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--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
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