static void *callback(enum mg_event event,
struct mg_connection *conn,
const struct mg_request_info *request_info)
{
const int buf_max = 1000;
char result[buf_max] = "none";
if (event == MG_NEW_REQUEST) {
//const char* uri = request_info->uri;
// get query args
char cmd[32];
char timeoutStr[5];
int timeout;
char str[256];
get_qsvar(request_info, "cmd", cmd, sizeof(cmd));
get_qsvar(request_info, "str", str, sizeof(str));
get_qsvar(request_info, "timeout", timeoutStr, sizeof(timeoutStr));
timeout = timeoutStr[0] == '\0' ? 5000 : atoi(timeoutStr);
if( ! cmd[0] ) { // cmd is empty
/// do something useful here
}
else {
if( strcasecmp(cmd, "read")==0 ) {
serialport_flush(fd);
serialport_read_until(fd, str, '\n', buf_max, timeout);
sprintf(result, "read:\n%s\n",str); // debug
}
else if( strcasecmp(cmd, "send")==0 ) {
serialport_write(fd, str);
sprintf(result, "send:\n%s\n",str);
}
else if( strcasecmp(cmd, "sendline")==0 ) {
sprintf(str, "%s\r\n ", str);
serialport_write(fd, str);
sprintf(result, "sendline:\n%s",str);
}
else {
sprintf(result, "uknown cmd '%s'",cmd);
}
}
printf("result:%s\n",result);
// Echo requested URI back to the client
mg_printf(conn, "HTTP/1.1 200 OK\r\n"
"Content-Type: text/plain\r\n\r\n"
"%s"
"\n",
result
);
return ""; // Mark as processed
} else {
return NULL;
}
}
int main(int argc, char* argv[]) {
if (argc == 1) {
printf("You have to pass the name of a serial port.\n");
return -1;
}
int baudrate = B9600;
int arduino = serialport_init(argv[1], baudrate);
if (arduino == -1) {
printf("Could not open serial port %s.\n", argv[1]);
return -1;
}
sleep(2);
char line[MAX_LINE];
while (1) {
int rc = serialport_write(arduino, "a0\n");
if (rc == -1) {
printf("Could not write to serial port.\n");
} else {
serialport_read_until(arduino, line, '\n');
printf("%s", line);
}
}
return 0;
}
int readSerial(int fd, char *buf, int buf_max, int timeout) {
char eolchar = '\n';
int sr = serialport_read_until(fd, buf, eolchar, buf_max, timeout);
if(buf[0] != eolchar)
DBG("DEBUG:\t%s", buf);
return sr;
};
int main(int argc, char** argv)
{
/********************
* Set up ROS node
*/
ros::init(argc, argv, "talker");
ros::NodeHandle n;
ros::Publisher tableDir_pub = n.advertise<alfred_msg::FSRDirection>("table_direction", 100);
ros::Publisher tableAngle_pub = n.advertise<alfred_msg::TableAngleStatus>("TableAngleStatus", 100);
// Set up serial connection
char buf[20];
char* modemDevice = "/dev/ttyACM0";
if( argc > 1 )
modemDevice = argv[1];
int fd = serialport_init(modemDevice, BAUDRATE);
if(fd < 0) return -1;
usleep(3000 * 1000 );
printf("Connected to Arduino, starting loop\n");
ros::Rate rate(50);
while(ros::ok())
{
// Get the X coordinate
serialport_write(fd, "x\0");
serialport_read_until(fd, buf, ':');
directionMessage.x = atof(buf);
//printf("Received X:%f\n", directionMessage.x);
// Get the Y coordinate
serialport_write(fd, "y");
serialport_read_until(fd, buf, ':');
directionMessage.y = atof(buf);
//printf("Received Y:%f\n", directionMessage.y);
// Get the follow indicator
serialport_write(fd, "f");
serialport_read_until(fd, buf, ':');
directionMessage.followPressed = atof(buf) == 1;
//printf("Received F:%s\n", directionMessage.followPressed ? "true":"false" );
tableDir_pub.publish(directionMessage);
rate.sleep();
}
}
int ReadRX(ServoStates* st){
