Connection mode now selectable

- test() renamed to info()
- added ev3 send
- ls default is now /
- Makefile now uses $PREFIX; libusb needs to be recompiled and an arm
port should work

.gitignore

@@ -57,3 +57,5 @@ doc/
 html/
 latex/
 s/
+
+tags

Makefile

@@ -13,7 +13,7 @@ FLAGS += -std=c99 -Wall -Wextra -DVERSION='"$(VERSION)"'
 SRCDIR = src
 OBJDIR = build
 
-SRCS = src/main.c src/packets.c src/run.c src/test.c src/up.c src/ls.c src/rm.c src/mkdir.c src/mkrbf.c src/dl.c src/listen.c
+SRCS = src/main.c src/packets.c src/run.c src/info.c src/up.c src/ls.c src/rm.c src/mkdir.c src/mkrbf.c src/dl.c src/listen.c src/send.c
 
 INC += -Ihidapi/hidapi/
 
@@ -28,14 +28,17 @@ RM = del /Q
 endif
 
 ## Win32
+ifneq ($(MAKECMDGOALS),cross)
 FLAGS += -DCONFIGURATION='"HIDAPI/hid.dll"' -DSYSTEM="Windows"
 # TODO: remove all %zu prints altogether?
 FLAGS += -Wno-unused-value -D__USE_MINGW_ANSI_STDIO=1
 SRCS += src/bt-win.c
 HIDSRC += hidapi/windows/hid.c
 LDFLAGS += -mwindows -lsetupapi -municode 
 BIN_NAME := $(addsuffix .exe, $(BIN_NAME))
-
+# CodeSourcery prefix
+endif
+CROSS_PREFIX = arm-none-linux-gnueabi-g
 else
 UNAME = $(shell uname -s)
 
@@ -46,55 +49,71 @@ HIDSRC += hidapi/libusb/hid.c
 HIDFLAGS += `pkg-config libusb-1.0 --cflags`
 LDFLAGS += `pkg-config libusb-1.0 --libs` -lrt -lpthread
 INSTALL = $(shell sh udev.sh)
+# Linaro prefix
+CROSS_PREFIX = arm-linux-gnueabi-g
 endif
 
 ## OS X
 ifeq ($(UNAME),Darwin)
+ifneq ($(MAKECMDGOALS),cross)
 FLAGS += -DCONFIGURATION='"HIDAPI/IOHidManager"' -DSYSTEM='"OS X"'
 HIDSRC += hidapi/mac/hid.c
 LDFLAGS += -framework IOKit -framework CoreFoundation
+# minot prefix
+endif
+CROSS_PREFIX = arm-none-linux-gnueabi-g
 endif
 
 ## BSD
 ifeq ($(findstring BSD, $(UNAME)), BSD)
+ifneq ($(MAKECMDGOALS),cross)
 FLAGS += -DCONFIGURATION='"HIDAPI/libusb-1.0"' -DSYSTEM='"BSD"'
 HIDSRC += hidapi/libusb/hid.c
 LDFLAGS += -L/usr/local/lib -lusb -liconv -pthread
 INC += -I/usr/local/include
 endif
+endif
 
 ## ALL UNICES
 SRCS += src/bt-unix.c
 SRCS += src/tcp-unix.c
 SRCS += src/tunnel.c
 endif
 
+CROSS_PREFIX ?= arm-linux-gnueabi-g
 
 OBJS = $(SRCS:$(SRCDIR)/%.c=$(OBJDIR)/%.o)
 
 .DEFAULT: all
-all: binary
+all: $(BIN_NAME)
 
-binary: $(OBJS) $(OBJDIR)/hid.o
-	$(CC) $(OBJS) $(OBJDIR)/hid.o $(LDFLAGS) $(LIBS) -o $(BIN_NAME)
+$(BIN_NAME): $(OBJS) $(OBJDIR)/hid.o
+	$(PREFIX)$(CC) $(OBJS) $(OBJDIR)/hid.o $(LDFLAGS) $(LIBS) -o $(BIN_NAME)
 
 # static enables valgrind to act better -DDEBUG!
 $(OBJS): $(OBJDIR)/%.o: $(SRCDIR)/%.c
-	$(CC) -c $< -MMD $(FLAGS) $(INC) -o $@
+	$(PREFIX)$(CC) -c $< -MMD $(FLAGS) $(INC) -o $@
 -include $(OBJDIR)/*.d
 
