clean up arch

hardware/FTDIFinder.go

@@ -3,6 +3,7 @@ package hardware
 import (
 	"context"
 	_ "embed"
+	"errors"
 	"fmt"
 	goRuntime "runtime"
 	"sync"
@@ -19,20 +20,21 @@ import (
 */
 import "C"
 
-// FTDIFinder represents how the protocol is defined
+// FTDIFinder manages all the FTDI peripherals
 type FTDIFinder struct {
-	findTicker            time.Ticker                // Peripherals find ticker
+	wg sync.WaitGroup
+
+	findTicker            *time.Ticker               // Peripherals find ticker
 	foundPeripherals      map[string]PeripheralInfo  // The list of peripherals handled by this finder
 	registeredPeripherals map[string]*FTDIPeripheral // The list of found peripherals
 	scanChannel           chan struct{}              // The channel to trigger a scan event
-	goWait                sync.WaitGroup             // Check goroutines execution
 }
 
 // NewFTDIFinder creates a new FTDI finder
 func NewFTDIFinder(findPeriod time.Duration) *FTDIFinder {
 	log.Trace().Str("file", "FTDIFinder").Msg("FTDI finder created")
 	return &FTDIFinder{
-		findTicker:            *time.NewTicker(findPeriod),
+		findTicker:            time.NewTicker(findPeriod),
 		foundPeripherals:      make(map[string]PeripheralInfo),
 		registeredPeripherals: make(map[string]*FTDIPeripheral),
 		scanChannel:           make(chan struct{}),
@@ -41,12 +43,15 @@ func NewFTDIFinder(findPeriod time.Duration) *FTDIFinder {
 
 // RegisterPeripheral registers a new peripheral
 func (f *FTDIFinder) RegisterPeripheral(ctx context.Context, peripheralData PeripheralInfo) (string, error) {
+	// Create a new FTDI peripheral
 	ftdiPeripheral, err := NewFTDIPeripheral(peripheralData)
 	if err != nil {
 		return "", fmt.Errorf("unable to create the FTDI peripheral: %v", err)
 	}
+	// Register it in the finder
 	f.registeredPeripherals[peripheralData.SerialNumber] = ftdiPeripheral
 	log.Trace().Any("periph", &ftdiPeripheral).Str("file", "FTDIFinder").Str("peripheralName", peripheralData.Name).Msg("FTDI peripheral has been created")
+
 	// Peripheral created, connect it
 	err = ftdiPeripheral.Connect(ctx)
 	if err != nil {
@@ -71,7 +76,7 @@ func (f *FTDIFinder) UnregisterPeripheral(ctx context.Context, peripheralID stri
 			return err
 		}
 		// Disconnecting peripheral
-		err = peripheral.Disconnect(ctx)
+		err = peripheral.Disconnect()
 		if err != nil {
 			return err
 		}
@@ -93,9 +98,9 @@ func (f *FTDIFinder) Initialize() error {
 
 // Start starts the finder and search for peripherals
 func (f *FTDIFinder) Start(ctx context.Context) error {
-	f.goWait.Add(1)
+	f.wg.Add(1)
 	go func() {
-		defer f.goWait.Done()
+		defer f.wg.Done()
 		for {
 			select {
 			case <-ctx.Done():
@@ -120,18 +125,11 @@ func (f *FTDIFinder) Start(ctx context.Context) error {
 
 // ForceScan explicily asks for scanning peripherals
 func (f *FTDIFinder) ForceScan() {
-	f.scanChannel <- struct{}{}
-}
-
-// Stop stops the finder
-func (f *FTDIFinder) Stop() error {
-	log.Trace().Str("file", "FTDIFinder").Msg("stopping the FTDI finder...")
-	// Wait for goroutines to stop
-	f.goWait.Wait()
-	// Stop the ticker
-	f.findTicker.Stop()
-	log.Trace().Str("file", "FTDIFinder").Msg("FTDI finder stopped")
-	return nil
+	select {
+	case f.scanChannel <- struct{}{}:
+	default:
+		// Ignore if the channel is full or if it is closed
+	}
 }
 
 // GetName returns the name of the driver
@@ -171,18 +169,12 @@ func (f *FTDIFinder) scanPeripherals(ctx context.Context) error {
 
 	log.Info().Int("number", count).Msg("number of FTDI devices connected")
 
-	// Alloue un tableau de structures côté C
+	// Allocating C array
 	size := C.size_t(count) * C.size_t(unsafe.Sizeof(C.FTDIPeripheralC{}))
 	devicesPtr := C.malloc(size)
 	defer C.free(devicesPtr)
 
-	devices := (*[1 << 30]C.FTDIPeripheralC)(devicesPtr)[:count:count]
-
-	type device struct {
-		SerialNumber string
-		Description  string
-		IsOpen       bool
-	}
+	devices := (*[1 << 20]C.FTDIPeripheralC)(devicesPtr)[:count:count]
 
 	C.get_ftdi_devices((*C.FTDIPeripheralC)(devicesPtr), C.int(count))
 
@@ -202,7 +194,7 @@ func (f *FTDIFinder) scanPeripherals(ctx context.Context) error {
 			ProtocolName: "FTDI",
 		}
 
-		// Libération mémoire allouée côté C
+		// Free C memory
 		C.free_ftdi_device(&d)
 	}
 
@@ -214,3 +206,34 @@ func (f *FTDIFinder) scanPeripherals(ctx context.Context) error {
 	f.foundPeripherals = temporaryPeripherals
 	return nil
 }
+
+// WaitStop stops the finder
+func (f *FTDIFinder) WaitStop() error {
+	log.Trace().Str("file", "FTDIFinder").Msg("stopping the FTDI finder...")
+
+	// Stop the ticker
+	f.findTicker.Stop()
+
+	// Close the channel
+	close(f.scanChannel)
+
+	// Wait for all the peripherals to close
+	log.Trace().Str("file", "FTDIFinder").Msg("closing all FTDI peripherals")
+	var errs []error
+	for registeredPeripheralSN, registeredPeripheral := range f.registeredPeripherals {
+		err := registeredPeripheral.WaitStop()
+		if err != nil {
+			errs = append(errs, fmt.Errorf("%s: %w", registeredPeripheralSN, err))
+		}
+	}
+
+	// Wait for goroutines to stop
+	f.wg.Wait()
+
+	// Returning errors
+	if len(errs) > 0 {
+		return errors.Join(errs...)
+	}
+	log.Trace().Str("file", "FTDIFinder").Msg("FTDI finder stopped")
+	return nil
+}