main refactor: initial working prototype
This commit is contained in:
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a5d8661b10
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312
src/command_handler.rs
Normal file
312
src/command_handler.rs
Normal file
@ -0,0 +1,312 @@
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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 channels::Channels;
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use smoltcp::socket::TcpSocket;
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use log::{error, warn};
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use core::fmt::Write;
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use crate::net;
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use crate::command_parser;
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use command_parser::Ipv4Config;
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use command_parser::Command;
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use command_parser::ShowCommand;
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use crate::leds::Leds;
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use uom::{
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si::{
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f64::{
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ElectricCurrent,
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ElectricPotential,
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ElectricalResistance,
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ThermodynamicTemperature,
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},
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electric_current::ampere,
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electric_potential::volt,
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electrical_resistance::ohm,
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thermodynamic_temperature::degree_celsius,
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},
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};
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#[derive(Debug, Clone, PartialEq)]
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pub enum Handler {
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Handled,
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CloseSocket,
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NewIPV4(Ipv4Config),
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Reset,
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}
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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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let send_free = socket.send_capacity() - socket.send_queue();
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if data.len() > send_free + 1 {
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// Not enough buffer space, skip report for now,
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// instead of sending incomplete line
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warn!(
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"TCP socket has only {}/{} needed {}",
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send_free + 1, socket.send_capacity(), data.len(),
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);
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} else {
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match socket.send_slice(&data) {
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Ok(sent) if sent == data.len() => {
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let _ = socket.send_slice(b"\n");
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// success
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return true
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}
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Ok(sent) =>
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warn!("sent only {}/{} bytes", sent, data.len()),
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Err(e) =>
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error!("error sending line: {:?}", e),
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}
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}
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// not success
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false
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}
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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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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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}
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}
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Ok(Handler::Handled)
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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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}
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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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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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}
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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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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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}
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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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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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}
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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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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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}
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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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}
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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);
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}
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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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Command::Ipv4(config) => {
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let _ = store
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.write_value("ipv4", &config, [0; 16])
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.map_err(|e| error!("unable to save ipv4 config to flash: {:?}", e));
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let new_ipv4_config = Some(config);
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send_line(socket, b"{}");
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Ok(Handler::NewIPV4(new_ipv4_config.unwrap()))
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}
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Command::Reset => {
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for i in 0..CHANNELS {
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channels.power_down(i);
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}
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// should_reset = true;
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Ok(Handler::Reset)
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}
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Command::Dfu => {
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for i in 0..CHANNELS {
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channels.power_down(i);
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}
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unsafe {
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dfu::set_dfu_trigger();
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}
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// should_reset = true;
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Ok(Handler::Reset)
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}
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}
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}
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}
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248
src/main.rs
248
src/main.rs
@ -4,6 +4,7 @@
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#![cfg_attr(test, allow(unused))]
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// TODO: #![deny(warnings, unused)]
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// use Handler::NewIPV4;
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#[cfg(not(any(feature = "semihosting", test)))]
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use panic_abort as _;
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#[cfg(all(feature = "semihosting", not(test)))]
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@ -11,7 +12,7 @@ use panic_semihosting as _;
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use log::{error, info, warn};
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use core::fmt::Write;
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// use core::fmt::Write;
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use cortex_m::asm::wfi;
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use cortex_m_rt::entry;
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use stm32f4xx_hal::{
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@ -26,20 +27,6 @@ use smoltcp::{
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socket::TcpSocket,
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wire::EthernetAddress,
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};
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use uom::{
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si::{
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f64::{
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ElectricCurrent,
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ElectricPotential,
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ElectricalResistance,
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ThermodynamicTemperature,
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},
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electric_current::ampere,
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electric_potential::volt,
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electrical_resistance::ohm,
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thermodynamic_temperature::degree_celsius,
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},
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};
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mod init_log;
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use init_log::init_log;
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@ -55,7 +42,7 @@ use server::Server;
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mod session;
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use session::{Session, SessionInput};
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mod command_parser;
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use command_parser::{Command, Ipv4Config, PwmPin, ShowCommand};
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use command_parser::Ipv4Config;
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mod timer;
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mod pid;
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mod steinhart_hart;
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@ -67,6 +54,8 @@ mod config;
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use config::ChannelConfig;
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mod flash_store;
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mod dfu;
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mod command_handler;
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use command_handler::Handler;
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const HSE: MegaHertz = MegaHertz(8);
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#[cfg(not(feature = "semihosting"))]
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@ -149,7 +138,7 @@ fn main() -> ! {
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usb::State::setup(usb);
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let mut store = flash_store::store(dp.FLASH);
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let mut store_value_buf = [0u8; 256];
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let mut channels = Channels::new(pins);
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for c in 0..CHANNELS {
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@ -218,223 +207,16 @@ fn main() -> ! {
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// socket RX ring buffer wraps around, or when the command is sent as seperate TCP packets etc.
