network_command.go
e580444fae58master

network_command.go
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			package arke

			import (
			"encoding/binary"
			"fmt"
			"time"

			socketcan "github.com/atuleu/golang-socketcan"
			)

			func SendResetRequest(itf *socketcan.RawInterface, c NodeClass) error {
			return itf.Send(socketcan.CanFrame{
			ID: makeCANIDT(NetworkControlCommand, MessageClass(c), NodeID(ResetRequest)),
			Dlc: 0,
			Extended: false,
			RTR: false,
			Data: nil,
			})
			}

			func Ping(itf *socketcan.RawInterface, c NodeClass) error {
			return itf.Send(socketcan.CanFrame{
			ID: makeCANIDT(NetworkControlCommand, MessageClass(c), NodeID(HeartBeatRequest)),
			Dlc: 0,
			Extended: false,
			RTR: false,
			Data: nil,
			})
			}

			func SendHeartBeatRequest(itf *socketcan.RawInterface, c NodeClass, t time.Duration) error {
			period, err := castDuration(t)
			if err != nil {
			return err
			}

			f := socketcan.CanFrame{
			ID: makeCANIDT(NetworkControlCommand, MessageClass(c), NodeID(HeartBeatRequest)),
			Dlc: 2,
			Extended: false,
			RTR: false,
			Data: make([]byte, 2),
			}
			binary.LittleEndian.PutUint16(f.Data, period)
			return itf.Send(f)
			}

			type HeartBeatData struct {
			Class NodeClass
			ID NodeID
			MajorVersion uint8
			MinorVersion uint8
			PatchVersion uint8
			TweakVersion uint8
			}

			func (h *HeartBeatData) Unmarshall(buf []byte) error {
			h.MajorVersion = 0
			h.MinorVersion = 0
			h.PatchVersion = 0
			h.TweakVersion = 0
			if len(buf) == 0 {
			return nil
			}

			if len(buf) == 1 {
			return fmt.Errorf("Invalid buffer size 1 (min 2 required)")
			}

			h.MajorVersion = buf[0]
			h.MinorVersion = buf[1]
			if len(buf) > 2 {
			h.PatchVersion = buf[2]
			}
			if len(buf) > 3 {
			h.TweakVersion = buf[3]
			}
			return nil
			}

			func (h *HeartBeatData) MessageClassID() MessageClass {
			return HeartBeatMessage
			}