bert_ev3dev_functions

#!/bin/bash -u
# Script_name     : bert_ev3dev_functions
# Author          : Bert Lindeman
# Description     : functions that can be used by more than one bash script related to ev3dev
# Version         : v1.3
# Date            : 2014-11-04
# Usage           : .  /usr/local/bin/bert_ev3dev_functions
# Notes           :
# Copyright       : 2014 Bert Lindeman
# License         : GPL-3.0+
#
#============================================================================
#
# Changelog
# Date     By       Description
# 20141104 BL       prepare for release v1.3
# 20141020 BL       Added reverse colors 
# 20141213 BL       Add escapes to the colors so Bash knows they are 
#                   "non-printable"
# 20160103 BL       Adapt to image 20151230 (change led file names)
#============================================================================


#
# color codes ascii
# Attribute codes:
# 00=none 01=bold 04=underscore 05=blink 07=reverse 08=concealed

# Text color codes:
# 30=black 31=red 32=green 33=yellow 34=blue 35=magenta 36=cyan 37=white

# Background color codes:
# 40=black 41=red 42=green 43=yellow 44=blue 45=magenta 46=cyan 47=white

    black='\e[0;30m' ;   brblack='\e[1;30m' ;    rvblack='\e[7;30m' ;
      red='\e[0;31m' ;     brred='\e[1;31m' ;      rvred='\e[7;31m' ;
    green='\e[0;32m' ;   brgreen='\e[1;32m' ;    rvgreen='\e[7;32m' ;
   yellow='\e[0;33m' ;  bryellow='\e[1;33m' ;   rvyellow='\e[7;33m' ;
     blue='\e[0;34m' ;    brblue='\e[1;34m' ;     rvblue='\e[7;34m' ;
  magenta='\e[0;35m' ; brmagenta='\e[1;35m' ;  rvmagenta='\e[7;35m' ;
     cyan='\e[0;36m' ;    brcyan='\e[1;36m' ;     rvcyan='\e[7;36m' ;
    white='\e[0;37m' ;   brwhite='\e[1;37m' ;    rvwhite='\e[7;37m' ;

 endColor='\e[0m'

    blackp='\[\e[0;30m\]' ;   brblackp='\[\e[1;30m\]' ;    rvblackp='\[\e[7;30m\]' ;
      redp='\[\e[0;31m\]' ;     brredp='\[\e[1;31m\]' ;      rvredp='\[\e[7;31m\]' ;
    greenp='\[\e[0;32m\]' ;   brgreenp='\[\e[1;32m\]' ;    rvgreenp='\[\e[7;32m\]' ;
   yellowp='\[\e[0;33m\]' ;  bryellowp='\[\e[1;33m\]' ;   rvyellowp='\[\e[7;33m\]' ;
     bluep='\[\e[0;34m\]' ;    brbluep='\[\e[1;34m\]' ;     rvbluep='\[\e[7;34m\]' ;
  magentap='\[\e[0;35m\]' ; brmagentap='\[\e[1;35m\]' ;  rvmagentap='\[\e[7;35m\]' ;
     cyanp='\[\e[0;36m\]' ;    brcyanp='\[\e[1;36m\]' ;     rvcyanp='\[\e[7;36m\]' ;
    whitep='\[\e[0;37m\]' ;   brwhitep='\[\e[1;37m\]' ;    rvwhitep='\[\e[7;37m\]' ;

 endColorp='\[\e[0m\]'

#
   # Assign "non-cron" if ENVIRONMENT is unset or null, and thus prevent error "variable unbound":
   : "${ENVIRONMENT:=non-cron}"
#

ascii2hex(){ 
 printf "$@" | hexdump -v -e '/1 "%02x"'
}

findsensorctl () {
#
# function to find which directory structure is used to control "this"
# sensor
#  find which in% sensor is connected to msensor/sensor%
#
# parm1: input port NUMBER
#
  local portparm
  local port
  portparm=${1:-}
  port=""
  CURSENSOR="???????"
  SEENPORT=""
  # for d in /sys/class/msensor/sensor*;
  for d in /sys/class/lego-sensor/sensor*;
  do
    if [ -r "$d/address" ]; then
      port=`cat $d/address`
      if [ "$port" == "in${portparm}" ]; then
        CURSENSOR=${d: -1:1}
        # take the numeric part at the end of the basename:
        CURSENSOR=`basename ${d}`
        CURSENSOR=${CURSENSOR:6} # drop "sensor" from the name
        return
      fi
    fi  
  done
}

