diff options
Diffstat (limited to 'lib/support/lib/bobot_device.lua')
| -rw-r--r-- | lib/support/lib/bobot_device.lua | 216 |
1 files changed, 0 insertions, 216 deletions
diff --git a/lib/support/lib/bobot_device.lua b/lib/support/lib/bobot_device.lua deleted file mode 100644 index b560255..0000000 --- a/lib/support/lib/bobot_device.lua +++ /dev/null @@ -1,216 +0,0 @@ ---module(..., package.seeall); - -local bobot = require("bobot") - -local string_char = string.char -local string_len = string.len -local string_byte = string.byte - -local OPEN_COMMAND = string_char(0x00) -local CLOSE_COMMAND = string_char(0x01) -local HEADER_PACKET_SIZE = 6 -local NULL_BYTE = string_char(0x00) -local ADMIN_MODULE_IN_ENDPOINT = 0x01 -local ADMIN_MODULE_OUT_ENDPOINT = 0x81 -local ADMIN_HANDLER_SEND_COMMAND = string_char(0x00) -local OPEN_RESPONSE_PACKET_SIZE = 5 -local CLOSE_RESPONSE_PACKET_SIZE = 2 -local TIMEOUT = 200 --ms - -local READ_HEADER_SIZE = 3 - -local my_path = debug.getinfo(1, "S").source:match[[^@?(.*[\/])[^\/]-$]] - -local Device = { - --some usefull stuff for the drivers to use - string=string, - print=bobot.debugprint, - math=math, - tonumber=tonumber, - tostring=tostring -} - - -local drivers_cache = setmetatable({}, {__mode='kv'}) -local function load_driver(d) - local modulename=d.module - if drivers_cache[modulename] then return drivers_cache[modulename] end - - local drivername=string.match(modulename, '^(.-)%d*$') - local f, err - if d.hotplug then - f, err = loadfile(my_path.."../drivers/hotplug/"..drivername..".lua") - else - f, err = loadfile(my_path.."../drivers/"..drivername..".lua") - end - drivers_cache[modulename] = f - return f, err -end - ---Instantiates Device object. ---Attempts to load api from driver -function Device:new(d) - --parameters sanity check - assert(type(d)=="table") - --assert(type(d.name)=="string") - assert(type(d.module)=="string") - assert(type(d.baseboard)=="table") - assert(type(d.baseboard.comms)=="table") - assert(type(d.baseboard.comms.send)=="function") - assert(type(d.baseboard.comms.read)=="function") - - --OO boilerplate - setmetatable(d, self) - self.__index = self - - --store locally, save 2 indirections - d.comms_send = d.baseboard.comms.send - d.comms_read = d.baseboard.comms.read - - --attempt to load api from driver - local f, err = load_driver(d) - if f then - d._G=d - - setfenv(f, d) --the driver's environment is the device - local status, err=pcall(f) - if status then - bobot.debugprint("u4d:new:Success loading driver:", d.module) - else - bobot.debugprint("u4d:new:Error initializing driver:", tostring(err)) - end - else - bobot.debugprint("u4d:new:Error loading driver:", err) - return nil - end - - return d -end - ---opens the device. must be done before sending / reading / etc. ---receives endpoints, which can be ommited if they were provided at Device creation -function Device:open(in_endpoint, out_endpoint) - --state & parameter sanity check - assert(self.handler==nil) - --assert(type(self.name)=="string") - assert(type(in_endpoint)=="number" or type(self.in_endpoint)=="number") - assert(type(self.comms_send)=="function") - assert(type(self.comms_read)=="function") - assert(type(out_endpoint)=="number" or type(self.out_endpoint)=="number") - - --save for later use - if in_endpoint then self.in_endpoint = in_endpoint end - if out_endpoint then self.out_endpoint = out_endpoint end - - local module_name=self.module .."