ShackMaster/internal/devices/rotatorgenius/rotatorgenius.go

package rotatorgenius

import (
	"bufio"
	"fmt"
	"net"
	"strconv"
	"strings"
	"sync"
	"time"
)

type Client struct {
	host       string
	port       int
	conn       net.Conn
	reader     *bufio.Reader
	connMu     sync.Mutex
	lastStatus *Status
	statusMu   sync.RWMutex
	stopChan   chan struct{}
	running    bool
}

type Status struct {
	Heading   int  `json:"heading"`
	Connected bool `json:"connected"`
}

func New(host string, port int) *Client {
	return &Client{
		host:     host,
		port:     port,
		stopChan: make(chan struct{}),
	}
}

func (c *Client) Connect() error {
	c.connMu.Lock()
	defer c.connMu.Unlock()

	if c.conn != nil {
		return nil
	}

	fmt.Printf("RotatorGenius: Attempting to connect to %s:%d\n", c.host, c.port)

	conn, err := net.DialTimeout("tcp", fmt.Sprintf("%s:%d", c.host, c.port), 5*time.Second)
	if err != nil {
		fmt.Printf("RotatorGenius: Connection failed: %v\n", err)
		return fmt.Errorf("failed to connect: %w", err)
	}
	c.conn = conn
	c.reader = bufio.NewReader(c.conn)

	fmt.Println("RotatorGenius: Connected successfully")

	return nil
}

func (c *Client) Close() error {
	c.connMu.Lock()
	defer c.connMu.Unlock()

	if c.stopChan != nil {
		close(c.stopChan)
	}

	if c.conn != nil {
		return c.conn.Close()
	}
	return nil
}

func (c *Client) Start() error {
	fmt.Println("RotatorGenius Start() called")

	if c.running {
		fmt.Println("RotatorGenius already running, skipping")
		return nil
	}

	fmt.Println("RotatorGenius attempting initial connection...")
	_ = c.Connect()

	c.running = true
	fmt.Println("RotatorGenius launching pollLoop...")
	go c.pollLoop()

	fmt.Println("RotatorGenius Start() completed")
	return nil
}

func (c *Client) pollLoop() {
	ticker := time.NewTicker(500 * time.Millisecond)
	defer ticker.Stop()

	for {
		select {
		case <-ticker.C:
			c.connMu.Lock()
			if c.conn == nil {
				c.connMu.Unlock()

				c.statusMu.Lock()
				c.lastStatus = &Status{Connected: false}
				c.statusMu.Unlock()

				if err := c.Connect(); err != nil {
					continue
				}
				c.connMu.Lock()
			}
			c.connMu.Unlock()

			status, err := c.queryStatus()
			if err != nil {
				c.connMu.Lock()
				if c.conn != nil {
					c.conn.Close()
					c.conn = nil
					c.reader = nil
				}
				c.connMu.Unlock()

				c.statusMu.Lock()
				c.lastStatus = &Status{Connected: false}
				c.statusMu.Unlock()
				continue
			}

			status.Connected = true

			c.statusMu.Lock()
			c.lastStatus = status
			c.statusMu.Unlock()

		case <-c.stopChan:
			return
		}
	}
}

func (c *Client) sendCommand(cmd string) error {
	c.connMu.Lock()
	defer c.connMu.Unlock()

	if c.conn == nil || c.reader == nil {
		return fmt.Errorf("not connected")
	}

	_, err := c.conn.Write([]byte(cmd))
	if err != nil {
		c.conn = nil
		c.reader = nil
		return fmt.Errorf("failed to send command: %w", err)
	}

	return nil
}

func (c *Client) queryStatus() (*Status, error) {
	c.connMu.Lock()
	defer c.connMu.Unlock()

	if c.conn == nil || c.reader == nil {
		return nil, fmt.Errorf("not connected")
	}

	// Send |h command
	_, err := c.conn.Write([]byte("|h"))
	if err != nil {
		c.conn = nil
		c.reader = nil
		return nil, fmt.Errorf("failed to send query: %w", err)
	}

	// Read response - RotatorGenius doesn't send newline, read fixed amount
	c.conn.SetReadDeadline(time.Now().Add(500 * time.Millisecond))
	defer c.conn.SetReadDeadline(time.Time{})

	buf := make([]byte, 100)
	n, err := c.reader.Read(buf)
	if err != nil || n == 0 {
		c.conn = nil
		c.reader = nil
		return nil, fmt.Errorf("failed to read response: %w", err)
	}

	response := string(buf[:n])

	return c.parseStatus(response), nil
}

func (c *Client) parseStatus(response string) *Status {
	status := &Status{}

	// Response format: |h2<null><heading>...
	// Example: |h2\x00183  8 10A0...
	// After |h2 there's a null byte, then 3 digits for heading

	if !strings.HasPrefix(response, "|h2") {
		return status
	}

	// Skip |h2 (3 chars) and null byte (1 char), then read 3 digits
	if len(response) >= 7 {
		// Position 3 is the null byte, position 4-6 are the heading
		headingStr := response[4:7]
		heading, err := strconv.Atoi(strings.TrimSpace(headingStr))
		if err == nil {
			status.Heading = heading
		}
	}

	return status
}

func (c *Client) GetStatus() (*Status, error) {
	c.statusMu.RLock()
	defer c.statusMu.RUnlock()

	if c.lastStatus == nil {
		return &Status{Connected: false}, nil
	}

	return c.lastStatus, nil
}

// SetHeading rotates to a specific azimuth
func (c *Client) SetHeading(azimuth int) error {
	cmd := fmt.Sprintf("|A1%d", azimuth)
	return c.sendCommand(cmd)
}

// RotateCW rotates clockwise
func (c *Client) RotateCW() error {
	return c.sendCommand("|P1")
}

// RotateCCW rotates counter-clockwise
func (c *Client) RotateCCW() error {
	return c.sendCommand("|M1")
}

// Stop stops rotation
func (c *Client) Stop() error {
	return c.sendCommand("|S")
}