### general things:

# Usage:
#   listcontains haystack needle
# haystack is a space separated list of strings 
listcontains() {
  for word in $1; do
      [[ $word == $2 ]] && return 0
  done
  return 1
}

# Usage           : stringcontains needle haystack
# needle   if missing: empty string
# haystack if missing: empty string
# An empty string contains nothing
stringcontains() {
  substring="${1-""}" 
  string="${2:-""}"    
  if [ -z "$string" ]; then return 1 ; fi
  if [[ "$string" == *"$substring"* ]]; then return 0
  else 					     return 1
  fi
}
 

Btrim() {
  trimmed=$(echo "${*}" | sed 's/^[[:space:]]*//;s/[[:space:]]*$//')
}

Ftrim() {
  trimmed=$(echo "${*}" | sed 's/^[[:space:]]*//')
}

Ttrim() {
  trimmed=$(echo "${*}" | sed 's/[[:space:]]*$//')
}


### screen manipulations:

#  echo -ne "\033[0;0H"
#  COLUMNS=$(tput cols)
#  printf "%${COLUMNS}s\n"
#  # top and clear rest of the line:
topofscreen() {
  echo -ne "\033[0;0H\033[2K"
}

# parm1 is line   (height) 0 = top
# parm2 is column (width)  0 = left
putcursor() {
  echo -ne "\033[$1;$2f"
}

getxy(){
  tput sc # save cursor
  echo -en "$black\E[6n";read -sdR CURPOS; CURPOS=${CURPOS#*[}
  echo -en "$endColor"
  tput rc # restore cursor

  CURY=`echo "${CURPOS}" | cut -d ";" -f 1`
  CURX=`echo "${CURPOS}" | cut -d ";" -f 2`
}


### ev3 functions:

# parm1: the words from the whole trigger "file"
showtrigger () {
 #echo "showing trigger from $1"
 #set -x
 for word in ${1} ;
  do
    delim=${word:0:1}${word:${#word}-1:1}
    if [ $delim == "[]" ]; then
      trigger=${word:1:${#word}-2}
      break # do not search further we found it here.
    else
      trigger=$word
    fi
  done
  currenttrigger=$trigger
}


findmotorctl () {
#
# function to find which directory structure is used to control "this"
# motor
#
# parm1: motor port LETTER
# uppercase parm1:
  local parm1
  local port
  parm1=`echo $1 | tr '[:lower:]' '[:upper:]'`
  port=""  
  CURMOTOR="???????"
  SEENPORT=""
#  for d in /sys/class/tacho-motor/tacho-motor*/ /sys/class/dc-motor/dc-motor*/ /sys/class/servo-motor/servo-motor*/ ;
#  for d in /sys/class/tacho-motor/motor*/ /sys/class/dc-motor/motor*/ /sys/class/servo-motor/motor*/ ;
  for d in /sys/class/*motor/motor*/  ;
  do
    if [ -r "$d/address" ]; then
      port=`cat $d/address`
      SEENPORT="$SEENPORT $port"
      if [ "$port" == "out$parm1" ]; then
        CURMOTOR=${d:0:-1}
        return
      fi
    fi  
  done
  if [ "$ENVIRONMENT" == "non-cron" ]; then
    echo "CURMOTOR: \"${CURMOTOR}\" SEENPORT: \"$SEENPORT\" port: \"${port}\""  
  fi  
}

OFFred () {
#
# function to switch OFF the red EV3-leds (left and right)
#
  echo none > /sys/class/leds/ev3\:right\:red\:ev3dev/trigger
  echo    0 > /sys/class/leds/ev3\:right\:red\:ev3dev/brightness
  echo none > /sys/class/leds/ev3\:left\:red\:ev3dev/trigger
  echo    0 > /sys/class/leds/ev3\:left\:red\:ev3dev/brightness
}

OFFgreen () {
#
# function to switch OFF the green EV3-leds (left and right)
#
  echo none > /sys/class/leds/ev3\:left\:green\:ev3dev/trigger
  echo    0 > /sys/class/leds/ev3\:left\:green\:ev3dev/brightness
  echo none > /sys/class/leds/ev3\:right\:green\:ev3dev/trigger
  echo    0 > /sys/class/leds/ev3\:right\:green\:ev3dev/brightness
}

OFFleds () {
#
# function to switch OFF both red and green EV3-leds (left and right)
#
  OFFred
  OFFgreen
}