Fixed RmFront panic.

.gitignore

@@ -1,5 +1,4 @@
 out/
-Makefile
 go.sum
 .git/
 *.swp

Makefile

@@ -0,0 +1,7 @@
+export GOOS=linux
+export GOARCH=arm
+export GOARM=6
+export CGO_ENABLED=0
+
+build:
+	@go build -o out/modem main.go

api/modem/at/at.go

@@ -4,6 +4,7 @@ import (
 	"fmt"
 	"io"
 	"log"
+	"sync"
 	"time"
 
 	"go.bug.st/serial"
@@ -12,12 +13,14 @@ import (
 // Some constants
 const (
 	ReadTimeout  = time.Second
-	InputBufSize = 128
+	InputBufSize = 512
 )
 
 type atPort struct {
 	logger *log.Logger
 
+	mutex sync.Mutex // Mutex for all operation with serial port
+
 	baudrate int
 	portName string
 	port     serial.Port
@@ -27,7 +30,8 @@ type atPort struct {
 type Port interface {
 	GetName() string
 	GetBaudrate() int
-	GetSerialPort() serial.Port // For extra need
+	SerialPort() serial.Port // For extra need
+	Mutex() sync.Locker      // retruns pointer to mutex for advanced use like readign NMEA reports
 
 	Connect() error
 	Disconnect() error
@@ -56,11 +60,18 @@ func (p *atPort) GetBaudrate() int {
 	return p.baudrate
 }
 
-func (p *atPort) GetSerialPort() serial.Port {
+func (p *atPort) SerialPort() serial.Port {
 	return p.port
 }
 
+func (p *atPort) Mutex() sync.Locker {
+	return &p.mutex
+}
+
 func (p *atPort) Connect() error {
+	p.mutex.Lock()
+	defer p.mutex.Unlock()
+
 	p.logger.Println("Connecting to", p.portName, "...")
 	s, err := serial.Open(p.portName, &serial.Mode{BaudRate: p.baudrate})
 	if err != nil {
@@ -76,8 +87,10 @@ func (p *atPort) Connect() error {
 }
 
 func (p *atPort) Disconnect() error {
+	p.mutex.Lock()
 	defer func() {
 		p.port = nil
+		p.mutex.Unlock()
 	}()
 	if err := p.port.Close(); err != nil {
 		return fmt.Errorf("close port: %w", err)
@@ -86,16 +99,22 @@ func (p *atPort) Disconnect() error {
 }
 
 func (p *atPort) IsConnected() bool {
+	p.mutex.Lock()
+	defer p.mutex.Unlock()
+
 	return p.port != nil
 }
 
 // Low level write/read function
 func (p *atPort) RawSend(msg string) (string, error) {
+	p.mutex.Lock()
+	defer p.mutex.Unlock()
+
 	// Write
 	if _, err := p.port.Write([]byte(msg)); err != nil {
 		return "", fmt.Errorf("serial port write: %w", err)
 	}
-	time.Sleep(time.Millisecond)
+	// time.Sleep(time.Millisecond)
 	// Read
 	readLen, err := p.port.Read(p.inputBuf)
 	// p.logger.Println(msg, "\x1b[38;2;150;150;150mRAWREAD:", string(p.inputBuf[:readLen]), "\x1b[38;2;255;255;255m")
@@ -121,5 +140,8 @@ func (p *atPort) Send(cmd string) (Resp, error) {
 }
 
 func (p *atPort) Close() error {
+	p.mutex.Lock()
+	defer p.mutex.Unlock()
+
 	return p.port.Close()
 }

api/modem/at/response.go

@@ -12,6 +12,10 @@ func (resp Resp) RmFront(str string) Resp {
 	return Resp(string(resp)[len(str):])
 }
 
+func (resp Resp) CheckFront(str string) bool {
+	return len(resp) >= len(str) && resp[:len(str)].String() == str
+}
+
 func (resp Resp) String() string {
 	return string(resp)
 }

