From 1e123c3670209132fa82cf02e95b8425a0c070aa Mon Sep 17 00:00:00 2001
From: Sebastian Reichel <sre@ring0.de>
Date: Thu, 28 Jun 2012 19:59:55 +0200
Subject: implement atmostripe motor controller

---
 actuators/motor-controller.vala |  4 ++--
 actuators/motor/atmostripe.vala | 34 +++++++++++++++++++++++++++++-----
 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;
+	}
 }
-- 
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