9 files changed, 0 insertions, 841 deletions
diff --git a/lib/support/lib/bobot_baseboard.lua b/lib/support/lib/bobot_baseboard.lua
deleted file mode 100644
index 757731a..0000000
--- a/lib/support/lib/bobot_baseboard.lua
+++ /dev/null
@@ -1,393 +0,0 @@
-#!/usr/bin/lua
-
---module(..., package.seeall);
-
-local my_path = debug.getinfo(1, "S").source:match[[^@?(.*[\/])[^\/]-$]]
-
-local bobot_device = require("bobot_device")
-local bobot = require("bobot")
-
-local NULL_BYTE = string.char(0x00)
-local DEFAULT_PACKET_SIZE = 0x04
-local GET_USER_MODULES_SIZE_COMMAND = string.char(0x05)
-local GET_USER_MODULE_LINE_COMMAND = string.char(0x06)
-local GET_HANDLER_SIZE_COMMAND = string.char(0x0A)
-local GET_HANDLER_TYPE_COMMAND = string.char(0x0B)
-local GET_LINES_RESPONSE_PACKET_SIZE = 5
-local GET_LINE_RESPONSE_PACKET_SIZE = 12
-local GET_HANDLER_TYPE_PACKET_SIZE = 5
-local GET_HANDLER_RESPONSE_PACKET_SIZE = 5 --
-local ADMIN_HANDLER_SEND_COMMAND = string.char(0x00)
-local ADMIN_MODULE_IN_ENDPOINT = 0x01
-local ADMIN_MODULE_OUT_ENDPOINT = 0x81
-local GET_USER_MODULE_LINE_PACKET_SIZE = 0x05
-local CLOSEALL_BASE_BOARD_COMMAND = string.char(0x07) 
-local CLOSEALL_BASE_BOARD_RESPONSE_PACKET_SIZE = 5
-local TIMEOUT = 250 --ms
-local MAX_RETRY = 5
-
-local BaseBoard = {}
-
-
---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
-
-openable = {}
-hotplug = {}
-
-local function parse_drivers()
-	local driver_files=run_shell("sh -c 'ls "..my_path.."../drivers/*.lua 2> /dev/null'")
-	for filename in driver_files:gmatch('drivers%/(%S+)%.lua') do
-		--print ("Driver openable", filename)
-		openable[filename] = true
-	end
-	driver_files=run_shell("sh -c 'ls "..my_path.."../drivers/hotplug/*.lua 2> /dev/null'")
-	for filename in driver_files:gmatch('drivers%/hotplug%/(%S+)%.lua') do
-		--print ("Driver hotplug", filename)
-		hotplug[filename] = true
-	end
-end
-parse_drivers()
-
-local function load_modules(bb)
-	local retry = 0
-	bb.modules = {}
-
-	local n_modules=bb:get_user_modules_size()
-	while n_modules == nil and retry < MAX_RETRY do
-		n_modules=bb:get_user_modules_size()
-		bobot.debugprint("u4b:the module list size returned a nil value, trying to recover...")
-		retry = retry+1
-	end
-	if not n_modules then return nil end
-	retry=0
-	bobot.debugprint ("Reading modules:", n_modules)
-	for i = 1, n_modules do
-		local modulename=bb:get_user_module_line(i)
-		while modulename == nil and retry < MAX_RETRY do
-			bobot.debugprint("u4b:the module  returned a nil value, trying to recover...")
