package main

import (
	"flag"
	"fmt"
	"log"
	"os"

	"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 to move")
	position = flag.Int("position", 512, "the goal position to set")
	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
	servo, err = lx.New(network, *servoID)
	err = servo.MoveTimeWrite(uint16(*position), 500)
	if err != nil {
		fmt.Printf("move error: %s\n", err)
		os.Exit(1)
	}
}