saji/gotelem
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extract frame to generic CAN directory

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saji 2023-04-15 10:03:35 -05:00
parent e981ebaca1
commit 3f88b13245
3 changed files with 41 additions and 26 deletions
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27
can/frame.go Normal file
View file

@ -0,0 +1,27 @@
package can
type Frame struct {
ID uint32
Data []uint8
Kind Kind
}
//go:generate stringer -output=frame_kind.go -type Kind
type Kind uint8
const (
SFF Kind = iota // Standard Frame Format
EFF // Extended Frame
RTR // remote transmission requests
ERR // Error frame.
)
// for routing flexibility
type CanSink interface {
Send(Frame) error
}
type CanSource interface {
Recv(Frame) error
}

37
socketcan/socketcan.go
View file

@ -7,6 +7,7 @@ import (
"fmt" "fmt"
"net" "net"
"github.com/kschamplin/gotelem/can"
"golang.org/x/sys/unix" "golang.org/x/sys/unix"
) )
@ -17,12 +18,6 @@ type CanSocket struct {
fd int fd int
} }
type Frame struct {
ID uint32
Data []uint8
Kind Kind
}
//internal frame structure for socketcan with padding //internal frame structure for socketcan with padding
type stdFrame struct { type stdFrame struct {
@ -33,21 +28,21 @@ type stdFrame struct {
Data [8]uint8 Data [8]uint8
} }
func Marshal(f Frame) (*bytes.Buffer, error) { func marshalSocketCan(f can.Frame) (*bytes.Buffer, error) {
if len(f.Data) > 8 && f.Kind == SFF { if len(f.Data) > 8 && f.Kind == can.SFF {
return nil, errors.New("data too large for std frame") return nil, errors.New("data too large for std frame")
} }
if len(f.Data) > 64 && f.Kind == EFF { if len(f.Data) > 64 && f.Kind == can.EFF {
return nil, errors.New("data too large for extended frame") return nil, errors.New("data too large for extended frame")
} }
var idflags uint32 = f.ID var idflags uint32 = f.ID
if f.Kind == EFF { if f.Kind == can.EFF {
idflags = idflags | unix.CAN_EFF_FLAG idflags = idflags | unix.CAN_EFF_FLAG
} else if f.Kind == RTR { } else if f.Kind == can.RTR {
idflags = idflags | unix.CAN_RTR_FLAG idflags = idflags | unix.CAN_RTR_FLAG
} else if f.Kind == ERR { } else if f.Kind == can.ERR {
idflags = idflags | unix.CAN_ERR_FLAG idflags = idflags | unix.CAN_ERR_FLAG
} }
@ -72,21 +67,11 @@ func Marshal(f Frame) (*bytes.Buffer, error) {
return buf, nil return buf, nil
} }
func Unmarshal(f *Frame, buf *bytes.Buffer) error { func unmarshalSocketCan(f *can.Frame, buf *bytes.Buffer) error {
return nil return nil
} }
//go:generate stringer -output=frame_kind.go -type Kind
type Kind uint8
const (
SFF Kind = iota // Standard Frame Format
EFF // Extended Frame
RTR // remote transmission requests
ERR // Error frame.
)
// helper function to make a filter. // helper function to make a filter.
// id and mask are straightforward, if inverted is true, the filter // id and mask are straightforward, if inverted is true, the filter
// will reject anything that matches. // will reject anything that matches.
@ -164,10 +149,10 @@ func (sck *CanSocket) SetFilters(filters []unix.CanFilter) error {
} }
func (sck *CanSocket) Send(msg Frame) error { func (sck *CanSocket) Send(msg can.Frame) error {
// convert our abstract frame into a real unix frame and then push it. // convert our abstract frame into a real unix frame and then push it.
// check return value to raise errors. // check return value to raise errors.
buf, err := Marshal(msg) buf, err := marshalSocketCan(msg)
if err != nil { if err != nil {
return fmt.Errorf("error sending frame: %w", err) return fmt.Errorf("error sending frame: %w", err)
@ -186,6 +171,6 @@ func (sck *CanSocket) Send(msg Frame) error {
return nil return nil
} }
func (sck *CanSocket) Recv() (*Frame, error) { func (sck *CanSocket) Recv() (*can.Frame, error) {
return nil, errors.New("not implemented") return nil, errors.New("not implemented")
} }

3
xbee/at.go
View file

@ -0,0 +1,3 @@
package xbee
// this file contains some AT command constants and