-			modulename=bb:get_handler_type(i)
-			retry = retry+1
-		end
-		if not modulename then return nil end
-		if openable[modulename] then
-			bb.modules[i]=modulename
-			local d = bobot_device:new({
-				module=modulename,
-				--name=module, 
-				baseboard=bb,
-				hotplug=false,
-				in_endpoint=0x01, out_endpoint=0x01,
-			}) -- in_endpoint=0x01, out_endpoint=0x01})
-			bb.devices[d]=true
-			bb.devices[#bb.devices+1]=d
-			
-			bb.modules[modulename]=d
-		elseif hotplug[modulename] then
-			bb.modules[i]=modulename
-			bb.modules[modulename]=true
-			bb.hotplug = true -- bb has a hotplug module
-		else
-			bobot.debugprint("Loading modules: missing driver for",modulename)
-		end
-	end
-	return true
-end
-
-local function load_module_handlers(bb)
-	local retry = 0
-	
-	local n_module_handlers=bb:get_handler_size()
-	while n_module_handlers == nil and retry < MAX_RETRY do
-		n_module_handlers=bb:get_handler_size()
-		bobot.debugprint("u4b:the module handler list size returned a nil value, trying to recover...")
-		retry = retry+1
-	end
-	if (not n_module_handlers) or (n_module_handlers > 32) then return nil end
-	retry=0
-	bobot.debugprint ("Reading moduleshandlers:", n_module_handlers)
-	for i=1, n_module_handlers do
-		local t_handler = bb:get_handler_type(i)
-		while(t_handler == nil and retry < MAX_RETRY) do
-			bobot.debugprint("u4b:the module handler returned a nil value, trying to recover...")
-			t_handler = bb:get_handler_type(i)
-			retry = retry+1
-		end
-		if not t_handler then return nil end
-		if t_handler<255  then
-			local modulename=bb.modules[t_handler+1]
-			local moduledev=bb.modules[modulename]
-			if type(moduledev)=='table' 
-			and not moduledev.handler then
-				moduledev.handler=i-1
-			elseif moduledev==true then 
-				--name=name.."@"..(i-1)
-				local d = bobot_device:new({
-					handler=i-1,
-					module=modulename,
-					--name=name, 
-					baseboard=bb,
-					hotplug=(hotplug[modulename]),
-					in_endpoint=0x01, out_endpoint=0x01,
-				}) -- in_endpoint=0x01, out_endpoint=0x01})
-				if d then 
-					bb.devices[d]=true
-					bb.devices[#bb.devices+1]=d
-				end
-			else
-				bobot.debugprint ("No opened device!")
-			end
-		end
-	end
-	return true
-end
-
-
-function BaseBoard:refresh()
-	self.devices = {}
-
-	if not load_modules(self) then
-		return nil,"failure reading modules"
-	end
-
-	if not load_module_handlers(self) then
-		return nil,"failure reading module handlers"
-	end
-	return true
-end
-
---Instantiates BaseBoard object.
---Loads list of modules installed on baseboard
-function BaseBoard:new(bb)
-	--parameters sanity check
-	assert(type(bb)=="table")
-	assert(type(bb.comms)=="table")
-
-	--OO boilerplate
-   	setmetatable(bb, self)
-	self.__index = self
-	
-	bb:refresh()
-	
---bobot.debugprint ('----------------')
-	--bb:force_close_all()
---bobot.debugprint ('================')
-	return bb
-end
-
---Closes all modules opened on baseboard
-function BaseBoard:close()
-	--state sanity check
-	assert(type(self.devices)=="table")
-
-	for _,d in ipairs(self.devices) do
-		if type(d.handler)=="number" then
-			bobot.debugprint ("closing", d.name, d.handler)
-			d:close()
-		end
-	end
-
-	--TODO actually close the baseboard
-end
-
---returns number of modules present on baseboard
-function BaseBoard:get_user_modules_size()
-	--state sanity check
