major wins

cmd/gotelem/cli/root.go

@@ -7,14 +7,17 @@ import (
 	"github.com/urfave/cli/v2"
 )
 
+var subCmds = []*cli.Command{
+	serveCmd,
+	xbeeCmd,
+}
+
+
 func Execute() {
 	app := &cli.App{
 		Name:  "gotelem",
 		Usage: "see everything",
-		Commands: []*cli.Command{
+		Commands: subCmds,
-			serveCmd,
-			xbeeCmd,
-		},
 	}
 
 	if err := app.Run(os.Args); err != nil {

cmd/gotelem/cli/server.go

@@ -15,34 +15,45 @@ import (
 	"golang.org/x/exp/slog"
 )
 
-var serveCmd = &cli.Command{
+var serveFlags = []cli.Flag{
-	Name:    "serve",
-	Aliases: []string{"server", "s"},
-	Usage:   "Start a telemetry server",
-	Flags: []cli.Flag{
-		&cli.BoolFlag{Name: "test", Usage: "use vcan0 test"},
 	&cli.StringFlag{
 		Name:    "device",
 		Aliases: []string{"d"},
 		Usage:   "The XBee to connect to",
 		EnvVars: []string{"XBEE_DEVICE"},
 	},
-		&cli.StringFlag{
-			Name:     "can",
-			Aliases:  []string{"c"},
-			Usage:    "CAN device string",
-			EnvVars:  []string{"CAN_DEVICE"},
-		},
 	&cli.StringFlag{
 		Name:    "logfile",
 		Aliases: []string{"l"},
 		Value:   "log.txt",
 		Usage:   "file to store log to",
 	},
-	},
+}
+
+var serveCmd = &cli.Command{
+	Name:    "serve",
+	Aliases: []string{"server", "s"},
+	Usage:   "Start a telemetry server",
+	Flags:   serveFlags,
 	Action:  serve,
 }
 
+// FIXME: naming
+// this is a server handler for i.e tcp socket, http server, socketCAN, xbee,
+// etc. we can register them in init() functions.
+type testThing func(cCtx *cli.Context, broker *gotelem.Broker) (err error)
+
+type service interface {
+	fmt.Stringer
+	Start(cCtx *cli.Context, broker *gotelem.Broker) (err error)
+	Status()
+}
+
+// this variable stores all the hanlders. It has some basic ones, but also
+// can be extended on certain platforms (see cli/socketcan.go)
+// or if certain features are present (see sqlite.go)
+var serveThings = []testThing{}
+
 func serve(cCtx *cli.Context) error {
 	// TODO: output both to stderr and a file.
 	logger := slog.New(slog.NewTextHandler(os.Stderr))
@@ -55,7 +66,6 @@ func serve(cCtx *cli.Context) error {
 	// can logger.
 	go CanDump(broker, logger.WithGroup("candump"), done)
 
-
 	if cCtx.String("device") != "" {
 		logger.Info("using xbee device")
 		transport, err := xbee.ParseDeviceString(cCtx.String("device"))
@@ -93,10 +103,25 @@ func serve(cCtx *cli.Context) error {
 	}
 }
 
+
+func tcpSvc(ctx *cli.Context, broker *gotelem.Broker) error {
+	// TODO: extract port/ip from cli context.
+	ln, err := net.Listen("tcp", ":8082")
+	if err != nil {
+		fmt.Printf("Error listening: %v\n", err)
+	}
+	for {
+		conn, err := ln.Accept()
+		if err != nil {
+			fmt.Printf("error accepting: %v\n", err)
+		}
+		go handleCon(conn, broker, slog.Default().WithGroup("tcp"), ctx.Done())
+	}
+}
+
 func handleCon(conn net.Conn, broker *gotelem.Broker, l *slog.Logger, done <-chan struct{}) {
 	//	reader := msgp.NewReader(conn)
 
-
 	subname := fmt.Sprint("tcp", conn.RemoteAddr().String())
 
 	l.Info("started handling", "name", subname)
@@ -124,10 +149,8 @@ func handleCon(conn net.Conn, broker *gotelem.Broker, l *slog.Logger, done <-cha
 
 		}
 	}
-
 }
 
-
 // this spins up a new can socket on vcan0 and broadcasts a packet every second. for testing.
 func vcanTest(devname string) {
 	sock, err := socketcan.NewCanSocket(devname)
@@ -152,7 +175,6 @@ func vcanTest(devname string) {
 func canHandler(broker *gotelem.Broker, l *slog.Logger, done <-chan struct{}, devname string) {
 	rxCh := broker.Subscribe("socketcan")
 	sock, err := socketcan.NewCanSocket(devname)
-
 	if err != nil {
 		l.Error("error opening socket", "err", err)
 		return
@@ -208,13 +230,11 @@ func CanDump(broker *gotelem.Broker, l *slog.Logger, done <-chan struct{}) {
 	}
 }
 