int retVal = 0;
short* a = st->Angle;
char buf[128];
if(retVal = serialport_read_until(USB, buf, '\n', 128, 1000)){
sscanf(buf, "%d,%d,%d,%d,%d,%d,%d,%d",
&a[0], &a[1], &a[2], &a[3],
&a[4], &a[5], &a[6], &a[7]
);
//printf("%s\n", buf);
return retVal;
}
return -1;
}
void getTextFromSerial(gchar* text) {
char buf[BUF_MAX];
char timeText[BUF_MAX*2];
char eolchar = '\n';
memset(buf,0,BUF_MAX);
serialport_read_until(fd, buf, eolchar, BUF_MAX, 5000);
#ifdef DEBUG
printf("Value from serial %s\n", buf);
#endif
if (buf[0] != '\0' && buf[0] != '\n') {
time_t now;
memset(timeText,0,BUF_MAX*2);
now = time(NULL);
strftime(timeText, sizeof(timeText), "T:%Y-%m-%d %H:%M:%S ", localtime(&now));
strcat(timeText,buf);
strcpy(text,timeText);
}
}
int main(int argc, char *argv[])
{
int fd = 0;
char serialport[256];
int baudrate = B9600; // default
char buf[256];
int rc,n;
if (argc==1) {
usage();
exit(EXIT_SUCCESS);
}
/* parse options */
int option_index = 0, opt;
static struct option loptions[] = {
{"help", no_argument, 0, 'h'},
{"port", required_argument, 0, 'p'},
{"baud", required_argument, 0, 'b'},
{"send", required_argument, 0, 's'},
{"receive", no_argument, 0, 'r'},
{"num", required_argument, 0, 'n'},
{"delay", required_argument, 0, 'd'}
};
while(1) {
opt = getopt_long (argc, argv, "hp:b:s:rn:d:",
loptions, &option_index);
if (opt==-1) break;
switch (opt) {
case '0': break;
case 'd':
n = strtol(optarg,NULL,10);
usleep(n * 1000 ); // sleep milliseconds
break;
case 'h':
usage();
break;
case 'b':
baudrate = strtol(optarg,NULL,10);
break;
case 'p':
strcpy(serialport,optarg);
fd = serialport_init(optarg, baudrate);
if(fd==-1) return -1;
break;
case 'n':
n = strtol(optarg, NULL, 10); // convert string to number
rc = serialport_writebyte(fd, (uint8_t)n);
if(rc==-1) return -1;
break;
case 's':
strcpy(buf,optarg);
rc = serialport_write(fd, buf);
if(rc==-1) return -1;
break;
case 'r':
serialport_read_until(fd, buf, '\n');
printf("read: %s\n",buf);
break;
}
}
exit(EXIT_SUCCESS);
} // end main
int main(int argc, char** argv){
/*******************
* Base Drive Variables
*
* LOOP_RATE defines how fast we send orders to the arduino
* ORDER_TIMEOUT is the maximum amount of time between recieving orders
* before we shut the motors off
*
* BAUDRATE baudrate to arduino
* SERIAL_DEV the defauly dev file pointing to the arduino
* READ_CHAR_TIMEOUT the timeout to wait for the next character in a
* message, in us
* SERIAL_RESPONSE_TIMEOUT The timeout to wait for a response to our
* query, in us
*/
double LOOP_RATE = 10.0;
double ORDER_TIMEOUT = 0.25;
int BAUDRATE = B115200;
char* SERIAL_DEV = "/dev/ttyUSB0";
int READ_CHAR_TIMEOUT = 30;
int SERIAL_RESPONSE_TIMEOUT = 100;
char START_CHAR = '`';
/********************
* Set up ROS node
*/
ros::init(argc, argv, "TableMotorToSerial");
ros::NodeHandle n;
ROS_INFO( "Starting Subscriber" );
ros::Subscriber sub = n.subscribe("DriveTable", 2, callbackTableMotorToSerial );
ros::Publisher pub = n.advertise<alfred_msg::TableEncoders>("TableEncoders", 2);
/********************
* Setup loop variables and start serial
*/
char* serialDevice = SERIAL_DEV;
if( argc > 1 )
serialDevice = argv[1];
int fd = serialport_init(serialDevice, BAUDRATE);
if(fd < 0){
ROS_ERROR( "Could not open serial device \'%s\'\n", serialDevice);
return -1;
}
usleep( 3000 * 1000 );
