From 2b427f4bdfc71b055b7db8ffe2b9dd0ea3e4cc9a Mon Sep 17 00:00:00 2001
From: Sebastian Reichel <sre@ring0.de>
Date: Sat, 11 Aug 2012 23:02:47 +0200
Subject: initial commit

---
 client/enginecontroller.vala | 237 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 237 insertions(+)
 create mode 100644 client/enginecontroller.vala

(limited to 'client/enginecontroller.vala')

diff --git a/client/enginecontroller.vala b/client/enginecontroller.vala
new file mode 100644
index 0000000..23bd572
--- /dev/null
+++ b/client/enginecontroller.vala
@@ -0,0 +1,237 @@
+public class EngineController {
+	private Posix.termios newtio;
+	private Posix.termios restoretio;
+	private int fd=-1;
+	private int byterate;
+
+	private void setup(string device, int rate, int bits, int stopbits) {
+		Posix.speed_t baudrate = Posix.B9600;
+
+		fd = Posix.open(device, Posix.O_RDWR /*| Posix.O_NONBLOCK*/);
+
+		if(fd < 0) {
+			fd = -1;
+			stderr.printf("Could not open device!\n");
+			return;
+		}
+
+		Posix.tcflush(fd, Posix.TCIOFLUSH);
+
+		Posix.tcgetattr(fd, out restoretio);
+
+		/* apply settings */
+		switch(rate) {
+			case 300:
+				baudrate = Posix.B300;
+				break;
+			case 600:
+				baudrate = Posix.B600;
+				break;
+			case 1200:
+				baudrate = Posix.B1200;
+				break;
+			case 2400:
+				baudrate = Posix.B2400;
+				break;
+			case 4800:
+				baudrate = Posix.B4800;
+				break;
+			case 9600:
+				baudrate = Posix.B9600;
+				break;
+			case 19200:
+				baudrate = Posix.B19200;
+				break;
+			case 38400:
+				baudrate = Posix.B38400;
+				break;
+			case 57600:
+				baudrate = Posix.B57600;
+				break;
+			case 115200:
+				baudrate = Posix.B115200;
+				break;
+			case 230400:
+				baudrate = Posix.B230400;
+				break;
+			default:
+				/* not supported */
+				rate = 9600;
+				break;
+		}
+
+		Posix.cfsetospeed(ref newtio, baudrate);
+		Posix.cfsetispeed(ref newtio, baudrate);
+
+		switch(bits) {
+			case 5:
+				newtio.c_cflag = (newtio.c_cflag & ~Posix.CSIZE) | Posix.CS5;
+				break;
+			case 6:
+				newtio.c_cflag = (newtio.c_cflag & ~Posix.CSIZE) | Posix.CS6;
+				break;
+			case 7:
+				newtio.c_cflag = (newtio.c_cflag & ~Posix.CSIZE) | Posix.CS7;
+				break;
+			case 8:
+			default:
+				newtio.c_cflag = (newtio.c_cflag & ~Posix.CSIZE) | Posix.CS8;
+				break;
+		}
+
+		newtio.c_cflag |= Posix.CLOCAL | Posix.CREAD;
+
+		newtio.c_cflag &= ~(Posix.PARENB | Posix.PARODD);
+
+		/* TODO: parity */
+
+		newtio.c_cflag &= ~Linux.Termios.CRTSCTS;
+
+		if(stopbits == 2)
+			newtio.c_cflag |= Posix.CSTOPB;
+		else
+			newtio.c_cflag &= ~Posix.CSTOPB;
+
+		newtio.c_iflag = Posix.IGNBRK;
+
+		newtio.c_lflag = 0;
+		newtio.c_oflag = 0;
+
+		newtio.c_cc[Posix.VTIME]=1;
+		newtio.c_cc[Posix.VMIN]=1;
+
+		newtio.c_lflag &= ~(Posix.ECHONL|Posix.NOFLSH);
+
+		int mcs=0;
+		Posix.ioctl(fd, Linux.Termios.TIOCMGET, out mcs);
+		mcs |= Linux.Termios.TIOCM_RTS;
+		Posix.ioctl(fd, Linux.Termios.TIOCMSET, out mcs);
+
+		Posix.tcsetattr(fd, Posix.TCSANOW, newtio);
+
+		this.byterate = rate/bits;
+	}
+
+	public EngineController(string device) {
+		setup(device, 9600, 8, 1);
+	}
+
+	private ssize_t read(void *buf, size_t count) {
+		if(fd >= 0)
+			return Posix.read(fd, buf, count);
+		else
+			stderr.printf("not connected!\n");
+		return 0;
+	}
+
+	private ssize_t write(void *buf, size_t count) {
+		if(fd >= 0) {
+			ssize_t size = Posix.write(fd, buf, count);
+			return size;
+		} else {
+			stderr.printf("not connected!\n");
+			return 0;
+		}
+	}
+
+	public bool disable() {
+		uint8[4] buf = new uint8[4];
+		buf[0] = 0xDE;
+		buf[1] = 0xAD;
+		buf[2] = 0xBA;
+		buf[3] = 0xBE;
+
+		if(fd < 0) {
+			stderr.printf("not connected!\n");
+			return false;
+		}
+
+		write(buf, 4);
+		read(buf, 1);
+
+		if(buf[0] == '.')
+			return true;
+		else
+			return false;
+	}
+
+	public bool enable() {
+		uint8[4] buf = new uint8[4];
+		buf[0] = 0xCA;
+		buf[1] = 0xFE;
+		buf[2] = 0xBA;
+		buf[3] = 0xBE;
+
+		if(fd < 0) {
+			stderr.printf("not connected!\n");
+			return false;
+		}
+
+		write(buf, 4);
+		read(buf, 1);
+
+		if(buf[0] == '.')
+			return true;
+		else
+			return false;
+	}
+
+	public bool no_operation() {
+		uint8[1] buf = new uint8[1];
+		buf[0] = 0x00;
+
+		if(fd < 0) {
+			stderr.printf("not connected!\n");
+			return false;
+		}
+
+		write(buf, 1);
+		read(buf, 1);
+
+		if(buf[0] == '.')
+			return true;
+		else
+			return false;
+	}
+
+	public bool set_speed(uint8 engine, uint8 speed) {
+		uint8[2] buf = new uint8[2];
+		buf[0] = engine+1;
+		buf[1] = speed;
+
+		if(fd < 0) {
+			stderr.printf("not connected!\n");
+			return false;
+		}
+
+		if(engine > 5)
+			return false;
+
+		write(buf, 2);
+		read(buf, 2);
+
+		if(buf[0] == '.')
+			return true;
+		else
+			return false;
+	}
+
+	public bool set_speed_all(uint8 speed) {
+		uint8[2] buf = new uint8[2];
+		buf[0] = 0xFF;
+		buf[1] = speed;
+
+		if(fd < 0) {
+			stderr.printf("not connected!\n");
+			return false;
+		}
+
+		write(buf, 2);
+		read(buf, 2);
+
+		if(buf[0] == '.')
+			return true;
+		else
+			return false;
+	}
+}
-- 
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