Erik Brakkee
9efdfc9b83
ant: replace usb.GetDevice with direct gousb usage Remove dependency on antgo/driver/usb to fix libusb context leaks on device-not-found errors. The previous code called usb.GetDevice which creates a gousb.Context via libusb_init but leaks it on every error path (device not found, interface claim failure, etc.). Calling ListenForTrainer repeatedly (e.g. starting with no dongle and plugging it in later) triggered a libusb assertion in pthread_key_create because the leaked contexts were never torn down. Replace with direct gousb calls in ListenForTrainer, managing the gousb.Context lifecycle explicitly. Cleanup is ordered correctly on all paths: release interface, close device, close context, cancel the ANT message goroutine context. Also convert panics to returned errors for graceful retry.
131 lines
3.1 KiB
Go
131 lines
3.1 KiB
Go
package main
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import (
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"bufio"
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"context"
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"fmt"
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"io"
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"time"
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"github.com/google/gousb"
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"github.com/half2me/antgo/ant"
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"github.com/half2me/antgo/device"
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)
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type antUSB struct {
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in *bufio.Reader
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out *gousb.OutEndpoint
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}
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func (d *antUSB) Read(p []byte) (int, error) { return d.in.Read(p) }
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func (d *antUSB) Write(p []byte) (int, error) { return d.out.Write(p) }
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const (
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antDataPageMask = 0x7F // Mask for data page number (7 bits, clears toggle bit)
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antDataPageCyclingPower = 0x10 // Data page 16 = Cycling Power Feature page
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)
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func resetAndWait(drv io.ReadWriter) error {
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if _, err := drv.Write(ant.SystemResetMessage()); err != nil {
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return err
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}
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// drain until we see the startup message (0x6F)
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for {
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msg, err := ant.ReadMsg(drv)
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if err != nil {
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return err
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}
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if msg.Class() == ant.MESSAGE_STARTUP {
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return nil
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}
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}
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}
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func ListenForTrainer(vendorId uint16, productId uint16, deviceNumber uint32,
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events chan<- Event) error {
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gctx := gousb.NewContext()
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defer gctx.Close()
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dev, err := gctx.OpenDeviceWithVIDPID(gousb.ID(vendorId), gousb.ID(productId))
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if err != nil {
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return fmt.Errorf("ant: open device: %w", err)
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}
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if dev == nil {
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return fmt.Errorf("ant: device not found (0x%04x:0x%04x)", vendorId, productId)
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}
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defer dev.Close()
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intf, done, err := dev.DefaultInterface()
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if err != nil {
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return fmt.Errorf("ant: claim interface: %w", err)
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}
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defer done()
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out, err := intf.OutEndpoint(1)
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if err != nil {
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return fmt.Errorf("ant: open out endpoint: %w", err)
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}
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inp, err := intf.InEndpoint(1)
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if err != nil {
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return fmt.Errorf("ant: open in endpoint: %w", err)
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}
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drv := &antUSB{in: bufio.NewReader(inp), out: out}
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logMsg("ant: device opened")
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if err := resetAndWait(drv); err != nil {
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return err
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}
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if err := device.StartRxScanModeWait(drv); err != nil {
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return err
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}
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logMsg("ant: scan mode started")
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msgs := make(chan ant.BroadcastMessage, 100)
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ctx, cancel := context.WithCancel(context.Background())
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defer cancel()
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go func() {
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device.DumpBroadcastMessages(ctx, drv, msgs)
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logMsg("ant: dump broadcast messages ended")
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}()
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logMsg("ant: listening...")
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for {
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select {
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case msg := <-msgs:
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if deviceNumber != 0 && msg.DeviceNumber() != deviceNumber {
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logPrintf("ant: received msg from ignored device %v\n", msg.DeviceNumber())
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continue
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}
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//fmt.Printf("raw msg: device type=0x%02x device number=%d content=%x\n",
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// msg.DeviceType(), msg.DeviceNumber(), msg.Content())
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switch msg.DeviceType() {
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case ant.DEVICE_TYPE_POWER:
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// Check data page first
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page := msg[4] & antDataPageMask
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if page != antDataPageCyclingPower {
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continue
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}
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cur := ant.PowerMessage(msg)
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logPrintf("ant: %v: power: %dW cadence: %d rpm\n",
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msg.DeviceNumber(), cur.InstantaneousPower(), cur.InstantaneousCadence())
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select {
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case events <- Event{
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Power: cur.InstantaneousPower(),
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Cadence: cur.InstantaneousCadence(),
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Now: time.Now(),
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}:
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default:
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logPrintf("ant: dropped event, buffer full\n")
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}
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}
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case <-time.After(10 * time.Second):
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logMsg("ant: no more messages arrived, restarting")
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return nil
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}
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}
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}
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