main refactor: refine command handler
parent
6473b27539
commit
31f7e7eead
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@ -1,4 +1,4 @@
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use crate::{CHANNEL_CONFIG_KEY, ad7172, channels::{self, CHANNELS}, command_parser::PwmPin, config::ChannelConfig, dfu, flash_store::{FlashStore}, session::Session};
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use crate::{CHANNEL_CONFIG_KEY, ad7172, channels::{self, CHANNELS}, command_parser::{CenterPoint, PidParameter, PwmPin, ShParameter}, config::ChannelConfig, dfu, flash_store::{FlashStore}, session::Session};
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use channels::Channels;
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use smoltcp::socket::TcpSocket;
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use log::{error, warn};
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@ -34,7 +34,7 @@ pub enum Handler {
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#[derive(Clone, Debug, PartialEq)]
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pub enum Error {
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ParseFloat,
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}
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fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
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@ -65,248 +65,284 @@ fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
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impl Handler {
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pub fn handle_command (command: Command, socket: &mut TcpSocket, channels: &mut Channels, session: &Session, leds: &mut Leds, store: &mut FlashStore, ipv4_config: &mut Ipv4Config) -> Result<Self, Error> {
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match command {
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Command::Quit =>
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// socket.close(),
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Ok(Handler::CloseSocket),
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fn reporting(socket: &mut TcpSocket) -> Result<Handler, Error> {
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send_line(socket, b"{}");
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Ok(Handler::Handled)
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}
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Command::Reporting(_reporting) => {
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// handled by session
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send_line(socket, b"{}");
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Ok(Handler::Handled)
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}
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Command::Show(ShowCommand::Reporting) => {
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let _ = writeln!(socket, "{{ \"report\": {:?} }}", session.reporting());
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Ok(Handler::Handled)
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}
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Command::Show(ShowCommand::Input) => {
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match channels.reports_json() {
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Ok(buf) => {
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send_line(socket, &buf[..]);
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}
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Err(e) => {
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error!("unable to serialize report: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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fn show_report_mode(socket: &mut TcpSocket, session: &Session) -> Result<Handler, Error> {
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let _ = writeln!(socket, "{{ \"report\": {:?} }}", session.reporting());
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Ok(Handler::Handled)
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}
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}
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}
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Ok(Handler::Handled)
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fn show_report(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
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match channels.reports_json() {
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Ok(buf) => {
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send_line(socket, &buf[..]);
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}
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Command::Show(ShowCommand::Pid) => {
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match channels.pid_summaries_json() {
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Ok(buf) => {
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send_line(socket, &buf);
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}
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Err(e) => {
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error!("unable to serialize pid summary: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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}
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Ok(Handler::Handled)
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Err(e) => {
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error!("unable to serialize report: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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Command::Show(ShowCommand::Pwm) => {
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match channels.pwm_summaries_json() {
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Ok(buf) => {
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send_line(socket, &buf);
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}
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Err(e) => {
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error!("unable to serialize pwm summary: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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}
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Ok(Handler::Handled)
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}
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Ok(Handler::Handled)
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}
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fn show_pid(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
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match channels.pid_summaries_json() {
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Ok(buf) => {
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send_line(socket, &buf);
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}
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Command::Show(ShowCommand::SteinhartHart) => {
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match channels.steinhart_hart_summaries_json() {
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Ok(buf) => {
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send_line(socket, &buf);
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}
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Err(e) => {