-	assert(type(self.comms)=="table")
-
-	local comms=self.comms
-
-	-- In case of get_user_modules_size command is atended by admin module in handler 0 and send operation is 000
-
-	local handler_packet = ADMIN_HANDLER_SEND_COMMAND .. string.char(DEFAULT_PACKET_SIZE) .. NULL_BYTE
-	local admin_packet = GET_USER_MODULES_SIZE_COMMAND
-	local get_user_modules_size_packet  = handler_packet .. admin_packet    
-
-	local write_res = comms.send(ADMIN_MODULE_IN_ENDPOINT, get_user_modules_size_packet, TIMEOUT)
-	if write_res then
-         	local data, err = comms.read(ADMIN_MODULE_OUT_ENDPOINT, GET_LINES_RESPONSE_PACKET_SIZE, TIMEOUT)
-		if not data then
-			bobot.debugprint("u4b:get_user_modules_size:comunication with I/O board read error", err)
-			return 0
-		else
-			local user_modules_size = string.byte(data, 5)
-			return user_modules_size
-		end
-	else	
-		bobot.debugprint("u4b:get_user_modules_size:comunication with I/O board write error", write_res)
-		return 0
-   	end
-end
-
---returns thename of a given (by a 1-based index)module 
-function BaseBoard:get_user_module_line(index)
-	--state & parameter sanity check
-	assert(type(index)=="number")
-	assert(index>0)	
-	assert(type(self.comms)=="table")
-
-
-	local comms=self.comms
-
-	-- In case of get_user_module_line command is atended by admin module in handler 0 and send operation is 000
-	local get_user_module_line_packet_length = string.char(GET_USER_MODULE_LINE_PACKET_SIZE)
-	local handler_packet = ADMIN_HANDLER_SEND_COMMAND .. get_user_module_line_packet_length .. NULL_BYTE
-	local admin_packet = GET_USER_MODULE_LINE_COMMAND .. string.char(index-1)
-	local get_user_module_line_packet  = handler_packet .. admin_packet
-
-	local write_res = comms.send(ADMIN_MODULE_IN_ENDPOINT, get_user_module_line_packet, TIMEOUT)
-    	if write_res then
-		local data, err = comms.read(ADMIN_MODULE_OUT_ENDPOINT, GET_LINE_RESPONSE_PACKET_SIZE, TIMEOUT)
-		if not data then
-			bobot.debugprint("u4b:get_user_modules_line:comunication with I/O board read error", err)
-			return
-		end
-		--the name is between a header and a null
-		local end_mark = string.find(data, "\000", GET_USER_MODULE_LINE_PACKET_SIZE, true)
-		if not end_mark then
-			bobot.debugprint ("u4b:get_user_module_line:Error parsing module name")
-			return
-		end
-		local module_name = string.sub(data, GET_USER_MODULE_LINE_PACKET_SIZE, end_mark-1)
-		return module_name
-	else	
-		bobot.debugprint("u4b:get_user_module_line:comunication with I/O board write error", write_res)
-	end
-end
-
-function BaseBoard:get_handler_size() ------ NEW LISTI ------
-	--state sanity check
-	assert(type(self.comms)=="table")
-
-	local comms=self.comms
-
-	local handler_packet = ADMIN_HANDLER_SEND_COMMAND .. string.char(DEFAULT_PACKET_SIZE) .. NULL_BYTE
-	local admin_packet = GET_HANDLER_SIZE_COMMAND
-	local get_handler_size_packet  = handler_packet .. admin_packet    
-
-	local write_res = comms.send(ADMIN_MODULE_IN_ENDPOINT, get_handler_size_packet, TIMEOUT)
-	if write_res then
-        local data, err = comms.read(ADMIN_MODULE_OUT_ENDPOINT, GET_HANDLER_RESPONSE_PACKET_SIZE, TIMEOUT)
-		if not data then
-			bobot.debugprint("u4b:get_handler_size:comunication with I/O board read error", err)
-			return 0
-		else
-			local handler_size = string.byte(data, 5)	
-			return handler_size
-		end
-	else	
