286 lines
7.1 KiB
Go
286 lines
7.1 KiB
Go
package dispenser
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import (
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"fmt"
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"strings"
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"time"
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log "github.com/sirupsen/logrus"
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"github.com/tarm/serial"
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)
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// Control characters.
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const (
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STX = 0x02 // Start of Text
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ETX = 0x03 // End of Text
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ACK = 0x06 // Positive response
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NAK = 0x15 // Negative response
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ENQ = 0x05 // Enquiry from host
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space = 0x00 // Space character
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baudRate = 9600 // Baud rate for serial communication
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delay = 500 * time.Millisecond // Delay for processing commands
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// cache freshness for "continuous status" reads (tune as you wish)
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defaultStatusTTL = 1500 * time.Millisecond
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)
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var (
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SerialPort string
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Address []byte
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commandFC7 = []byte{ETX, 0x46, 0x43, 0x37} // "FC7"
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commandFC0 = []byte{ETX, 0x46, 0x43, 0x30} // "FC0"
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statusPos0 = map[byte]string{
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0x38: "Keep",
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0x34: "Command cannot execute",
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0x32: "Preparing card fails",
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0x31: "Preparing card",
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0x30: "Normal",
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}
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statusPos1 = map[byte]string{
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0x38: "Dispensing card",
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0x34: "Capturing card",
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0x32: "Dispense card error",
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0x31: "Capture card error",
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0x30: "Normal",
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}
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statusPos2 = map[byte]string{
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0x38: "No captured card",
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0x34: "Card overlapped",
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0x32: "Card jammed",
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0x31: "Card pre-empty",
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0x30: "Normal",
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}
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statusPos3 = map[byte]string{
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0x38: "Card empty",
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0x34: "Card ready position",
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0x33: "Card at encoder position",
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0x32: "Card at hold card position",
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0x31: "Card out of card mouth position",
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0x30: "Normal",
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}
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)
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// --------------------
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// Status helpers
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// --------------------
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func logStatus(statusBytes []byte) {
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if len(statusBytes) < 4 {
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log.Infof("Dispenser status: <invalid len=%d>", len(statusBytes))
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return
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}
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posStatus := []struct {
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pos int
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value byte
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mapper map[byte]string
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}{
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{pos: 1, value: statusBytes[0], mapper: statusPos0},
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{pos: 2, value: statusBytes[1], mapper: statusPos1},
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{pos: 3, value: statusBytes[2], mapper: statusPos2},
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{pos: 4, value: statusBytes[3], mapper: statusPos3},
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}
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var result strings.Builder
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for _, p := range posStatus {
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statusMsg, exists := p.mapper[p.value]
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if !exists {
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statusMsg = fmt.Sprintf("Unknown status 0x%X", p.value)
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}
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if p.value != 0x30 {
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result.WriteString(statusMsg + "; ")
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}
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}
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log.Infof("Dispenser status: %s", result.String())
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}
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func isAtEncoderPosition(statusBytes []byte) bool {
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return len(statusBytes) >= 4 && statusBytes[3] == 0x33
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}
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func stockTake(statusBytes []byte) string {
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if len(statusBytes) < 4 {
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return ""
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}
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status := ""
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if statusBytes[2] != 0x30 {
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status = statusPos2[statusBytes[2]]
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}
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if statusBytes[3] == 0x38 {
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status = statusPos3[statusBytes[3]]
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}
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return status
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}
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func isCardWellEmpty(statusBytes []byte) bool {
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return len(statusBytes) >= 4 && statusBytes[3] == 0x38
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}
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func checkACK(statusResp []byte) error {
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if len(statusResp) == 3 &&
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statusResp[0] == ACK &&
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len(Address) >= 2 &&
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statusResp[1] == Address[0] &&
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statusResp[2] == Address[1] {
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return nil
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}
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if len(statusResp) > 0 && statusResp[0] == NAK {
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return fmt.Errorf("negative response from dispenser")
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}
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return fmt.Errorf("unexpected response status: % X", statusResp)
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}
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// calculateBCC computes BCC as XOR of all bytes from STX to ETX.
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func calculateBCC(data []byte) byte {
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var bcc byte
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for _, b := range data {
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bcc ^= b
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}
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return bcc
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}
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func createPacket(address []byte, command []byte) []byte {
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packet := []byte{STX}
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packet = append(packet, address...)
