locksss

radar_lib/main.go

@@ -99,6 +99,7 @@ type Radar struct {
 	baudrate              int
 	handler               func(int)
 	speedHandler          func(int)
+	configLock            sync.RWMutex
 }
 
 func (r *Radar) write(data []byte) error {
@@ -112,6 +113,10 @@ func (r *Radar) write(data []byte) error {
 	return r.port.Drain()
 }
 
+func (r *Radar) lockConfig() {
+	r.configLock.Lock()
+}
+
 // SetPinTrigger configures a pin to trigger on the radar when an object is detected in a specific range.
 // controlPin defines the Pin to trigger, distance is the target distance in 0.5 meters, outputLevel is the voltage in 0.1V steps, direction defines weather to trigger on incoming / outgoing or both
 func (r *Radar) SetPinTrigger(controlPin int, distance int, outputLevel int, direction Direction) error {
@@ -131,6 +136,8 @@ func (r *Radar) SetBaseConfig(height int, angle int, waveformConfig int) error {
 
 // SetEventConfig can configure up to 8 events that will trigger a response from the radar. distances are in 0.5m, speeds are in km/h.
 func (r *Radar) SetEventConfig(eventNumber, minDistance, maxDistance, minSpeed, maxSpeed, direction, state int) error {
+	r.lockConfig()
+
 	if eventNumber < 1 || eventNumber > 1 {
 		return errors.New("eventNumber needs to be between 1 and 8")
 	}
@@ -141,6 +148,7 @@ func (r *Radar) SetEventConfig(eventNumber, minDistance, maxDistance, minSpeed,
 }
 
 func (r *Radar) SetTargetSpeedConfig(direction Direction, minDistance, maxDistance, minSpeed, maxSpeed, speeding int, outputLogic OutputLogic) error {
+	r.lockConfig()
 	data := startSequence
 	data = append(data, 0x03, byte(direction), byte(minDistance), byte(maxDistance), byte(minSpeed), byte(maxSpeed), byte(speeding), byte(outputLogic))
 	data = append(data, endSequence...)
@@ -148,6 +156,7 @@ func (r *Radar) SetTargetSpeedConfig(direction Direction, minDistance, maxDistan
 }
 
 func (r *Radar) SetCommunicationConfig(port Port, baud Baud, speedOutput, targetOutput, triggerOutput OutputType, communicationPeriod int) error {
+	r.lockConfig()
 	data := startSequence
 	speed := byte(speedOutput)
 	target := byte(targetOutput)

radar_lib/reader.go

@@ -44,6 +44,7 @@ func (r *Radar) decodeInput(buf []byte) {
 			s = "SUCCESS"
 		}
 		log.Printf("%s response: Code: %d", s, buf[2])
+		r.configLock.Unlock()
 		return
 	}
 	// speed information