ionpak-thermostat/firmware/src/command_parser.rs

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use core::fmt;
use nom::{
IResult,
branch::alt,
bytes::complete::{is_a, tag, take_while1},
character::{is_digit, complete::{char, one_of}},
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combinator::{complete, map, opt, value},
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sequence::{preceded, separated_pair},
multi::{fold_many0, fold_many1},
error::ErrorKind,
};
use lexical_core as lexical;
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#[derive(Clone, Debug, PartialEq)]
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pub enum Error {
Parser(ErrorKind),
Incomplete,
UnexpectedInput(u8),
ParseNumber(lexical::Error)
}
impl<'t> From<nom::Err<(&'t [u8], ErrorKind)>> for Error {
fn from(e: nom::Err<(&'t [u8], ErrorKind)>) -> Self {
match e {
nom::Err::Incomplete(_) =>
Error::Incomplete,
nom::Err::Error((_, e)) =>
Error::Parser(e),
nom::Err::Failure((_, e)) =>
Error::Parser(e),
}
}
}
impl From<lexical::Error> for Error {
fn from(e: lexical::Error) -> Self {
Error::ParseNumber(e)
}
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}
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impl fmt::Display for Error {
fn fmt(&self, fmt: &mut fmt::Formatter) -> Result<(), fmt::Error> {
match self {
Error::Incomplete =>
"incomplete input".fmt(fmt),
Error::UnexpectedInput(c) => {
"unexpected input: ".fmt(fmt)?;
c.fmt(fmt)
}
Error::Parser(e) => {
"parser: ".fmt(fmt)?;
(e as &dyn core::fmt::Debug).fmt(fmt)
}
Error::ParseNumber(e) => {
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"parsing number: ".fmt(fmt)?;
(e as &dyn core::fmt::Debug).fmt(fmt)
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}
}
}
}
#[derive(Debug, Clone, PartialEq)]
pub enum ShowCommand {
Input,
Reporting,
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Pwm,
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Pid,
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PostFilter,
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}
#[derive(Debug, Clone, PartialEq)]
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pub enum PidParameter {
Target,
KP,
KI,
KD,
OutputMin,
OutputMax,
IntegralMin,
IntegralMax,
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}
#[derive(Debug, Clone, PartialEq)]
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pub enum PwmMode {
Manual {
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width: u16,
total: u16,
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},
Pid,
}
#[derive(Debug, Clone, PartialEq)]
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pub enum Command {
Quit,
Show(ShowCommand),
Reporting(bool),
Pwm {
channel: usize,
mode: PwmMode,
},
Pid {
channel: usize,
parameter: PidParameter,
value: f32,
},
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PostFilter {
channel: usize,
rate: f32,
},
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}
fn end(input: &[u8]) -> IResult<&[u8], ()> {
complete(
fold_many0(
one_of("\r\n\t "),
(), |(), _| ()
)
)(input)
}
fn whitespace(input: &[u8]) -> IResult<&[u8], ()> {
fold_many1(char(' '), (), |(), _| ())(input)
}
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fn unsigned(input: &[u8]) -> IResult<&[u8], Result<u16, Error>> {
take_while1(is_digit)(input)
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.map(|(input, digits)| {
let result = lexical::parse(digits)
.map_err(|e| e.into());
(input, result)
})
}
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fn float(input: &[u8]) -> IResult<&[u8], Result<f32, Error>> {
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let (input, sign) = opt(is_a("-"))(input)?;
let negative = sign.is_some();
let (input, digits) = take_while1(|c| is_digit(c) || c == '.' as u8)(input)?;
let result = lexical::parse(digits)
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.map(|result: f32| if negative { -result } else { result })
.map_err(|e| e.into());
Ok((input, result))
}
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fn off_on(input: &[u8]) -> IResult<&[u8], bool> {
alt((value(false, tag("off")),
value(true, tag("on"))
))(input)
}
fn channel(input: &[u8]) -> IResult<&[u8], usize> {
map(one_of("01"), |c| (c as usize) - ('0' as usize))(input)
}
fn report(input: &[u8]) -> IResult<&[u8], Command> {
preceded(
tag("report"),
alt((
preceded(
whitespace,
preceded(
tag("mode"),
alt((
preceded(
whitespace,
// `report mode <on | off>` - Switch repoting mode
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map(off_on, Command::Reporting)
),
// `report mode` - Show current reporting state
value(Command::Show(ShowCommand::Reporting), end)
))
)),
// `report` - Report once
value(Command::Show(ShowCommand::Input), end)
))
)(input)
}
/// `pwm <0-1> <width> <total>` - Set pwm duty cycle
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fn pwm_manual(input: &[u8]) -> IResult<&[u8], Result<PwmMode, Error>> {
let (input, width) = unsigned(input)?;
let width = match width {
Ok(width) => width,
Err(e) => return Ok((input, Err(e.into()))),
};
let (input, _) = whitespace(input)?;
let (input, total) = unsigned(input)?;
let total = match total {