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packet = append(packet, space)
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packet = append(packet, command...)
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packet = append(packet, ETX)
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bcc := calculateBCC(packet)
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packet = append(packet, bcc)
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return packet
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}
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func buildCheckAP(address []byte) []byte { return createPacket(address, []byte{STX, 0x41, 0x50}) }
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func sendAndReceive(port *serial.Port, packet []byte, delay time.Duration) ([]byte, error) {
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_, err := port.Write(packet)
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if err != nil {
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return nil, fmt.Errorf("error writing to port: %w", err)
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}
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time.Sleep(delay)
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buf := make([]byte, 128)
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n, err := port.Read(buf)
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if err != nil {
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return nil, fmt.Errorf("error reading from port: %w", err)
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}
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return buf[:n], nil
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}
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// --------------------
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// Serial init (3 attempts)
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// --------------------
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func InitializeDispenser() (*serial.Port, error) {
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const (
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funcName = "InitializeDispenser"
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maxRetries = 3
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retryDelay = 2 * time.Second
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)
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if SerialPort == "" {
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return nil, fmt.Errorf("%s: SerialPort is empty", funcName)
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}
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if len(Address) < 2 {
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return nil, fmt.Errorf("%s: Address must be at least 2 bytes", funcName)
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}
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serialConfig := &serial.Config{
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Name: SerialPort,
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Baud: baudRate,
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ReadTimeout: 2 * time.Second,
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}
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var lastErr error
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for attempt := 1; attempt <= maxRetries; attempt++ {
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port, err := serial.OpenPort(serialConfig)
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if err == nil {
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log.Infof("%s: dispenser opened on %s (attempt %d/%d)", funcName, SerialPort, attempt, maxRetries)
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return port, nil
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}
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lastErr = err
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log.Warnf("%s: failed to open dispenser on %s (attempt %d/%d): %v", funcName, SerialPort, attempt, maxRetries, err)
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if attempt < maxRetries {
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time.Sleep(retryDelay)
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}
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}
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return nil, fmt.Errorf("%s: failed to open dispenser on %s after %d attempts: %w", funcName, SerialPort, maxRetries, lastErr)
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}
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// --------------------
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// Internal (port-owner only) operations
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// --------------------
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// checkDispenserStatus talks to the device and returns the 4 status bytes [pos0..pos3].
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func checkDispenserStatus(port *serial.Port) ([]byte, error) {
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checkCmd := buildCheckAP(Address)
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enq := append([]byte{ENQ}, Address...)
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statusResp, err := sendAndReceive(port, checkCmd, delay)
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if err != nil {
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return nil, fmt.Errorf("error sending check command: %w", err)
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}
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if len(statusResp) == 0 {
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return nil, fmt.Errorf("no response from dispenser")
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}
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if err := checkACK(statusResp); err != nil {
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return nil, err
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}
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statusResp, err = sendAndReceive(port, enq, delay)
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if err != nil {
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return nil, fmt.Errorf("error sending ENQ: %w", err)
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}
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if len(statusResp) < 13 {
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return nil, fmt.Errorf("incomplete status response from dispenser: % X", statusResp)
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}
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return statusResp[7:11], nil
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}
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func cardToEncoderPosition(port *serial.Port) error {
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enq := append([]byte{ENQ}, Address...)
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dispenseCmd := createPacket(Address, commandFC7)
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log.Println("Send card to encoder position")
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statusResp, err := sendAndReceive(port, dispenseCmd, delay)
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if err != nil {
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return fmt.Errorf("error sending card to encoder position: %w", err)
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}
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if err := checkACK(statusResp); err != nil {
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return err
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}
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_, err = port.Write(enq)
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if err != nil {
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return fmt.Errorf("error sending ENQ to prompt device: %w", err)
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}
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return nil
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}
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func cardOutOfMouth(port *serial.Port) error {
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enq := append([]byte{ENQ}, Address...)
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dispenseCmd := createPacket(Address, commandFC0)
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log.Println("Send card to out mouth position")
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statusResp, err := sendAndReceive(port, dispenseCmd, delay)
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if err != nil {
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return fmt.Errorf("error sending out of mouth command: %w", err)
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}
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if err := checkACK(statusResp); err != nil {
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return err
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}
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_, err = port.Write(enq)
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if err != nil {
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return fmt.Errorf("error sending ENQ to prompt device: %w", err)
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}
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return nil
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}
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