main refactor: refine command handler

src/command_handler.rs

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

src/main.rs

@@ -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);