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/
main.go
309 lines (268 loc) · 7.34 KB
/
main.go
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package main
import (
"encoding/json"
"log"
"net/url"
"os"
"os/signal"
"syscall"
"time"
"github.com/opendoor-labs/gong/phoenix"
"github.com/opendoor-labs/gong/Godeps/_workspace/src/github.com/kidoman/embd"
"github.com/opendoor-labs/gong/Godeps/_workspace/src/github.com/kidoman/embd/controller/pca9685"
_ "github.com/opendoor-labs/gong/Godeps/_workspace/src/github.com/kidoman/embd/host/rpi" // This loads the RPi driver
"github.com/opendoor-labs/gong/Godeps/_workspace/src/golang.org/x/net/context"
)
const (
topicName = "private:contracts"
servoMin = 350
servoMax = 650
servoMinNew = 600
servoMaxNew = 800
)
func main() {
guardianToken := os.Getenv("GUARDIAN_TOKEN")
if guardianToken == "" {
log.Fatal("GUARDIAN_TOKEN is required")
}
ctx, cancel := context.WithCancel(context.Background())
sigch := make(chan os.Signal, 2)
signal.Notify(sigch, os.Interrupt, syscall.SIGTERM)
go handleSignals(sigch, ctx, cancel)
if err := embd.InitI2C(); err != nil {
log.Fatal("I2C init: ", err)
}
defer embd.CloseI2C()
bus := embd.NewI2CBus(1)
dev := pca9685.New(bus, 0x40)
dev.Freq = 100
defer dev.Close()
// wake the servo controller so we can reset its channels
if err := dev.Wake(); err != nil {
log.Fatal("waking: ", err)
}
resetAllChannels(dev)
resetTimer := time.After(time.Second) // long enough for servos to reset
query := url.Values{}
query.Set("vsn", "1.0.0")
query.Set("guardian_token", guardianToken)
u := url.URL{
Scheme: "wss",
Host: "opendoor-pusher.herokuapp.com",
Path: "/events/websocket",
RawQuery: query.Encode(),
}
joinPayload, err := json.Marshal(GuardianPayload{GuardianToken: guardianToken})
if err != nil {
log.Fatal(err)
}
client := phoenix.InitClient(u.String(), []string{topicName}, joinPayload)
eventch := client.Start()
defer client.Close()
select {
case <-resetTimer: // servos have had enough time to reset
if err := dev.Sleep(); err != nil {
log.Fatal(err)
}
case <-ctx.Done():
return
}
for {
select {
case evt := <-eventch:
switch evt.Event {
case "acquisition_contract", "resale_contract":
handleRingEvent(dev, evt)
case "system_test":
handleSystemTest(dev, evt)
default:
log.Printf("unhandled message received: %#v", evt)
}
case <-ctx.Done():
return
}
}
}
func handleSignals(sigch <-chan os.Signal, ctx context.Context, cancel context.CancelFunc) {
select {
case <-ctx.Done():
case sig := <-sigch:
switch sig {
case os.Interrupt:
log.Println("SIGINT")
case syscall.SIGTERM:
log.Println("SIGTERM")
}
cancel()
}
}
type AddressPayload struct {
Address string
}
type GuardianPayload struct {
GuardianToken string `json:"guardian_token"`
}
func resetAllChannels(d *pca9685.PCA9685) error {
for i := 0; i < 16; i++ {
setting := servoMin
if i == bellChannels["resale_contract"] {
if isNewHardware() {
setting = chimeMaxNew
} else {
setting = chimeMax
}
} else if isNewHardware() {
setting = servoMinNew
}
if err := d.SetPwm(i, 0, setting); err != nil {
return err
}
}
return nil
}
var bellChannels = map[string]int{
"acquisition_contract": 5,
"resale_contract": 6,
}
func handleRingEvent(dev *pca9685.PCA9685, evt *phoenix.Event) {
payload := AddressPayload{}
if err := json.Unmarshal(evt.Payload, &payload); err != nil {
log.Printf("unmarshaling %s payload: %s", evt.Event, err)
return
}
log.Printf("%s received: topic=%q ref=%q payload=%#v", evt.Event, evt.Topic, evt.Ref, payload)
switch evt.Event {
case "acquisition_contract":
ringBell(dev, bellChannels[evt.Event])
case "resale_contract":
ringChime(dev, bellChannels[evt.Event])
}
}
func handleSystemTest(dev *pca9685.PCA9685, evt *phoenix.Event) {
payload := struct {
DeviceID string `json:"device_id"`
SubsystemName string `json:"subsystem_name"`
}{}
if err := json.Unmarshal(evt.Payload, &payload); err != nil {
log.Printf("unmarshaling %s payload: %s", evt.Event, err)
return
}
if payload.DeviceID == "" || payload.DeviceID != os.Getenv("RESIN_DEVICE_UUID") {
log.Printf("system test requested for device_id=%s, skipped with device_id=%d", payload.DeviceID, os.Getenv("RESIN_DEVICE_UUID"))
return
}
switch payload.SubsystemName {
case "bell":
log.Printf("running system test with bell...")
