func sendPg() {
log.Println("Sending over V+ code")
s, err := serial.OpenPort(&serial.Config{Name: *ttyConsole, Baud: *baudConsole})
if err != nil {
log.Fatal(err)
}
defer s.Close()
console := vplus.NewConsole(s)
f := *dataRoot + "/pkg/staubli/V+/gcode.pg"
err = console.Cmd("abort")
if err != nil {
log.Fatal("error sending file: ", f)
}
console.Expect()
err = console.Cmd("kill")
if err != nil {
log.Fatal("error sending file: ", f)
}
console.Expect()
err = console.UpdateFile(f)
if err != nil {
log.Fatal("error sending file: ", f)
}
err = console.Cmd(fmt.Sprintf("ex %s", path.Base(f)))
if err != nil {
log.Fatal("error sending file: ", f)
}
}
func main() {
flag.Parse()
if len(flag.Args()) == 0 {
flag.Usage()
os.Exit(1)
}
term, err := os.OpenFile(*terminal, os.O_APPEND|os.O_RDWR, os.ModeDevice)
defer term.Close()
if err != nil {
log.Fatal("error opening device file: ", err)
}
console = vplus.NewConsole(term)
// Quit the currently running V+ program, if one is.
Cmd("abort")
// Remove it from the stack so we can modify it.
// TODO perhaps parse the output of 'status' and only kill the right process?
// For now a couple of kill commands should do it, since it's unlikely that we're
// running any more than that.
Cmd("kill")
Cmd("kill")
for _, f := range flag.Args() {
err = console.UpdateFile(f)
if err != nil {
log.Fatal("error sending file: ", f)
}
}
if *execute {
// Execute the first argument if we're running
Cmd(fmt.Sprintf("ex %s", path.Base(flag.Args()[0])))
}
}