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error!("unable to serialize steinhart-hart summaries: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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}
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Ok(Handler::Handled)
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Err(e) => {
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error!("unable to serialize pid summary: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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Command::Show(ShowCommand::PostFilter) => {
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match channels.postfilter_summaries_json() {
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Ok(buf) => {
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send_line(socket, &buf);
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}
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Err(e) => {
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error!("unable to serialize postfilter summary: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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}
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Ok(Handler::Handled)
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}
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Ok(Handler::Handled)
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}
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fn show_pwm(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
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match channels.pwm_summaries_json() {
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Ok(buf) => {
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send_line(socket, &buf);
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}
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Command::Show(ShowCommand::Ipv4) => {
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let (cidr, gateway) = net::split_ipv4_config(ipv4_config.clone());
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let _ = write!(socket, "{{\"addr\":\"{}\"", cidr);
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gateway.map(|gateway| write!(socket, ",\"gateway\":\"{}\"", gateway));
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let _ = writeln!(socket, "}}");
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Ok(Handler::Handled)
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Err(e) => {
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error!("unable to serialize pwm summary: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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Command::PwmPid { channel } => {
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channels.channel_state(channel).pid_engaged = true;
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leds.g3.on();
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}
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Ok(Handler::Handled)
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}
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fn show_steinhart_hart(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
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match channels.steinhart_hart_summaries_json() {
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Ok(buf) => {
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send_line(socket, &buf);
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}
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Err(e) => {
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error!("unable to serialize steinhart-hart summaries: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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}
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Ok(Handler::Handled)
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}
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fn show_post_filter (socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
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match channels.postfilter_summaries_json() {
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Ok(buf) => {
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send_line(socket, &buf);
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}
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Err(e) => {
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error!("unable to serialize postfilter summary: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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}
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Ok(Handler::Handled)
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}
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fn show_ipv4 (socket: &mut TcpSocket, ipv4_config: &mut Ipv4Config) -> Result<Handler, Error> {
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let (cidr, gateway) = net::split_ipv4_config(ipv4_config.clone());
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let _ = write!(socket, "{{\"addr\":\"{}\"", cidr);
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gateway.map(|gateway| write!(socket, ",\"gateway\":\"{}\"", gateway));
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let _ = writeln!(socket, "}}");
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Ok(Handler::Handled)
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}
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fn engage_pid (channels: &mut Channels, channel: usize, socket: &mut TcpSocket, leds: &mut Leds) -> Result<Handler, Error> {
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channels.channel_state(channel).pid_engaged = true;
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leds.g3.on();
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send_line(socket, b"{}");
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Ok(Handler::Handled)
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}
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fn set_pwm (channels: &mut Channels, channel: usize, pin: PwmPin, value: f64, socket: &mut TcpSocket, leds: &mut Leds) -> Result<Handler, Error> {
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match pin {
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PwmPin::ISet => {
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channels.channel_state(channel).pid_engaged = false;
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leds.g3.off();
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let current = ElectricCurrent::new::<ampere>(value);
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channels.set_i(channel, current);
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channels.power_up(channel);
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}
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PwmPin::MaxV => {
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let voltage = ElectricPotential::new::<volt>(value);
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channels.set_max_v(channel, voltage);
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}
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PwmPin::MaxIPos => {
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let current = ElectricCurrent::new::<ampere>(value);
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channels.set_max_i_pos(channel, current);
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}
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PwmPin::MaxINeg => {
