/*
 *  send-raw.c 	/ Markus L. Noga, 1998
 *
 *  A program to send raw bytes to an RCX.
 *
 *  Under IRIX, Linux, and Solaris, you should be able to compile this
 *  program with cc send.c -o send.  I don't know about other versions of
 *  Unix, although I'd be interested in hearing about compatibility issues
 *  that you are able to fix.
 *
 *  Set DEFAULTTTY to the serial device you want to use.
 *  Set the RCXTTY environment variable to override DEFAULTTTY.
 *
 *  The initialization routines were shamelessly stolen from Kekoa
 *  Proudfoot's send.c. 
 */
/*  Copyright (C) 1998, Kekoa Proudfoot.  All Rights Reserved.
 *
 *  License to copy, use, and modify this software is granted provided that
 *  this notice is retained in any copies of any part of this software.
 *
 *  The author makes no guarantee that this software will compile or
 *  function correctly.  Also, if you use this software, you do so at your
 *  own risk.
 * 
 *  Kekoa Proudfoot
 *  kekoa@graphics.stanford.edu
 *  10/3/98
 */

#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdlib.h>
#include <unistd.h>
#include <termios.h>
#include <stdio.h>
#include <string.h>
#include <sys/time.h>
#include <ctype.h>

#ifdef LINUX
#define DEFAULTTTY   "/dev/ttyS0" /* Linux - COM1 */
#else
#define DEFAULTTTY   "/dev/ttyd2" /* IRIX - second serial port */
#endif

#define BUFFERSIZE   4096

int
rcx_init(char *tty)
{
    int fd;
    struct termios ios;

    if ((fd = open(tty, O_RDWR)) < 0) {
	perror("open");
	exit(1);
    }

    if (!isatty(fd)) {
	close(fd);
	fprintf(stderr, "%s: not a tty\n", tty);
	exit(1);
    }

    memset(&ios, 0, sizeof(ios));
    ios.c_cflag = CREAD | CLOCAL | CS8 | PARENB | PARODD;
    cfsetispeed(&ios, B2400);
    cfsetospeed(&ios, B2400);

    if (tcsetattr(fd, TCSANOW, &ios) == -1) {
	perror("tcsetattr");
	exit(1);
    }

    return fd;
}

void
rcx_close(int fd)
{
    close(fd);
}


int
main (int argc, char **argv) {
    unsigned char sendbuf[BUFFERSIZE];
    unsigned char *sp = sendbuf;
    char *tty;
    int len;
    int fd;
    int i;

    /* Open the serial port */

    if ((tty = getenv("RCX_PORT")) == NULL)
	tty = DEFAULTTTY;

    fd = rcx_init(tty);

    /* Assemble the message */

    for (i = 1; i < argc; i++) {
	*sp++ = strtol(argv[i], NULL, 16);
    }

    if(argc<2) {
            puts("Reading raw RCX port, press Ctrl-C to abort.\n"
                "Remember, if the green LED in the tower is out, the PC cannot read.\n");
	    while(1)
		if(read(fd,&i,1)==1) {
		    printf("'%c'[%-2x] ",i,i);
		    fflush(stdout);
	        }
    } else {		    
	    puts("Sending raw bytes to the RCX port.\n");
	    len = write(fd, sendbuf, sp - sendbuf);         // Send it
	    printf("%d byte(s) written.\n",len);
    }
    /* Close the tty */

    rcx_close(fd);


    return 0;
}