ros::Rate rate(LOOP_RATE);
int maxNumLoopsWithoutOrder = (int)( ORDER_TIMEOUT * LOOP_RATE );
int numLoopsWithoutOrder(-1);
while (n.ok()) {
// If we haven't yet started
if( numLoopsWithoutOrder == -1){
tableOrder_serialArduino1 = 0.0;
tableOrder_serialArduino2 = 0.0;
tableOrder_serialArduino3 = 0.0;
tableOrder_serialArduino4 = 0.0;
}
// Safety Check 1 : time without orders
else if( numLoopsWithoutOrder >= maxNumLoopsWithoutOrder ){
tableOrder_serialArduino1 = 0.0;
tableOrder_serialArduino2 = 0.0;
tableOrder_serialArduino3 = 0.0;
tableOrder_serialArduino4 = 0.0;
ROS_ERROR( "Base Motor to Serial hasn't received a new motor order in %f mS!", 1000 * ORDER_TIMEOUT );
}
// Safety check passed, send
if( numLoopsWithoutOrder >= 0 )
numLoopsWithoutOrder++;
if( receivedOrder_serialArduino == true ){
numLoopsWithoutOrder = 0;
receivedOrder_serialArduino = false;
}
ROS_INFO( "Sending output to table: [%f, %f, %f, %f]",
tableOrder_serialArduino1,
tableOrder_serialArduino2,
tableOrder_serialArduino3,
tableOrder_serialArduino4);
//write
std::stringstream ss;
ss << "`"
<< tableOrder_serialArduino1 << ";"
<< tableOrder_serialArduino2 << ";"
<< tableOrder_serialArduino3 << ";"
<< tableOrder_serialArduino4 << ";\0";
std::string msg = ss.str();
int isok = serialport_write(fd, msg.c_str() );
// now read, and wait for the arduino to reply with the encoder values
int encoders[4];
char buf[10];
// First, wait for a response
if( serialport_read_until(fd, buf, START_CHAR, SERIAL_RESPONSE_TIMEOUT) <= 0)
{
ROS_ERROR("ERROR: Timeout on serial response message start!");
for( int i(0); i < 4; i++ )
encoders[i]=-1;
}
else{
for( int i(0); i < 4; i++ ){
isok = serialport_read_until(fd, buf, ';', READ_CHAR_TIMEOUT );
if( isok <= 0 ){
ROS_ERROR("ERROR: Timeout reading message");
break;
}
encoders[i] = std::atoi(buf);
}
if( isok <= 0 )
for( int i(0); i < 4; i++ )
encoders[i]=-1;
}
ROS_INFO( "Publishing Encoder Vals: [%d, %d, %d, %d]",
encoders[0],
encoders[1],
encoders[2],
encoders[3]);
alfred_msg::TableEncoders encTopic;
encTopic.enc1 = encoders[0];
encTopic.enc2 = encoders[1];
encTopic.enc3 = encoders[2];
encTopic.enc4 = encoders[3];
pub.publish(encTopic);
ROS_INFO("\n");
rate.sleep();
ros::spinOnce();
}
serialport_close(fd);
return 0;
}
int main(int argc, char *argv[])
{
/*accelerometer related declarations*/
const int buf_max = 2048;
int fd = -1;
char serialport[buf_max];
int baudrate = 9600; // default
char quiet=0;
char eolchar = ' ';
int timeout = 5000;
char buf[buf_max];
int rc,n,p;
float xDat[103],yDat[103],zDat[103];
float sumX=0,sumY=0,sumZ=0;
float sum1=0,sum2=0,sum3=0;
float stdX=0,stdY=0,stdZ=0,avgX=0,avgY=0,avgZ=0,varX=0,varY=0,varZ=0,recal=0;
int total=1;
int calibrate=0;
/*---------------------------------*/
// char stdbuffer[10];
/*socket related declarations*/
int sockfd, portno, n2;
struct sockaddr_in serv_addr;
struct hostent *server;
char buffer[256];
int sendMessage=1;
/*----------------------------*/
if (argc==1) {
usage();
}
/* parse options */
int option_index = 0, opt;
static struct option loptions[] = {
{"help", no_argument, 0, 'h'},
{"port", required_argument, 0, 'p'},
{"baud", required_argument, 0, 'b'},
{"send", required_argument, 0, 's'},
{"setup", no_argument, 0, 'S'},
{"receive", no_argument, 0, 'r'},
{"flush", no_argument, 0, 'F'},