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let current = ElectricCurrent::new::<ampere>(value);
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channels.set_max_i_neg(channel, current);
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}
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}
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send_line(socket, b"{}");
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Ok(Handler::Handled)
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}
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fn set_center_point(channels: &mut Channels, socket: &mut TcpSocket, channel: usize, center: CenterPoint) -> Result<Handler, Error> {
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let i_tec = channels.get_i(channel);
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let state = channels.channel_state(channel);
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state.center = center;
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if !state.pid_engaged {
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channels.set_i(channel, i_tec);
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}
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send_line(socket, b"{}");
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Ok(Handler::Handled)
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}
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fn set_pid (channels: &mut Channels, socket: &mut TcpSocket, channel: usize, parameter: PidParameter, value: f64) -> Result<Handler, Error> {
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let pid = &mut channels.channel_state(channel).pid;
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use command_parser::PidParameter::*;
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match parameter {
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Target =>
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pid.target = value,
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KP =>
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pid.parameters.kp = value as f32,
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KI =>
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pid.update_ki(value as f32),
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KD =>
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pid.parameters.kd = value as f32,
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OutputMin =>
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pid.parameters.output_min = value as f32,
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OutputMax =>
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pid.parameters.output_max = value as f32,
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IntegralMin =>
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pid.parameters.integral_min = value as f32,
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IntegralMax =>
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pid.parameters.integral_max = value as f32,
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}
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send_line(socket, b"{}");
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Ok(Handler::Handled)
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}
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fn set_steinhart_hart (channels: &mut Channels, socket: &mut TcpSocket, channel: usize, parameter: ShParameter, value: f64) -> Result<Handler, Error> {
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let sh = &mut channels.channel_state(channel).sh;
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use command_parser::ShParameter::*;
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match parameter {
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T0 => sh.t0 = ThermodynamicTemperature::new::<degree_celsius>(value),
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B => sh.b = value,
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R0 => sh.r0 = ElectricalResistance::new::<ohm>(value),
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}
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send_line(socket, b"{}");
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Ok(Handler::Handled)
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}
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fn reset_post_filter (channels: &mut Channels, socket: &mut TcpSocket, channel: usize) -> Result<Handler, Error> {
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channels.adc.set_postfilter(channel as u8, None).unwrap();
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send_line(socket, b"{}");
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Ok(Handler::Handled)
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}
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fn set_post_filter (channels: &mut Channels, socket: &mut TcpSocket, channel: usize, rate: f32) -> Result<Handler, Error> {
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let filter = ad7172::PostFilter::closest(rate);
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match filter {
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Some(filter) => {
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channels.adc.set_postfilter(channel as u8, Some(filter)).unwrap();
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send_line(socket, b"{}");
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Ok(Handler::Handled)
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}
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Command::Pwm { channel, pin, value } => {
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match pin {
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PwmPin::ISet => {
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channels.channel_state(channel).pid_engaged = false;
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leds.g3.off();
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let current = ElectricCurrent::new::<ampere>(value);
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channels.set_i(channel, current);
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channels.power_up(channel);
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}
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PwmPin::MaxV => {
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let voltage = ElectricPotential::new::<volt>(value);
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channels.set_max_v(channel, voltage);
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}
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PwmPin::MaxIPos => {
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let current = ElectricCurrent::new::<ampere>(value);
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channels.set_max_i_pos(channel, current);
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}
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PwmPin::MaxINeg => {
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let current = ElectricCurrent::new::<ampere>(value);
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channels.set_max_i_neg(channel, current);
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}
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}
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send_line(socket, b"{}");
