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-rw-r--r--main.go143
1 files changed, 143 insertions, 0 deletions
diff --git a/main.go b/main.go
new file mode 100644
index 0000000..837fa6a
--- /dev/null
+++ b/main.go
@@ -0,0 +1,143 @@
+package main
+
+//go:generate sh -c "protoc --go_out=. --nanopb_out=elegoo/ *.proto"
+
+import (
+ "bufio"
+ "io"
+ "log"
+
+ "github.com/dim13/cobs"
+ "github.com/golang/protobuf/proto"
+ "github.com/tarm/serial"
+)
+
+func Write(w io.Writer, pb proto.Message) error {
+ buf := new(proto.Buffer)
+ err := buf.EncodeMessage(pb)
+ if err != nil {
+ return err
+ }
+ block := cobs.Encode(buf.Bytes())
+ _, err = w.Write(block)
+ return err
+}
+
+func Read(buf *bufio.Reader, pb proto.Message) error {
+ block, err := buf.ReadBytes(0)
+ if err != nil {
+ return err
+ }
+ block = cobs.Decode(block)
+ return proto.NewBuffer(block).DecodeMessage(pb)
+}
+
+// /dev/cu.Elegoo-DevB
+// /dev/cu.usbmodem1421
+// /dev/cu.usbmodem1411
+
+func Reader(r io.Reader) chan *Events {
+ c := make(chan *Events)
+ buf := bufio.NewReader(r)
+ go func() {
+ for {
+ evt := &Events{}
+ if err := Read(buf, evt); err != nil {
+ if err == io.ErrUnexpectedEOF {
+ continue
+ }
+ log.Println("ERR", err)
+ return
+ }
+ c <- evt
+ }
+ }()
+ return c
+}
+
+func Writer(w io.Writer) chan *Command {
+ c := make(chan *Command)
+ go func() {
+ for cmd := range c {
+ log.Println("send", cmd)
+ Write(w, cmd)
+ }
+ }()
+ return c
+}
+
+func main() {
+ c := &serial.Config{
+ //Name: "/dev/tty.usbmodem1421",
+ //Name: "/dev/tty.usbmodem1411",
+ Name: "/dev/tty.Elegoo-DevB",
+ Baud: 57600,
+ }
+ s, err := serial.OpenPort(c)
+ if err != nil {
+ log.Fatal(err)
+ }
+ defer s.Close()
+
+ w := Writer(s)
+
+ w <- &Command{Direction: 80}
+
+ for e := range Reader(s) {
+ log.Println("event", e)
+ if e.SensorC || e.Distance < 20 {
+ w <- &Command{Stop: true}
+ }
+ }
+
+ /* log.Println("send -45")
+ time.Sleep(3 * time.Second)
+ Write(s, &Command{Direction: 5})
+
+ log.Println("send +45")
+ time.Sleep(3 * time.Second)
+ Write(s, &Command{Direction: 175})
+
+ log.Println("send +0")
+ time.Sleep(3 * time.Second)
+ Write(s, &Command{Direction: 90})
+ */
+
+ /* log.Println("send motor")
+ Write(s, &Command{SpeedL: 200, SpeedR: 200, StopAfter: 1000})
+ time.Sleep(time.Second)
+
+ log.Println("send motor turn")
+ time.Sleep(time.Second)
+ Write(s, &Command{SpeedL: -250, SpeedR: 250, StopAfter: 500})
+
+ log.Println("send motor turn")
+ time.Sleep(time.Second)
+ Write(s, &Command{SpeedL: 250, SpeedR: -250, StopAfter: 500})
+ */
+
+ /* MOTOR
+ cmd.SpeedL = 200
+ cmd.SpeedR = 0
+ cmd.Stop = false
+ Write(s, cmd)
+ time.Sleep(3 * time.Second)
+
+ cmd.SpeedL = 0
+ cmd.SpeedR = 0
+ cmd.Stop = true
+ Write(s, cmd)
+ time.Sleep(3 * time.Second)
+
+ cmd.SpeedL = 0
+ cmd.SpeedR = 200
+ cmd.Stop = false
+ Write(s, cmd)
+ time.Sleep(3 * time.Second)
+
+ cmd.SpeedL = 0
+ cmd.SpeedR = 0
+ cmd.Stop = true
+ Write(s, cmd)
+ */
+}