gojrk: turn into Google Actions server

Allows to turn set target of the motor via voice commands.

index.html → cmd/index.html

@@ -43,7 +43,17 @@
   <script>
 	function setTarget(v) {
 		return function() {
-			fetch('./jrk?target=' + v).then(function(response) {
+			fetch('./actions/', {
+				method: 'POST',
+				headers: {
+					'Content-Type': 'application/json'
+				},
+				body: JSON.stringify({
+					handler: {
+						name: v,
+					},
+				})
+			}).then(function(response) {
 				return response.blob();
 			}).then(function(text) {
 				console.log(text);
@@ -54,13 +64,13 @@
 	}
 
 	var leftBtn = document.querySelector('#left');
-	leftBtn.addEventListener('click', setTarget(4000));
+	leftBtn.addEventListener('click', setTarget('handler_left'));
 
 	var centerBtn = document.querySelector('#center');
-	centerBtn.addEventListener('click', setTarget(1000));
+	centerBtn.addEventListener('click', setTarget('handler_center'));
 
 	var rightBtn = document.querySelector('#right');
-	rightBtn.addEventListener('click', setTarget(0));
+	rightBtn.addEventListener('click', setTarget('handler_right'));
   </script>
 </body>
 </html>

cmd/main.go

@@ -1,41 +1,111 @@
 package main
 
 import (
+	_ "embed"
+	"encoding/json"
 	"flag"
+	"fmt"
 	"log"
+	"net/http"
 
-	"github.com/timoha/gojrk"
+	"github.com/timoha/gojrk/jrk"
 )
 
-var target = flag.Int("target", -1, "target to set the motor at (0-4095)")
 var device = flag.String("device", "", "filepath to device")
+var password = flag.String("password", "", "password to be used as last component for actions webhook")
+var addr = flag.String("addr", ":8080", "address to serve from")
+var certFile = flag.String("cert", "", "location of cert file")
+var keyFile = flag.String("key", "", "location of key file")
 
-func main() {
-	flag.Parse()
+//go:embed index.html
+var index []byte
+
+type ActionRequest struct {
+	Handler Handler
+	Session Session
+}
+
+type Handler struct {
+	Name string
+}
+
+type Session struct {
+	ID     string
+	Params map[string]interface{}
+}
+
+type ActionResponse struct {
+	Session Session
+}
+
+type ResponseJSON struct {
+}
+
+func actionsHandlerFunc(w http.ResponseWriter, r *http.Request) {
+	if r.Method != "POST" {
+		http.Error(w, "Method not allowed", http.StatusMethodNotAllowed)
+		return
+	}
+
+	var ar ActionRequest
+	if err := json.NewDecoder(r.Body).Decode(&ar); err != nil {
+		http.Error(w, err.Error(), http.StatusBadRequest)
+		return
+	}
+
+	fmt.Println(ar)
 
-	if *target < 0 || *target > 4095 {
-		log.Fatalln("target has to be in range 0 to 4095")
+	target, ok := handlers[ar.Handler.Name]
+	if !ok {
+		http.Error(w, fmt.Sprintf("unknown handler %q", ar.Handler.Name), http.StatusBadRequest)
+		return
 	}
 
-	j, err := gojrk.NewJRK(*device)
+	j, err := jrk.New(*device)
 	if err != nil {
-		log.Fatalln("failed to connect to jrk controller:", err)
+		http.Error(w, fmt.Sprint("connecting to jrk controller:", err), http.StatusInternalServerError)
+		return
 	}
 	defer j.Close()
 
-	if f, err := j.Feedback(); err != nil {
-		log.Fatalln("failed to get current feedback value", err)
-	} else {
-		log.Println("Current feedback:", f)
+	if err := j.SetTarget(target); err != nil {
+		http.Error(w, fmt.Sprint("setting new target value", err), http.StatusInternalServerError)
+		return
 	}
 
-	if t, err := j.Target(); err != nil {
-		log.Fatalln("failed to get current target value", err)
-	} else {
-		log.Println("Current target:", t)
+	resp := ActionResponse{
+		Session: ar.Session,
 	}
 
-	if err := j.SetTarget(*target); err != nil {
-		log.Fatalln("failed to set new target value:", err)
+	w.Header().Set("Content-Type", "application/json")
+	if err := json.NewEncoder(w).Encode(resp); err != nil {
+		http.Error(w, fmt.Sprint("marshalling json response", err), http.StatusInternalServerError)
+		return
+	}
+}
+
+var handlers = map[string]int{
+	"handler_left":   3000,
+	"handler_center": 1700,
+	"handler_right":  751,
+}
+
+func main() {
+	flag.Parse()
+
+	if *password == "" {
+		// running on local network
+		http.HandleFunc("/", func(w http.ResponseWriter, _ *http.Request) {
+			w.Write(index)
+		})
+	}
+	http.HandleFunc("/actions/"+*password, actionsHandlerFunc)
+
+	var err error
+	if *certFile != "" && *keyFile != "" {
+		err = http.ListenAndServeTLS(*addr, *certFile, *keyFile, nil)
+	} else {
+		err = http.ListenAndServe(*addr, nil)
 	}
+	log.Fatal(err)
 }

go.mod

@@ -0,0 +1,8 @@
+module github.com/timoha/gojrk
+
+go 1.16
+
+require (
+	github.com/pkg/term v1.1.0
+	golang.org/x/sys v0.0.0-20200909081042-eff7692f9009 // indirect
+)

go.sum

@@ -0,0 +1,4 @@
+github.com/pkg/term v1.1.0 h1:xIAAdCMh3QIAy+5FrE8Ad8XoDhEU4ufwbaSozViP9kk=
+github.com/pkg/term v1.1.0/go.mod h1:E25nymQcrSllhX42Ok8MRm1+hyBdHY0dCeiKZ9jpNGw=
+golang.org/x/sys v0.0.0-20200909081042-eff7692f9009 h1:W0lCpv29Hv0UaM1LXb9QlBHLNP8UFfcKjblhVCWftOM=
+golang.org/x/sys v0.0.0-20200909081042-eff7692f9009/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=

jrk.go → jrk/jrk.go

@@ -1,11 +1,12 @@
-package gojrk
+package jrk
 
 import (
 	"io"
 	"os"
 	"syscall"
 
 	"github.com/pkg/term/termios"
+	"golang.org/x/sys/unix"
 )
 
 // JRK is used communicate with jrk USB motor controller
@@ -43,20 +44,20 @@ func (jrk *JRK) SetTarget(v int) error {
 	return err
 }
 
-// NewJRK connects to jrk USB motor contoller.
-func NewJRK(path string) (*JRK, error) {
+// New connects to jrk USB motor contoller.
+func New(path string) (*JRK, error) {
 	f, err := os.OpenFile(path, os.O_RDWR|syscall.O_NOCTTY, 0)
 	if err != nil {
 		return nil, err
 	}
 
-	var o syscall.Termios
+	var o unix.Termios
 	if err := termios.Tcgetattr(f.Fd(), &o); err != nil {
 		return nil, err
 	}
 
-	o.Lflag &^= syscall.ECHO | syscall.ECHONL | syscall.ICANON | syscall.ISIG | syscall.IEXTEN
-	o.Oflag &^= syscall.ONLCR | syscall.OCRNL
+	o.Lflag &^= unix.ECHO | unix.ECHONL | unix.ICANON | unix.ISIG | unix.IEXTEN
+	o.Oflag &^= unix.ONLCR | unix.OCRNL
 
 	if err := termios.Tcsetattr(f.Fd(), termios.TCSANOW, &o); err != nil {
 		return nil, err