last

internal/devices/flexradio/flexradio.go

@@ -15,9 +15,10 @@ type Client struct {
 	host string
 	port int
 
-	conn   net.Conn
-	reader *bufio.Reader
-	connMu sync.Mutex
+	conn    net.Conn
+	reader  *bufio.Reader
+	connMu  sync.Mutex // For connection management
+	writeMu sync.Mutex // For writing to connection (separate from reads)
 
 	interlockID   string
 	interlockName string
@@ -144,10 +145,15 @@ func (c *Client) getNextSeq() int {
 }
 
 func (c *Client) sendCommand(cmd string) (string, error) {
-	c.connMu.Lock()
-	defer c.connMu.Unlock()
+	// Use writeMu instead of connMu to avoid blocking on messageLoop reads
+	c.writeMu.Lock()
+	defer c.writeMu.Unlock()
 
-	if c.conn == nil {
+	c.connMu.Lock()
+	conn := c.conn
+	c.connMu.Unlock()
+
+	if conn == nil {
 		return "", fmt.Errorf("not connected")
 	}
 
@@ -156,10 +162,12 @@ func (c *Client) sendCommand(cmd string) (string, error) {
 
 	log.Printf("FlexRadio TX: %s", strings.TrimSpace(fullCmd))
 
-	_, err := c.conn.Write([]byte(fullCmd))
+	_, err := conn.Write([]byte(fullCmd))
 	if err != nil {
+		c.connMu.Lock()
 		c.conn = nil
 		c.reader = nil
+		c.connMu.Unlock()
 		return "", fmt.Errorf("failed to send command: %w", err)
 	}
 
@@ -215,6 +223,7 @@ func (c *Client) messageLoop() {
 			continue
 		}
 
+		log.Printf("FlexRadio RX: %s", line)
 		c.handleMessage(line)
 	}
 
@@ -325,7 +334,7 @@ func (c *Client) handleStatus(msg string) {
 	}
 }
 
-func (c *Client) handleInterlockState(state string, _ map[string]string) {
+func (c *Client) handleInterlockState(state string, statusMap map[string]string) {
 	log.Printf("FlexRadio: Interlock state changed to: %s", state)
 
 	c.statusMu.Lock()
@@ -410,3 +419,32 @@ func (c *Client) GetStatus() (*Status, error) {
 
 	return &status, nil
 }
+
+// ForceInterlockState proactively sends ready/not_ready to the radio
+// This is used when external conditions change (e.g., antenna motors start/stop)
+func (c *Client) ForceInterlockState(allowed bool) {
+	c.interlockMu.RLock()
+	interlockID := c.interlockID
+	c.interlockMu.RUnlock()
+
+	if interlockID == "" {
+		log.Println("FlexRadio: No interlock ID, cannot force state")
+		return
+	}
+
+	if allowed {
+		log.Println("FlexRadio: PROACTIVE - Sending ready (motors stopped)")
+		c.sendCommand(fmt.Sprintf("interlock ready %s", interlockID))
+		// Update state immediately for UI
+		c.statusMu.Lock()
+		c.lastStatus.InterlockState = InterlockStateReady
+		c.statusMu.Unlock()
+	} else {
+		log.Println("FlexRadio: PROACTIVE - Sending not_ready (motors moving)")
+		c.sendCommand(fmt.Sprintf("interlock not_ready %s", interlockID))
+		// Update state immediately for UI
+		c.statusMu.Lock()
+		c.lastStatus.InterlockState = InterlockStateNotReady
+		c.statusMu.Unlock()
+	}
+}