Add lobotctl for debug instruction bytes

Signed-off-by: jet tsang zeon-git <zeon-git@jettsang.com>

2 files changed, 70 insertions, 0 deletions

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..a50fb76
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+cmd/lobotctl/lobotctl
diff --git a/cmd/lobotctl/lobotctl.go b/cmd/lobotctl/lobotctl.go
new file mode 100644
index 0000000..c5533df
--- /dev/null
+++ b/cmd/lobotctl/lobotctl.go
@@ -0,0 +1,69 @@
+package main
+
+import (
+	"flag"
+	"fmt"
+	"log"
+	"os"
+	"strconv"
+	"strings"
+
+	"git.jettsang.com/drivers/lobot/network"
+	"git.jettsang.com/drivers/lobot/servo"
+	"git.jettsang.com/drivers/lobot/servo/lx"
+	"github.com/jacobsa/go-serial/serial"
+)
+
+var (
+	portName    = flag.String("port", "/dev/tty.usbserial-A9ITPZVR", "the serial port path")
+	servoID     = flag.Int("id", 1, "the ID of the servo")
+	instruction = flag.String("instruction", "", "instruction")
+	argument    = flag.String("arguments", "1,1000", "uint16 txt break on comma")
+	debug       = flag.Bool("debug", false, "show serial traffic")
+)
+
+func main() {
+	flag.Parse()
+
+	options := serial.OpenOptions{
+		PortName:              *portName,
+		BaudRate:              115200,
+		DataBits:              8,
+		StopBits:              1,
+		MinimumReadSize:       0,
+		InterCharacterTimeout: 100,
+	}
+
+	serial, err := serial.Open(options)
+	if err != nil {
+		fmt.Printf("open error: %s\n", err)
+		os.Exit(1)
+	}
+
+	network := network.New(serial)
+	if *debug {
+		network.Logger = log.New(os.Stderr, "", log.LstdFlags)
+	}
+
+	network.Flush()
+
+	// var servo *servo.Servo
+	srv, err := lx.New(network, *servoID)
+	if err != nil {
+		log.Fatalln(err)
+	}
+
+	var params []uint16
+	textArguments := strings.Split(*argument, ",")
+	for _, v := range textArguments {
+		value, _ := strconv.Atoi(v)
+		params = append(params, uint16(value))
+	}
+
+	instRun := servo.GetInstName(*instruction)
+	log.Println(instRun.String(), params)
+	if err = srv.SendInstruction(instRun, params); err != nil {
+		log.Fatalln(err)
+	}
+
+}