47 lines
1.3 KiB
Elixir
47 lines
1.3 KiB
Elixir
defmodule Farmbot.Firmware.UARTTransport do
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@moduledoc """
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Handles sending/receiving GCODEs over UART.
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This is the mechanism that official Farmbot's communicate with
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official Farmbot-Arduino-Firmware's over.
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"""
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alias Farmbot.Firmware.GCODE
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alias Circuits.UART
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use GenServer
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def init(args) do
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device = Keyword.fetch!(args, :device)
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handle_gcode = Keyword.fetch!(args, :handle_gcode)
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{:ok, uart} = UART.start_link()
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{:ok, %{uart: uart, device: device, open: false, handle_gcode: handle_gcode}, 0}
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end
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def terminate(_, state) do
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UART.stop(state.uart)
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end
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def handle_info(:timeout, %{open: false} = state) do
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opts = [active: true, speed: 115_200, framing: {UART.Framing.Line, separator: "\r\n"}]
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case UART.open(state.uart, state.device, opts) do
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:ok -> {:noreply, %{state | open: true}}
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{:error, reason} -> {:stop, {:uart_error, reason}, state}
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end
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end
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def handle_info({:circuits_uart, _, {:error, reason}}, state) do
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{:stop, {:uart_error, reason}, state}
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end
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def handle_info({:circuits_uart, _, data}, state) when is_binary(data) do
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code = GCODE.decode(String.trim(data))
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state.handle_gcode.(code)
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{:noreply, state}
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end
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def handle_call(code, _from, state) do
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str = GCODE.encode(code)
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r = UART.write(state.uart, str)
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{:reply, r, state}
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end
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end
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