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control.c
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control.c
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#include <stdio.h> /* Standard input/output definitions */
#include <string.h> /* String function definitions */
#include <unistd.h> /* UNIX standard function definitions */
#include <fcntl.h> /* File control definitions */
#include <errno.h> /* Error number definitions */
#include <termios.h> /* POSIX terminal control definitions */
typedef unsigned char byte;
#include "types.h"
void usage(char* cmdname);
int open_port(char* device);
int ping_pong(int fd);
int light_command(int fd, char *argv[]);
int set_opts(char *argv[], struct Command *cmd);
int read_settings(int fd, struct Settings *settings);
void print_settings(struct Settings *settings);
void print_settings_hex(struct Settings *settings);
int write_settings(int fd, char *settings);
int main(int argc, char *argv[]) {
int fd = -1;
int result = 0;
if (argc < 4) {
usage(argv[0]);
} else {
fd = open_port(argv[1]);
if (fd == -1) {
printf("Could not open device: %s\n", argv[1]);
return 1;
}
if (ping_pong(fd) != 0) {
printf("Could not communicate with device: %s\n", argv[1]);
close(fd);
return 1;
}
if (strcmp(argv[2], "light") == 0 && argc >= 5) {
if (strcmp(argv[4], "pwm") == 0 && argc < 6) {
printf("Invalid number of parameters for light pwm\n");
usage(argv[0]);
close(fd);
return 1;
}
result = light_command(fd, &argv[3]);
} else if (strcmp(argv[2], "all") == 0) {
if (strcmp(argv[3], "pwm") == 0 && argc < 5) {
printf("Invalid number of parameters for all pwm\n");
usage(argv[0]);
close(fd);
return 1;
}
result = all_command(fd, &argv[3]);
} else if (strcmp(argv[2], "settings") == 0 && strcmp(argv[3], "read") == 0) {
struct Settings settings;
int n = read_settings(fd, &settings);
if (n != 0) {
close(fd);
return 1;
}
if (argc >= 5 && strcmp(argv[4], "hex") == 0) {
print_settings_hex(&settings);
} else {
print_settings(&settings);
}
} else if (strcmp(argv[2], "settings") == 0 && strcmp(argv[3], "write") == 0 && argc > 4) {
result = write_settings(fd, argv[4]);
} else {
printf("Invalid command\n\n");
usage(argv[0]);
}
}
if (fd != -1) {
close(fd);
}
return result;
}
void usage(char* cmdname) {
printf("Usage:\n");
printf("\t%s <device> light 1|2|3 on|off|pwm [pwm value]\n", cmdname);
printf("\t%s <device> all on|off|pwm|clear [pwm value]\n", cmdname);
printf("\t%s <device> settings read [readable]\n", cmdname);
printf("\t%s <device> settings write <hex values>\n", cmdname);
}
int write_settings(int fd, char *settings) {
if (strlen(settings) != sizeof(struct Settings) * 2) {
fprintf(stderr, "Invalid length for settings");
return -1;
}
struct Settings new_settings;
int i;
for (i=0; i < sizeof(struct Settings); i++) {
sscanf(&settings[i*2], "%2x", &((char*)&new_settings)[i]);
}
printf("New Settings:\n");
print_settings(&new_settings);
struct Command cmd = { HEAD, CMD_SETTINGS_WRITE, 0, 0 };
int n = write(fd, &cmd, 4) + write(fd, &new_settings, sizeof(struct Settings));
if (n != 4 + sizeof(struct Settings)) {
perror("write_settings: failed to update settings");
return -1;
}
return 0;
}
int read_settings(int fd, struct Settings *settings) {