-
 func XBeeSend(broker *gotelem.Broker, l *slog.Logger, done <-chan struct{}, trspt *xbee.Transport) {
 	rxCh := broker.Subscribe("xbee")
 	l.Info("starting xbee send routine")
 
 	xb, err := xbee.NewSession(trspt, l.With("device", trspt.Type()))
-
 	if err != nil {
 		l.Error("failed to start xbee session", "err", err)
 		return
@@ -242,6 +262,4 @@ func XBeeSend(broker *gotelem.Broker, l *slog.Logger, done <-chan struct{}, trsp
 
 		}
 	}
-	
-
 }

cmd/gotelem/cli/socketcan.go

@@ -0,0 +1,96 @@
+//go:build linux
+
+package cli
+
+import (
+	"github.com/kschamplin/gotelem"
+	"github.com/kschamplin/gotelem/socketcan"
+	"github.com/urfave/cli/v2"
+)
+
+// this file adds socketCAN commands and functionality when building on linux.
+// It is an example of the modular architecture of the command line and server stack.
+
+
+var canDevFlag = &cli.StringFlag{
+	Name:    "can",
+	Aliases: []string{"c"},
+	Usage:   "CAN device string",
+	EnvVars: []string{"CAN_DEVICE"},
+	DefaultText: "vcan0",
+}
+
+// this function sets up the `serve` flags and services that use socketCAN
+func init() {
+	serveFlags = append(serveFlags, &cli.BoolFlag{Name: "test", Usage: "use vcan0 test"})
+	serveFlags = append(serveFlags, canDevFlag)
+	// add services for server
+
+	serveThings = append(serveThings, socketCANService)
+
+	// add can subcommand/actions
+	// TODO: make socketcan utility commands.
+}
+
+
+// FIXME: add logging back in since it's missing rn
+
+func socketCANService(cCtx *cli.Context, broker *gotelem.Broker) (err error) {
+	rxCh := broker.Subscribe("socketCAN")
+	sock, err := socketcan.NewCanSocket(cCtx.String("can"))
+	if err != nil {
+		return
+	}
+
+	rxCan := make(chan gotelem.Frame)
+
+	go func() {
+		for {
+			pkt, _ := sock.Recv()
+			rxCan <- *pkt
+		}
+			
+	}()
+
+	for {
+		select {
+		case msg := <-rxCh:
+			sock.Send(&msg)
+		case msg := <-rxCan:
+			broker.Publish("socketCAN", msg)
+		case <-cCtx.Done():
+			return
+		}
+	}
+
+}
+
+
+var socketCANCmd = &cli.Command{
+	Name: "can",
+	Usage: "SocketCAN utilities",
+	Description: `
+Various helper utilties for CAN bus on sockets. 
+
+	`,
+	Flags: []cli.Flag{
+		canDevFlag,
+	},
+
+	Subcommands: []*cli.Command{
+		{
+			Name: "dump",
+			Usage: "dump CAN packets to stdout",
+			Flags: []cli.Flag{
+				&cli.BoolFlag{
+					Name: "decode",
+					Usage: "unpack known CAN packets to JSON using skylab files",
+					Value: false,
+				},
+			},
+
+		},
+	},
+}
+
+

skylab/gen_skylab.go

@@ -152,6 +152,12 @@ func (d *DataField) MakeMarshal(offset int) string {
 
 	} else if t ,ok := typeMap[d.Type]; ok {
 		// it's uint or int of some kind, use endian to write it.
+		if strings.HasPrefix(t, "i") {
+			// this means it's a signed integer.
+			// encoding/binary does not support putting signed ints, instead
+			// we should cast it to unsigned and then use the unsigned int functions.
+			return fmt.Sprintf("binary.LittleEndian.PutU%s(b[%d:], u%s(p.%s))", t, offset, t, fieldName)
+		} 
 		return fmt.Sprintf("binary.LittleEndian.Put%s(b[%d:], p.%s)", toCamelInitCase(t, true), offset, fieldName)
 	}
 	return "panic(\"failed to do it\")\n"
@@ -169,9 +175,15 @@ func (d *DataField) MakeUnmarshal(offset int) string {
 
 		return fmt.Sprintf("p.%s = float32FromBytes(b[%d:], false)", fieldName, offset)
 