-		bobot.debugprint("u4b:get_handler_type:comunication with I/O board write error", write_res)
-	end
-end
-function BaseBoard:get_handler_type(index) ------ NEW LISTI ------
-	--state & parameter sanity check
-	assert(type(index)=="number")
-	assert(index>0)	
-	assert(type(self.comms)=="table")
-
-	local comms=self.comms
-
-	-- In case of get_handler_type command is atended by admin module in handler 0 and send operation is 000
-	local get_handler_type_packet_length = string.char(GET_HANDLER_TYPE_PACKET_SIZE) --GET_USER_MODULE_LINE_PACKET_SIZE
-	local handler_packet = ADMIN_HANDLER_SEND_COMMAND .. get_handler_type_packet_length .. NULL_BYTE
-	local admin_packet = GET_HANDLER_TYPE_COMMAND .. string.char(index-1)
-	local get_handler_type_packet  = handler_packet .. admin_packet
-
-	local write_res = comms.send(ADMIN_MODULE_IN_ENDPOINT, get_handler_type_packet, TIMEOUT)
-    if write_res then
-		local data, err = comms.read(ADMIN_MODULE_OUT_ENDPOINT, GET_HANDLER_RESPONSE_PACKET_SIZE, TIMEOUT)
-		if not data then
-			bobot.debugprint("u4b:get_handler_type:comunication with I/O board read error", err)
-			return 0
-		else
-			local handler_type = string.byte(data, 5)	
-			return handler_type
-		end
-	else	
-		bobot.debugprint("u4b:get_handler_type:comunication with I/O board write error", write_res)
-	end
-end
-
--- resets the baseboard, after this operation the baseboard will claim reenumeration to the operative system
--- this function is deprecated by force_close_all
-function BaseBoard:close_all()
-	for _,d in ipairs(self.devices) do
-		--bobot.debugprint ("===", d.name,d.handler)
-		if d.handler then d:close() end
-	end
-end
-
--- switch the baseboard to the bootloader program implementend as a usb4all command to the admin module
-function BaseBoard:switch_to_bootloader()
-	--state & parameter sanity check
-	assert(type(self.comms)=="table")
-	
-	local comms=self.comms
-	-- In case of reset_base_board command is atended by admin module in handler 0 and send operation is 000
-	local handler_packet = ADMIN_HANDLER_SEND_COMMAND .. string.char(DEFAULT_PACKET_SIZE) .. NULL_BYTE
-	local admin_packet = string.char(0x09)  --SWITCH_TO_BOOT_BASE_BOARD_COMMAND
-	local boot_base_board_packet  = handler_packet .. admin_packet
-
-	local write_res = comms.send(ADMIN_MODULE_IN_ENDPOINT, boot_base_board_packet, TIMEOUT)
-    --from this moment the board is reseted, so there is nothing more to do
-end
-
-function BaseBoard:reset()
-	--state & parameter sanity check
-	assert(type(self.comms)=="table")
-	
-	local comms=self.comms
-	-- In case of reset_base_board command is atended by admin module in handler 0 and send operation is 000
-	local handler_packet = ADMIN_HANDLER_SEND_COMMAND .. string.char(DEFAULT_PACKET_SIZE) .. NULL_BYTE
-	local admin_packet = string.char(0xFF)  --RESET_BASE_BOARD_COMMAND
-	local reset_base_board_packet  = handler_packet .. admin_packet
-
-	local write_res = comms.send(ADMIN_MODULE_IN_ENDPOINT, reset_base_board_packet, TIMEOUT)
-    	if write_res then
-		-- no tego que leer respuesta porque se reseteo
-		--libusb.close(libusb_handler)
-		--self.libusb_handler=nil
-		--for d_name,d in pairs(self.devices) do
-			--bobot.debugprint ("===", d.name,d.handler)
-		--	d.handler=nil
-		--end
-	else	
-		bobot.debugprint("u4b:reset:comunication with I/O board write error", write_res)
-	end
-end
-
-function BaseBoard:force_close_all()
