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)
	}

}