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@ -21,6 +21,7 @@ package serial
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import (
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import (
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"context"
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"context"
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"fmt"
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"fmt"
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"sync"
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"github.com/sirupsen/logrus"
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"github.com/sirupsen/logrus"
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"github.com/tarm/serial"
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"github.com/tarm/serial"
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@ -60,26 +61,60 @@ func (h *Handler) Close() error {
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}
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}
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func (h *Handler) Run(ctx context.Context) error {
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func (h *Handler) Run(ctx context.Context) error {
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const componentCount = 3
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protocolErrors, framerErrors := make(chan error), make(chan error)
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protocolErrors, framerErrors := make(chan error), make(chan error)
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subCtx, cancel := context.WithCancel(ctx)
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wg := sync.WaitGroup{}
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wg.Add(componentCount)
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defer func() {
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cancel()
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h.logger.Info("context canceled waiting for shutdown of components")
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wg.Wait()
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h.logger.Info("shutdown complete")
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}()
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go func() {
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go func() {
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err := h.framer.ReadFrames(ctx, h.port, h.framesIn)
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defer wg.Done()
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err := h.framer.ReadFrames(subCtx, h.port, h.framesIn)
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framerErrors <- err
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h.logger.Info("frame reading stopped")
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select {
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case framerErrors <- err:
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case <-subCtx.Done():
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}
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}()
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}()
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go func() {
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go func() {
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err := h.framer.WriteFrames(ctx, h.port, h.framesOut)
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defer wg.Done()
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err := h.framer.WriteFrames(subCtx, h.port, h.framesOut)
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h.logger.Info("frame writing stopped")
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framerErrors <- err
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select {
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case framerErrors <- err:
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case <-subCtx.Done():
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}
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}()
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}()
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go func() {
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go func() {
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defer wg.Done()
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serverProtocol := protocol.NewServer(h.serverHandler, h.framesIn, h.framesOut, h.logger)
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serverProtocol := protocol.NewServer(h.serverHandler, h.framesIn, h.framesOut, h.logger)
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err := serverProtocol.Handle(ctx)
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err := serverProtocol.Handle(subCtx)
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protocolErrors <- err
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h.logger.Info("server protocol stopped")
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select {
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case protocolErrors <- err:
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case <-subCtx.Done():
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}
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}()
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}()
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for {
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for {
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@ -105,23 +140,19 @@ func (h *Handler) Run(ctx context.Context) error {
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func New(
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func New(
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cfg *config.Serial,
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cfg *config.Serial,
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logger *logrus.Logger,
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logger *logrus.Logger,
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framer protocol.Framer,
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protocolHandler protocol.ServerHandler,
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protocolHandler protocol.ServerHandler,
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) (*Handler, error) {
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) (*Handler, error) {
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cobsFramer, err := protocol.NewCOBSFramer(logger)
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if err != nil {
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return nil, fmt.Errorf("could not create COBS framer: %w", err)
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}
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h := &Handler{
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h := &Handler{
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serverHandler: protocolHandler,
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serverHandler: protocolHandler,
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logger: logger,
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logger: logger,
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framesIn: make(chan []byte),
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framesIn: make(chan []byte),
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framesOut: make(chan []byte),
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framesOut: make(chan []byte),
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framer: cobsFramer,
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framer: framer,
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}
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}
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h.config = &serial.Config{Name: cfg.Device, Baud: cfg.Baud, ReadTimeout: cfg.Timeout}
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h.config = &serial.Config{Name: cfg.Device, Baud: cfg.Baud, ReadTimeout: cfg.Timeout}
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err = h.setupConnection()
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err := h.setupConnection()
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if err != nil {
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if err != nil {
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return nil, err
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return nil, err
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}
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}
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