Reset all TCP sockets before MCU reset (#53)
Co-Authored-By: topquark12 <aw@m-labs.hk> Co-Committed-By: topquark12 <aw@m-labs.hk>pull/55/head
parent
6b9d61737e
commit
7cb0ed70be
513
src/main.rs
513
src/main.rs
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@ -186,6 +186,7 @@ fn main() -> ! {
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net::run(clocks, dp.ETHERNET_MAC, dp.ETHERNET_DMA, eth_pins, hwaddr, ipv4_config.clone(), |iface| {
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Server::<Session>::run(iface, |server| {
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leds.r1.off();
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let mut should_reset = false;
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loop {
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let mut new_ipv4_config = None;
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@ -202,261 +203,275 @@ fn main() -> ! {
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warn!("poll: {:?}", e);
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});
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// TCP protocol handling
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server.for_each(|mut socket, session| {
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if ! socket.is_active() {
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let _ = socket.listen(TCP_PORT);
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session.reset();
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} else if socket.may_send() && !socket.may_recv() {
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socket.close()
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} else if socket.can_send() && socket.can_recv() {
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match socket.recv(|buf| session.feed(buf)) {
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Ok(SessionInput::Nothing) => {
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send_line(&mut socket, b"{}");
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}
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Ok(SessionInput::Command(command)) => match command {
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Command::Quit =>
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if ! should_reset {
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// TCP protocol handling
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server.for_each(|mut socket, session| {
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if ! socket.is_active() {
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let _ = socket.listen(TCP_PORT);
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session.reset();
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} else if socket.may_send() && !socket.may_recv() {
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socket.close()
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} else if socket.can_send() && socket.can_recv() {
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match socket.recv(|buf| session.feed(buf)) {
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Ok(SessionInput::Nothing) => {
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send_line(&mut socket, b"{}");
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}
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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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}
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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;
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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(&mut socket, b"{}");
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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(&mut socket, b"{}");
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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(&mut socket, b"{}");
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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(&mut socket, b"{}");
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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(&mut socket, b"{}");
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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(&mut 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(&mut socket, b"{{\"error\": \"unable to choose postfilter rate\"}}");
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}
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}
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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(&mut channels, c);
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send_line(&mut 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(&mut 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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}
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Command::Save { 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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let config = ChannelConfig::new(&mut 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(&mut 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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}
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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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new_ipv4_config = Some(config);
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send_line(&mut socket, b"{}");
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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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}
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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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}
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}
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Ok(SessionInput::Error(e)) => {
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error!("session input: {:?}", e);
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send_line(&mut socket, b"{ \"error\": \"invalid input\" }");
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}
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Err(_) =>
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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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}
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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;
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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(&mut socket, b"{}");
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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(&mut socket, b"{}");
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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(&mut socket, b"{}");
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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(&mut socket, b"{}");
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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(&mut socket, b"{}");
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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(&mut 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(&mut socket, b"{{\"error\": \"unable to choose postfilter rate\"}}");
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}
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}
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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(&mut channels, c);
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send_line(&mut 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(&mut 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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}
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Command::Save { 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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let config = ChannelConfig::new(&mut 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(&mut 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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}
|
||||
}
|
||||
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);
|
||||
}
|
||||
|
||||
SCB::sys_reset();
|
||||
}
|
||||
Command::Dfu => {
|
||||
for i in 0..CHANNELS {
|
||||
channels.power_down(i);
|
||||
}
|
||||
unsafe {
|
||||
dfu::set_dfu_trigger();
|
||||
}
|
||||
|
||||
SCB::sys_reset();
|
||||
}
|
||||
}
|
||||
Ok(SessionInput::Error(e)) => {
|
||||
error!("session input: {:?}", e);
|
||||
send_line(&mut socket, b"{ \"error\": \"invalid input\" }");
|
||||
}
|
||||
Err(_) =>
|
||||
socket.close(),
|
||||
}
|
||||
} else if socket.can_send() {
|
||||
if let Some(channel) = session.is_report_pending() {
|
||||
match channels.reports_json() {
|
||||
Ok(buf) => {
|
||||
send_line(&mut socket, &buf[..]);
|
||||
session.mark_report_sent(channel);
|
||||
}
|
||||
Err(e) => {
|
||||
error!("unable to serialize report: {:?}", e);
|
||||
} else if socket.can_send() {
|
||||
if let Some(channel) = session.is_report_pending() {
|
||||
match channels.reports_json() {
|
||||
Ok(buf) => {
|
||||
send_line(&mut socket, &buf[..]);
|
||||
session.mark_report_sent(channel);
|
||||
}
|
||||
Err(e) => {
|
||||
error!("unable to serialize report: {:?}", e);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
});
|
||||
});
|
||||
} else {
|
||||
// Should reset, close all TCP sockets.
|
||||
let mut any_socket_alive = false;
|
||||
server.for_each(|mut socket, _| {
|
||||
if socket.is_active() {
|
||||
socket.abort();
|
||||
any_socket_alive = true;
|
||||
}
|
||||
});
|
||||
// Must let loop run for one more cycle to poll server for RST to be sent,
|
||||
// this makes sure system does not reset right after socket.abort() is called.
|
||||
if !any_socket_alive {
|
||||
SCB::sys_reset();
|
||||
}
|
||||
}
|
||||
|
||||
// Apply new IPv4 address/gateway
|
||||
new_ipv4_config.take()
|
||||
|
|
|
|||
Loading…
Reference in New Issue