cli work

cmd/gotelem/cli/client.go

@@ -0,0 +1,43 @@
+package cli
+
+import (
+	"fmt"
+
+	"github.com/kschamplin/gotelem"
+	"github.com/kschamplin/gotelem/mprpc"
+	"github.com/urfave/cli/v2"
+)
+
+
+func init() {
+	subCmds = append(subCmds, clientCmd)
+}
+
+
+var clientCmd = &cli.Command{
+	Name: "client",
+	Aliases: []string{"c"},
+	Usage: "interact with a gotelem server",
+	ArgsUsage: "[server url]",
+	Flags: []cli.Flag{
+		&cli.BoolFlag{
+			Name: "gui",
+			Aliases: []string{"g"},
+			Usage: "start a local TUI",
+		},
+	},
+	Description: `
+Connects to a gotelem server or relay. Can be used to 
+	`,
+}
+
+
+// the client should connect to a TCP server and listen to packets.
+func CANFrameHandler(f *gotelem.Frame) (*mprpc.RPCEmpty, error){
+	fmt.Printf("got frame, %v\n", f)
+	return nil, nil
+}
+
+var initialRPCHandlers = map[string]mprpc.ServiceFunc{
+	"can": mprpc.MakeService(CANFrameHandler),
+}

cmd/gotelem/cli/server.go

@@ -5,11 +5,9 @@ import (
 	"fmt"
 	"net"
 	"os"
-	"strings"
 	"time"
 
 	"github.com/kschamplin/gotelem"
-	"github.com/kschamplin/gotelem/socketcan"
 	"github.com/kschamplin/gotelem/xbee"
 	"github.com/urfave/cli/v2"
 	"golang.org/x/exp/slog"
@@ -19,7 +17,7 @@ var serveFlags = []cli.Flag{
 	&cli.StringFlag{
 		Name:    "device",
 		Aliases: []string{"d"},
-		Usage:   "The XBee to connect to",
+		Usage:   "The XBee to connect to. Leave blank to not use XBee",
 		EnvVars: []string{"XBEE_DEVICE"},
 	},
 	&cli.StringFlag{
@@ -38,10 +36,11 @@ var serveCmd = &cli.Command{
 	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 testThing func(cCtx *cli.Context, broker *gotelem.Broker, logger *slog.Logger) (err error)
 
 type service interface {
 	fmt.Stringer
@@ -51,9 +50,16 @@ type service interface {
 
 // 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)
+// or if certain features are present (see cli/sqlite.go)
 var serveThings = []service{
 	&XBeeService{},
+	&CanLoggerService{},
+}
+
+
+func deriveLogger (oldLogger *slog.Logger, svc service) (newLogger *slog.Logger) {
+	newLogger = oldLogger.With("svc", svc.String())
+	return
 }
 
 func serve(cCtx *cli.Context) error {
@@ -65,20 +71,21 @@ func serve(cCtx *cli.Context) error {
 
 	done := make(chan struct{})
 	// start the can listener
-	// can logger.
-	go CanDump(broker, logger.WithGroup("candump"), done)
-
-	if cCtx.String("can") != "" {
-		logger.Info("using can device")
-		go canHandler(broker, logger.With("device", cCtx.String("can")), done, cCtx.String("can"))
-
-		if strings.HasPrefix(cCtx.String("can"), "v") {
-			go vcanTest(cCtx.String("can"))
-		}
-	}
 
 	go broker.Start()
 
+
+	for _, svc := range serveThings {
+		svcLogger := deriveLogger(logger, svc)
+		logger.Info("starting service", "svc", svc.String())
+		go func(mySvc service) {
+			err := mySvc.Start(cCtx, broker, svcLogger)
+			if err != nil {
+				logger.Error("service stopped!", "err", err, "svc", mySvc.String())
+			}
+		}(svc)
+	}
+
 	// tcp listener server.
 	ln, err := net.Listen("tcp", ":8082")
 	if err != nil {
@@ -95,18 +102,24 @@ func serve(cCtx *cli.Context) error {
 	}
 }
 
-func tcpSvc(ctx *cli.Context, broker *gotelem.Broker) error {
+
+type rpcService struct {
+}
+
+func tcpSvc(ctx *cli.Context, broker *gotelem.Broker, logger *slog.Logger) error {
 	// TODO: extract port/ip from cli context.
 	ln, err := net.Listen("tcp", ":8082")
 	if err != nil {
 		fmt.Printf("Error listening: %v\n", err)
+		logger.Warn("error listening", "err", err)
+		return err
 	}
 	for {
 		conn, err := ln.Accept()
 		if err != nil {
-			fmt.Printf("error accepting: %v\n", err)
+			logger.Warn("error accepting connection", "err", err)
 		}
-		go handleCon(conn, broker, slog.Default().WithGroup("tcp"), ctx.Done())
+		go handleCon(conn, broker, logger.With("addr", conn.RemoteAddr()), ctx.Done())
 	}
 }
 
@@ -143,70 +156,31 @@ 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)
-	if err != nil {
-		slog.Error("error opening socket", "err", err)
-		return
-	}
-	testFrame := &gotelem.Frame{
-		Id:   0x234,
-		Kind: gotelem.CanSFFFrame,
-		Data: []byte{0, 1, 2, 3, 4, 5, 6, 7},
-	}
-	for {
 
-		slog.Info("sending test packet")
+type CanLoggerService struct {
-		sock.Send(testFrame)
+	cw gotelem.CanWriter
-		time.Sleep(1 * time.Second)
-	}
 }
 
