// Connects to the ARM on the given serial port
func ConnectSerial(port string, baud int) common.Protocol {
c := &serial.Config{Name: port, Baud: baud}
if s, err := serial.OpenPort(c); err != nil {
panic(err)
} else {
return SerialProtocol{s}
}
}
// Send a couple of returns to wake up the controller
func (air AIR) wake() {
c := serial.Config{Name: air.device, Baud: 9600}
port, err := serial.OpenPort(&c)
if err != nil {
log.Fatal(err)
}
defer port.Close()
for i := 0; i < 5; i++ {
query := air.address + "\r"
_, err = port.Write([]byte(query))
if err != nil {
log.Fatal(err)
}
}
}
func (ser *SerialChannel) Start() error {
log.Println("[INFO] Starting Serial")
cfg := ser.GetConfiguration()
port := cfg.Port
baud := cfg.Baud
c := &serial.Config{Name: port, Baud: int(baud)}
s, err := serial.OpenPort(c)
ser.serial = s
if err == nil {
buf := ""
for {
serialContent := make([]byte, 256)
_, err := s.Read(serialContent)
if err != nil {
log.Fatal(err)
}
c := string(serialContent)
if strings.Index(c, "\n") != -1 {
str := strings.Split(c, "\n")
buf += str[0]
buf = strings.Replace(buf, "\x00", "", -1)
// Iterate all protocols and call Handle for Buf
payload := api.NewReadRequest(buf)
for _, prot := range ser.GetProtocols() {
go prot.OnRead(payload)
}
buf = str[1]
} else {
buf += c
}
}
} else {
log.Print("[ERROR] Unable to start Serial -- ", err)
}
return nil
}
func (noxbox NOXBOX) Sample() (string, error) {
c := serial.Config{Name: noxbox.device, Baud: 9600}
port, err := serial.OpenPort(&c)
if err != nil {
log.Fatal(err)
}
defer port.Close()
data := noxbox.read(port)
for data == "" {
data = noxbox.read(port)
}
nox, err := noxbox.parse(data)
if err != nil {
return "", err
}
message := Message{nox, noxbox.site, time.Now()}
json_message, err := json.Marshal(message)
return string(json_message), err
}
func (air AIR) read() string {
c := serial.Config{Name: air.device, Baud: 9600}
port, err := serial.OpenPort(&c)
if err != nil {
log.Fatal(err)
}
defer port.Close()
query := air.address + "\r"
_, err = port.Write([]byte(query))
if err != nil {
log.Fatal(err)
}
reader := bufio.NewReader(port)
reply, err := reader.ReadBytes('\x0d')
if err != nil {
log.Fatal(err)
}
return string(reply)
}
func (s *SerialPort) Open() (err error) {
if s.opened {
return nil
}
s.port, err = serial.OpenPort(&s.Config)
if err != nil {
return err
}
if s.ChanPubSub == nil {
s.ChanPubSub = chanpubsub.New()
}
go s.reader()
if s.Write == nil {
s.Write = s.writer()
}
s.opened = true
return nil
}
// Com 接口
func Com(dev string, data string) ([]string, error) {
c := &serial.Config{Name: dev, Baud: 115200}
s, e := serial.OpenPort(c)
if e != nil {
return make([]string, 0), e
}
defer s.Close()
wd := bufio.NewWriter(s)
wd.Write([]byte(data + "\r"))
wd.Flush()
time.Sleep(1 * time.Second)
content := make([]string, 0)
rd := bufio.NewReader(s)
for {
line, err := rd.ReadString('\n')
if err == io.EOF {
break
}
if err != nil {
break
}
content = append(content, Trim(line))
if strings.Contains(line, "OK") || strings.Contains(line, "ERROR") {
break
}
}
return content, nil
}
// Do mouse tracking, must open up serial port directly in order to send steps in realtime as requested
func PerformMouseTracking() {
fmt.Println("Opening mouse reader")
mouse := CreateAndStartMouseReader()
defer mouse.Close()
fmt.Println("Opening com port")
c := &serial.Config{Name: "/dev/ttyAMA0", Baud: 57600}
s, err := serial.OpenPort(c)
if err != nil {
panic(err)
}
defer s.Close()
fmt.Println("Left click to exit, Right click to exit and enter X Y location of pen")
// buffers to use during serial communication
writeData := make([]byte, 128)
readData := make([]byte, 1)
polarSystem := PolarSystemFromSettings()
previousPolarPos := PolarCoordinate{LeftDist: Settings.StartingLeftDist_MM, RightDist: Settings.StartingRightDist_MM}
startingPos := previousPolarPos.ToCoord(polarSystem)
polarSystem.XOffset = startingPos.X
polarSystem.YOffset = startingPos.Y
currentPos := Coordinate{X: 0, Y: 0}
// max distance that can be travelled in one batch
maxDistance := 64 * (Settings.MaxSpeed_MM_S * TimeSlice_US / 1000000.0)
// send a -128 to force the arduino to restart and rerequest data
s.Write([]byte{ResetCommand})
for stepDataOpen := true; stepDataOpen; {
// wait for next data request
n, err := s.Read(readData)
if err != nil {
panic(err)
}
if n != 1 {
panic(err)
}
if mouse.GetLeftButton() {
updateSettingsPosition(currentPos, polarSystem)
return
} else if mouse.GetRightButton() {
promptForSettingsPosition(polarSystem)
return
}
mouseX, mouseY := mouse.GetPos()
mousePos := Coordinate{X: float64(mouseX) / 20.0, Y: float64(mouseY) / 20.0}
direction := mousePos.Minus(currentPos)
distance := direction.Len()
if distance == 0.0 {
direction = Coordinate{X: 1, Y: 0}
} else {
direction = direction.Normalized()
}
if distance > maxDistance {
distance = maxDistance
}
//fmt.Println("Got mouse pos", mousePos)
dataToWrite := int(readData[0])
for i := 0; i < dataToWrite; i += 2 {
sliceTarget := currentPos.Add(direction.Scaled(float64(i) * distance / 128.0))
polarSliceTarget := sliceTarget.ToPolar(polarSystem)
//fmt.Println("i", i, "pos", currentPos, "target", sliceTarget);
sliceSteps := polarSliceTarget.