{"num", required_argument, 0, 'n'},
{"delay", required_argument, 0, 'd'},
{"eolchar", required_argument, 0, 'e'},
{"timeout", required_argument, 0, 't'},
{"quiet", no_argument, 0, 'q'},
{NULL, 0, 0, 0}
};
while(1) {
opt = getopt_long (argc, argv, "hp:b:s:rSFn:d:qe:t:",
loptions, &option_index);
if (opt==-1) break;
switch (opt) {
case '0': break;
case 'q':
quiet = 1;
break;
case 'e':
eolchar = optarg[0];
if(!quiet) printf("eolchar set to '%c'\n",eolchar);
break;
case 't':
timeout = strtol(optarg,NULL,10);
if( !quiet ) printf("timeout set to %d millisecs\n",timeout);
break;
case 'd':
n = strtol(optarg,NULL,10);
if( !quiet ) printf("sleep %d millisecs\n",n);
usleep(n * 1000 ); // sleep milliseconds
break;
case 'h':
usage();
break;
case 'b':
baudrate = strtol(optarg,NULL,10);
break;
case 'p':
if( fd!=-1 ) {
serialport_close(fd);
if(!quiet) printf("closed port %s\n",serialport);
}
strcpy(serialport,optarg);
fd = serialport_init(optarg, baudrate);
if( fd==-1 ) error("couldn't open port");
if(!quiet) printf("opened port %s\n",serialport);
serialport_flush(fd);
break;
case 'n':
if( fd == -1 ) error("serial port not opened");
n = strtol(optarg, NULL, 10); // convert string to number
rc = serialport_writebyte(fd, (uint8_t)n);
if(rc==-1) error("error writing");
break;
case 'S':
portno = 52002;//atoi(argv[2]);
/* Create a socket point*/
sockfd = socket(AF_INET, SOCK_STREAM, 0);
if (sockfd < 0)
{
perror("ERROR opening socket");
exit(1);
}
server = gethostbyname("192.168.2.103");//gethostbyname(argv[1]);
if (server == NULL) {
fprintf(stderr,"ERROR, no such host\n");
exit(0);
}
bzero((char *) &serv_addr, sizeof(serv_addr));
serv_addr.sin_family = AF_INET;
bcopy((char *)server->h_addr,
(char *)&serv_addr.sin_addr.s_addr,
server->h_length);
serv_addr.sin_port = htons(portno);
/* Now connect to the server */
if (connect(sockfd,&serv_addr,sizeof(serv_addr)) < 0)
{
perror("ERROR connecting");
exit(1);
}
while(1){
int r;
int a1, a2, a3;
char a4[sizeof(float)*3+3];
memset (buf, 0, 256);
r = serialport_read_until(fd, buf);
//fprintf (stderr, "VAL: %s -->", buf);
if (r >= 0)
{
sscanf (buf, "A1:%d\tA2:%d\tA3:%d", &a1, &a2, &a3);
// fprintf (stderr, "(%d)(%d)(%d)\n", a1, a2, a3);
if(calibrate==0){
sumX= sumX + a1; sumY= sumY + a2; sumZ= sumZ + a3;
xDat[total]=a1;yDat[total]=a2;zDat[total]=a3;
total++;
if (total==100){
calibrate=1;
avgX = sumX/(float)total; avgY = sumY/(float)total; avgZ = sumZ/(float)total;
for(p = 1; p<total;p++){
sum1 = sum1 + pow((xDat[p]-avgX),2); sum2 = sum2 + pow((yDat[p]-avgY),2); sum3 = sum3 + pow((zDat[p]-avgZ),2);
}
varX= sum1/(float)total; varY=sum2/(float)total; varZ=sum3/(float)total;
stdX=sqrt(varX); stdY=sqrt(varY); stdZ=sqrt(varZ);
}
}
if(calibrate==1){snprintf(a4, sizeof a4*7, "%f %f %f %f %f %f %f %f %f", (float)a1, (float)a2,(float)a3,avgX,avgY,avgZ,stdX,stdY,stdZ);}
while(sendMessage==1&&calibrate==1){
/* Send message to the server*/
//printf("here");
n2 = write(sockfd,a4,strlen(a4));
if (n2 < 0)
{
perror("ERROR writing to socket");
exit(1);
}
/* Now read server response */
bzero(buffer,256);
n2 = read(sockfd,buffer,255);
if (n2 < 0)
{
perror("ERROR reading from socket");
exit(1);
}
// printf("Received message: %s\n",buffer);
sendMessage=0;
}
sendMessage=1;
}
sendMessage=1;
fflush (0);
//sleep (5);
}
break;
case 's':
if( fd == -1 ) error("serial port not opened");