api/modem/gps.go

@@ -1,137 +0,0 @@
-package modem
-
-import (
-	"fmt"
-	"math"
-	"strconv"
-	"strings"
-	"time"
-
-	"github.com/CGSG-2021-AE4/modem-test/api/modem/at"
-)
-
-type GpsData struct {
-	Latitude           float64 `json:"Latitude"`
-	Longitude          float64 `json:"Longitude"`
-	LatitudeIndicator  string  `json:"Latitude_indicator"`  // North/South
-	LongitudeIndicator string  `json:"Longitude_indicator"` // West/East
-	Speed              float64 `json:"Speed"`
-	Course             float64 `json:"-"`
-	Altitude           float64 `json:"-"`
-	Date               string  `json:"-"`
-	Time               string  `json:"-"`
-}
-
-var GpsInfoNil = GpsData{}
-
-func deg2rad(deg float64) float64 {
-	return deg * (math.Pi / 180)
-}
-
-func (gps *GpsData) calculateSpeed(newLatitude, newLongitude float64, lastUpdateTime time.Time) {
-	earthRad := 6371.0 // TODO ?
-	dLat := deg2rad(math.Abs(newLatitude - gps.Latitude))
-	dLon := deg2rad(math.Abs(newLongitude - gps.Longitude))
-	a := math.Sin(dLat/2)*math.Sin(dLat/2) +
-		math.Cos(deg2rad(newLatitude))*math.Cos(deg2rad(gps.Latitude))*math.Sin(dLon/2)*math.Sin(dLon/2)
-	c := 2 * math.Atan2(math.Sqrt(a), math.Sqrt(1-a))
-
-	gps.Speed = earthRad * c / (math.Abs(float64(time.Since(lastUpdateTime))))
-}
-
-// Parse string from AT command that contains gps data
-func (gps *GpsData) decode(str string) error {
-	var err error
-	newGpsInfo := GpsData{}
-	strs := strings.Split(strings.Split(strings.Replace(str, " ", "", -1), "\n")[0], ",")
-
-	newGpsInfo.Latitude, err = strconv.ParseFloat(strs[0], 64)
-	if err != nil {
-		return fmt.Errorf("parse latitude: %w", err)
-	}
-	newGpsInfo.Longitude, err = strconv.ParseFloat(strs[2], 64)
-	if err != nil {
-		return fmt.Errorf("parse longitude: %w", err)
-	}
-	newGpsInfo.Latitude /= 100
-	newGpsInfo.Longitude /= 100
-	newGpsInfo.LatitudeIndicator = strs[1]
-	newGpsInfo.LongitudeIndicator = strs[3]
-	newGpsInfo.Date = strs[4]
-	newGpsInfo.Time = strs[5]
-	newGpsInfo.Altitude, err = strconv.ParseFloat(strs[6], 64)
-	if err != nil {
-		return fmt.Errorf("parse altitude: %w", err)
-	}
-	newGpsInfo.Speed, err = strconv.ParseFloat(strs[7], 64)
-	if err != nil {
-		return fmt.Errorf("parse speed: %w", err)
-	}
-	// Course sometimes may be null
-	if len(strs[8]) > 0 {
-		newGpsInfo.Course, err = strconv.ParseFloat(strs[8], 64)
-		if err != nil {
-			return fmt.Errorf("parse course: %w", err)
-		}
-	}
-	*gps = newGpsInfo
-	return nil
-}
-
-func (gps *GpsData) Update(port at.Port) error {
-	if err := switchGpsMode(port, true); err != nil {
-		return fmt.Errorf("try to GPS mode: %w", err)
-	}
-	defer switchGpsMode(port, false)
-
-	resp, err := port.Send("AT+CGPSINFO")
-	if err != nil {
-		return fmt.Errorf("receive GPS data: %w", err)
-	}
-	if !resp.Check() {
-		return fmt.Errorf("error response")
-	}
-	if err := gps.decode(strings.Split(strings.Replace(resp.RmFront("+CGPSINFO:").String(), "\r", "", -1), "\n")[0]); err != nil {
-		return fmt.Errorf("decode: %w", err)
-	}
-	return nil
-}
-
-func switchGpsMode(port at.Port, on bool) error {
-	onStr := "0"
-	if on {
-		onStr = "1"
-	}
-
-	// Reset input
-	if err := port.GetSerialPort().ResetInputBuffer(); err != nil {
-		return fmt.Errorf("reset input buffer: %w", err)
-	}
-	// Reset output
-	if err := port.GetSerialPort().ResetOutputBuffer(); err != nil {
-		return fmt.Errorf("reset output buffer: %w", err)
-	}
-
-	// Check gps mode status
-	resp, err := port.Send("AT+CGPS?")
-	if err != nil {
-		return fmt.Errorf("make at ask: %w", err)
-	}
-	if !resp.Check() {
-		return fmt.Errorf("error response")
-	}
-	ans := strings.Replace(strings.Split(strings.Split(resp.RmFront("+CGPS:").String(), "\n")[0], ",")[0], " ", "", -1)
-	if ans == onStr {
-		return nil
-	}
-
-	// Modem is not in GPS mode
-	resp, err = port.Send("AT+CGPS=" + onStr)
-	if err != nil {
-		return fmt.Errorf("try to switch to gps: %w", err)
-	}
-	if !resp.Check() {
-		return fmt.Errorf("switch tp GPS failed")
-	}
-	return nil
-}

api/modem/gps/data.go

@@ -0,0 +1,85 @@
+package gps
+
+import (
+	"fmt"
+	"io"
+	"log"
+	"math"
+	"strconv"
+	"strings"
+	"time"
+)
+
+type Data struct {
+	Latitude           float64 `json:"Latitude"`
+	Longitude          float64 `json:"Longitude"`
+	LatitudeIndicator  string  `json:"Latitude_indicator"`  // North/South
+	LongitudeIndicator string  `json:"Longitude_indicator"` // West/East
+	Speed              float64 `json:"Speed"`
+	Course             float64 `json:"-"`
+	Altitude           float64 `json:"-"`
+	Date               string  `json:"-"`
+	Time               string  `json:"-"`
+}
+
+var GpsInfoNil = Data{}
+
+func deg2rad(deg float64) float64 {
+	return deg * (math.Pi / 180)
+}
+
+func (gps *Data) CalculateSpeed(newLatitude, newLongitude float64, lastUpdateTime time.Time) {
+	earthRad := 6371.0 // TODO ?
+	dLat := deg2rad(math.Abs(newLatitude - gps.Latitude))
+	dLon := deg2rad(math.Abs(newLongitude - gps.Longitude))
+	a := math.Sin(dLat/2)*math.Sin(dLat/2) +
+		math.Cos(deg2rad(newLatitude))*math.Cos(deg2rad(gps.Latitude))*math.Sin(dLon/2)*math.Sin(dLon/2)
+	c := 2 * math.Atan2(math.Sqrt(a), math.Sqrt(1-a))
+
+	gps.Speed = earthRad * c / (math.Abs(float64(time.Since(lastUpdateTime))))
+}
+
+// To remove warning
+
+// Parse string from AT command that contains gps data
+func (gps *Data) decode(str string) error {
+	var err error
+	newGpsInfo := Data{}
+	strs := strings.Split(strings.Split(strings.Replace(str, " ", "", -1), "\n")[0], ",")
+	logger := log.New(io.Discard, "modem-gps", log.LstdFlags)
+
+	if len(strs) < 7 {
+		return fmt.Errorf("ERROR: too small msg: %s", strs)
+	}
+	newGpsInfo.Latitude, err = strconv.ParseFloat(strs[0], 64)
+	if err != nil {
+		logger.Println("ERROR parse latitude:", err.Error())
+	}
+	newGpsInfo.Longitude, err = strconv.ParseFloat(strs[2], 64)
+	if err != nil {
+		logger.Println("ERROR parse longitude:", err.Error())
+	}
+	newGpsInfo.Latitude /= 100
+	newGpsInfo.Longitude /= 100
+	newGpsInfo.LatitudeIndicator = strs[1]
+	newGpsInfo.LongitudeIndicator = strs[3]
+	newGpsInfo.Date = strs[4]
+	newGpsInfo.Time = strs[5]
+	newGpsInfo.Altitude, err = strconv.ParseFloat(strs[6], 64)
+	if err != nil {
+		logger.Println("ERROR parse altitude:", err.Error())
+	}
+	newGpsInfo.Speed, err = strconv.ParseFloat(strs[7], 64)
+	if err != nil {
+		logger.Println("ERROR parse speed:", err.Error())
+	}
+	// Course sometimes may be null
+	if len(strs[8]) > 0 {
+		newGpsInfo.Course, err = strconv.ParseFloat(strs[8], 64)
+		if err != nil {
+			logger.Println("ERROR parse course:", err.Error())
+		}
+	}
+	*gps = newGpsInfo
+	return nil
+}

