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 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))
}
}
}
}