-	} else if t ,ok := typeMap[d.Type]; ok {
+	} else if t, ok := typeMap[d.Type]; ok {
 		// it's uint or int of some kind, use endian to read it.
 		// FIXME: support big endian
+		if strings.HasPrefix(t, "i") {
+			// this means it's a signed integer.
+			// encoding/binary does not support putting signed ints, instead
+			// we should cast it to unsigned and then use the unsigned int functions.
+			return fmt.Sprintf("p.%s = %s(binary.LittleEndian.U%s(b[%d:]))", fieldName, t, t, offset)
+		} 
 		return fmt.Sprintf("p.%s = binary.LittleEndian.%s(b[%d:])", fieldName, toCamelInitCase(t, true), offset)
 	}
 	panic("unhandled type")
@@ -323,17 +335,22 @@ func main() {
 
 	fmt.Printf("running %s on %s\n", os.Args[0], os.Getenv("GOFILE"))
 
-	fmt.Printf("skylab packet definition path is %s\n", os.Args[1])
+	basePath, err := filepath.Abs(os.Args[1])
+	if err != nil {
+		panic(err)
+	}
+	fmt.Printf("skylab packet definition path is %s\n", basePath)
 
-	fGlob := filepath.Join(os.Args[1], "*.y?ml")
+	fGlob := filepath.Join(basePath, "*.y?ml")
 	files, err := filepath.Glob(fGlob)
 	if err != nil {
 		panic(err)
 	}
+	fmt.Printf("found %d files\n", len(files))
 	for _, f := range files {
 		fd, err := os.Open(f)
 		if err != nil {
-			fmt.Printf("failed to open file %s:%v\n", f, err)
+			fmt.Printf("failed to open file %s:%v\n", filepath.Base(f), err)
 		}
 		dec := yaml.NewDecoder(fd)
 		newFile := &SkylabFile{}
@@ -341,7 +358,7 @@ func main() {
 		if err != nil {
 			panic(err)
 		}
-		fmt.Printf("adding %d packets and %d boards\n", len(newFile.Packets), len(newFile.Boards))
+		fmt.Printf("%s: adding %d packets and %d boards\n", filepath.Base(f), len(newFile.Packets), len(newFile.Boards))
 		v.Packets = append(v.Packets, newFile.Packets...)
 		v.Boards = append(v.Boards, newFile.Boards...)
 	}

skylab/skylab.go

@@ -36,7 +36,7 @@ func float32FromBytes(b []byte, bigEndian bool) (f float32) {
 type Packet interface {
 	MarshalPacket() ([]byte, error)
 	UnmarshalPacket(p []byte) error
-	Id() (uint32, error)
+	CANId() (uint32, error)
 	Size() uint
 }
 
@@ -52,7 +52,7 @@ type Unmarshaler interface {
 
 // Ider is a packet that can get its ID, based on the index of the packet, if any.
 type Ider interface {
-	Id() (uint32, error)
+	CANId() (uint32, error)
 }
 
 // Sizer allows for fast allocation.
@@ -63,7 +63,7 @@ type Sizer interface {
 // CanSend takes a packet and makes CAN framing data.
 func CanSend(p Packet) (id uint32, data []byte, err error) {
 
-	id, err = p.Id()
+	id, err = p.CANId()
 	if err != nil {
 		return
 	}
@@ -86,7 +86,7 @@ func ToJson(p Packet) (*JSONPacket, error) {
 		return nil, err
 	}
 
-	id, err := p.Id()
+	id, err := p.CANId()
 	if err != nil {
 		return nil, err
 	}

skylab/templates/golang.go.tmpl

@@ -34,7 +34,9 @@ func (p *{{$bfname}}) Unmarshal(b byte) {
 // {{$structName}} is {{.Description}}
 type {{$structName}} struct {
 {{- range .Data}}
-	{{- if .Units -}} // {{.Conversion}} {{.Units}} {{- end }}
+	{{- if .Units }}
+	// {{.Conversion}} {{.Units}}
+	{{- end }}
 	{{ .ToStructMember $structName }} `json:"{{.Name}}"`
 {{- end}}
 {{- if .Repeat }}
@@ -43,7 +45,7 @@ type {{$structName}} struct {
 {{- end }}
 }
 
-func (p *{{$structName}}) Id() (uint32, error) {
+func (p *{{$structName}}) CANId() (uint32, error) {
 {{- if .Repeat }}
 	if p.Idx >= {{.Repeat}} {
 		return 0, errors.New("invalid packet index")