api/modem/gps/gps.go

@@ -0,0 +1,107 @@
+package gps
+
+import (
+	"fmt"
+	"io"
+	"log"
+	"strings"
+
+	"gitea.unprism.ru/KRBL/sim-modem/api/modem/at"
+)
+
+type gps struct {
+	logger *log.Logger
+	port   at.Port
+	data   Data
+}
+
+type Gps interface {
+	Init() error
+	Update() error
+
+	GetData() Data
+	GetStatus() (Status, error)
+
+	io.Closer
+}
+
+func New(logger *log.Logger, port at.Port) Gps {
+	return &gps{
+		logger: logger,
+		port:   port,
+	}
+}
+
+func (g *gps) Init() error {
+	if !g.port.IsConnected() {
+		return fmt.Errorf("at port is not connected")
+	}
+	return nil
+}
+
+func (g *gps) Update() error {
+	if err := g.switchGpsMode(true); err != nil {
+		return fmt.Errorf("try to GPS mode: %w", err)
+	}
+	defer g.switchGpsMode(false)
+
+	resp, err := g.port.Send("AT+CGPSINFO")
+	if err != nil {
+		return fmt.Errorf("receive GPS data: %w", err)
+	}
+	if !resp.Check() || !resp.CheckFront("+CGPSINFO:") {
+		return fmt.Errorf("get GPS info: error response: %s", resp)
+	}
+
+	if err := g.data.decode(strings.Split(strings.Replace(resp.RmFront("+CGPSINFO:").String(), "\r", "", -1), "\n")[0]); err != nil {
+		g.logger.Printf("error decode: %s\n", err.Error())
+	}
+	return nil
+}
+
+func (g *gps) GetData() Data {
+	return g.data
+}
+
+func (g *gps) Close() error {
+	return nil
+}
+
+func (g *gps) switchGpsMode(on bool) error {
+	onStr := "0"
+	if on {
+		onStr = "1"
+	}
+
+	// Reset input
+	if err := g.port.SerialPort().ResetInputBuffer(); err != nil {
+		return fmt.Errorf("reset input buffer: %w", err)
+	}
+	// Reset output
+	if err := g.port.SerialPort().ResetOutputBuffer(); err != nil {
+		return fmt.Errorf("reset output buffer: %w", err)
+	}
+
+	// Check gps mode status
+	resp, err := g.port.Send("AT+CGPS?")
+	if err != nil {
+		return fmt.Errorf("make at ask: %w", err)
+	}
+	if !resp.Check() || !resp.CheckFront("+CGPS:") {
+		return fmt.Errorf("get GPS mode: error response: %s", resp)
+	}
+	ans := strings.Replace(strings.Split(strings.Split(resp.RmFront("+CGPS:").String(), "\n")[0], ",")[0], " ", "", -1)
+	if ans == onStr {
+		return nil
+	}
+
+	// Modem is not in GPS mode
+	resp, err = g.port.Send("AT+CGPS=" + onStr)
+	if err != nil {
+		return fmt.Errorf("set GPS mode: %w", err)
+	}
+	if !resp.Check() {
+		return fmt.Errorf("set GPS mode: error response: %s", resp)
+	}
+	return nil
+}