\000" -- usb4all expect null terminated names - - local open_packet_length = string_char(HEADER_PACKET_SIZE + string_len(module_name)) - - local module_in_endpoint = string_char(self.in_endpoint) - local module_out_endpoint = string_char(self.out_endpoint) - - local handler_packet = ADMIN_HANDLER_SEND_COMMAND .. open_packet_length .. NULL_BYTE - local admin_packet = OPEN_COMMAND .. module_in_endpoint .. module_out_endpoint .. module_name - local open_packet = handler_packet .. admin_packet - local write_res = self.comms_send(ADMIN_MODULE_IN_ENDPOINT, open_packet, TIMEOUT) - - if not write_res then - bobot.debugprint("u4d:open:comunication with I/O board write error", write_res) - return false - end - - local data, err = self.comms_read(ADMIN_MODULE_OUT_ENDPOINT, OPEN_RESPONSE_PACKET_SIZE, TIMEOUT) - if not data then - bobot.debugprint ("u4d:open:comunication with I/O boardread error", err) - return false - end - - local handler = string_byte(data, 5) - --hander -1 meand error - if handler==255 then - bobot.debugprint ("u4d:open:Already open!",self.module,self.handler) - return - else - bobot.debugprint ("u4d:open:Success!",self.module,handler) - self.handler = handler --self.handler set means device is open - return true - end - -end - ---closes the device -function Device:close() - if not self.handler then return end --already closed - - --state sanity check - assert(type(self.handler)=="number") - assert(type(self.comms_send)=="function") - assert(type(self.comms_read)=="function") - - local close_packet_length = string_char(0x04) --string.char(HEADER_PACKET_SIZE + string.len(module_name)) - local handler_packet = ADMIN_HANDLER_SEND_COMMAND .. close_packet_length .. NULL_BYTE - local admin_packet = CLOSE_COMMAND .. string_char(self.handler) - local close_packet = handler_packet .. admin_packet - - local write_res = self.comms_send(ADMIN_MODULE_IN_ENDPOINT, close_packet, TIMEOUT) - if not write_res then - bobot.debugprint("u4d:close:comunication with I/O board write error", write_res) - return - end - local data, err = self.comms_read(ADMIN_MODULE_OUT_ENDPOINT, CLOSE_RESPONSE_PACKET_SIZE, TIMEOUT) - - self.handler = nil -end - ---sends data (a string) to device -function Device:send(data) - --state & parameter sanity check - data=tostring(data) - assert(type(data)=="string") - assert(type(self.handler)=="number") - assert(type(self.in_endpoint)=="number") - assert(type(self.comms_send)=="function") - assert(type(self.comms_read)=="function") - - local len=string_len(data) - - local shifted_handler = self.handler * 8 - assert(shifted_handler<256, "u4d:send:shifted_handler vale " .. shifted_handler .. " excede el tamaño maximo representable en un byte (255)") - local user_module_handler_send_command = string_char(shifted_handler) - local send_packet_length = string_char(0x03 + len) - local send_packet = user_module_handler_send_command .. send_packet_length .. NULL_BYTE .. data - - --local tini=socket.gettime() - local write_res, err = self.comms_send(self.in_endpoint, send_packet, TIMEOUT) - --bobot.debugprint ('%%%%%%%%%%%%%%%% device send',socket.gettime()-tini) - - if not write_res then - bobot.debugprint("u4d:send:comunication with I/O board write error", err) - end - - return write_res, err -end - ---read data (len bytes max) from device -function Device:read(len) - len = len or 255 - --state & parameter sanity check - assert(type(len)=="number") - assert(type(self.handler)=="number") - assert(type(self.out_endpoint)=="number") - assert(type(self.comms_send)=="function") - assert(type(self.comms_read)=="function") - - local data, err = self.comms_read(self.out_endpoint, len+READ_HEADER_SIZE, TIMEOUT) - if not data then - bobot.debugprint("u4d:read:comunication with I/O board read error", err) - return nil, err - end - - local data_h = string.sub(data, READ_HEADER_SIZE+1, -1) --discard header - - return data_h, err -end - -return Device - |