-// connects the broker to a socket can
+func (c *CanLoggerService) String() string {
-func canHandler(broker *gotelem.Broker, l *slog.Logger, done <-chan struct{}, devname string) {
+	return "CanLoggerService"
-	rxCh := broker.Subscribe("socketcan")
-	sock, err := socketcan.NewCanSocket(devname)
-	if err != nil {
-		l.Error("error opening socket", "err", err)
-		return
 }
 
-	// start a simple dispatcher that just relays can frames.
+func (c *CanLoggerService) Status() {
-	rxCan := make(chan gotelem.Frame)
-	go func() {
-		for {
-			pkt, err := sock.Recv()
-			if err != nil {
-				l.Warn("error reading SocketCAN", "err", err)
-				return
-			}
-			rxCan <- *pkt
-		}
-	}()
-	for {
-		select {
-		case msg := <-rxCh:
-			l.Info("Sending a CAN bus message", "id", msg.Id, "data", msg.Data)
-			sock.Send(&msg)
-		case msg := <-rxCan:
-			l.Info("Got a CAN bus message", "id", msg.Id, "data", msg.Data)
-			broker.Publish("socketcan", msg)
-		case <-done:
-			sock.Close()
-			return
-		}
-	}
 }
 
-func CanDump(broker *gotelem.Broker, l *slog.Logger, done <-chan struct{}) {
+
+func (c *CanLoggerService)  Start(cCtx *cli.Context, broker *gotelem.Broker, l *slog.Logger) (err error) {
 	rxCh := broker.Subscribe("candump")
 	t := time.Now()
 	fname := fmt.Sprintf("candump_%d-%02d-%02dT%02d.%02d.%02d.txt",
 		t.Year(), t.Month(), t.Day(), t.Hour(), t.Minute(), t.Second())
 	
+	l.Info("logging to file", "filename", fname)
+
 	cw, err := gotelem.OpenCanWriter(fname)
 	if err != nil {
-		slog.Error("error opening file", "err", err)
+		l.Error("error opening file", "filename", fname, "err", err)
+		return
 	}
 
 	for {
@@ -214,7 +188,7 @@ func CanDump(broker *gotelem.Broker, l *slog.Logger, done <-chan struct{}) {
 		case msg := <-rxCh:
 
 			cw.Send(&msg)
-		case <-done:
+		case <-cCtx.Done():
 			cw.Close()
 			return
 		}
@@ -232,9 +206,7 @@ func (x *XBeeService) Status() {
 }
 
 
-func (x *XBeeService) Start(cCtx *cli.Context,
+func (x *XBeeService) Start(cCtx *cli.Context, broker *gotelem.Broker, logger *slog.Logger) (err error) {
-	broker *gotelem.Broker, logger *slog.Logger,
-) (err error) {
 	if cCtx.String("xbee") == "" {
 		logger.Info("not using xbee")
 		return
@@ -260,7 +232,6 @@ func (x *XBeeService) Start(cCtx *cli.Context,
 			x.session.Close()
 			return
 		case msg := <-rxCh:
-			// TODO: take can message and send it over CAN.
 			logger.Info("got msg", "msg", msg)
 			buf := make([]byte, 0)
 
@@ -275,6 +246,5 @@ func (x *XBeeService) Start(cCtx *cli.Context,
 
 
 	}
-	return
 }
 

cmd/gotelem/cli/socketcan.go

@@ -3,6 +3,9 @@
 package cli
 
 import (
+	"strings"
+	"time"
+
 	"github.com/kschamplin/gotelem"
 	"github.com/kschamplin/gotelem/socketcan"
 	"github.com/urfave/cli/v2"
@@ -12,7 +15,6 @@ import (
 // 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"},
@@ -34,11 +36,10 @@ func init() {
 	subCmds = append(subCmds, socketCANCmd)
 }
 
-
 // FIXME: add logging back in since it's missing rn
 
-
 type socketCANService struct {
+	sock socketcan.CanSocket
 }
 
 func (s *socketCANService) Status() {
@@ -50,9 +51,16 @@ func (s *socketCANService) String() string {
 }
 
 func (s *socketCANService) Start(cCtx *cli.Context, broker *gotelem.Broker, logger *slog.Logger) (err error) {
+	// vcan0 demo
+
+	if strings.HasPrefix(cCtx.String("can"), "v") {
+		go vcanTest(cCtx.String("can"))
+	}
+
 	rxCh := broker.Subscribe("socketCAN")
 	sock, err := socketcan.NewCanSocket(cCtx.String("can"))
 	if err != nil {
+		logger.Error("error opening socket", "err", err)
 		return
 	}
 
@@ -66,7 +74,6 @@ func (s *socketCANService) Start(cCtx *cli.Context, broker *gotelem.Broker, logg
 			}
 			rxCan <- *pkt
 		}
-
 	}()
 
 	for {
@@ -79,10 +86,8 @@ func (s *socketCANService) Start(cCtx *cli.Context, broker *gotelem.Broker, logg
 			return
 		}
 	}
-
 }
 
-
 var socketCANCmd = &cli.Command{
 	Name:  "can",
 	Usage: "SocketCAN utilities",
@@ -104,9 +109,25 @@ Various helper utilties for CAN bus on sockets.
 					Value: false,
 				},
 			},
-
 		},
 	},
 }
 
+func vcanTest(devname string) {
+	sock, err := socketcan.NewCanSocket(devname)
+	if err != nil {
+		slog.Error("error opening socket", "err", err)
+		return
+	}
+	testFrame := &gotelem.Frame{
+		Id:   0x234,
+		Kind: gotelem.CanSFFFrame,
+		Data: []byte{0, 1, 2, 3, 4, 5, 6, 7},
+	}
+	for {
 
+		slog.Info("sending test packet")
+		sock.Send(testFrame)
+		time.Sleep(1 * time.Second)
+	}
+}