api/modem/gps/nmea.go

@@ -0,0 +1,149 @@
+package gps
+
+import (
+	"fmt"
+	"log"
+	"strings"
+	"time"
+)
+
+type nmeaFlags int
+
+const (
+	gga     nmeaFlags = 1 << iota // global positioning systemfix data
+	rmc                           // recommended minimumspecific	GPS/TRANSIT data
+	gpgsv                         // GPS satellites in view
+	gpgsa                         // GPS DOP and active satellites
+	vtg                           // track made good and ground speed
+	xfi                           // Global Positioning SystemExtended FixData.)Bit 6 – GLGSV (GLONASS satellites in view GLONASSfixesonly
+	glgsa                         // 1. GPS/2. Glonass/3. GALILE DOPandActiveSatellites.
+	gns                           // fix data for GNSS receivers; output for GPS, GLONASS, GALILEO
+	_                             // Reserved
+	gagsv                         // GALILEO satellites in view
+	_                             // Reserved
+	_                             // Reserved
+	_                             // Reserved
+	_                             // Reserved
+	_                             // Reserved
+	bdpqgsa                       // BEIDOU/QZSS DOP and activesatellites
+	bdpqgsv                       // BEIDOUQZSS satellites in view
+
+	nmeaFlagsMask = (1 << 18) - 1
+
+	collectTimeout = 1 * time.Second
+)
+
+func secondCountDownTimer(title string, logger *log.Logger, t time.Duration) {
+	counter := 0
+	for {
+		if counter > int(t.Seconds()) {
+			break
+		}
+		logger.Printf("%s: %d/%f\n", title, counter, t.Seconds())
+		time.Sleep(time.Second)
+		counter += 1
+	}
+}
+
+// Go... otherwise will throw warning
+var nmeaFlagsAll = gga | rmc | gpgsv | gpgsa | vtg | xfi | glgsa | gns | gagsv | bdpqgsa | bdpqgsv
+
+func (g *gps) rawCollect(flags nmeaFlags) (string, error) {
+	// Need to omplement low level write/read here because collect must be atomic operation
+	// If other command is executed(write/read) it will read a part of nmea report and cause an error
+
+	// Setup gps
+
+	// Set output rate to 10Hz
+	if resp, err := g.port.Send("AT+CGPSNMEARATE=1"); err != nil {
+		return "", fmt.Errorf("AT+CGPSNMEARATE= request: %w", err)
+	} else {
+		if !resp.Check() {
+			return "", fmt.Errorf("set output rate: error response: %s", resp)
+		}
+	}
+
+	g.switchGpsMode(true)
+	g.port.Mutex().Lock()
+	s := g.port.SerialPort()
+	defer func() {
+		g.port.Mutex().Unlock()
+		g.switchGpsMode(false)
+	}()
+
+	// Send AT+CGPSINFOCFG=255, flags
+	flags &= nmeaFlagsMask
+	if _, err := s.Write([]byte("AT+CGPSINFOCFG=1,31\r\n")); err != nil {
+		return "", fmt.Errorf("serial port write 1: %w", err)
+	}
+	// Do I need to read answer
+
+	// Wait
+	secondCountDownTimer("Collecting NMEA data", g.logger, collectTimeout)
+
+	// Send AT+CGPSINFOCFG=0, flags
+	if _, err := s.Write([]byte("AT+CGPSINFOCFG=0,31\r\n")); err != nil {
+		return "", fmt.Errorf("serial port write 2: %w", err)
+	}
+	if _, err := s.Write([]byte("AT+CGPSFTM=0\r\n")); err != nil { // For sure because sometimes it cannot stop...
+		return "", fmt.Errorf("serial port write 2: %w", err)
+	}
+
+	time.Sleep(100 * time.Millisecond) // To enshure
+
+	// Read
+	outBuf := make([]byte, 0)
+	buf := make([]byte, 128)
+
+readLoop:
+	for {
+		n, err := s.Read(buf)
+		if err != nil {
+			return string(outBuf), fmt.Errorf("serial port read: %w", err)
+		}
+		if n == 0 {
+			break readLoop
+		}
+		outBuf = append(outBuf, buf[:n]...)
+	}
+
+	return string(outBuf), nil
+}
+
+func (g *gps) collectNmeaReports(flags nmeaFlags) ([]string, error) {
+	// Raw collect
+	resp, err := g.rawCollect(flags)
+	if err != nil {
+		return nil, fmt.Errorf("raw collect: %w", err)
+	}
+
+	// DEBUG
+	// g.logger.Println("NMEA raw collect:", resp)
+
+	// Right responce struct:
+	// \r\n
+	// OK
+	// \r\n
+	// (NMEA sentence)...
+	// \r\n
+	// OK
+	// \r\n
+	strs := strings.Split(strings.Replace(resp, "\r", "", -1), "\n")
+
+	// Check
+	// Now wait for:
+	// OK
+	// (NMEA sentence)...
+	// OK
+	// if len(strs) < 2 {
+	// 	return nil, fmt.Errorf("responce too few rows: %d", len(strs))
+	// }
+	// if !(strs[0] == "OK" && strs[len(strs)-1] == "OK") {
+	// 	return nil, fmt.Errorf("not OK responce: [%  s]", strs)
+	// }
+
+	// This... response is not stable
+	// Every time it gives one or two OK and in ramdom order
+	// So I will not check gor it
+	return strs, nil
+}

api/modem/gps/status.go

@@ -0,0 +1,151 @@
+package gps
+
+import (
+	"fmt"
+	"strconv"
+	"strings"
+)
+
+type Status struct {
+	GotResponses         bool    `json:"gotResponses"`
+	IsValidData          bool    `json:"isValidData"`
+	FoundSatelitesCount  int     `json:"foundSatelitesCount"`
+	ActiveSatelitesCount int     `json:"activeSatelitesCount"`
+	Rms                  float32 `json:"rms"` // Root mean square
+}
+
+var StatusNil = Status{
+	GotResponses:         false,
+	IsValidData:          false,
+	FoundSatelitesCount:  0,
+	ActiveSatelitesCount: 0,
+	Rms:                  0,
+}
+
+func (g *gps) GetStatus() (Status, error) {
+	// Provides more information about signal and possible problems using NMEA reports
+
+	// Collect reports
+	reports, err := g.collectNmeaReports(nmeaFlagsAll) // Now minimum
+	if err != nil {
+		return StatusNil, fmt.Errorf("collect nmea reports: %w", err)
+	}
+
+	// Annalise
+	st := Status{}
+
+checkLoop:
+	for _, s := range reports {
+		// Check for NMEA format
+		if len(s) < 1 || s[0] != '$' {
+			continue checkLoop
+		}
+		st.GotResponses = true
+
+		g.logger.Println("NMEA check:", s)
+		values := strings.Split(s, ",")
+		if len(values[0]) != 6 {
+			return StatusNil, fmt.Errorf("nmea invalid sentence: %s", s)
+		}
+		switch values[0][3:] { // Switch by content
+		case "GSV": // Any satelites
+			g.logger.Println("check GSV")
+			// Check len
+			if len(values) < 17 {
+				g.logger.Println("GSV too small values")
+				continue checkLoop
+			}
+
+			// Decode
+			// 0 - msg type
+			// 1 - number of msgs
+			// 2 - index of this msg
+			// 3 - number of visible satelites
+			// 4: - other data
+
+			// Msg index
+			index, err := strconv.Atoi(values[3])
+			if err != nil {
+				g.logger.Println("GSV too small values")
+				continue checkLoop
+			}
+			_ = index
+			// if index != 0 {
+			// 	g.logger.Println("discard not first GSV msg")
+			// 	continue checkLoop
+			// }
+
+			// Count
+			satCount, err := strconv.Atoi(values[4])
+			if err != nil {
+				g.logger.Println("GSV too small values")
+				continue checkLoop
+			}
+			st.FoundSatelitesCount = satCount
+		case "GSA": // Active satelites
+			g.logger.Println("check GSA")
+
+			// Check len
+			if len(values) < 17 {
+				g.logger.Println("GSV too small values")
+				continue checkLoop
+			}
+
+			// Decode
+			// 0 - msg type
+			// 1 - mode of selecting format
+			// 2 - mode of selected format
+			// 3:15 - IDs of active satelites
+			// 15: - other data
+
+			// Counting active satelites
+			count := 0
+			for _, v := range values[3:15] {
+				if _, err := strconv.Atoi(v); err == nil {
+					count += 1
+				}
+			}
+			st.ActiveSatelitesCount = max(st.ActiveSatelitesCount, count)
+		case "RMC": // Minimum GPS data
+			g.logger.Println("check RMC")
+			// Check len
+			if len(values) < 12 {
+				g.logger.Println("RMC too small values")
+				continue checkLoop
+			}
+
+			// Decode
+			// 0 - msg type
+			// 1 - time
+			// 2 - is data valid or not
+			// 3: - other data
+
+			// Is valid value
+			if values[2] == "A" {
+				st.IsValidData = true
+			}
+		case "GST":
+			g.logger.Println("check GST")
+			// Check len
+			if len(values) < 8 {
+				g.logger.Println("GST too small values")
+				continue checkLoop
+			}
+
+			// Decode
+			// 0 - msg type
+			// 1 - time
+			// 2 - Root Mean Square
+			// 3: - other data
+
+			rms, err := strconv.ParseFloat(values[2], 32)
+			if err != nil {
+				g.logger.Println("RMS decode:", err.Error())
+				continue checkLoop
+			}
+			st.Rms = float32(rms)
+		}
+	}
+
+	return st, nil
+}

