ロボアクター制御ライブラリの作成

ロボアクターのリモコンを KURO-RS で学習できたので、次は送信するためのプログラムを作る。

構想

使用言語はシェルスクリプト！
一々 rs_send filename 1 /dev/ttyUSB2 とか書いていられないので、ライブラリ化し、

forward () {
	rs_send forward 1 /dev/ttyUSB2
}

forward

というふうにしたいと言うわけで、

yasunari@debian:/usr/local/lib/kuro-rs/roboactor$ ls
ALL_DEMO   BURP     HIGH5          LEFT_ARM_PICKUP   LEFT_ARM_THUMP  R                 RIGHT_ARM_STRIKE1  RIGHT_ARM_UP     STEP
ARMS_IN    DANCE    L              LEFT_ARM_STRIKE1  LEFT_ARM_UP     RIGHT             RIGHT_ARM_STRIKE2  RIGHT_TURN_STEP  TALK_BACK
ARMS_OUT   DEMO1    LEFT           LEFT_ARM_STRIKE2  LEFT_TURN_STEP  RIGHT_ARM_DOWN    RIGHT_ARM_STRIKE3  ROAR             TILT_BODY_LEFT
BACKWARD   DEMO2    LEFT_ARM_DOWN  LEFT_ARM_STRIKE3  LISTEN          RIGHT_ARM_IN      RIGHT_ARM_SWEEP    S                TILT_BODY_RIGHT
BACK_STEP  EXECUTE  LEFT_ARM_IN    LEFT_ARM_SWEEP    OOPS            RIGHT_ARM_OUT     RIGHT_ARM_THROW    SLEEP            WAKEUP
BULLDOZER  FORWARD  LEFT_ARM_OUT   LEFT_ARM_THROW    POWER_OFF       RIGHT_ARM_PICKUP  RIGHT_ARM_THUMP    SONIC            WHISTLE
yasunari@debian:/usr/local/lib/kuro-rs/roboactor$ ls | wc -l
54
yasunari@debian:/usr/local/lib/kuro-rs/roboactor$

54個の関数を作ってライブラリにする。

プログラミングはシェルスクリプトで

54個の関数を手で作ってられないので、ライブラリのソースを書くシェルスクリプトを作る

yasunari@debian:/usr/local/lib/kuro-rs/roboactor$ cat makelib.sh
#!/bin/sh

echo 'RS_SEND=${RS_SEND:-/usr/local/bin/rs_send}'
echo 'ROBOACTORDIR=${ROBOACTORDIR:-/usr/local/lib/kuro-rs/roboactor}'
echo 'ROBOACTORCHANNEL=${ROBOACTORCHANNEL:-1}'
echo 'ROBOACTORPORT=${ROBOACTORPORT:-/dev/ttyUSB0}'
echo

for FILENAME in [A-Z]*
do
        FUNCNAME="boroactor_"`echo $FILENAME | sed -e 'y/ABCDEFGHIJKLMNOPQRSTUVWXYZ/abcdefghijklmnopqrstuvwxyz/'`
        echo $FUNCNAME'() {'
        echo '  $RS_SEND' '$ROBOACTORDIR'/$FILENAME '$ROBOACTORCHANNEL' '$ROBOACTORPORT'
        echo '}'
        echo
done
yasunari@debian:/usr/local/lib/kuro-rs/roboactor$

実行する

yasunari@debian:/usr/local/lib/kuro-rs/roboactor$ sh makelib.sh > libroboactor.sh
yasunari@debian:/usr/local/lib/kuro-rs/roboactor$ head libroboactor.sh
RS_SEND=${RS_SEND:-/usr/local/bin/rs_send}
ROBOACTORDIR=${ROBOACTORDIR:-/usr/local/lib/kuro-rs/roboactor}
ROBOACTORCHANNEL=${ROBOACTORCHANNEL:-1}
ROBOACTORPORT=${ROBOACTORPORT:-/dev/ttyUSB0}

boroactor_all_demo() {
        $RS_SEND $ROBOACTORDIR/ALL_DEMO $ROBOACTORCHANNEL $ROBOACTORPORT
}

boroactor_arms_in() {
yasunari@debian:/usr/local/lib/kuro-rs/roboactor$

できた。

デバッグ

テストプログラムを作って確認

yasunari@debian:/usr/local/lib/kuro-rs/roboactor$ cat /tmp/roboactor_test.sh
#!/bin/sh