Ok(total) => total,
Err(e) => return Ok((input, Err(e.into()))),
};
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Ok((input, Ok(PwmMode::Manual { width, total })))
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}
/// `pwm <0-1> pid` - Set PWM to be controlled by PID
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fn pwm_pid(input: &[u8]) -> IResult<&[u8], Result<PwmMode, Error>> {
value(Ok(PwmMode::Pid), tag("pid"))(input)
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}
fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = tag("pwm")(input)?;
alt((
preceded(
whitespace,
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map(
separated_pair(
channel,
whitespace,
alt((
pwm_pid,
pwm_manual,
))
),
|(channel, mode)| mode.map(|mode| Command::Pwm { channel, mode })
)
),
value(Ok(Command::Show(ShowCommand::Pwm)), end)
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))(input)
}
/// `pid <0-1> <parameter> <value>`
fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, channel) = channel(input)?;
let (input, _) = whitespace(input)?;
let (input, parameter) =
alt((value(PidParameter::Target, tag("target")),
value(PidParameter::KP, tag("kp")),
value(PidParameter::KI, tag("ki")),
value(PidParameter::KD, tag("kd")),
value(PidParameter::OutputMin, tag("output_min")),
value(PidParameter::OutputMax, tag("output_max")),
value(PidParameter::IntegralMin, tag("integral_min")),
value(PidParameter::IntegralMax, tag("integral_max"))
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))(input)?;
let (input, _) = whitespace(input)?;
let (input, value) = float(input)?;
let result = value
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.map(|value| Command::Pid { channel, parameter, value });
Ok((input, result))
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}
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/// `pid` | pid_parameter
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fn pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
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let (input, _) = tag("pid")(input)?;
alt((
preceded(
whitespace,
pid_parameter
),
value(Ok(Command::Show(ShowCommand::Pid)), end)
))(input)
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}
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fn postfilter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
let (input, _) = tag("postfilter")(input)?;
alt((
preceded(
whitespace,
|input| {
let (input, channel) = channel(input)?;
let (input, _) = whitespace(input)?;
let (input, _) = tag("rate")(input)?;
let (input, _) = whitespace(input)?;
let (input, rate) = float(input)?;
let result = rate
.map(|rate| Command::PostFilter {
channel, rate,
});
Ok((input, result))
}
),
value(Ok(Command::Show(ShowCommand::PostFilter)), end)
))(input)
}
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fn command(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
alt((value(Ok(Command::Quit), tag("quit")),
map(report, Ok),
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pwm,
pid,
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postfilter,
))(input)
}
impl Command {
pub fn parse(input: &[u8]) -> Result<Self, Error> {
match command(input) {
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Ok((b"", result)) =>
result,
Ok((input_remain, _)) =>
Err(Error::UnexpectedInput(input_remain[0])),
Err(e) =>
Err(e.into()),
}
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}
}
#[cfg(test)]
mod test {
use super::*;
#[test]
fn parse_quit() {
let command = Command::parse(b"quit");
assert_eq!(command, Ok(Command::Quit));
}
#[test]
fn parse_report() {
let command = Command::parse(b"report");
assert_eq!(command, Ok(Command::Show(ShowCommand::Input)));
}
#[test]
fn parse_report_mode() {
let command = Command::parse(b"report mode");
assert_eq!(command, Ok(Command::Show(ShowCommand::Reporting)));
}
#[test]
fn parse_report_mode_on() {
let command = Command::parse(b"report mode on");
assert_eq!(command, Ok(Command::Reporting(true)));
}
#[test]
fn parse_report_mode_off() {
let command = Command::parse(b"report mode off");
assert_eq!(command, Ok(Command::Reporting(false)));
}
#[test]
fn parse_pwm_manual() {
let command = Command::parse(b"pwm 1 16383 65535");
assert_eq!(command, Ok(Command::Pwm {
channel: 1,
mode: PwmMode::Manual {
width: 16383,
total: 65535,
},
}));
}
#[test]
fn parse_pwm_pid() {
let command = Command::parse(b"pwm 0 pid");
assert_eq!(command, Ok(Command::Pwm {
channel: 0,
mode: PwmMode::Pid,
}));
}
#[test]
fn parse_pid() {
let command = Command::parse(b"pid");
assert_eq!(command, Ok(Command::Show(ShowCommand::Pid)));
}
#[test]
fn parse_pid_target() {
let command = Command::parse(b"pid 0 target 36.5");
assert_eq!(command, Ok(Command::Pid {
channel: 0,
parameter: PidParameter::Target,
value: 36.5,
}));
}
#[test]
fn parse_pid_integral_max() {
let command = Command::parse(b"pid 1 integral_max 2000");
assert_eq!(command, Ok(Command::Pid {
channel: 1,
parameter: PidParameter::IntegralMax,
value: 2000.0,
}));
}
#[test]
fn parse_postfilter_rate() {
let command = Command::parse(b"postfilter 0 rate 21");
assert_eq!(command, Ok(Command::PostFilter {
channel: 0,
rate: 21.0,
}));
}
}