argo.go

/*
Argo collects data from NMEA-2000 and NMEA-0813[1] sensors and resends that
data over a LAN via ZeroMQ to be consumed by subscribers. Argo also calculates
additional data such as true wind speed, leeway, set, and drift. These values
are also sent over the network. Additionally, Argo can log data to a database
for later analysis.

Argo borrows heavily from the CANboat project which was written in C and is
copyright 2009-2012, Kees Verruijt, Harlingen, The Netherlands.

This file is part of Argo.

Argo is free software: you can redistribute it and/or modify it under the terms
of the GNU General Public License as published by the Free Software Foundation,
either version 3 of the License, or (at your option) any later version.

Argo is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
PARTICULAR PURPOSE.  See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with
Argo.  If not, see <http://www.gnu.org/licenses/>.
*/

package main

import (
	"encoding/json"
	"encoding/xml"
	"flag"
	"fmt"
	"github.com/schleibinger/sio"
	"github.com/timmathews/argo/actisense"
	"github.com/timmathews/argo/can"
	"github.com/timmathews/argo/canusb"
	"github.com/timmathews/argo/nmea2k"
	"github.com/wsxiaoys/terminal"
	zmq "gopkg.in/pebbe/zmq2.v0"
	"gopkg.in/vmihailenco/msgpack.v2"
	"io/ioutil"
	"log"
	"net/http"
	"sort"
	"strconv"
	"strings"
	"syscall"
	"time"
)

// Timestamp format for printing
const layout = "2006-01-02-15:04:05.999"

type UintSlice []uint32

func (p UintSlice) Len() int           { return len(p) }
func (p UintSlice) Less(i, j int) bool { return p[i] < p[j] }
func (p UintSlice) Swap(i, j int)      { p[i], p[j] = p[j], p[i] }

func main() {
	// Command line flags are defined here
	debug := flag.Bool("d", false, "Debug mode, extra logging information shown on stderr")
	verbose := flag.Bool("v", false, "Verbose mode, be chatty")
	help := flag.Bool("h", false, "This help message")
	pgn := flag.Int("pgn", 0, "Display only this PGN")
	src := flag.Int("source", 255, "Display PGNs from this source only")
	quiet := flag.Bool("q", false, "Don't display PGN data")
	addr := flag.String("addr", ":8081", "http service address")
	stats := flag.Bool("s", false, "Display live statistics")
	dev_type := flag.String("dev", "actisense", "Choose type of device: actisense, canusb")
	no_server := flag.Bool("no-server", false, "Don't start Web Sockets or ZeroMQ")
	map_file := flag.String("map", "map.xml", "File to use for mapping between input and Signal K")
	device := "/dev/ttyUSB0"

	flag.Parse()

	if *dev_type != "canusb" && *dev_type != "actisense" {
		log.Fatalln("expected either canusb or actisense, got", *dev_type)
	}

	switch flag.NArg() {
	case 0:
		// Use default device
	case 1:
		device = flag.Arg(0)
	default:
		log.Fatalln("expected max 1 arg for the serial port device, default is", device)
	}

	if *help {
		flag.PrintDefaults()
		return
	}

	if *debug {
		log.Println("opening", device)
	}

	txch := make(chan nmea2k.ParsedMessage)
	cmdch := make(chan CommandRequest)

	statLog := make(map[uint32]uint64)
	var statPgns UintSlice

	data, err := ioutil.ReadFile(*map_file)
	if err != nil {
		log.Fatalln("could not read XML map file:", err, *map_file)
	}

	map_data := Mappings{}

	err = xml.Unmarshal(data, &map_data)
	if err != nil {
		log.Fatalln("could not parse XML map file:", err, *map_file)
	}

	port, err := sio.Open(device, syscall.B230400)

	if err != nil {
		log.Fatalln("open: %s", err)
	}

	var canport can.ReadWriter

	socket := new(zmq.Socket)
	if !*no_server {

		// Start up the WebSockets hub
		go h.run()

		socket, _ = zmq.NewSocket(zmq.PUB)
		defer socket.Close()
		socket.Bind("tcp://*:5555")