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Ok(Handler::Handled)
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None => {
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error!("unable to choose postfilter for rate {:.3}", rate);
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send_line(socket, b"{{\"error\": \"unable to choose postfilter rate\"}}");
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}
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Command::CenterPoint { channel, center } => {
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let i_tec = channels.get_i(channel);
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let state = channels.channel_state(channel);
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state.center = center;
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if !state.pid_engaged {
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channels.set_i(channel, i_tec);
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}
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send_line(socket, b"{}");
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Ok(Handler::Handled)
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}
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Command::Pid { channel, parameter, value } => {
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let pid = &mut channels.channel_state(channel).pid;
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use command_parser::PidParameter::*;
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match parameter {
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Target =>
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pid.target = value,
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KP =>
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pid.parameters.kp = value as f32,
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KI =>
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pid.update_ki(value as f32),
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KD =>
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pid.parameters.kd = value as f32,
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OutputMin =>
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pid.parameters.output_min = value as f32,
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OutputMax =>
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pid.parameters.output_max = value as f32,
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IntegralMin =>
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pid.parameters.integral_min = value as f32,
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IntegralMax =>
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pid.parameters.integral_max = value as f32,
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}
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send_line(socket, b"{}");
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Ok(Handler::Handled)
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}
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Command::SteinhartHart { channel, parameter, value } => {
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let sh = &mut channels.channel_state(channel).sh;
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use command_parser::ShParameter::*;
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match parameter {
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T0 => sh.t0 = ThermodynamicTemperature::new::<degree_celsius>(value),
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B => sh.b = value,
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R0 => sh.r0 = ElectricalResistance::new::<ohm>(value),
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}
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send_line(socket, b"{}");
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Ok(Handler::Handled)
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}
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Command::PostFilter { channel, rate: None } => {
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channels.adc.set_postfilter(channel as u8, None).unwrap();
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send_line(socket, b"{}");
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Ok(Handler::Handled)
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}
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Command::PostFilter { channel, rate: Some(rate) } => {
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let filter = ad7172::PostFilter::closest(rate);
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match filter {
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Some(filter) => {
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channels.adc.set_postfilter(channel as u8, Some(filter)).unwrap();
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}
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Ok(Handler::Handled)
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}
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fn load_channel (channels: &mut Channels, channel: Option<usize>, socket: &mut TcpSocket, store: &mut FlashStore) -> Result<Handler, Error> {
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for c in 0..CHANNELS {
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if channel.is_none() || channel == Some(c) {
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match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
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Ok(Some(config)) => {
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config.apply(channels, c);
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send_line(socket, b"{}");
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}
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None => {
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error!("unable to choose postfilter for rate {:.3}", rate);
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send_line(socket, b"{{\"error\": \"unable to choose postfilter rate\"}}");
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Ok(None) => {
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error!("flash config not found");
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send_line(socket, b"{{\"error\": \"flash config not found\"}}");
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}
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Err(e) => {
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error!("unable to load config from flash: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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}
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Ok(Handler::Handled)
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}
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Command::Load { channel } => {
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for c in 0..CHANNELS {
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if channel.is_none() || channel == Some(c) {
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match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
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Ok(Some(config)) => {
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config.apply(channels, c);
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send_line(socket, b"{}");
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}