api/modem/internet/ic.go

@@ -8,7 +8,7 @@ import (
 	"os/exec"
 	"strings"
 
-	"github.com/CGSG-2021-AE4/modem-test/api/modem/at"
+	"gitea.unprism.ru/KRBL/sim-modem/api/modem/at"
 )
 
 var apns = map[string]string{
@@ -103,7 +103,7 @@ func (c *conn) checkReqs() error {
 		return fmt.Errorf("AT+CPIN? request: %w", err)
 	}
 	if !resp.Check() {
-		return fmt.Errorf("SIM card is not inserted")
+		return fmt.Errorf("validate SIM: error response: %s", resp)
 	}
 	return nil
 }
@@ -115,7 +115,7 @@ func (c *conn) ConfigurePPP() error {
 		return fmt.Errorf("AT+CSPN? request: %w", err)
 	}
 	if !resp.Check() {
-		return fmt.Errorf("failed to check SIM provider")
+		return fmt.Errorf("get provider: error response: %s", resp)
 	}
 	strs := strings.Split(string(resp), "\"")
 	if len(strs) < 3 {
@@ -132,7 +132,7 @@ func (c *conn) ConfigurePPP() error {
 	config := fmt.Sprintf(pppConfig, apn, c.port.GetName(), c.port.GetBaudrate())
 
 	// Write to file
-	f, err := os.OpenFile("/etc/ppp/peers/"+pppConfigName, os.O_CREATE | os.O_WRONLY, 0666)
+	f, err := os.OpenFile("/etc/ppp/peers/"+pppConfigName, os.O_CREATE|os.O_WRONLY, 0666)
 	if err != nil {
 		return fmt.Errorf("open ppp config file %w", err)
 	}
@@ -230,8 +230,7 @@ func (c *conn) Ping() bool {
 	}
 	c.logger.Println("Ping 2 resp:", string(resp))
 
-
-	return !strings.Contains(string(resp), "Destination Host Unreachable") // tmp solution
+	return !(strings.Contains(string(resp), "Destination Host Unreachable") || strings.Contains(string(resp), "Destination Net Unreachable")) // tmp solution
 }
 
 func (c *conn) Close() error {

api/modem/modem.go

@@ -7,54 +7,60 @@ import (
 	"os"
 	"os/exec"
 	"strings"
+	"sync"
 	"time"
 
-	"github.com/CGSG-2021-AE4/modem-test/api/modem/at"
-	"github.com/CGSG-2021-AE4/modem-test/api/modem/gpio"
-	"github.com/CGSG-2021-AE4/modem-test/api/modem/internet"
-	"github.com/CGSG-2021-AE4/modem-test/api/modem/sms"
+	"gitea.unprism.ru/KRBL/sim-modem/api/modem/at"
+	"gitea.unprism.ru/KRBL/sim-modem/api/modem/gpio"
+	"gitea.unprism.ru/KRBL/sim-modem/api/modem/gps"
+	"gitea.unprism.ru/KRBL/sim-modem/api/modem/internet"
+	"gitea.unprism.ru/KRBL/sim-modem/api/modem/sms"
 )
 
 type ModemData struct {
 	Port string `json:"Port"`
-	GpsData
+	gps.Data
 }
 
 type modem struct {
 	// Internal values
 	logger *log.Logger
+	mutex  sync.Mutex
 
 	// Serial values
 	baudrate   int
-
 	deviceName string
 	port       at.Port
 
 	// Gpio values
-	onOffPin gpio.Pin
+	onOffPin gpio.Pin // For turning on and off
 
 	// Other values
 	lastUpdateTime time.Time
 
 	// GPS
-	gpsInfo GpsData
+	gps gps.Gps
 
 	// Internet connection
 	ic internet.Conn
 
 	// Sms and calls
-	sms sms.Dialer
+	sms sms.Sms
 }
 
 type Modem interface {
 	Init() error
-	Validate() bool
+	IsConnected() bool
 	Update() error
-	GetInfo() ModemData
+	GetData() ModemData
 
-	// Temp access to SMS and AT interface
-	Sms() sms.Dialer
-	At() at.Port
+	PowerOn() error
+	PowerOff() error
+
+	// Access to SMS, GPS, AT interfaces mostly for debug
+	At() at.Port  // Send
+	Gps() gps.Gps // Update, GetData, GetStatus
+	Sms() sms.Sms // Send, ReadNew
 
 	io.Closer
 }
@@ -64,17 +70,20 @@ func New(logger *log.Logger) Modem {
 		logger:   logger,
 		baudrate: 115200,
 		onOffPin: gpio.New(log.New(logger.Writer(), "gpio", log.LstdFlags), 6),
+
 		lastUpdateTime: time.Now(),
 	}
 }
 
 func (m *modem) Init() error {
+	m.mutex.Lock()
+	defer m.mutex.Unlock()
+
 	// Turn module on
 	m.logger.Println("=============================== Turn on module")
 	if err := m.onOffPin.Init(); err != nil {
 		return fmt.Errorf("gpio pin init: %w", err)
 	}
-	// m.onOffPin.PowerOn()
 