sprintf(buf, (opt=='S' ? "%s\n" : "%s"), optarg);
if( !quiet ) printf("send string:%s\n", buf);
rc = serialport_write(fd, buf);
if(rc==-1) error("error writing");
break;
case 'r':
while (1)
{
int r;
int a1, a2, a3;
memset (buf, 0, 256);
r = serialport_read_until(fd, buf);
fprintf (stderr, "VAL: %s -->", buf);
// printf("%d",r);
if (r >= 0)
{
sscanf (buf, "A1:%d\tA2:%d\tA3:%d", &a1, &a2, &a3);
fprintf (stderr, "(%d)(%d)(%d)\n", a1, a2, a3);
//fgets(stdbuffer,10,stdin);
//if(strcmp(stdbuffer,"getData")==0){
// printf("%d",a1);
// printf("%d",a2);
// printf("%d",a3);}
//}
/* while(sendMessage==1){
/* Send message to the server
n2 = write(sockfd,"measure",strlen("measure"));
if (n2 < 0)
{
perror("ERROR writing to socket");
exit(1);
}
/* Now read server response
bzero(buffer,256);
n2 = read(sockfd,buffer,255);
if (n2 < 0)
{
perror("ERROR reading from socket");
exit(1);
}
printf("Received message: %s\n",buffer);
sendMessage=0;
}*/
}
fflush (0);
usleep (10000);
}
break;
case 'F':
if( fd == -1 ) error("serial port not opened");
if( !quiet ) printf("flushing receive buffer\n");
serialport_flush(fd);
break;
}
}
exit(EXIT_SUCCESS);
} // end main
int serial_in(int sd, struct mosquitto *mosq, char *md_id)
{
static char serial_buf[SERIAL_MAX_BUF];
static int buf_len = 0;
char *buf_p;
char id[DEVICE_ID_SIZE + 1];
struct device *dev;
int rc, sread;
if (buf_len)
buf_p = &serial_buf[buf_len - 1];
else
buf_p = &serial_buf[0];
sread = serialport_read_until(sd, buf_p, eolchar, SERIAL_MAX_BUF - buf_len, config.serial.timeout);
if (sread == -1) {
fprintf(stderr, "Serial - Read Error.\n");
return -1;
}
if (sread == 0)
return 0;
buf_len += sread;
if (serial_buf[buf_len - 1] == eolchar) {
serial_buf[buf_len - 1] = 0; //replace eolchar
buf_len--; // eolchar was counted, decreasing 1
if (config.debug > 3) printf("Serial - size:%d, serial_buf:%s\n", buf_len, serial_buf);
if (buf_len < SERIAL_INIT_LEN) { // We need at least SERIAL_INIT_LEN to count as a valid command
if (config.debug > 1) printf("Invalid serial input.\n");
buf_len = 0;
return 0;
}
sread = buf_len; // for return
buf_len = 0; // reseting for the next input
buf_p = &serial_buf[SERIAL_INIT_LEN];
// Serial debug
if (!strncmp(serial_buf, SERIAL_INIT_DEBUG, SERIAL_INIT_LEN)) {
if (config.debug) {
printf("Device Debug: %s\n", buf_p);
snprintf(gbuf, GBUF_SIZE, "%d,%s,%d,%s", PROTOCOL_MD_OPTIONS, MODULES_BRIDGE_ID, MODULES_BRIDGE_DEBUG, buf_p);
mqtt_publish(mosq, bridge.bridge_dev->status_topic, gbuf);
}
return sread;
}
else if ((!strncmp(serial_buf, SERIAL_INIT_STATUS, SERIAL_INIT_LEN)) ||
(!strncmp(serial_buf, SERIAL_INIT_CONFIG, SERIAL_INIT_LEN)))
{
if (config.debug > 2) printf("Serial IN - Message: %s\n", serial_buf);
// Get device id from buf
if (utils_getString(&buf_p, id, DEVICE_ID_SIZE, ',') != DEVICE_ID_SIZE) {
if (config.debug > 1) printf("Serial - Error: %d\n", ERROR_MIS_DEVICE_ID);
return 0;
}
if (!bridge_isValid_device_id(id)) {
if (config.debug > 1) printf("Serial - Error: %d\n", ERROR_DEV_INV_ID);
return 0;
}
dev = bridge_get_device(&bridge, id);
if (!dev) {
dev = bridge_add_device(&bridge, id, md_id);
if (!dev) {
if (config.debug > 1) printf("Serial - Failed to add device.\n");
return sread;
}
rc = mosquitto_subscribe(mosq, NULL, dev->config_topic, config.mqtt_qos);
if (rc) {