-	--state & parameter sanity check
-	assert(type(self.comms)=="table")
-	
-	local comms=self.comms
-	-- In case of reset_base_board command is atended by admin module in handler 0 and send operation is 000
-	local handler_packet = ADMIN_HANDLER_SEND_COMMAND .. string.char(DEFAULT_PACKET_SIZE) .. NULL_BYTE
-	local admin_packet = CLOSEALL_BASE_BOARD_COMMAND
-	local reset_base_board_packet  = handler_packet .. admin_packet
-
---bobot.debugprint ('%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%')
-	local write_res = comms.send(ADMIN_MODULE_IN_ENDPOINT, reset_base_board_packet, TIMEOUT)
---bobot.debugprint ('%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%')
-    	if write_res then
-		local data, err = comms.read(ADMIN_MODULE_OUT_ENDPOINT,	CLOSEALL_BASE_BOARD_RESPONSE_PACKET_SIZE, TIMEOUT)
-		if err then
-			bobot.debugprint("u4b:force_close_all:comunication with I/O board read error",err)
-		else
-			--bobot.debugprint("u4b:force_close_all:libusb read",string.byte(data,1,string.len(data)))
-		end
-		for _,d in ipairs(self.devices) do
-			--bobot.debugprint ("===", d.name,d.handler)
-			d.handler=nil
-		end
-	else	
-		bobot.debugprint("u4b:force_close_all:comunication with I/O board write error", write_res)
-	end
-end
-
-return BaseBoard
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
-
diff --git a/lib/support/lib/comms_chotox.lua b/lib/support/lib/comms_chotox.lua
deleted file mode 100644
index 18e02bf..0000000
--- a/lib/support/lib/comms_chotox.lua
+++ /dev/null
@@ -1,39 +0,0 @@
-local bobot_device = require("bobot_device")
-
-local comms_chotox = {}
-
-function comms_chotox.send(endpoint, data, timeout)
-end
-
-function comms_chotox.read(endpoint, len, timeout)
-end
-
-
-function comms_chotox.init(baseboards)
-	--parameters sanity check
-	assert(type(baseboards)=="table")
-
-	local n_boards=1
-	--local bb = bobot_baseboard.BaseBoard:new({idBoard=iSerial, comms=comms_usb})
-	local bb = {idBoard=1, comms=comms_chotox}
-	local devices={}
-	local is_hotplug= {button=true, led=true, grey=true, distanc=true}
-	for i, name in ipairs({"button", "grey", "distanc","butia"}) do
-		local dd={name=name, module=name, baseboard=bb, handler=i}
-		dd.open = function() return true end
-		dd.close = function() end
-		dd.read = function() return "" end
-		dd.send = function() return true end
-		if is_hotplug[name] then dd.hotplug=true end
-
-		local d = bobot_device:new(dd) -- in_endpoint=0x01, out_endpoint=0x01})
-
-		devices[name]=true
-		devices[#devices+1]=d
-	end
-	bb.devices=devices
-	baseboards[1]=bb
-	return n_boards
-end
-
-return comms_chotox
diff --git a/lib/support/lib/comms_serial.lua b/lib/support/lib/comms_serial.lua
deleted file mode 100644
index 4bd3bb0..0000000
--- a/lib/support/lib/comms_serial.lua
+++ /dev/null
@@ -1,94 +0,0 @@
---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
diff --git a/lib/support/lib/comms_usb.lua b/lib/support/lib/comms_usb.lua
deleted file mode 100644
index 91d64b5..0000000
--- a/lib/support/lib/comms_usb.lua
+++ /dev/null
@@ -1,99 +0,0 @@
---module(..., package.seeall);
-
-local bobot_baseboard = require("bobot_baseboard")
-local bobot = require("bobot")
-
-local my_path = debug.getinfo(1, "S").source:match[[^@?(.*[\/])[^\/]-$]]
-assert(package.loadlib(my_path .. "libluausb.so","luaopen_libusb"))()
-local libusb=_G.libusb; _G.libusb=nil
-
-local usb_bulk_write = libusb.bulk_write