 $(OBJDIR)/hid.o: $(HIDSRC)
-	$(CC) -c $< -o $@ $(INC) $(HIDFLAGS)
+	$(PREFIX)$(CC) -c $< -o $@ $(INC) $(HIDFLAGS)
 
 
 debug: FLAGS += -g
 debug: LIBS := $(LIBS)
 debug: LIBS += 
-debug: binary
+debug: $(BIN_NAME)
+
+cross: PREFIX ?= $(CROSS_PREFIX)
+cross: FLAGS += -DCONFIGURATION='"HIDAPI/libusb-1.0"' -DSYSTEM='"Linux"'
+cross: HIDSRC += hidapi/libusb/hid.c
+cross: HIDFLAGS += `pkg-config libusb-1.0 --cflags`
+cross: LDFLAGS += `pkg-config libusb-1.0 --libs` -lrt -lpthread
+cross: $(BIN_NAME)
 
 # linux only for now, installs udev rules, for rootless access to ev3
 .PHONY: install
-install: binary ev3-udev.rules udev.sh
+install: $(BIN_NAME) ev3-udev.rules udev.sh
 	$(INSTALL)
 
 .PHONY: clean

moveEv3.pl

@@ -13,20 +13,26 @@
 { 
     $ch = getch(); 
     addstr(2, 0, "         "); 
-        if ($ch == KEY_UP) { addstr(2, 0, "KEY_UP");
+        if ($ch == KEY_UP) { addstr(2, 0, "CHARGE!");
+			print EV3IN "0900xxxx8000 00 A3 00 09 00\n";
 			print EV3IN "0C00xxxx8000 00 A4 00 09 50 A6 00 09\n";
 	   	} 
-        elsif ($ch == KEY_DOWN) { addstr(2, 0, "KEY_DOWN");
+        elsif ($ch == KEY_SPACE) { addstr(2, 0, "STOP!");
 			print EV3IN "0900xxxx8000 00 A3 00 09 00\n";
 		}
-        elsif ($ch == KEY_LEFT) { addstr(2, 0, "KEY_LEFT"); 
+        elsif ($ch == KEY_LEFT) { addstr(2, 0, "LEFT!"); 
 			print EV3IN "0900xxxx8000 00 A3 00 09 00\n";
 			print EV3IN "0C00xxxx8000 00 A4 00 08 50 A6 00 08\n";
 		}
-        elsif ($ch == KEY_RIGHT) { addstr(2, 0, "KEY_RIGHT"); 
+        elsif ($ch == KEY_RIGHT) { addstr(2, 0, "RIGHT!"); 
 			print EV3IN "0900xxxx8000 00 A3 00 09 00\n";
 			print EV3IN "0C00xxxx8000 00 A4 00 01 50 A6 00 01\n";
 		} 
+        elsif ($ch == KEY_DOWN) { addstr(2, 0, "RETREAT!");
+			print EV3IN "0900xxxx8000 00 A3 00 09 00\n";
+			print EV3IN "0C00xxxx8000 00 A3 00 09 B0 A6 00 09\n";
+	   	} 
+
     refresh;
 }
 END {endwin}

src/bt-unix.c

@@ -11,8 +11,6 @@
 #include <stdlib.h>
 #include <errno.h>
 
-#include <signal.h>
-#include <setjmp.h>
 #include <sys/types.h>
 #include <sys/stat.h>
 
@@ -29,7 +27,6 @@
 enum {READ=0, WRITE=1};
 void *bt_open(const char *file, const char*file2)
 {
-	//  signal(SIGINT, handle_sigint);
 	int *fd = malloc(2*sizeof(int));
 	struct stat buf;
 	fd[0] = fd[1] = open(file ?: BT, O_RDWR);
@@ -68,11 +65,6 @@ int bt_write(void* fd_, const u8* buf, size_t count)
 	}
 	return sent;
 }
-static jmp_buf env;
-static void handle_alarm(int sig)
-{
-	(void)sig; longjmp(env, 1);
-}
 