 	// Search
 	m.logger.Println("=============================== Search")
@@ -98,105 +107,114 @@ func (m *modem) Init() error {
 		return fmt.Errorf("connect: %w", err)
 	}
 
-	// Tests
-	m.logger.Println("=============================== Test")
-	if err := m.testGPS(); err != nil {
-		return fmt.Errorf("testGPS: %w", err)
+	// Init submodules
+	submodulesLogger := m.logger.Writer() // FOR more logs
+	// submodulesLogger := io.Discard // FOR less logs
+
+	m.logger.Println("=============================== Init submodules")
+	m.ic = internet.New(log.New(submodulesLogger, "modem-internet : ", log.LstdFlags), m.port)
+	if err := m.ic.Init(); err != nil {
+		m.logger.Printf("\x1b[38;2;255;0;0mInternet: %s\x1b[38;2;255;255;255m\n", err.Error())
+	} else {
+		m.logger.Println("\x1b[38;2;0;255;0mInternet OK\x1b[38;2;255;255;255m")
 	}
 
-	// // Establish internet connection
-	// m.logger.Println("=============================== Internet")
-	// m.ic = internet.New(log.New(m.logger.Writer(), "internet", log.LstdFlags), m.port)
-	// if err := m.ic.Init(); err != nil {
-	// 	return fmt.Errorf("internet connection init: %w", err)
+	m.sms = sms.New(log.New(submodulesLogger, "modem-sms : ", log.LstdFlags), m.port)
+	if err := m.sms.Init(); err != nil {
+		m.logger.Printf("\x1b[38;2;255;0;0mSMS: %s\x1b[38;2;255;255;255m\n", err.Error())
+	} else {
+		m.logger.Println("\x1b[38;2;0;255;0mSMS OK\x1b[38;2;255;255;255m")
+	}
+
+	m.gps = gps.New(log.New(submodulesLogger, "modem-gps : ", log.LstdFlags), m.port)
+	if err := m.gps.Init(); err != nil {
+		m.logger.Printf("\x1b[38;2;255;0;0mgps init %w\x1b[38;2;255;255;255m\n", err)
+	} else {
+		m.logger.Println("\x1b[38;2;0;255;0mGPS OK\x1b[38;2;255;255;255m")
+	}
+
+	// Tests
+	// GPS works fine but almost always there is no signal
+	// m.logger.Println("=============================== Test")
+	// if err := m.testGPS(); err != nil {
+	// 	return fmt.Errorf("testGPS: %w", err)
 	// }
 
-	// Init sms dialer
-	m.sms = sms.New(log.New(m.logger.Writer(), "sms", log.LstdFlags), m.port)
-	if err := m.sms.Init(); err != nil {
-		return fmt.Errorf("sms dialer init %w", err)
-	}
 	return nil
 }
 
-func (m *modem) Validate() bool {
-	return m.isConnected()
-}
-
 func (m *modem) Update() error {
-	if !m.isConnected() {
+	m.mutex.Lock()
+	defer m.mutex.Unlock()
+
+	if !m.IsConnected() {
 		m.logger.Println("No connection to module")
 		return nil
 	}
-	m.logger.Println("Update")
-	// ans, err := m.port.Request(at.CmdQuestion, "CGPSINFO")
-	// if err != nil {
-	// 	return fmt.Errorf("check GPS info mode: %w", err)
-	// }
-	// ok := ans == "1"
-	// if !ok {
-	// 	_, err := m.port.Request(at.CmdCheck, "CGPSINFO")
-	// 	if err != nil {
-	// 		return fmt.Errorf("switch to GPS info mode: %w", err)
-	// 	}
-	// 	m.logger.Println("switched to GPS mode")
-	// } else {
-	// 	m.logger.Println("mode in right GPS mode")
-	// }
+	m.logger.Println("Update", m.gps)
+	if err := m.gps.Update(); err != nil {
+		m.logger.Println("gps update:", err.Error())
+	}
+	// Read new messages
 
-	// Update
-	m.logger.Println("Receiving GPS data...")
-	resp, err := m.port.Send("AT+CGPSINFO")
-	if err != nil {
-		return fmt.Errorf("receive GPS data: %w", err)
-	}
-	if !resp.Check() {
-		return fmt.Errorf("error response")
-	}
-	m.logger.Println("Decoding data...")
-
-	if err := m.gpsInfo.decode(strings.Split(strings.Replace(resp.RmFront("+CGPSINFO:").String(), "\r", "", -1), "\n")[0]); err != nil {
-		m.logger.Println("Gps info decode error:", err.Error())
-		return nil
-	}
-	m.logger.Println("Decoded successfully")
 	return nil
 }
 
-func (m *modem) GetInfo() ModemData {
+func (m *modem) GetData() ModemData {
+	m.mutex.Lock()
+	defer m.mutex.Unlock()
+
 	return ModemData{
 		Port: m.port.GetName(),
-		GpsData: m.gpsInfo,
+		Data: m.gps.GetData(),
 	}
 }
 
-func (m *modem) Sms() sms.Dialer {
+func (m *modem) PowerOn() error {
+	m.onOffPin.PowerOn() // DEBUG do not want to wait 30 seconds
+	return nil
+}
+
+func (m *modem) PowerOff() error {
+	_, err := m.At().Send("AT+CPOF")
+	return err
+}
+
+func (m *modem) Sms() sms.Sms {
 	return m.sms
 }
 
+func (m *modem) Gps() gps.Gps {
+	return m.gps
+}
+
 func (m *modem) At() at.Port {
 	return m.port
 }
 