		// PgnDefServer causes invalid heap pointer error
		//go PgnDefServer()

		go WebSocketServer(addr)

		go ApiServer(cmdch)
	}

	// Print and transmit received messages
	go func() {
		for {
			res := <-txch

			if (*pgn == 0 || int(res.Header.Pgn) == *pgn) &&
				(*src == 255 || int(res.Header.Source) == *src) &&
				(*quiet == false) && (*stats == false) {
				if *debug {
					fmt.Println(res.Header.Print(*verbose))
				}
				fmt.Println(res.Print(*verbose))
			}

			if *stats {
				if _, ok := statLog[res.Header.Pgn]; ok {
					statLog[res.Header.Pgn]++
				} else {
					statLog[res.Header.Pgn] = 1
					statPgns = append(statPgns, res.Header.Pgn)
					sort.Sort(statPgns)
				}
				terminal.Stdout.Clear()
				for _, k := range statPgns {
					fmt.Println(k, "=>", statLog[k])
				}
			}

			if !*no_server {
				//bm := res.MsgPack()
				//socket.SendBytes(bm, 0)

				bj, err := map_data.Delta(&res)
				if err == nil {
					bytes, err := json.Marshal(bj)
					if err == nil {
						h.broadcast <- bytes
					}
				}
			}
		}
	}()

	// Set up hardware
	if *debug {
		fmt.Println(*dev_type)
	}
	if *dev_type == "canusb" {
		if *debug {
			fmt.Println("Adding Fast Packets")
		}
		for _, p := range nmea2k.PgnList {
			if p.Size > 8 {
				if *debug {
					log.Println("Adding PGN:", p.Pgn)
				}
				canusb.AddFastPacket(p.Pgn)
			}
		}

		if *debug {
			fmt.Println("Opening Channel")
		}
		canport, _ = canusb.OpenChannel(port, 221)
	} else {
		canport, _ = actisense.OpenChannel(port)
		time.Sleep(2)
	}

	// Handle command requests
	go func() {
		for {
			req := <-cmdch

			if req.RequestType == "iso" {
				b0 := (byte)(req.RequestedPgn) & 0xFF
				b1 := (byte)(req.RequestedPgn>>8) & 0xFF
				b2 := (byte)(req.RequestedPgn>>16) & 0xFF
				if canport != nil {
					canport.Write([]byte{0x03, 0x00, 0xEA, 0x00, 0xFF, 0x03, b0, b1, b2})
				} else {
					log.Println("canport is nil")
				}
			}
		}
	}()

	// Read from hardware
	if *dev_type == "canusb" {
		for {
			raw, err := canport.Read()
			if err == nil {
				txch <- *(nmea2k.ParsePacket(raw))
			}
		}
	} else {
		for {
			raw, err := canport.Read()
			if err == nil {
				txch <- *(nmea2k.ParsePacket(raw))
			}
		}
	}
}

func PgnDefServer() {
	socket, _ := zmq.NewSocket(zmq.REP)
	defer socket.Close()
	socket.Bind("tcp://*:5556")

	for {
		msg, _ := socket.Recv(0)

		tok := strings.Split(string(msg), ":")

		if tok[0] == "get" {
			pgn, _ := strconv.ParseUint(tok[1], 10, 32)
			pgnDef := nmea2k.PgnList[pgn]
			b, _ := msgpack.Marshal(pgnDef)
			socket.SendBytes(b, 0)
		}
	}
}

func Log(handler http.Handler) http.Handler {
	return http.HandlerFunc(func(w http.ResponseWriter, r *http.Request) {
		fmt.Printf("%s %s %s\n", r.RemoteAddr, r.Method, r.URL)
		handler.ServeHTTP(w, r)
	})
}

func WebSocketServer(addr *string) {
	http.HandleFunc("/ws/v1/", serveWs)
	err := http.ListenAndServe(*addr, Log(http.DefaultServeMux))
	if err != nil {
		log.Fatal("ListenAndServe: ", err)
	}
}