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path: root/cmd/experimental/main.go
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package main

import (
	"log"
	"time"

	"dim13.org/anki"
	"github.com/currantlabs/gatt"
)

func onStateChange(d gatt.Device, s gatt.State) {
	sid := gatt.MustParseUUID(anki.ServiceUUID)
	log.Println("State", s)
	switch s {
	case gatt.StatePoweredOn:
		log.Println("Scan...")
		d.Scan([]gatt.UUID{sid}, false)
	default:
		d.StopScanning()
	}
}

func onDiscover(p gatt.Peripheral, a *gatt.Advertisement, rssi int) {
	//defer p.Device().StopScanning()
	sid := gatt.MustParseUUID(anki.ServiceUUID)
	for _, s := range a.Services {
		log.Println("Found", p.ID())
		if s.Equal(sid) {
			log.Println("Connect", p.ID())
			p.Device().Connect(p)
		}
	}
}

func onRead(w gatt.ResponseWriter, r *gatt.ReadRequest) {
	log.Println("READ", r)
}

func onConnect(p gatt.Peripheral, err error) {
	ss, err := p.DiscoverServices(nil)
	if err != nil {
		log.Println(err)
		return
	}
	for _, s := range ss {
		cs, err := p.DiscoverCharacteristics(nil, s)
		if err != nil {
			log.Println("Discover Service", err)
			return
		}
		for _, c := range cs {
			/*
				ds, err := p.DiscoverDescriptors(nil, c)
				if err != nil {
					log.Println("Discover Descriptors", err)
					return
				}
				for _, d := range ds {
					log.Println("Descriptor", d.UUID())
				}
			*/
			if (c.Properties() & (gatt.CharNotify | gatt.CharIndicate)) != 0 {
				if err := p.SetNotifyValue(c, onNotify); err != nil {
					log.Println("Set notify", err)
					return
				}
			}
			if (c.Properties() & gatt.CharWrite) != 0 {
				//p.WriteCharacteristic(c, []byte{0x01, 0x90}, true) // sdk
				go func(c *gatt.Characteristic) {
					t := time.NewTicker(time.Second * 10)
					defer t.Stop()
					for range t.C {
						log.Println("Ping")
						p.WriteCharacteristic(c, []byte{0x01, 0x16}, true) // ping
						time.Sleep(10 * time.Second)
					}
				}(c)
				//p.WriteCharacteristic(c, []byte{0x01, 0x18}, true) // version
				//p.WriteCharacteristic(c, []byte{0x01, 0x1a}, true) // battery

				lc := &anki.VehicleLightConfig{}
				lm := &anki.VehicleMsgLightsPattern{}
				lc.Set(anki.LightFrontL, anki.EffectSteady, 10, 0, 0)
				lm.Set(*lc)
				lc.Set(anki.LightFrontR, anki.EffectSteady, 10, 0, 0)
				lm.Set(*lc)
				lc.Set(anki.LightTail, anki.EffectSteady, 10, 0, 0)
				lm.Set(*lc)
				lb := anki.Encode(lm)
				p.WriteCharacteristic(c, lb, true)

				time.Sleep(time.Second)
				ss := &anki.VehicleMsgSetSpeed{}
				ss.Set(500, 2500)
				b := anki.Encode(ss)
				p.WriteCharacteristic(c, b, true)
			}
		}
	}
}

func onNotify(c *gatt.Characteristic, b []byte, err error) {
	if err != nil {
		log.Println(c.UUID(), err)
	}
	id, payload := anki.SplitMsg(b)
	switch id {
	case anki.VehicleMsgV2CStatusUpdate:
		su := anki.VehicleMsgStatusUpdate{}
		anki.Decode(b, &su)
		log.Printf("%+v\n", su)
	case anki.VehicleMsgV2CLocalizationTransitionUpdate:
		tu := anki.VehicleMsgLocalizationTransitionUpdate{}
		anki.Decode(b, &tu)
		log.Printf("%+v\n", tu)
	case anki.VehicleMsgV2CLocalizationPositionUpdate:
		pu := anki.VehicleLocalizationPositionUpdate{}
		anki.Decode(b, &pu)
		log.Printf("%+v\n", pu)
	default:
		log.Printf("ID: %v | % X\n", id, payload)
	}
}

func onDisconnect(p gatt.Peripheral, err error) {
	log.Println("Disconnect", p.ID())
	p.Device().CancelConnection(p)
}

func main() {
	d, err := gatt.NewDevice()
	if err != nil {
		log.Fatal(err)
	}
	d.Handle(
		gatt.PeripheralDiscovered(onDiscover),
		gatt.PeripheralConnected(onConnect),
		gatt.PeripheralDisconnected(onDisconnect),
	)
	d.Init(onStateChange)
	select {}
}