From 64a552f7a69e20c174f929c5d4e800aa24b480f3 Mon Sep 17 00:00:00 2001 From: Dimitri Sokolyuk Date: Sun, 27 Aug 2017 00:49:24 +0200 Subject: Make go getable --- car/elegoo/elegoo.pb.go | 167 ------------------------------------------------ car/elegoo/elegoo.proto | 23 ------- car/elegoo/main.go | 143 ----------------------------------------- 3 files changed, 333 deletions(-) delete mode 100644 car/elegoo/elegoo.pb.go delete mode 100644 car/elegoo/elegoo.proto delete mode 100644 car/elegoo/main.go (limited to 'car/elegoo') diff --git a/car/elegoo/elegoo.pb.go b/car/elegoo/elegoo.pb.go deleted file mode 100644 index 3a367e0..0000000 --- a/car/elegoo/elegoo.pb.go +++ /dev/null @@ -1,167 +0,0 @@ -// Code generated by protoc-gen-go. DO NOT EDIT. -// source: elegoo.proto - -/* -Package main is a generated protocol buffer package. - -It is generated from these files: - elegoo.proto - -It has these top-level messages: - Command - Events -*/ -package main - -import proto "github.com/golang/protobuf/proto" -import fmt "fmt" -import math "math" - -// Reference imports to suppress errors if they are not otherwise used. -var _ = proto.Marshal -var _ = fmt.Errorf -var _ = math.Inf - -// This is a compile-time assertion to ensure that this generated file -// is compatible with the proto package it is being compiled against. -// A compilation error at this line likely means your copy of the -// proto package needs to be updated. -const _ = proto.ProtoPackageIsVersion2 // please upgrade the proto package - -type Command struct { - SpeedR int32 `protobuf:"zigzag32,1,opt,name=SpeedR" json:"SpeedR,omitempty"` - SpeedL int32 `protobuf:"zigzag32,2,opt,name=SpeedL" json:"SpeedL,omitempty"` - Stop bool `protobuf:"varint,3,opt,name=Stop" json:"Stop,omitempty"` - Direction uint32 `protobuf:"varint,4,opt,name=Direction" json:"Direction,omitempty"` - StopAfter uint32 `protobuf:"varint,5,opt,name=StopAfter" json:"StopAfter,omitempty"` -} - -func (m *Command) Reset() { *m = Command{} } -func (m *Command) String() string { return proto.CompactTextString(m) } -func (*Command) ProtoMessage() {} -func (*Command) Descriptor() ([]byte, []int) { return fileDescriptor0, []int{0} } - -func (m *Command) GetSpeedR() int32 { - if m != nil { - return m.SpeedR - } - return 0 -} - -func (m *Command) GetSpeedL() int32 { - if m != nil { - return m.SpeedL - } - return 0 -} - -func (m *Command) GetStop() bool { - if m != nil { - return m.Stop - } - return false -} - -func (m *Command) GetDirection() uint32 { - if m != nil { - return m.Direction - } - return 0 -} - -func (m *Command) GetStopAfter() uint32 { - if m != nil { - return m.StopAfter - } - return 0 -} - -type Events struct { - Distance uint32 `protobuf:"varint,1,opt,name=Distance" json:"Distance,omitempty"` - Direction int32 `protobuf:"zigzag32,2,opt,name=Direction" json:"Direction,omitempty"` - SensorR bool `protobuf:"varint,3,opt,name=SensorR" json:"SensorR,omitempty"` - SensorC bool `protobuf:"varint,4,opt,name=SensorC" json:"SensorC,omitempty"` - SensorL bool `protobuf:"varint,5,opt,name=SensorL" json:"SensorL,omitempty"` - KeyPress uint32 `protobuf:"varint,6,opt,name=KeyPress" json:"KeyPress,omitempty"` - Time uint32 `protobuf:"varint,7,opt,name=Time" json:"Time,omitempty"` -} - -func (m *Events) Reset() { *m = Events{} } -func (m *Events) String() string { return proto.CompactTextString(m) } -func (*Events) ProtoMessage() {} -func (*Events) Descriptor() ([]byte, []int) { return fileDescriptor0, []int{1} } - -func (m *Events) GetDistance() uint32 { - if m != nil { - return m.Distance - } - return 0 -} - -func (m *Events) GetDirection() int32 { - if m != nil { - return m.Direction - } - return 0 -} - -func (m *Events) GetSensorR() bool { - if m != nil { - return m.SensorR - } - return false -} - -func (m *Events) GetSensorC() bool { - if m != nil { - return m.SensorC - } - return false -} - -func (m *Events) GetSensorL() bool { - if m != nil { - return m.SensorL - } - return false -} - -func (m *Events) GetKeyPress() uint32 { - if m != nil { - return m.KeyPress - } - return 0 -} - -func (m *Events) GetTime() uint32 { - if m != nil { - return m.Time - } - return 0 -} - -func init() { - proto.RegisterType((*Command)(nil), "Command") - proto.RegisterType((*Events)(nil), "Events") -} - -func init() { proto.RegisterFile("elegoo.proto", fileDescriptor0) } - -var fileDescriptor0 = []byte{ - // 234 bytes of a gzipped FileDescriptorProto - 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0x54, 0x90, 0xb1, 0x4e, 0xc3, 0x30, - 0x10, 0x86, 0x65, 0x08, 0x4e, 0x39, 0xd1, 0x01, 0x0f, 0xe8, 0x84, 0x18, 0xa2, 0x4e, 0x99, 0x58, - 0x78, 0x02, 0x48, 0x99, 0xc8, 0x80, 0x1c, 0x26, 0xb6, 0xd0, 0x1e, 0xc8, 0x12, 0xf1, 0x45, 0xb6, - 0x85, 0xc4, 0x23, 0xf0, 0x56, 0x3c, 0x1a, 0xb2, 0xd3, 0x3a, 0x61, 0xbb, 0xff, 0xff, 0x2c, 0xdd, - 0xe7, 0x83, 0x0b, 0xfa, 0xa4, 0x0f, 0xe6, 0xdb, 0xd1, 0x71, 0xe0, 0xcd, 0x8f, 0x80, 0xb2, 0xe1, - 0x61, 0xe8, 0xed, 0x5e, 0x5d, 0x81, 0xec, 0x46, 0xa2, 0xbd, 0x46, 0x51, 0x89, 0xfa, 0x52, 0x1f, - 0x52, 0xee, 0x5b, 0x3c, 0x59, 0xf4, 0xad, 0x52, 0x50, 0x74, 0x81, 0x47, 0x3c, 0xad, 0x44, 0xbd, - 0xd2, 0x69, 0x56, 0x37, 0x70, 0xbe, 0x35, 0x8e, 0x76, 0xc1, 0xb0, 0xc5, 0xa2, 0x12, 0xf5, 0x5a, - 0xcf, 0x45, 0xa4, 0xf1, 0xd5, 0xfd, 0x7b, 0x20, 0x87, 0x67, 0x13, 0xcd, 0xc5, 0xe6, 0x57, 0x80, - 0x7c, 0xfc, 0x22, 0x1b, 0xbc, 0xba, 0x86, 0xd5, 0xd6, 0xf8, 0xd0, 0xdb, 0x1d, 0x25, 0x99, 0xb5, - 0xce, 0xf9, 0xff, 0x8a, 0xc9, 0x68, 0xb1, 0x02, 0xa1, 0xec, 0xc8, 0x7a, 0x76, 0xfa, 0xe0, 0x75, - 0x8c, 0x33, 0x69, 0x92, 0x58, 0x26, 0xcd, 0x4c, 0xda, 0x24, 0x95, 0x49, 0x1b, 0x3d, 0x9e, 0xe8, - 0xfb, 0xd9, 0x91, 0xf7, 0x28, 0x27, 0x8f, 0x63, 0x8e, 0xdf, 0x7f, 0x31, 0x03, 0x61, 0x99, 0xfa, - 0x34, 0x3f, 0xc8, 0xd7, 0x62, 0xe8, 0x8d, 0x7d, 0x93, 0xe9, 0xba, 0x77, 0x7f, 0x01, 0x00, 0x00, - 0xff, 0xff, 0x22, 0x73, 0x73, 0x8b, 0x6d, 0x01, 0x00, 0x00, -} diff --git a/car/elegoo/elegoo.proto b/car/elegoo/elegoo.proto deleted file mode 100644 index 7cfd826..0000000 --- a/car/elegoo/elegoo.proto +++ /dev/null @@ -1,23 +0,0 @@ -syntax = "proto3"; - - - -option go_package = "main"; - -message Command { - sint32 SpeedR = 1; // -255 .. +255 - sint32 SpeedL = 2; // -255 .. +255 - bool Stop = 3; - uint32 Direction = 4; // deg: 0 right .. 180 left - uint32 StopAfter = 5; // milliseconds -} - -message Events { - uint32 Distance = 1; // cm - sint32 Direction = 2; // deg - bool SensorR = 3; - bool SensorC = 4; - bool SensorL = 5; - uint32 KeyPress = 6; - uint32 Time = 7; // milliseconds -} diff --git a/car/elegoo/main.go b/car/elegoo/main.go deleted file mode 100644 index 7e5f6e3..0000000 --- a/car/elegoo/main.go +++ /dev/null @@ -1,143 +0,0 @@ -package main - -//go:generate sh -c "protoc --go_out=. --nanopb_out=.. *.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) - */ -} -- cgit v1.2.3