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// Do nothing and feed more data to the line reader in the next loop cycle.
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Ok(SessionInput::Nothing) => {}
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Ok(SessionInput::Command(command)) => match command {
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Command::Quit =>
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socket.close(),
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Command::Reporting(_reporting) => {
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// handled by session
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send_line(&mut socket, b"{}");
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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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}
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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(&mut 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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}
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Ok(SessionInput::Command(command)) => {
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// let handler = Handler::handle_command(command, &mut socket, &mut channels, session, &mut leds, store, ipv4_config);
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match Handler::handle_command(command, &mut socket, &mut channels, session, &mut leds, &mut store, &mut ipv4_config) {
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Ok(Handler::NewIPV4(ip)) => {
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new_ipv4_config = Some(ip);
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}
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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(&mut 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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}
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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(&mut 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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}
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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(&mut 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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}
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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(&mut 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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}
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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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}
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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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send_line(&mut socket, b"{}");
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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;
|
||||
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(&mut socket, b"{}");
|
||||
}
|
||||
Command::CenterPoint { channel, center } => {
|
||||
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(&mut socket, b"{}");
|
||||
}
|
||||
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(&mut socket, b"{}");
|
||||
}
|
||||
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(&mut socket, b"{}");
|
||||
}
|
||||
Command::PostFilter { channel, rate: None } => {
|
||||
channels.adc.set_postfilter(channel as u8, None).unwrap();
|
||||
send_line(&mut socket, b"{}");
|
||||
}
|
||||
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(&mut socket, b"{}");
|
||||
}
|
||||
None => {
|
||||
error!("unable to choose postfilter for rate {:.3}", rate);
|
||||
send_line(&mut socket, b"{{\"error\": \"unable to choose postfilter rate\"}}");
|
||||
}
|
||||
}
|
||||
}
|
||||
Command::Load { channel } => {
|
||||
for c in 0..CHANNELS {
|
||||
if channel.is_none() || channel == Some(c) {
|
||||
match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
|
||||
Ok(Some(config)) => {
|
||||
config.apply(&mut channels, c);
|
||||
send_line(&mut socket, b"{}");
|
||||
}
|
||||
Ok(None) => {
|
||||
error!("flash config not found");
|
||||
send_line(&mut socket, b"{{\"error\": \"flash config not found\"}}");
|
||||
}
|
||||
Err(e) => {
|
||||
error!("unable to load config from flash: {:?}", e);
|
||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Command::Save { channel } => {
|
||||
for c in 0..CHANNELS {
|
||||
if channel.is_none() || channel == Some(c) {
|
||||
let config = ChannelConfig::new(&mut channels, c);
|
||||
match store.write_value(CHANNEL_CONFIG_KEY[c], &config, &mut store_value_buf) {
|
||||
Ok(()) => {
|
||||
send_line(&mut socket, b"{}");
|
||||
}
|
||||
Err(e) => {
|
||||
error!("unable to save channel {} config to flash: {:?}", c, e);
|
||||
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Command::Ipv4(config) => {
|
||||
let _ = store
|
||||
.write_value("ipv4", &config, [0; 16])
|
||||
.map_err(|e| error!("unable to save ipv4 config to flash: {:?}", e));
|
||||
new_ipv4_config = Some(config);
|
||||
send_line(&mut socket, b"{}");
|
||||
}
|
||||
Command::Reset => {
|
||||
for i in 0..CHANNELS {
|
||||
channels.power_down(i);
|
||||
}
|
||||
should_reset = true;
|
||||
}
|
||||
Command::Dfu => {
|
||||
for i in 0..CHANNELS {
|
||||
channels.power_down(i);
|
||||
}
|
||||
unsafe {
|
||||
dfu::set_dfu_trigger();
|
||||
}
|
||||
should_reset = true;
|
||||
Ok(Handler::Handled) => {}
|
||||
Ok(Handler::CloseSocket) => socket.close(),
|
||||
Ok(Handler::Reset) => should_reset = true,
|
||||
Err(_) => {},
|
||||
}
|
||||
}
|
||||
Ok(SessionInput::Error(e)) => {
|
||||
|
||||
Loading…
Reference in New Issue
Block a user