-func (m *modem) Close() error {
+func (m *modem) Close() error { // I can't return error so I log it
+	m.mutex.Lock()
+	defer m.mutex.Unlock()
+
 	if err := m.sms.Close(); err != nil {
-		return fmt.Errorf("sms: %w", err)
+		m.logger.Printf("\x1b[38;2;255;0;0mclose sms error: %s\x1b[38;2;255;255;255m\n", err.Error())
 	}
 
-	// Not right way I think
 	if err := m.port.Close(); err != nil {
-		return fmt.Errorf("serial port: %w", err)
+		m.logger.Printf("\x1b[38;2;255;0;0mclose serial port error: %s\x1b[38;2;255;255;255m\n", err.Error())
 	}
 	if err := m.onOffPin.Close(); err != nil {
-		return fmt.Errorf("gpio pin: %w", err)
+		m.logger.Printf("\x1b[38;2;255;0;0mclose gpio pin error: %s\x1b[38;2;255;255;255m\n", err.Error())
 	}
 	if err := m.ic.Close(); err != nil {
-		return fmt.Errorf("internet connection: %w", err)
+		m.logger.Printf("\x1b[38;2;255;0;0mclose internet connection error: %s\x1b[38;2;255;255;255m\n", err.Error())
 	}
 
 	return nil
 }
 
+///////////// Private functions
+
 func (m *modem) connect() error {
 	if m.port == nil {
 		return fmt.Errorf("port is not defined")
@@ -211,7 +229,7 @@ func (m *modem) disconnect() error {
 	return m.port.Disconnect()
 }
 
-func (m *modem) isConnected() bool {
+func (m *modem) IsConnected() bool {
 	if m.port != nil {
 		return m.port.IsConnected()
 	}
@@ -231,7 +249,8 @@ func (m *modem) testGPS() error {
 
 // Difference: I do not set \n at the end of string
 func (m *modem) getShortInfo() string {
-	return fmt.Sprintf("%f,%s,%f,%s", m.gpsInfo.Latitude, m.gpsInfo.LatitudeIndicator, m.gpsInfo.Longitude, m.gpsInfo.LongitudeIndicator)
+	d := m.gps.GetData()
+	return fmt.Sprintf("%f,%s,%f,%s", d.Latitude, d.LatitudeIndicator, d.Longitude, d.LongitudeIndicator)
 }
 
 func (m *modem) saveGPS(path string) error {
@@ -247,20 +266,33 @@ func (m *modem) saveGPS(path string) error {
 	return nil
 }
 
-func (m *modem) testConsole() {
-	for {
-		var inStr string
-		fmt.Scanln(&inStr)
-		if inStr == "exit" {
-			return
+// Short way to send command
+func (m *modem) printCmd(cmd string) {
+	if resp, err := m.port.Send(cmd); err != nil {
+		m.logger.Println("FAILED TO SEND REQ", cmd, ":", err.Error())
+	} else {
+		_ = resp
+		// m.logger.Println("CMD", cmd, ":", resp)
 	}
-		resp, err := m.port.Send(inStr)
-		if err != nil {
-			m.logger.Println("ERROR:", err.Error())
+}
+
+// Some required commands before checking port
+func (m *modem) setupPort() error {
+	// Reset input
+	if err := m.port.SerialPort().ResetInputBuffer(); err != nil {
+		return fmt.Errorf("reset input buffer: %w", err)
 	}
-		m.logger.Println(resp)
-		m.logger.Println("------------------")
+	// Reset output
+	if err := m.port.SerialPort().ResetOutputBuffer(); err != nil {
+		return fmt.Errorf("reset output buffer: %w", err)
 	}
+
+	// These commands ensure that correct modes are set
+	m.printCmd("ATE0")         // Sometimes enables echo mode
+	m.printCmd("AT+CGPSFTM=0") // Sometimes does not turn off nmea
+	m.printCmd("AT+CMEE=2")    // Turn on errors describtion
+
+	return nil
 }
 
 func (m *modem) checkPort(portName string) (outErr error) {
@@ -283,16 +315,14 @@ func (m *modem) checkPort(portName string) (outErr error) {
 	}
 	defer m.port.Disconnect() // Do not bother about errors...
 
-	// Reset input
-	if err := m.port.GetSerialPort().ResetInputBuffer(); err != nil {
-		return fmt.Errorf("reset input buffer: %w", err)
+	// To filter dead ports
+	if _, err := m.port.Send("AT"); err != nil {
+		return fmt.Errorf("ping error: %w", err)
 	}
-	// Reset output
-	if err := m.port.GetSerialPort().ResetOutputBuffer(); err != nil {
-		return fmt.Errorf("reset output buffer: %w", err)
+
+	if err := m.setupPort(); err != nil {
+		return fmt.Errorf("setup port: %w", err)
 	}
-	m.port.Send("ATE0") // This shit sometimes enables echo mode... why... when... but it can
-	// m.port.Send("\r\n")
 
 	// Ping
 	m.logger.Println("Ping...")
@@ -308,7 +338,7 @@ func (m *modem) checkPort(portName string) (outErr error) {
 		return fmt.Errorf("get model: %w", err)
 	}
 	if !resp.Check() {
-		return fmt.Errorf("error response: %s", resp)
+		return fmt.Errorf("get model: error response: %s", resp)
 	}
 	model := strings.Split(resp.String(), "\n")[0]
 	if err != nil {
@@ -354,10 +384,10 @@ SearchLoop:
 func (m *modem) ping() error {
 	resp, err := m.port.Send("AT")
 	if err != nil {
-		return err
+		return fmt.Errorf("AT request: %w", err)
 	}
 	if !resp.Check() {
-		return fmt.Errorf("connection lost")
+		return fmt.Errorf("AT request: error response: %s", resp)
 	}
 	return nil
 }

api/modem/sms/sms.go

@@ -6,7 +6,7 @@ import (
 	"log"
 	"strings"
 
-	"github.com/CGSG-2021-AE4/modem-test/api/modem/at"
+	"gitea.unprism.ru/KRBL/sim-modem/api/modem/at"
 )
 
 type dialer struct {
@@ -14,14 +14,15 @@ type dialer struct {
 	port   at.Port
 }
 
