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#!/usr/bin/lua
module(..., package.seeall);
local bobot = require("bobot")
--local devices=devices
--local DEBUG = false
local function check_open_device(d, ep1, ep2)
if not d then return end
if d.handler or d.name=='pnp' then return true end
-- if the device is not open, then open the device
bobot.debugprint ("Opening", d.name, d.handler)
return d:open(ep1 or 1, ep2 or 1) --TODO asignacion de ep?
end
process = {}
process["INIT"] = function () --to check the new state of hardware on the fly
server_init()
end
process["REFRESH"] = function () --to check the new state of hardware on the fly
--for _, bb in ipairs(bobot.baseboards) do
-- bb:refresh()
--end
server_refresh()
return 'ok'
end
process["LIST"] = function ()
local ret,comma = "", ""
for _, d in ipairs(devices) do
ret = ret .. comma .. d.name
comma=","
end
return ret
end
process["LISTI"] = function ()
if bobot.baseboards then
bobot.debugprint("listing instanced modules...")
for _, bb in ipairs(bobot.baseboards) do
local handler_size=bb:get_handler_size()
for i=1, handler_size do
t_handler = bb:get_handler_type(i)
bobot.debugprint("handler=", i-1 ," type=" ,t_handler)
end
end
end
end
process["OPEN"] = function (parameters)
local d = parameters[2]
local ep1= tonumber(parameters[3])
local ep2= tonumber(parameters[4])
if not d then
bobot.debugprint("ls:Missing 'device' parameter")
return
end
local device = devices[d]
if check_open_device(device, ep1, ep2) then
return "ok"
else
return "fail"
end
end
process["DESCRIBE"] = function (parameters)
local d = parameters[2]
local ep1= tonumber(parameters[3])
local ep2= tonumber(parameters[4])
if not d then
bobot.debugprint("ls:Missing \"device\" parameter")
return
end
local device = devices[d]
if not check_open_device(device, ep1, ep2) then
return "fail"
end
if not device.api then
return "missing driver"
end
local ret = "{"
for fname, fdef in pairs(device.api) do
ret = ret .. fname .. "={"
ret = ret .. " parameters={"
for i,pars in ipairs(fdef.parameters) do
ret = ret .. "[" ..i.."]={"
for k, v in pairs(pars) do
ret = ret .."['".. k .."']='"..tostring(v).."',"
end
ret = ret .. "},"
end
ret = ret .. "}, returns={"
for i,rets in ipairs(fdef.returns) do
ret = ret .. "[" ..i.."]={"
for k, v in pairs(rets) do
ret = ret .."['".. k .."']='"..tostring(v).."',"
end
ret = ret .. "},"
end
ret = ret .. "}},"
end
ret=ret.."}"
return ret
end
process["CALL"] = function (parameters)
local d = parameters[2]
local call = parameters[3]
if not (d and call) then
bobot.debugprint("ls:Missing parameters", d, call)
return
end
local device = devices[d]
if not check_open_device(device, nil, nil) then
return "fail"
end
if not device.api then return "missing driver" end
local api_call=device.api[call];
if not api_call then return "missing call" end
if api_call.call then
--local tini=socket.gettime()
local ok, ret = pcall (api_call.call, unpack(parameters,4))
if not ok then bobot.debugprint ("Error calling", ret) end
--print ('%%%%%%%%%%%%%%%% bobot-server',socket.gettime()-tini)
return ret
end
end
process["CLOSEALL"] = function ()
if bobot.baseboards then
for _, bb in ipairs(bobot.baseboards) do
--this command closes all the open user modules
--it does not have sense with plug and play
bb:force_close_all() --modif andrew
end
end
return "ok"
end
process["BOOTLOADER"] = function ()
if bobot.baseboards then
for _, bb in ipairs(bobot.baseboards) do
bb:switch_to_bootloader()
end
end
return "ok"
end
process["DEBUG"] = function (parameters) --disable debug mode Andrew code!
local debug = parameters[2]
if not debug then return "missing parameter" end
if debug=="ON" then
bobot.debugprint = print --function(...) print (...) end --enable printing
elseif debug=="OFF" then
bobot.debugprint = function() end --do not print anything
end
return "ok"
end
process["QUIT"] = function ()
bobot.debugprint("Requested EXIT...")
os.exit()
return "ok"
end
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