hardlink/dispenser/dispenser.go

package dispenser

import (
	// "encoding/hex"
	"fmt"
	// "log"
	"time"

	log "github.com/sirupsen/logrus"
	"github.com/tarm/serial"
)

// Control characters.
const (
	STX      = 0x02                   // Start of Text
	ETX      = 0x03                   // End of Text
	ACK      = 0x06                   // Positive response
	NAK      = 0x15                   // Negative response
	ENQ      = 0x05                   // Enquiry from host
	space    = 0x00                   // Space character
	baudRate = 9600                   // Baud rate for serial communication
	delay    = 500 * time.Millisecond // Delay for processing commands
)

// type (
// 	configRec struct {
// 		SerialPort string `yaml:"port"`
// 		Address    string `yaml:"addr"`
// 	}
// )

var (
	SerialPort string
	Address    []byte
	commandFC7 = []byte{ETX, 0x46, 0x43, 0x37} // "FC7" command dispense card at read card position
	commandFC0 = []byte{ETX, 0x46, 0x43, 0x30} // "FC0" command dispense card out of card mouth command

	statusPos0 = map[byte]string{
		0x38: "Keep",
		0x34: "Command cannot execute",
		0x32: "Preparing card fails",
		0x31: "Preparing card",
		0x30: "Normal", // Default if none of the above
	}

	statusPos1 = map[byte]string{
		0x38: "Dispensing card",
		0x34: "Capturing card",
		0x32: "Dispense card error",
		0x31: "Capture card error",
		0x30: "Normal",
	}

	statusPos2 = map[byte]string{
		0x38: "No captured card",
		0x34: "Card overlapped",
		0x32: "Card jammed",
		0x31: "Card pre-empty",
		0x30: "Normal",
	}

	statusPos3 = map[byte]string{
		0x38: "Card empty",
		0x34: "Card ready position",
		0x33: "Card at encoder position",
		0x32: "Card at hold card position",
		0x31: "Card out of card mouth position",
		0x30: "Normal",
	}
)

func checkStatus(statusResp []byte) (string, error) {
	if len(statusResp) > 3 {
		statusBytes := statusResp[7:11] // Extract the relevant bytes from the response
		// For each position, get the ASCII character, hex value, and mapped meaning.
		posStatus := []struct {
			pos    int
			value  byte
			mapper map[byte]string
		}{
			{pos: 1, value: statusBytes[0], mapper: statusPos0},
			{pos: 2, value: statusBytes[1], mapper: statusPos1},
			{pos: 3, value: statusBytes[2], mapper: statusPos2},
			{pos: 4, value: statusBytes[3], mapper: statusPos3},
		}

		result := ""
		for _, p := range posStatus {
			statusMsg, exists := p.mapper[p.value]
			if !exists {
				statusMsg = "Unknown status"
			}
			if p.value != 0x30 {
				result += fmt.Sprintf("Status: %s; ", statusMsg)
			}
			if p.pos == 4 && p.value == 0x38 {
				return result, fmt.Errorf("Card well empty")
			}
		}
		return result, nil

	} else {
		if len(statusResp) == 3 && statusResp[0] == ACK && statusResp[1] == Address[0] && statusResp[2] == Address[1] {
			return "active;", nil
		} else if len(statusResp) > 0 && statusResp[0] == NAK {
			return "", fmt.Errorf("negative response from dispenser")
		} else {
			return "", fmt.Errorf("unexpected response status: % X", statusResp)
		}
	}
}

// calculateBCC computes the Block Check Character (BCC) as the XOR of all bytes from STX to ETX.
func calculateBCC(data []byte) byte {
	var bcc byte
	for _, b := range data {
		bcc ^= b
	}
	return bcc
}

func createPacket(address []byte, command []byte) []byte {
	packet := []byte{STX}
	packet = append(packet, address...) // Address bytes
	packet = append(packet, space)      // Space character
	packet = append(packet, command...)
	packet = append(packet, ETX)
	bcc := calculateBCC(packet)
	packet = append(packet, bcc)
	return packet
}

func buildCheckRF(address []byte) []byte {
	return createPacket(address, []byte{STX, 0x52, 0x46})
}

func buildCheckAP(address []byte) []byte {
	return createPacket(address, []byte{STX, 0x41, 0x50})
}

