ltr43.go

package ltrgo

/*
#cgo CFLAGS: -g -w
#cgo linux LDFLAGS: -L/usr/lib/ -lltrapi -lltr43api
#cgo windows LDFLAGS: -L./ltr/libmingw/ -lltrapi -lltr43api
#include <ltr/include/ltrapi.h>
#include <ltr/include/ltrapidefine.h>
#include <ltr/include/ltr43api.h>
*/
import (
	"C"
)
import (
	"errors"
	"time"
)

var ErrInit43 = errors.New("can't initialize ltr43")
var ErrOpen43 = errors.New("can't open ltr43")
var ErrConfig43 = errors.New("can't config ltr43")
var ErrRead43 = errors.New("can't read ltr43")
var ErrClose43 = errors.New("can't close ltr43")

type LTR43Module struct {
	CommonModule
	ltr43 *C.TLTR43
}

func (m *LTR43Module) Stop() error {
	res := C.LTR43_Close(m.ltr43)
	if res != C.LTR_OK {
		return ErrClose43
	}
	return nil
}

func (m *LTR43Module) Type() string {
	return "LTR43"
}

func (m *LTR43Module) Start() error {
	m.ltr43 = new(C.TLTR43)
	res := C.LTR43_Init(m.ltr43)
	if res != C.LTR_OK {
		return ErrInit43
	}
	res = C.LTR43_Open(m.ltr43, C.SADDR_DEFAULT, C.SPORT_DEFAULT, &m.crate[0], C.int(m.slot))
	if res != C.LTR_OK {
		return ErrOpen43
	}
	m.ltr43.IO_Ports.Port1 = 0
	m.ltr43.IO_Ports.Port2 = 0
	m.ltr43.IO_Ports.Port3 = 0
	m.ltr43.IO_Ports.Port4 = 0
	res = C.LTR43_Config(m.ltr43)
	if res != C.LTR_OK {
		return ErrConfig43
	}
	return nil
}

func (m *LTR43Module) GetFrame() (int64, []float32, error) {
	var frame []float32
	for i := 0; i < 32; i++ {
		frame = append(frame, 0)
	}
	curTime := time.Now().UnixMilli()
	var word C.DWORD
	res := C.LTR43_ReadPort(m.ltr43, &word)
	if res != C.LTR_OK {
		return curTime, frame, ErrRead43
	}
	val := int(word)
	for i := 0; i < 32; i++ {
		frame[i] = float32(val & 0x1)
		val >>= 1
	}
	return curTime, frame, nil
}