcan.go
+++ b/socketcan/socketcan.go
@@ -134,15 +134,17 @@ func (sck *CanSocket) Send(msg *gotelem.Frame) error {
 	idToWrite := msg.Id
 
 	switch msg.Kind {
-	case gotelem.SFF:
+	case gotelem.CanSFFFrame:
 		idToWrite &= unix.CAN_SFF_MASK
-	case gotelem.EFF:
+	case gotelem.CanEFFFrame:
 		idToWrite &= unix.CAN_EFF_MASK
 		idToWrite |= unix.CAN_EFF_FLAG
-	case gotelem.RTR:
+	case gotelem.CanRTRFrame:
 		idToWrite |= unix.CAN_RTR_FLAG
-	default:
+	case gotelem.CanErrFrame:
 		return errors.New("you can't send error frames")
+	default:
+		return errors.New("unknown frame type")
 	}
 
 	binary.LittleEndian.PutUint32(buf[:4], idToWrite)
@@ -186,10 +188,10 @@ func (sck *CanSocket) Recv() (*gotelem.Frame, error) {
 	var k gotelem.Kind
 	if id&unix.CAN_EFF_FLAG != 0 {
 		// extended id frame
-		k = gotelem.EFF
+		k = gotelem.CanEFFFrame
 	} else {
 		// it's a normal can frame
-		k = gotelem.SFF
+		k = gotelem.CanSFFFrame
 	}
 
 	dataLength := uint8(buf[4])
diff --git a/socketcan/socketcan_test.go b/socketcan/socketcan_test.go
index be21d2c..79c357e 100644
--- a/socketcan/socketcan_test.go
+++ b/socketcan/socketcan_test.go
@@ -45,7 +45,7 @@ func TestCanSocket(t *testing.T) {
 		// make a packet.
 		testFrame := &gotelem.Frame{
 			Id:   0x123,
-			Kind: gotelem.SFF,
+			Kind: gotelem.CanSFFFrame,
 			Data: []byte{0, 1, 2, 3, 4, 5, 6, 7},
 		}
 		err := sock.Send(testFrame)
@@ -63,7 +63,7 @@ func TestCanSocket(t *testing.T) {
 
 		testFrame := &gotelem.Frame{
 			Id:   0x234,
-			Kind: gotelem.SFF,
+			Kind: gotelem.CanSFFFrame,
 			Data: []byte{0, 1, 2, 3, 4, 5, 6, 7},
 		}
 		_ = sock.Send(testFrame)
@@ -81,4 +81,5 @@ func TestCanSocket(t *testing.T) {
 
 	})
 
+	// TODO: test filtering.
 }