extract frame to generic CAN directory

can/frame.go

@@ -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
+}

socketcan/socketcan.go

@@ -7,6 +7,7 @@ import (
 	"fmt"
 	"net"
 
+	"github.com/kschamplin/gotelem/can"
 	"golang.org/x/sys/unix"
 )
 
@@ -17,12 +18,6 @@ type CanSocket struct {
 	fd    int
 }
 
-type Frame struct {
-	ID   uint32
-	Data []uint8
-	Kind Kind
-}
-
 //internal frame structure for socketcan with padding
 
 type stdFrame struct {
@@ -33,21 +28,21 @@ type stdFrame struct {
 	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")
 	}
-	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")
 	}
 
 	var idflags uint32 = f.ID
-	if f.Kind == EFF {
+	if f.Kind == can.EFF {
 		idflags = idflags | unix.CAN_EFF_FLAG
-	} else if f.Kind == RTR {
+	} else if f.Kind == can.RTR {
 		idflags = idflags | unix.CAN_RTR_FLAG
-	} else if f.Kind == ERR {
+	} else if f.Kind == can.ERR {
 		idflags = idflags | unix.CAN_ERR_FLAG
 	}
 
@@ -72,21 +67,11 @@ func Marshal(f Frame) (*bytes.Buffer, error) {
 	return buf, nil
 }
 
-func Unmarshal(f *Frame, buf *bytes.Buffer) error {
+func unmarshalSocketCan(f *can.Frame, buf *bytes.Buffer) error {
 
 	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.
 // id and mask are straightforward, if inverted is true, the filter
 // 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.
 	// check return value to raise errors.
-	buf, err := Marshal(msg)
+	buf, err := marshalSocketCan(msg)
 
 	if err != nil {
 		return fmt.Errorf("error sending frame: %w", err)
@@ -186,6 +171,6 @@ func (sck *CanSocket) Send(msg Frame) error {
 	return nil
 }
 
-func (sck *CanSocket) Recv() (*Frame, error) {
+func (sck *CanSocket) Recv() (*can.Frame, error) {
 	return nil, errors.New("not implemented")
 }

xbee/at.go

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