;;; -*- lexical-binding: t -*-
;;
;; this file:
;;   https://dataswamp.org/~incal/terror-3/ev3-motor-init.el

(require 'cl-lib)
(require 'ev3-base)
(require 'file-write-to)

(defvar left-motor-speed-file   nil)
(defvar right-motor-speed-file  nil)
(defvar m-motor-speed-file      nil)
(defvar left-motor-cmd-file     nil)
(defvar right-motor-cmd-file    nil)
(defvar m-motor-cmd-file        nil)

(let ((left-motor-path)
      (right-motor-path)
      (m-motor-path) )

  (defun motor-init-check ()
    (message "left-motor-path: %s"   left-motor-path)
    (message "right-motor--path: %s" right-motor-path)
    (message "m-motor-path: %s"      m-motor-path)

    (message "left-motor-speed-file: %s"  left-motor-speed-file)
    (message "right-motor-speed-file: %s" right-motor-speed-file)
    (message "m-motor-speed-file: %s"     m-motor-speed-file)

    (message "left-motor-cmd-file: %s"  left-motor-cmd-file)
    (message "right-motor-cmd-file: %s" right-motor-cmd-file)
    (message "m-motor-cmd-file: %s"     m-motor-cmd-file) )

  (declare-function motor-init-check nil)

  (defun motor-init ()
    (cl-loop for i from 0 to 2 do
             (let*((path      (format "%s/tacho-motor/motor%d" ev3-base-path i))
                   (type-file (concat path "/driver_name"))
                   (port-file (concat path "/address"))
                   (port      (file-to-string port-file))
                   (type      (file-to-string type-file)) )
               (when (and (string= "lego-ev3-l-motor" type)   ; right
                          (string= "ev3-ports:outB"   port) )
                 (setq right-motor-path path) )
               (when (and (string= "lego-ev3-l-motor" type)   ; left
                          (string= "ev3-ports:outC"   port) )
                 (setq left-motor-path path) )
               (when (string= "lego-ev3-m-motor" type)        ; m
                 (setq m-motor-path path) )))

    (let ((speed-path "/speed_sp"))
      (setq left-motor-speed-file  (concat left-motor-path   speed-path))
      (setq right-motor-speed-file (concat right-motor-path  speed-path))
      (setq m-motor-speed-file     (concat m-motor-path speed-path)) )

    (let ((cmd-path "/command"))
      (setq left-motor-cmd-file  (concat left-motor-path   cmd-path))
      (setq right-motor-cmd-file (concat right-motor-path  cmd-path))
      (setq m-motor-cmd-file     (concat m-motor-path cmd-path)) )
    (motor-init-check) )

  (declare-function motor-init nil) )

(provide 'ev3-motor-init)