. /usr/local/lib/kuro-rs/roboactor/libroboactor.sh

ROBOACTORPORT=/dev/ttyUSB2

roboactor_forward
roboactor_left
roboactor_right
roboactor_stop
yasunari@debian:/usr/local/lib/kuro-rs/roboactor$ sh /tmp/roboactor_test.sh
/tmp/roboactor_test.sh: 7: roboactor_forward: not found
/tmp/roboactor_test.sh: 8: roboactor_left: not found
/tmp/roboactor_test.sh: 9: roboactor_right: not found
/tmp/roboactor_test.sh: 10: roboactor_stop: not found
yasunari@debian:/usr/local/lib/kuro-rs/roboactor$

目を疑うが、、、「ぼろあくたー」ではあかんな。
修正

yasunari@debian:/usr/local/lib/kuro-rs/roboactor$ vi makelib.sh
yasunari@debian:/usr/local/lib/kuro-rs/roboactor$ sh makelib.sh > libroboactor.sh
yasunari@debian:/usr/local/lib/kuro-rs/roboactor$ !head
head libroboactor.sh
RS_SEND=${RS_SEND:-/usr/local/bin/rs_send}
ROBOACTORDIR=${ROBOACTORDIR:-/usr/local/lib/kuro-rs/roboactor}
ROBOACTORCHANNEL=${ROBOACTORCHANNEL:-1}
ROBOACTORPORT=${ROBOACTORPORT:-/dev/ttyUSB0}

roboactor_all_demo() {
        $RS_SEND $ROBOACTORDIR/ALL_DEMO $ROBOACTORCHANNEL $ROBOACTORPORT
}

roboactor_arms_in() {
yasunari@debian:/usr/local/lib/kuro-rs/roboactor$

再度テストプログラムの実行

yasunari@debian:/usr/local/lib/kuro-rs/roboactor$ sh /tmp/roboactor_test.sh
/usr/local/lib/kuro-rs/roboactor/FORWARD - 1 - /dev/ttyUSB2
port open err [/dev/ttyUSB2]
/usr/local/lib/kuro-rs/roboactor/LEFT - 1 - /dev/ttyUSB2
port open err [/dev/ttyUSB2]
/usr/local/lib/kuro-rs/roboactor/RIGHT - 1 - /dev/ttyUSB2
port open err [/dev/ttyUSB2]
/tmp/roboactor_test.sh: 11: roboactor_stop: not found
yasunari@debian:/usr/local/lib/kuro-rs/roboactor$ su
Password:
root@debian:/usr/local/lib/kuro-rs/roboactor# sh /tmp/roboactor_test.sh
/usr/local/lib/kuro-rs/roboactor/FORWARD - 1 - /dev/ttyUSB2
Send File : [/usr/local/lib/kuro-rs/roboactor/FORWARD]
/usr/local/lib/kuro-rs/roboactor/LEFT - 1 - /dev/ttyUSB2
Send File : [/usr/local/lib/kuro-rs/roboactor/LEFT]
/usr/local/lib/kuro-rs/roboactor/RIGHT - 1 - /dev/ttyUSB2
Send File : [/usr/local/lib/kuro-rs/roboactor/RIGHT]
/tmp/roboactor_test.sh: 11: roboactor_stop: not found
root@debian:/usr/local/lib/kuro-rs/roboactor# sh /tmp/roboactor_test.sh
/usr/local/lib/kuro-rs/roboactor/FORWARD - 1 - /dev/ttyUSB2
Send File : [/usr/local/lib/kuro-rs/roboactor/FORWARD]
/usr/local/lib/kuro-rs/roboactor/LEFT - 1 - /dev/ttyUSB2
Send File : [/usr/local/lib/kuro-rs/roboactor/LEFT]
/usr/local/lib/kuro-rs/roboactor/RIGHT - 1 - /dev/ttyUSB2
Send File : [/usr/local/lib/kuro-rs/roboactor/RIGHT]
/tmp/roboactor_test.sh: 11: roboactor_stop: not found
root@debian:/usr/local/lib/kuro-rs/roboactor#

root でないと /dev/ttyUSB2 にアクセスできないとか、
なぜか stop がないとか、、、なぜ？

まだ楽しめそうである。

KURO-SHEEVA

楽天市場

KURO-RS

バッファローダイレクト
楽天市場
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