1 files changed, 94 insertions, 0 deletions
diff --git a/lib/support/lib/comms_serial.lua b/lib/support/lib/comms_serial.lua
new file mode 100644
index 0000000..4bd3bb0
--- /dev/null
+++ b/lib/support/lib/comms_serial.lua
@@ -0,0 +1,94 @@
+--module(..., package.seeall);
+
+--local socket=require("socket")
+
+local bobot_baseboard = require("bobot_baseboard")
+local bobot = require("bobot")
+
+local my_path = debug.getinfo(1, "S").source:match[[^@?(.*[\/])[^\/]-$]]
+assert(package.loadlib(my_path .. "lua_serialcomm.so","luaopen_serialcomm"))()
+local serialcomm=_G.serialcomm; _G.serialcomm=nil
+
+local serial_handler 
+
+--executes s on the console and returns the output
+local function run_shell (s) 
+	local f = io.popen(s) -- runs command
+	local l = f:read("*a") -- read output of command
+	f:close()
+	return l
+end
+
+local function split_words(s)
+	local words={}
+	for p in string.gmatch(s, "%S+") do
+		words[#words+1]=p
+	end
+	return words
+end
+
+local comms_serial = {}
+
+function comms_serial.send(endpoint, data, timeout)
+	--parameters sanity check
+	assert(type(serial_handler)=="number")
+	--assert(type(endpoint)=="number")
+	assert(type(data)=="string")
+	assert(type(timeout)=="number")
+
+	--local tini=socket.gettime()
+	local ret =  serialcomm.send_msg(serial_handler, data)
+	--bobot.debugprint ('%%%%%%%%%%%%%%%% comms serial send',socket.gettime()-tini)
+	return ret
+end
+
+function comms_serial.read(endpoint, len, timeout)
+	--parameters sanity check
+	assert(type(serial_handler)=="number")
+	--assert(type(endpoint)=="number")
+      --assert(type(len)=="number")
+	--assert(type(timeout)=="number")
+
+	return serialcomm.read_msg(serial_handler, len, timeout)
+end
+    
+
+function comms_serial.init(baseboards)
+	--parameters sanity check
+	assert(type(baseboards)=="table")
+
+	--FIXME leer ttyusbs...
+	--local tty_s=run_shell("ls /dev/ttyUSB* ")
+	local tty_s=run_shell("sh -c 'ls /dev/ttyUSB* 2> /dev/null'") --supress errors
+	local tty_t=split_words(tty_s)  
+	local tty
+	local err
+	if (#tty_t == 0) then
+		return 0,"no ttyUSB found"
+	end
+
+	--    tty="/dev/ttyUSB0"
+	--for i=1, #tty_t do 
+	for _, ttyI in ipairs(tty_t) do
+		bobot.debugprint ("Trying to connect to", ttyI)
+		serial_handler, err = serialcomm.init(ttyI, 115200) 
+		if serial_handler then 
+			tty=ttyI
+			break
+		else
+			bobot.debugprint("Error connecting:", err)
+		end
+	end
+	if not serial_handler then
+		bobot.debugprint("cs:", "no ttyUSB could be open")
+		return 0, err
+	end
+	bobot.debugprint ("cs:", tty)
+	local bb = bobot_baseboard:new({idBoard=tty, comms=comms_serial})
+
+	baseboards[#baseboards+1]=bb
+
+	return 1
+end
+
+return comms_serial