-local usb_bulk_read = libusb.bulk_read
-
-local USB4ALL_VENDOR        = 0x04d8
-local USB4ALL_PRODUCT       = 0x000c
-local USB4ALL_CONFIGURATION = 1
-local USB4ALL_INTERFACE     = 0
-
-local READ_HEADER_SIZE      = 3
-
-local libusb_handler 
-
-
-local comms_usb = {}
-
-function comms_usb.send(endpoint, data, timeout)
-	--parameters sanity check
-	assert(type(libusb_handler)=="userdata")
-	assert(type(endpoint)=="number")
-	assert(type(data)=="string")
-	assert(type(timeout)=="number")
-
-	return usb_bulk_write(libusb_handler, endpoint, data, timeout)
-end
-
-function comms_usb.read(endpoint, len, timeout)
-	--parameters sanity check
-	assert(type(libusb_handler)=="userdata")
-	assert(type(endpoint)=="number")
-	assert(type(len)=="number")
-	assert(type(timeout)=="number")
-
-	return usb_bulk_read(libusb_handler, endpoint, len+READ_HEADER_SIZE, timeout)
-end
-
-
-function comms_usb.init(baseboards)
-	--parameters sanity check
-	assert(type(baseboards)=="table")
-
-
-	--refresh devices and buses
-	libusb.find_busses()
-	libusb.find_devices()
-	local n_boards = 0
-
-	local buses=libusb.get_busses()
-	for dirname, bus in pairs(buses) do 			--iterate buses
-		local devices=libusb.get_devices(bus)
-		for filename, device in pairs(devices) do	--iterate devices
-			local descriptor = libusb.device_descriptor(device)
-
-			--if device is baseboard...
-			if ((descriptor.idVendor == USB4ALL_VENDOR) and (descriptor.idProduct == USB4ALL_PRODUCT)) then
-				--try to intialize baseboard
-				bobot.debugprint("Initializing Baseboard:", descriptor.idVendor, descriptor.idProduct)
-				libusb_handler = libusb.open(device)
-
-				if not libusb_handler then
-					bobot.debugprint("Error opening device")
-					break
-				end				
-				if not libusb.set_configuration(libusb_handler, USB4ALL_CONFIGURATION) then
-					bobot.debugprint("Error configuring device, retrying after a reset")
-					libusb.reset(libusb_handler)				
-					if not libusb.set_configuration(libusb_handler, USB4ALL_CONFIGURATION) then
-						bobot.debugprint("Error configuring device.")
-						break
-					end
-				end
-				if not libusb.claim_interface(libusb_handler, USB4ALL_INTERFACE) then
-					bobot.debugprint("Error seting device interface")
-					break
-				end
-
-				--success initializing, instantiate BaseBoard object and register
-				local iSerial=descriptor.iSerialNumber
-				local bb = bobot_baseboard:new({idBoard=iSerial, comms=comms_usb})
-				--bb:force_close_all()
-				--bobot.debugprint("Baseboard:", iSerial)
-
-				baseboards[#baseboards+1]=bb
-				n_boards = n_boards + 1
-			end
-		end
-	end
-	return n_boards 
-end
-
-return comms_usb
diff --git a/lib/support/lib/libluausb.so b/lib/support/lib/libluausb.so
deleted file mode 100755
index a7c9406..0000000
--- a/lib/support/lib/libluausb.so
+++ /dev/null
diff --git a/lib/support/lib/lua_serialcomm.so b/lib/support/lib/lua_serialcomm.so
deleted file mode 100755
index cb79295..0000000
--- a/lib/support/lib/lua_serialcomm.so
+++ /dev/null
diff --git a/lib/support/lib/mime/core.so b/lib/support/lib/mime/core.so
deleted file mode 100755
index 696b7d9..0000000
--- a/lib/support/lib/mime/core.so
+++ /dev/null
diff --git a/lib/support/lib/socket/core.so b/lib/support/lib/socket/core.so
deleted file mode 100755
index ddfc8c3..0000000
--- a/lib/support/lib/socket/core.so
+++ /dev/null