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Ok(None) => {
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error!("flash config not found");
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send_line(socket, b"{{\"error\": \"flash config not found\"}}");
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}
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Err(e) => {
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error!("unable to load config from flash: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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}
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}
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Ok(Handler::Handled)
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}
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fn save_channel (channels: &mut Channels, channel: Option<usize>, socket: &mut TcpSocket, store: &mut FlashStore) -> Result<Handler, Error> {
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for c in 0..CHANNELS {
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let mut store_value_buf = [0u8; 256];
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if channel.is_none() || channel == Some(c) {
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let config = ChannelConfig::new(channels, c);
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match store.write_value(CHANNEL_CONFIG_KEY[c], &config, &mut store_value_buf) {
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Ok(()) => {
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send_line(socket, b"{}");
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}
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Err(e) => {
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error!("unable to save channel {} config to flash: {:?}", c, e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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}
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Ok(Handler::Handled)
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}
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Command::Save { channel } => {
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for c in 0..CHANNELS {
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let mut store_value_buf = [0u8; 256];
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if channel.is_none() || channel == Some(c) {
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let config = ChannelConfig::new(channels, c);
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match store.write_value(CHANNEL_CONFIG_KEY[c], &config, &mut store_value_buf) {
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Ok(()) => {
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send_line(socket, b"{}");
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}
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Err(e) => {
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error!("unable to save channel {} config to flash: {:?}", c, e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
Command::Ipv4(config) => {
|
||||
let _ = store
|
||||
.write_value("ipv4", &config, [0; 16])
|
||||
.map_err(|e| error!("unable to save ipv4 config to flash: {:?}", e));
|
||||
let new_ipv4_config = Some(config);
|
||||
send_line(socket, b"{}");
|
||||
Ok(Handler::NewIPV4(new_ipv4_config.unwrap()))
|
||||
}
|
||||
Command::Reset => {
|
||||
for i in 0..CHANNELS {
|
||||
channels.power_down(i);
|
||||
}
|
||||
// should_reset = true;
|
||||
Ok(Handler::Reset)
|
||||
}
|
||||
Command::Dfu => {
|
||||
for i in 0..CHANNELS {
|
||||
channels.power_down(i);
|
||||
}
|
||||
unsafe {
|
||||
dfu::set_dfu_trigger();
|
||||
}
|
||||
// should_reset = true;
|
||||
Ok(Handler::Reset)
|
||||
}
|
||||
}
|
||||
Ok(Handler::Handled)
|
||||
}
|
||||
|
||||
fn set_ipv4 (socket: &mut TcpSocket, config: Ipv4Config, store: &mut FlashStore) -> Result<Handler, Error> {
|
||||
let _ = store
|
||||
.write_value("ipv4", &config, [0; 16])
|
||||
.map_err(|e| error!("unable to save ipv4 config to flash: {:?}", e));
|
||||
let new_ipv4_config = Some(config);
|
||||
send_line(socket, b"{}");
|
||||
Ok(Handler::NewIPV4(new_ipv4_config.unwrap()))
|
||||
}
|
||||
|
||||
fn reset (channels: &mut Channels) -> Result<Handler, Error> {
|
||||
for i in 0..CHANNELS {
|
||||
channels.power_down(i);
|
||||
}
|
||||
// should_reset = true;
|
||||
Ok(Handler::Reset)
|
||||
}
|
||||
|
||||
fn dfu (channels: &mut Channels) -> Result<Handler, Error> {
|
||||
for i in 0..CHANNELS {
|
||||
channels.power_down(i);
|
||||
}
|
||||
unsafe {
|
||||
dfu::set_dfu_trigger();
|
||||
}
|
||||
// should_reset = true;
|
||||
Ok(Handler::Reset)
|
||||
}
|
||||
|
||||
pub fn handle_command (command: Command, socket: &mut TcpSocket, channels: &mut Channels, session: &Session, leds: &mut Leds, store: &mut FlashStore, ipv4_config: &mut Ipv4Config) -> Result<Self, Error> {
|
||||
match command {
|
||||
Command::Quit => Ok(Handler::CloseSocket),
|
||||
Command::Reporting(_reporting) => Handler::reporting(socket),
|
||||
Command::Show(ShowCommand::Reporting) => Handler::show_report_mode(socket, session),
|
||||
Command::Show(ShowCommand::Input) => Handler::show_report(socket, channels),
|
||||
Command::Show(ShowCommand::Pid) => Handler::show_pid(socket, channels),
|
||||
Command::Show(ShowCommand::Pwm) => Handler::show_pwm(socket, channels),
|
||||
Command::Show(ShowCommand::SteinhartHart) => Handler::show_steinhart_hart(socket, channels),
|
||||
Command::Show(ShowCommand::PostFilter) => Handler::show_post_filter(socket, channels),
|
||||
Command::Show(ShowCommand::Ipv4) => Handler::show_ipv4(socket, ipv4_config),
|
||||
Command::PwmPid { channel } => Handler::engage_pid(channels, channel, socket, leds),
|
||||
Command::Pwm { channel, pin, value } => Handler::set_pwm(channels, channel, pin, value, socket, leds),
|
||||
Command::CenterPoint { channel, center } => Handler::set_center_point(channels, socket, channel, center),
|
||||
Command::Pid { channel, parameter, value } => Handler::set_pid(channels, socket, channel, parameter, value),
|
||||
Command::SteinhartHart { channel, parameter, value } => Handler::set_steinhart_hart(channels, socket, channel, parameter, value),
|
||||
Command::PostFilter { channel, rate: None } => Handler::reset_post_filter(channels, socket, channel),
|
||||
Command::PostFilter { channel, rate: Some(rate) } => Handler::set_post_filter(channels, socket, channel, rate),
|
||||
Command::Load { channel } => Handler::load_channel(channels, channel, socket, store),
|
||||
Command::Save { channel } => Handler::save_channel(channels, channel, socket, store),
|
||||
Command::Ipv4(config) => Handler::set_ipv4(socket, config, store),
|
||||
Command::Reset => Handler::reset(channels),
|
||||
Command::Dfu => Handler::dfu(channels)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -208,7 +208,6 @@ fn main() -> ! {
|
|||
// Do nothing and feed more data to the line reader in the next loop cycle.
|
||||
Ok(SessionInput::Nothing) => {}
|
||||
Ok(SessionInput::Command(command)) => {
|
||||
// let handler = Handler::handle_command(command, &mut socket, &mut channels, session, &mut leds, store, ipv4_config);
|
||||
match Handler::handle_command(command, &mut socket, &mut channels, session, &mut leds, &mut store, &mut ipv4_config) {
|
||||
Ok(Handler::NewIPV4(ip)) => {
|
||||
new_ipv4_config = Some(ip);
|
||||
|
|
|
|||
Loading…
Reference in New Issue