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package main
import (
"context"
"time"
"go.einride.tech/can"
"git.samanthony.xyz/can_gauge_interface/sw/cal/canbus"
)
const (
stdMask = 0x7FF
extMask = 0x1FFFFFFF
timeout = 1 * time.Second
maxRetries = 8
)
func sendCtrlFrame[C can.FrameMarshaler, R can.FrameUnmarshaler](cmd C, req can.FrameMarshaler, reply R, bus canbus.Bus, isReply func(R) bool, verify func(C, R) bool) error {
cmdFrame, err := cmd.MarshalFrame()
if err != nil {
return err
}
for retry := 0; retry < maxRetries; retry++ {
// Write
ctx, _ := context.WithTimeout(context.Background(), timeout)
if err := bus.Send(ctx, cmdFrame); err != nil {
return err
}
// Read back
reqFrame, err := req.MarshalFrame()
if err != nil {
return err
}
ctx, _ = context.WithTimeout(context.Background(), timeout)
if err := bus.Send(ctx, reqFrame); err != nil {
return err
}
ctx, _ = context.WithTimeout(context.Background(), timeout)
replyFrame, err := bus.Receive(ctx)
if err != nil {
return err
}
err = reply.UnmarshalFrame(replyFrame)
if err == errWrongId || !isReply(reply) {
continue
} else if err != nil {
return err
}
// Verify
if verify(cmd, reply) {
return nil
}
}
return errVerifyFail
}
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