func NewShell() *Shell {
sh := &Shell{
shell: liner.NewLiner(),
prompt: "mbus> ",
hist: filepath.Join(".", ".fcs_lpc_motor_history"),
motor: m702.New("134.158.125.223:502"),
}
sh.shell.SetCtrlCAborts(true)
sh.shell.SetCompleter(func(line string) (c []string) {
for n := range sh.cmds {
if strings.HasPrefix(n, strings.ToLower(line)) {
c = append(c, n)
}
}
return
})
if f, err := os.Open(sh.hist); err == nil {
sh.shell.ReadHistory(f)
f.Close()
}
sh.cmds = map[string]shellCmd{
"dump": sh.cmdDump,
"get": sh.cmdGet,
"motor": sh.cmdMotor,
"quit": sh.cmdQuit,
"set": sh.cmdSet,
}
return sh
}
func (sh *Shell) cmdMotor(args []string) error {
switch len(args) {
case 0:
log.Printf("connected to [%s]\n", sh.motor.Addr)
return nil
case 1:
sh.motor = m702.New(args[0])
return nil
default:
return fmt.Errorf("cmd-motor: too many arguments (%d)", len(args))
}
return nil
}
func main() {
flag.Parse()
if flag.NArg() >= 1 {
err := dispatch(flag.Arg(0), flag.Args()[1:])
if err != nil {
log.Fatalf("error dispatching [%s]: %v\n", flag.Arg(0), err)
}
log.Printf("\n")
log.Printf("bye.\n")
os.Exit(0)
}
m := m702.New("134.158.125.223:502")
testParams(m)
}
func (srv *webServer) publishData() {
status := make([]motorStatus, len(srv.Motors))
copy(status, srv.Motors)
for i := range status {
data := &status[i]
motor := m702.New(data.Addr)
for _, p := range srv.params {
if i > 0 && (p.Index[0] == 2 || p.Index[0] == 3) {
// only motor-0 has slots-2|3
continue
}
err := motor.ReadParam(&p)
if err != nil {
log.Printf("error reading %v Pr-%v: %v\n", data.Addr, p, err)
continue
}
data.Params = append(data.Params, newMotorData(p, err))
}
}
srv.datac <- status
}