struct Command cmd = { HEAD, CMD_SETTINGS_READ, 0, 0 };
int n = write(fd, &cmd, 4);
if (n != 4) {
perror("light_command: failed to send command");
return -1;
}
n = read(fd, settings, sizeof(struct Settings));
if (n != sizeof(struct Settings)) {
perror("read_settings: failed to read settings");
return -1;
}
return 0;
}
void print_settings(struct Settings *settings){
int i;
for (i = 0; i < 3; i++) {
printf("Light%i: %s (PWM: %u)\n", i+1, settings->lights[i] == LIGHT_ON ? "on" : "off", settings->pwm[i]);
}
}
void print_settings_hex(struct Settings *settings){
unsigned char *ptr = (char *)settings;
int i;
for (i = 0; i < sizeof(struct Settings); i++) {
printf("%hhx", *ptr++);
}
printf("\n");
}
int light_command(int fd, char *argv[]) {
int light = atoi(argv[0]) - 1;
if (light > 2 || light < 0) {
fprintf(stderr, "light can only be 1-3\n");
return -1;
}
struct Command cmd = { HEAD, 0, 0, 0 };
cmd.light = (char)light;
int n = set_opts(&argv[1], &cmd);
if (n != 0) {
return -1;
}
if (cmd.cmd == CMD_ALL_CLEAR) {
fprintf(stderr, "clear only works with 'all'");
return -1;
}
cmd.cmd -= 0x10;
n = write(fd, &cmd, 4);
if (n != 4) {
perror("light_command: failed to send command");
return -1;
}
return 0;
}
int all_command(int fd, char *argv[]) {
struct Command cmd = { HEAD, 0, 0, 0 };
int n = set_opts(argv, &cmd);
if (n != 0) {
return -1;
}
n = write(fd, &cmd, 4);
if (n != 4) {
perror("all_command: failed to send command");
return -1;
}
return 0;
}
int set_opts(char *argv[], struct Command *cmd) {
if (strcmp(argv[0], "on") == 0) {
cmd->cmd = CMD_ALL_ON;
} else if (strcmp(argv[0], "off") == 0) {
cmd->cmd = CMD_ALL_OFF;
} else if (strcmp(argv[0], "pwm") == 0) {
cmd->cmd = CMD_ALL_PWM;
int pwm = atoi(argv[1]);
if (pwm < 0 || pwm > 255) {
fprintf(stderr, "pwm must be between 0-255");
return -1;
}
cmd->pwm = (char)pwm;
} else if (strcmp(argv[0], "clear") == 0) {
cmd->cmd = CMD_ALL_CLEAR;
} else {
fprintf(stderr, "invalid command");
return -1;
}
return 0;
}
int open_port(char* device) {
int fd = open(device, O_RDWR | O_NOCTTY);
if (fd == -1) {
perror("open_port: Unable to open serial device");
} else {
fcntl(fd, F_SETFL, 0);
struct termios options;
tcgetattr(fd, &options);
cfsetispeed(&options, B115200);
cfsetospeed(&options, B115200);
options.c_cflag &= ~PARENB;
options.c_cflag &= ~CSTOPB;
options.c_cflag &= ~CSIZE;
options.c_cflag |= CS8;
// no flow control
options.c_cflag &= ~CRTSCTS;
options.c_cflag |= CREAD | CLOCAL; // turn on READ & ignore ctrl lines
options.c_iflag &= ~(IXON | IXOFF | IXANY); // turn off s/w flow ctrl
options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); // make raw
options.c_oflag &= ~OPOST; // make raw
options.c_cc[VMIN] = 0;
options.c_cc[VTIME] = 5;
tcsetattr(fd, TCSANOW, &options);
if( tcsetattr(fd, TCSAFLUSH, &options) < 0) {
perror("open_port: failed to set options");
close(fd);
return -1;
}
return fd;
}
}
int ping_pong(int fd) {
char pong[1];
char ping[] = { HEAD, CMD_PING, 0, 0 };
int n;
n = write(fd, ping, 4);
if (n != 4) {
perror("ping_pong: failed to send ping");
return -1;
}
n = read(fd, pong, 1);
if (n != 1) {
perror("ping_pong: failed to read pong");
return -1;
}
if (pong[0] != CMD_PONG) {
printf("ping_pong: data received was not CMD_PONG\n");
return -1;
}
return 0;
}