diff options
| -rw-r--r-- | actuators/motor-controller.vala | 4 | ||||
| -rw-r--r-- | actuators/motor/atmostripe.vala | 34 | ||||
| -rw-r--r-- | hw/serial-device.vala | 27 |
3 files changed, 57 insertions, 8 deletions
diff --git a/actuators/motor-controller.vala b/actuators/motor-controller.vala index d348e53..b638e06 100644 --- a/actuators/motor-controller.vala +++ b/actuators/motor-controller.vala @@ -18,6 +18,6 @@ public interface MotorController : Device { public abstract uint8 max { get ; } public abstract void init(KeyFile cfg) throws Error; - public abstract void set_single(uint8 m, uint8 v); - public abstract void set_all(uint8 v); + public abstract bool set_single(uint8 m, uint8 v); + public abstract bool set_all(uint8 v); } diff --git a/actuators/motor/atmostripe.vala b/actuators/motor/atmostripe.vala index ad996e7..23f0fda 100644 --- a/actuators/motor/atmostripe.vala +++ b/actuators/motor/atmostripe.vala @@ -23,15 +23,39 @@ public class AtmostripeMotorController : SerialDevice, MotorController { } public void init(KeyFile cfg) throws Error { - /* */ + var device = cfg.get_string("AtmostripeMotorController", "device"); + setup(device); } - public void set_single(uint8 m, uint8 v) { - /* */ + public bool set_single(uint8 engine, uint8 speed) { + uint8[2] buf = new uint8[2]; + buf[0] = engine; + buf[1] = speed; + + if(engine > 5) + return false; + + write(buf, 2); + read(buf, 2); + + if(buf[0] == '.') + return true; + else + return false; } - public void set_all(uint8 v) { - /* */ + public bool set_all(uint8 speed) { + uint8[2] buf = new uint8[2]; + buf[0] = 6; + buf[1] = speed; + + write(buf, 2); + read(buf, 2); + + if(buf[0] == '.') + return true; + else + return false; } } diff --git a/hw/serial-device.vala b/hw/serial-device.vala index bbd7698..cff68b9 100644 --- a/hw/serial-device.vala +++ b/hw/serial-device.vala @@ -13,8 +13,33 @@ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */ +public errordomain SerialError { + IO_ERROR, + ERRNO, +} + public class SerialDevice : Device { + private int fd; + + public void setup(string device) throws SerialError { + fd = Posix.open(device, Posix.O_RDWR); + + if(fd < 0) + throw new SerialError.IO_ERROR("Could not open device!"); + + /* TODO */ + } + + ~I2CDevice() { + Posix.close(fd); + } - /* TODO */ + protected ssize_t read(void *buf, size_t count) { + return Posix.read(fd, buf, count); + } + protected ssize_t write(void *buf, size_t count) { + ssize_t size = Posix.write(fd, buf, count); + return size; + } } |