func sendAndReceive(port *serial.Port, packet []byte, delay time.Duration) ([]byte, error) {
	n, err := port.Write(packet)
	if err != nil {
		return nil, fmt.Errorf("error writing to port: %w", err)
	}
	// log.Printf("TX %d bytes: % X", n, packet[:n])

	time.Sleep(delay) // Wait for the dispenser to process the command

	buf := make([]byte, 128)
	n, err = port.Read(buf)
	if err != nil {
		return nil, fmt.Errorf("error reading from port: %w", err)
	}
	resp := buf[:n]
	// log.Printf("RX %d bytes: % X", n, buf[:n])
	return resp, nil
}

func InitializeDispenser() (*serial.Port, error) {
	const funcName = "initializeDispenser"
	serialConfig := &serial.Config{
		Name:        SerialPort,
		Baud:        baudRate,
		ReadTimeout: time.Second * 2,
	}
	port, err := serial.OpenPort(serialConfig)
	if err != nil {
		return nil, fmt.Errorf("error opening dispenser COM port: %w", err)
	}
	return port, nil
}

func DispenserSequence(port *serial.Port) (string, error) {
	const funcName = "dispenserSequence"
	var result string

	// Check dispenser status
	status, err := CheckDispenserStatus(port)
	if err != nil {
		return status, fmt.Errorf("[%s] error checking dispenser status: %v", funcName, err)
	}
	result += status

	// Send card to encoder position
	status, err = CardToEncoderPosition(port)
	if err != nil {
		return status, fmt.Errorf("[%s] error sending card to encoder position: %v", funcName, err)
	}
	result += "; " + status

	return result, nil
}

// if dispenser is not responding, I should repeat the command
func CheckDispenserStatus(port *serial.Port) (string, error) {
	const funcName = "checkDispenserStatus"
	var result string
	checkCmd := buildCheckAP(Address)
	enq := append([]byte{ENQ}, Address...)

	// Send check command (AP)
	statusResp, err := sendAndReceive(port, checkCmd, delay)
	if err != nil {
		return "", fmt.Errorf("error sending check command: %v", err)
	}
	if len(statusResp) == 0 {
		return "", fmt.Errorf("no response from dispenser")
	}
	status, err := checkStatus(statusResp)
	if err != nil {
		return status, err
	}
	result += "; " + status

	// Send ENQ+ADDR to prompt device to execute the command.
	statusResp, err = sendAndReceive(port, enq, delay)
	if err != nil {
		log.Errorf("error sending ENQ: %v", err)
	}
	if len(statusResp) == 0 {
		return "", fmt.Errorf("no response from dispenser")
	}
	status, err = checkStatus(statusResp)
	if err != nil {
		return status, err
	}
	result += status
	return result, nil
}

func CardToEncoderPosition(port *serial.Port) (string, error) {
	const funcName = "cartToEncoderPosition"
	enq := append([]byte{ENQ}, Address...)

	//Send Dispense card to encoder position (FC7) ---
	dispenseCmd := createPacket(Address, commandFC7)
	log.Println("Send card to encoder position")
	statusResp, err := sendAndReceive(port, dispenseCmd, delay)
	if err != nil {
		return "", fmt.Errorf("error sending card to encoder position: %v", err)
	}
	_, err = checkStatus(statusResp)
	if err != nil {
		return "", err
	}

	//Send ENQ to prompt device ---
	_, err = port.Write(enq)
	if err != nil {
		return "", fmt.Errorf("error sending ENQ to prompt device: %v", err)
	}

	//Check card position status
	status, err := CheckDispenserStatus(port)
	if err != nil {
		return "", err
	}
	return status, nil
}

func CardOutOfMouth(port *serial.Port) (string, error) {
	const funcName = "CardOutOfMouth"
	enq := append([]byte{ENQ}, Address...)

	// Send  card out of card mouth (FC0) ---
	dispenseCmd := createPacket(Address, commandFC0)
	log.Println("Send card to out mouth position")
	statusResp, err := sendAndReceive(port, dispenseCmd, delay)
	if err != nil {
		return "", fmt.Errorf("error sending out of mouth command: %v", err)
	}
	_, err = checkStatus(statusResp)
	if err != nil {
		return "", err
	}

	//Send ENQ to prompt device ---
	_, err = port.Write(enq)
	if err != nil {
		return "", fmt.Errorf("error sending ENQ to prompt device: %v", err)
	}

	//Check card position status
	status, err := CheckDispenserStatus(port)
	if err != nil {
		return "", err
	}
	return status, nil
}