Minus(previousPolarPos).
Scaled(StepsFixedPointFactor/Settings.StepSize_MM).
Ceil().
Clamp(StepsMaxValue, -StepsMaxValue)
previousPolarPos = previousPolarPos.
Add(sliceSteps.Scaled(Settings.StepSize_MM / StepsFixedPointFactor))
writeData[i] = byte(int8(-sliceSteps.LeftDist))
writeData[i+1] = byte(int8(sliceSteps.RightDist))
}
currentPos = previousPolarPos.ToCoord(polarSystem)
s.Write(writeData)
}
}
// Sends the given stepData to the stepper driver
func WriteStepsToSerial(stepData <-chan int8, pauseOnPenUp bool) {
if pauseOnPenUp {
fmt.Println("Pause on PenUp enabled!")
}
fmt.Println("Opening com port")
c := &serial.Config{Name: "/dev/ttyAMA0", Baud: 57600}
s, err := serial.OpenPort(c)
if err != nil {
panic(err)
}
defer s.Close()
// buffers to use during serial communication
writeData := make([]byte, 128)
readData := make([]byte, 1)
previousSend := time.Now()
var totalSends int = 0
var byteData int8 = 0
// send a -128 to force the arduino to restart and rerequest data
s.Write([]byte{ResetCommand})
var pauseAfterWrite = false
for stepDataOpen := true; stepDataOpen; {
// wait for next data request
n, err := s.Read(readData)
if err != nil {
panic(err)
}
if n != 1 {
panic(err)
}
dataToWrite := int(readData[0])
for i := 0; i < dataToWrite; i += 2 {
if pauseAfterWrite {
// want to fill remainder of buffer with 0s before writing it to serial
writeData[i] = byte(0)
writeData[i+1] = byte(0)
} else {
// even if stepData is closed and empty, receiving from it will return default value 0 for byteData and false for stepDataOpen
byteData, stepDataOpen = <-stepData
writeData[i] = byte(byteData)
byteData, stepDataOpen = <-stepData
writeData[i+1] = byte(byteData)
// pause on pen up
if byteData == PenUpCommand {
fmt.Println("PenUp...")
pauseAfterWrite = pauseOnPenUp
} else if byteData == PenDownCommand {
fmt.Println("PenDown...")
}
}
}
totalSends++
if totalSends >= 100 {
curTime := time.Now()
fmt.Println("Sent 100 messages after", curTime.Sub(previousSend))
totalSends = 0
previousSend = curTime
}
s.Write(writeData)
if pauseAfterWrite {
pauseAfterWrite = false
fmt.Println("Press any key to continue...")
reader := bufio.NewReader(os.Stdin)
reader.ReadString('\n')
}
}
}
func main() {
// common.Init()
ardupilotmega.Init()
flag.StringVar(&port, "port", "", "Serial port to connect to")
flag.IntVar(&baud, "baud", 115200, "Speed of the connection")
flag.IntVar(&maxPackets, "max", 10, "Quit program after this number of packets")
flag.DurationVar(&quitAfter, "quitafter", time.Second*3, "Quit program after this duration")
flag.DurationVar(&timeout, "timeout", time.Second, "Read timeout per packet")
flag.BoolVar(&debug, "debug", false, "Log everything for debugging")
flag.Parse()
if debug {
mavlink.LogEverything(log.New(os.Stderr, "", log.LstdFlags))
}
if port == "" {
if flag.NArg() > 0 {
port = flag.Arg(0)
} else {
ports := serial.ListPorts()
if len(ports) == 1 {
port = ports[0]
} else {
fmt.Fprintln(os.Stderr, "Call with -port=PORT")
flag.PrintDefaults()
fmt.Fprintln(os.Stderr, "\nAvailable as PORT are:")
for _, p := range ports {
fmt.Fprintln(os.Stderr, " ", p)
}
return
}
}
}
// serialConn, err := serial.OpenDefault(port, serial.Baud(baud), timeout)
serialConn, err := tarm.OpenPort(&tarm.Config{Name: port, Baud: baud})
if err != nil {
log.Fatal(err)
}
log.Println("Opened serial port", port)
defer func() {
log.Println("Closed serial port", port, "with error", serialConn.Close())
}()
//conn := mavlink.NewConnection(serialConn, 99)
// err = mavlink.Send(serialConn, 0, 0, 0, common.NewHeartbeat())
// if err != nil {
// log.Println(err)
// }
// err = mavlink.Send(serialConn, 0, 0, 0, &common.Ping{})
// if err != nil {
// log.Println(err)
// }
// err = mavlink.Send(serialConn, 0, 0, 0, &common.ParamRequestList{})
// if err != nil {
// log.Println(err)
// }
go func() {
dry.WaitForStdin("Press any key to quit")
stop = true
}()
time.AfterFunc(quitAfter, func() { stop = true })
for i := 0; i < maxPackets && !stop; i++ {
packet, err := mavlink.Receive(serialConn)
if err == nil {
log.Println(packet)
} else {
log.Println(err)
}
}
}