 /**
  * \param [in] device handle returned by bt_open()
@@ -85,13 +77,14 @@ static void handle_alarm(int sig)
  */ 
 int bt_read(void* fd_, u8* buf, size_t count, int milliseconds)
 {
+	(void) milliseconds;
 	int fd = ((int*)fd_)[READ];
 	size_t recvd =0;
 	size_t packet_len = 2;
 	ssize_t ret;
 	do {
 		ret = read(fd, buf+recvd, packet_len-recvd);
-		if (ret == -1)
+		if (ret <= 0)
 		{
 				perror("read failed"); return -1; 
 		}
@@ -105,12 +98,13 @@ int bt_read(void* fd_, u8* buf, size_t count, int milliseconds)
 	for (ssize_t ret=recvd; recvd < packet_len; recvd += ret)
 	{
 		ret = read(fd, buf+recvd, packet_len-recvd);
+		if (ret == 0) break; // EOF; turning off bluetooth during transfer
+		//FIXME: would returning -1 for EOF make more sense?
 		if (ret == -1)
 		{
 			perror("read failed");
 			return -1; 
 		}
-		// bug one should handle disconnects during transfer. if this happens read keeps returning zeros
 	}
 
 return recvd;

src/funcs.h

@@ -33,8 +33,8 @@ extern int up(FILE* loc, const char *rem);
 //! download remote source \p rem to local file \p loc
 extern int dl(const char *rem, FILE* loc);
 
-//! print HID information, beep and exit
-extern int test(void);
+//! print connection information, beep and exit
+extern int info(const char *arg);
 
 //! run remote .rbf file \p rem via VM
 extern int run(const char *rem);

src/test.c → src/info.c

@@ -1,8 +1,8 @@
 /**
- * @file test.c
+ * @file info.c
  * @author Ahmad Fatoum
  * @copyright (c) 2015 Ahmad Fatoum. Code available under terms of the GNU General Public License 3.0
- * @brief test function - beeps and prints info
+ * @brief info function - beeps and prints info
  */
 
 #include <stdio.h>
@@ -32,8 +32,22 @@ static const u8 tone[] = "\x0\x0F\x00\0\0\x80\x00\x00\x94\x01\x81\x02\x82\xE8\x0
  * \bug needs more detailed information for bluetooth/wlan
  * 		should print COM port, device name
  */ 
-int test()
+int info(const char*arg)
 {
+	wchar_t wstr[MAX_STR];
+	if (arg)
+	{
+		if ((void*)ev3_write != (void*)hid_write)
+			return ERR_ARG;
+		if (strcmp(arg, "serial") == 0)
+		{
+			hid_get_serial_number_string(handle, wstr, MAX_STR);
+			fputws(wstr, stdout);
+			fputwc(L'\n', stdout);
+			return ERR_UNK;
+		}
+	}
+
 	int res;
 	//TODO: 
 	res = ev3_write(handle, tone, sizeof tone - 1);
@@ -52,7 +66,6 @@ int test()
 	//! Print udev rules
 	printf("SUBSYSTEM==\"%s\", ATTRS{idVendor}==\"0694\", ATTRS{idProduct}==\"0005\a, MODE=\"0666\"\n", isOld ? "usb_device" : "usb");
 #endif
-	wchar_t wstr[MAX_STR];
 	res = hid_get_manufacturer_string(handle, wstr, MAX_STR);
 	printf("Manufacturer String: %ls\n", wstr);
 	res = hid_get_product_string(handle, wstr, MAX_STR);

src/listen.c

@@ -8,7 +8,7 @@ int listen()
 {
 	u8 buffer[1280] = {0};
 	int read;
-	while ( (read = hid_read(handle,buffer, sizeof buffer) > 0))
+	while ( (read = hid_read(handle,buffer, sizeof buffer)) > 0)
 	{
 		printf("%d bytes read.\n", read);
 		   //print_bytes(buffer, read);	

src/ls.c

@@ -68,7 +68,7 @@ int ls(const char *path)
 		errmsg = "`LIST_FILES` was denied.";
 		return ERR_VM;
 	}
-	printf("listrep->packetLen=%hu, res=%d\n", listrep->packetLen, res);
+	//printf("listrep->packetLen=%hu, res=%d\n", listrep->packetLen, res);
 	//FIXME: buffer overrun
 	fwrite(listrep->list, 1, listrep->packetLen - 10, stdout); // No NUL Termination over Serial COM for whatever reason.
 	//