-type Dialer interface {
+type Sms interface {
 	Init() error
-	Send(number, msg string) error
-	ReadNew() ([]string, error)
+	Send(number, msg string) error // Send sms
+	ReadNew() ([]string, error)    // Read new smses
+
 	io.Closer
 }
 
-func New(logger *log.Logger, port at.Port) Dialer {
+func New(logger *log.Logger, port at.Port) Sms {
 	return &dialer{
 		logger: logger,
 		port:   port,
@@ -33,25 +34,38 @@ func (d *dialer) Init() error {
 	if !d.port.IsConnected() {
 		return fmt.Errorf("serial port is not connected")
 	}
+
+	// Check SIM an PIN
+	if resp, err := d.port.Send("AT+CPIN?"); err != nil || !resp.Check() {
+		if err != nil {
+			return fmt.Errorf("check pin: %w", err)
+		}
+		return fmt.Errorf("check pin: error response: %s", resp)
+	}
+
 	// Ensure text format
+	d.logger.Println(d.port.Send("AT+CMGF"))
 	if resp, err := d.port.Send("AT+CMGF=1"); err != nil || !resp.Check() {
 		if err != nil {
-			return fmt.Errorf("AT+CMGF=1 request: %w", err)
+			return fmt.Errorf("set to text format request: %w", err)
 		}
-		return fmt.Errorf("failed to set SMS format")
+		return fmt.Errorf("set SIM format: error response: %s", resp)
 	}
 	return nil
 }
 
 func (d *dialer) Send(number, msg string) error {
-	d.port.Send(fmt.Sprintf("AT+CMGS=\"%s\"", number))      // Because it will throw error
-	resp, err := d.port.RawSend(fmt.Sprintf("%s\x1A", msg)) // Add additional \r\n because there is not supposed to be
+	d.port.Send(fmt.Sprintf(`AT+CMGS="%s"`, number))        // Because it will throw error
+	resp, err := d.port.RawSend(fmt.Sprintf("%s\n\r", msg)) // Add additional \r\n because there is not supposed to be
 	if err != nil {
 		return fmt.Errorf("message request: %w", err)
 	}
-	if at.Resp(resp).Check() {
-		return nil
+	d.logger.Println("SEND RESPONSE:", resp)
+	resp, err = d.port.RawSend("\x1A")
+	if err != nil {
+		return fmt.Errorf("message request: %w", err)
 	}
+	d.logger.Println("SEND RESPONSE:", resp)
 	errCode, err := GetError([]byte(resp))
 	if err != nil {
 		return fmt.Errorf("send sms failed and failed to get error: %w", err)
@@ -61,7 +75,7 @@ func (d *dialer) Send(number, msg string) error {
 
 // Reads all new messages
 func (d *dialer) ReadNew() ([]string, error) {
-	resp, err := d.port.Send("AT+CMGL")
+	resp, err := d.port.Send("AT+CMGL=\"UNREAD\"")
 	if err != nil {
 		return nil, fmt.Errorf("AT+CMGL request: %w", err)
 	}

go.mod

@@ -1,4 +1,4 @@
-module github.com/CGSG-2021-AE4/modem-test
+module gitea.unprism.ru/KRBL/sim-modem
 
 go 1.22.5
 

main.go

@@ -4,7 +4,7 @@ import (
 	"log"
 	"os"
 
-	"github.com/CGSG-2021-AE4/modem-test/api/modem"
+	"gitea.unprism.ru/KRBL/sim-modem/api/modem"
 )
 
 func main() {
@@ -16,28 +16,51 @@ func main() {
 }
 
 func mainE() error {
-	m := modem.New(log.New(os.Stdout, "modem:", log.LstdFlags))
-	log.Println("||||||||||||||||| INIT |||||||||||||||")
+	logger := log.New(os.Stdout, "main : ", log.LstdFlags)
+	m := modem.New(log.New(logger.Writer(), "modem : ", log.LstdFlags))
+
+	logger.Println("||||||||||||||||| INIT |||||||||||||||")
+	if err := m.Init(); err != nil {
+		logger.Println("Init ended with error:", err.Error())
+		logger.Println("Try to turn on")
+		if err := m.PowerOn(); err != nil {
+			return err
+		}
+		logger.Println("Reinit")
 		if err := m.Init(); err != nil {
 			return err
 		}
-	if !m.Validate() {
-		log.Println("AAAAAAAAAAAAAAA Validation failed")
+	}
+	if !m.IsConnected() {
+		logger.Println("AAAAAAAAAAAAAAA Modem is not connected")
 		return nil
 	}
-	log.Println("||||||||||||||||| GET INFO |||||||||||||||||")
-	log.Println(m.GetInfo())
+	// m.PowerOff()
+	// time.Sleep(10 * time.Second)
+	// m.PowerOn()
 
-	log.Println("||||||||||||||||| SEND SMS |||||||||||||||||")
-	log.Println(m.At().Send("AT+CNUM"))
+	logger.Println("||||||||||||||||| GET INFO |||||||||||||||||")
+	logger.Println(m.Update())
+	logger.Printf("DATA: %+v\n", m.GetData())
+
+	logger.Println("||||||||||||||||| SEND SMS |||||||||||||||||")
+	logger.Println(m.At().Send("AT+CNUM"))
 	// if err := m.Sms().Send("+79218937173", "CGSG forever"); err != nil {
 	// 	return err
 	// }
 	if ms, err := m.Sms().ReadNew(); err != nil {
 		return err
 	} else {
-		log.Println("NEW:", ms)
+		logger.Println("NEW:", ms)
 	}
+	logger.Println("||||||||||||||||| Checking gps status  |||||||||||||||||")
+	st, err := m.Gps().GetStatus()
+	if err != nil {
+		return err
+	}
+	logger.Printf("GPS Status:%+v\n", st)
+
+	// logger.Println("Turn off", m.PowerOff())
 
 	return nil
 }

readme.md

@@ -1,2 +0,0 @@
-ISSUES:
-  - create input buffer every at port creation