ringBell(dev, bellChannels["acquisition_contract"])
case "chime":
log.Printf("running system test with chime...")
ringChime(dev, bellChannels["resale_contract"])
default:
log.Printf("running system test with both bell and chime...")
ringBell(dev, bellChannels["acquisition_contract"])
time.Sleep(time.Second)
ringChime(dev, bellChannels["resale_contract"])
}
}
func ringBell(d *pca9685.PCA9685, chanID int) {
if isNewHardware() {
ringBellNew(d, chanID)
return
}
if err := d.Wake(); err != nil {
log.Fatal("waking: ", err)
}
time.Sleep(100 * time.Millisecond)
if err := d.SetPwm(chanID, 0, servoMax); err != nil {
log.Fatal("setting to max: ", err)
}
time.Sleep(450 * time.Millisecond)
if err := d.SetPwm(chanID, 0, servoMin); err != nil {
log.Fatal("setting to min: ", err)
}
time.Sleep(400 * time.Millisecond)
if err := d.Sleep(); err != nil {
log.Fatal("sleeping: ", err)
}
}
func ringBellNew(d *pca9685.PCA9685, chanID int) {
if err := d.Wake(); err != nil {
log.Fatal("waking: ", err)
}
time.Sleep(100 * time.Millisecond)
if err := d.SetPwm(chanID, 0, servoMaxNew); err != nil {
log.Fatal("setting to max: ", err)
}
time.Sleep(450 * time.Millisecond)
if err := d.SetPwm(chanID, 0, servoMinNew); err != nil {
log.Fatal("setting to min: ", err)
}
time.Sleep(400 * time.Millisecond)
if err := d.Sleep(); err != nil {
log.Fatal("sleeping: ", err)
}
}
const (
chimeMax = 600
chimeMin = 330
chimeMaxNew = 280
chimeMinNew = 200
)
func ringChime(d *pca9685.PCA9685, chanID int) {
if isNewHardware() {
ringChimeNew(d, chanID)
return
}
if err := d.Wake(); err != nil {
log.Fatal("waking: ", err)
}
time.Sleep(100 * time.Millisecond)
if err := d.SetPwm(chanID, 0, chimeMin); err != nil {
log.Fatal("setting to min: ", err)
}
time.Sleep(120 * time.Millisecond)
if err := d.SetPwm(chanID, 0, (chimeMin+2*chimeMax)/3); err != nil {
log.Fatal("setting to middle: ", err)
}
time.Sleep(500 * time.Millisecond)
if err := d.SetPwm(chanID, 0, chimeMin); err != nil {
log.Fatal("setting to min 2: ", err)
}
time.Sleep(120 * time.Millisecond)
if err := d.SetPwm(chanID, 0, chimeMax); err != nil {
log.Fatal("setting to max: ", err)
}
time.Sleep(400 * time.Millisecond)
if err := d.Sleep(); err != nil {
log.Fatal("sleeping: ", err)
}
}
func ringChimeNew(d *pca9685.PCA9685, chanID int) {
if err := d.Wake(); err != nil {
log.Fatal("waking: ", err)
}
time.Sleep(100 * time.Millisecond)
if err := d.SetPwm(chanID, 0, chimeMinNew); err != nil {
log.Fatal("setting to min: ", err)
}
time.Sleep(100 * time.Millisecond)
if err := d.SetPwm(chanID, 0, chimeMaxNew); err != nil {
log.Fatal("setting to middle: ", err)
}
time.Sleep(500 * time.Millisecond)
if err := d.SetPwm(chanID, 0, chimeMinNew); err != nil {
log.Fatal("setting to min 2: ", err)
}
time.Sleep(100 * time.Millisecond)
if err := d.SetPwm(chanID, 0, chimeMaxNew); err != nil {
log.Fatal("setting to max: ", err)
}
time.Sleep(400 * time.Millisecond)
if err := d.Sleep(); err != nil {
log.Fatal("sleeping: ", err)
}
}
func isNewHardware() bool {
return os.Getenv("NEW_HARDWARE") != ""
}