//TODO timeout connection and try
func (l *Link) startConnTCP(s string, m bool, o *Link, t rocproto.Packet_Section) {
var listener *net.TCPListener
log.Println("Starting connection on ", s)
tcpAddr, err := net.ResolveTCPAddr("tcp", s)
misc.CheckError(err, "resolving address in linker.go/startConn", true)
for {
if m {
log.Println("Listening on", tcpAddr.String())
listener, err = net.ListenTCP("tcp", tcpAddr)
misc.CheckError(err, "listening in linker.go/startConn", true)
log.Println("Looking for a client...")
l.conn, err = listener.AcceptTCP()
misc.CheckError(err, "Accepting client in linker.go/startCnn", true)
log.Print("Connection acepted")
listener.Close()
} else {
log.Print("Dialing...")
l.conn, err = net.DialTCP("tcp", nil, tcpAddr)
misc.CheckError(err, "Dialing adresse in linker.go/startConn", true)
}
l.handleConn(o, t)
log.Println("Closing connection")
listener.Close()
l.conn.Close()
l.conn = nil
}
}
//Handle websocket connection
//
//The t parameters contain the section to which the handle is associated with Controls<=>Server Video / Controls<=>Client Videos
func (l *Link) handleWS(o *Link, t rocproto.Packet_Section) {
defer l.ws.Close()
defer func() { l.ws = nil }()
quit := make(chan bool)
go func() {
defer func() { quit <- true }()
for {
m := new(rocproto.Packet)
_, buff, err := l.ws.ReadMessage()
if misc.CheckError(err, "Receiving data from conn", false) != nil {
return
}
if err = checkBuffer(-1, buff, m); err != nil {
e := NewError(rocproto.Error_Packet, err.Error(), int32(t&^rocproto.Packet_CONTROL_SERVER))
log.Println("Error : ", e)
l.out <- e
continue
}
log.Println("Received ==> ", m)
log.Println(m.Header & uint32(t))
routPacket(m, l, o, t)
}
}()
for {
select {
case <-quit:
return
case m := <-l.out:
log.Printf("Sending ==> %v\n", m)
b, err := proto.Marshal(m)
if misc.CheckError(err, "linker.go/handleWS", false) != nil {
if m == nil {
return
}
continue
}
err = l.ws.WriteMessage(websocket.BinaryMessage, b)
if misc.CheckError(err, "linker.go/handleWS", false) != nil {
return
}
}
}
}
func (ia *AI) lightDetect(p *rocproto.Packet) error {
var err error
p = &rocproto.Packet{Mv: &rocproto.Mv{Speed: 0, Angle: math.Pi / 2}}
if misc.CheckError(err, "Packing in lightDetect", false) != nil {
return err
}
ia.m.move(p)
err = ia.light()
if misc.CheckError(err, "Detecting light", false) != nil {
return err
}
ia.m.Stop()
return nil
}
//TODO Insert buffer len and check
//Handle TCP connection
//
//The t parameters contain the section to which the handle is associated with Controls<=>Server Video / Controls<=>Client Videos
func (l *Link) handleConn(o *Link, t rocproto.Packet_Section) {
buff := make([]byte, 128)
quit := make(chan bool)
go func() {
defer func() { quit <- true }()
m := new(rocproto.Packet)
for {
i, err := l.conn.Read(buff[0:])
if misc.CheckError(err, "Receiving data from conn", false) != nil {
return
}
if err = checkBuffer(i, buff, m); err != nil {
e := NewError(rocproto.Error_Packet, err.Error(), int32(t&^rocproto.Packet_CONTROL_SERVER))
log.Println("Error : ", e)
l.out <- e
continue
}
log.Println("Received ==> ", m)
routPacket(m, l, o, t)
}
}()
for {
select {
case <-quit:
return
case m := <-l.out:
b, err := proto.Marshal(m)
if misc.CheckError(err, "linker.go/handleConn", false) != nil {
continue
}
_, err = l.conn.Write(b)
if misc.CheckError(err, "linker.go/handleConn", false) != nil {
return
}
}
}
}
func (ia *AI) light() error {
var err error
d := &DataLux{iter: 0, iterMax: 0, lux: -1, iterMaxLux: 0}
timeout := time.After(3 * time.Second)
tick := time.NewTicker(100 * time.Millisecond)
ia.toggle(true)
defer ia.toggle(false)
for {
select {
case <-timeout:
d.iterMax = d.iter
log.Println("Max lux is at: ", d.getAngle(), " degrees")
coord := ia.getPos(nil).(rocproto.Coord)
coord.Lat = coord.Lat + math.Cos(d.getAngle())
coord.Long = coord.Long + math.Sin(d.getAngle())
p := goPack.Prepare(uint32(rocproto.AiCodes_DLIGHT), rocproto.Packet_DATA, rocproto.Packet_CONTROL_SERVER, rocproto.Packet_VIDEO_CLIENT)
p.Coord = &coord
if err != nil {
return err
}
tick.Stop()
return ia.Send(p)
case <-tick.C:
v, err := ia.sensorLight.Read()
if misc.CheckError(err, "reading light sensor in photoresistor.go", false) != nil {
return err
}
d.iter += 1
temp := gobot.ToScale(gobot.FromScale(float64(v), 0, 1024), 0, 255)
//fmt.Println("Sensor data", temp)
if diffIsCorrect(d.lux, temp) && temp > d.lux {
d.lux = temp
d.iterMaxLux = d.iter
}
}
}
}