fprintf(stderr, "MQTT - Subscribe ERROR: %s\n", mosquitto_strerror(rc));
run = 0;
return sread;
}
if (config.debug > 2) printf("Subscribe topic: %s\n", bridge.bridge_dev->config_topic);
if (config.debug > 2) {
printf("New device:\n");
bridge_print_device(dev);
}
}
if (!strncmp(serial_buf, SERIAL_INIT_CONFIG, SERIAL_INIT_LEN)) {
// Get device id from buf
if (utils_getString(&buf_p, id, DEVICE_ID_SIZE, ',') != DEVICE_ID_SIZE) {
if (config.debug > 1) printf("Serial - Error: %d\n", ERROR_MIS_DEVICE_ID);
return 0;
}
if (!bridge_isValid_device_id(id)) {
if (config.debug > 1) printf("Serial - Error: %d\n", ERROR_DEV_INV_ID);
return 0;
}
device_config_to_mqtt(mosq, sd, dev, id, buf_p);
} else {
device_status_to_mqtt(mosq, sd, dev, buf_p);
}
} else {
if (config.debug > 1) printf("Unknown serial data.\n");
}
return sread;
}
else if (buf_len == SERIAL_MAX_BUF) {
if (config.debug > 1) printf("Serial buffer full.\n");
buf_len = 0;
} else {
if (config.debug > 1) printf("Serial chunked.\n");
}
return 0;
}
int serial_in(int sd, struct mosquitto *mosq, char *md_id)
{
static char serial_buf[SERIAL_MAX_BUF];
static int buf_len = 0;
char *buf_p;
char id[DEVICE_ID_SIZE + 1];
struct device *dev;
int rc, sread;
if (buf_len)
buf_p = &serial_buf[buf_len - 1];
else
buf_p = &serial_buf[0];
sread = serialport_read_until(sd, buf_p, eolchar, SERIAL_MAX_BUF - buf_len, config.serial.timeout);
if (sread == -1) {
fprintf(stderr, "Serial - Read Error.\n");
return -1;
}
if (sread == 0)
return 0;
buf_len += sread;
if (serial_buf[buf_len - 1] == eolchar) {
serial_buf[buf_len - 1] = 0; //replace eolchar
buf_len--; // eolchar was counted, decreasing 1
if (config.debug > 3) printf("Serial - size:%d, serial_buf:%s\n", buf_len, serial_buf);
if (buf_len < SERIAL_INIT_LEN) { // We need at least SERIAL_INIT_LEN to count as a valid command
if (config.debug > 1) printf("Invalid serial input.\n");
buf_len = 0;
return 0;
}
sread = buf_len; // for return
buf_len = 0; // reseting for the next input
buf_p = &serial_buf[SERIAL_INIT_LEN];
// Serial debug
if (!strncmp(serial_buf, SERIAL_INIT_DEBUG, SERIAL_INIT_LEN)) {
if (config.debug) printf("Debug: %s\n", buf_p);
return sread;
}
else if (!strncmp(serial_buf, SERIAL_INIT_MSG, SERIAL_INIT_LEN)) {
if (config.debug > 2) printf("Serial - message: %s\n", serial_buf);
if (getString(&buf_p, id, DEVICE_ID_SIZE, ',') != DEVICE_ID_SIZE) {
if (config.debug > 1) printf("Serial - Invalid data.\n");
return 0;
}
if (!device_isValid_id(id)) {
if (config.debug > 1) printf("Serial - Invalid device id.\n");
return 0;
}
dev = device_get(&bridge, id);
if (!dev) {
rc = device_load(&bridge, config.devices_folder, id);
if (rc == -1) {
run = 0;
return sread;
}
if (rc) {
rc = device_add_dev(&bridge, id, md_id);
if (rc == -1) {
run = 0;
return sread;
}
if (rc) {
if (config.debug > 2) printf("Serial - Failed to add device.\n");
return sread;
}
}
dev = device_get(&bridge, id);
if (config.debug > 1) {
printf("New device:\n");
device_print_device(dev);
}
} else
dev->alive = ALIVE_CNT;
bridge_message(mosq, sd, dev, buf_p);
} else {
if (config.debug > 1) printf("Unknown serial data.\n");
}
return sread;
}
else if (buf_len == SERIAL_MAX_BUF) {
if (config.debug > 1) printf("Serial buffer full.\n");
buf_len = 0;
} else {
if (config.debug > 1) printf("Serial chunked.\n");
}
return 0;
}
