772 lines
21 KiB
Rust
772 lines
21 KiB
Rust
use core::fmt;
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use core::num::ParseIntError;
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use core::str::{from_utf8, Utf8Error};
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use nom::{
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IResult,
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branch::alt,
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bytes::complete::{is_a, tag, take_while1},
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character::{is_digit, complete::{char, one_of}},
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combinator::{complete, map, opt, value},
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sequence::preceded,
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multi::{fold_many0, fold_many1},
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error::ErrorKind,
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};
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use num_traits::{Num, ParseFloatError};
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use serde::{Serialize, Deserialize};
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#[derive(Clone, Debug, PartialEq)]
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pub enum Error {
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Parser(ErrorKind),
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Incomplete,
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UnexpectedInput(u8),
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Utf8(Utf8Error),
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ParseInt(ParseIntError),
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// `num_traits::ParseFloatError` does not impl Clone
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ParseFloat,
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}
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impl<'t> From<nom::Err<(&'t [u8], ErrorKind)>> for Error {
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fn from(e: nom::Err<(&'t [u8], ErrorKind)>) -> Self {
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match e {
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nom::Err::Incomplete(_) =>
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Error::Incomplete,
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nom::Err::Error((_, e)) =>
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Error::Parser(e),
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nom::Err::Failure((_, e)) =>
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Error::Parser(e),
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}
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}
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}
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impl From<Utf8Error> for Error {
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fn from(e: Utf8Error) -> Self {
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Error::Utf8(e)
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}
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}
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impl From<ParseIntError> for Error {
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fn from(e: ParseIntError) -> Self {
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Error::ParseInt(e)
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}
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}
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impl From<ParseFloatError> for Error {
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fn from(_: ParseFloatError) -> Self {
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Error::ParseFloat
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}
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}
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impl fmt::Display for Error {
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fn fmt(&self, fmt: &mut fmt::Formatter) -> Result<(), fmt::Error> {
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match self {
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Error::Incomplete =>
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"incomplete input".fmt(fmt),
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Error::UnexpectedInput(c) => {
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"unexpected input: ".fmt(fmt)?;
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c.fmt(fmt)
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}
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Error::Parser(e) => {
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"parser: ".fmt(fmt)?;
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(e as &dyn core::fmt::Debug).fmt(fmt)
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}
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Error::Utf8(e) => {
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"utf8: ".fmt(fmt)?;
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(e as &dyn core::fmt::Debug).fmt(fmt)
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}
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Error::ParseInt(e) => {
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"parsing int: ".fmt(fmt)?;
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(e as &dyn core::fmt::Debug).fmt(fmt)
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}
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Error::ParseFloat => {
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"parsing float".fmt(fmt)
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}
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}
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}
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}
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#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
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pub struct Ipv4Config {
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pub address: [u8; 4],
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pub mask_len: u8,
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pub gateway: Option<[u8; 4]>,
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}
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#[derive(Debug, Clone, PartialEq)]
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pub enum ShowCommand {
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Input,
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Reporting,
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Pwm,
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Pid,
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SteinhartHart,
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PostFilter,
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Ipv4,
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}
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#[derive(Debug, Clone, PartialEq)]
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pub enum PidParameter {
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Target,
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KP,
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KI,
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KD,
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OutputMin,
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OutputMax,
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IntegralMin,
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IntegralMax,
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}
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/// Steinhart-Hart equation parameter
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#[derive(Debug, Clone, PartialEq)]
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pub enum ShParameter {
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T0,
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B,
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R0,
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}
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#[derive(Debug, Clone, Copy, PartialEq)]
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pub enum PwmPin {
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ISet,
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MaxIPos,
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MaxINeg,
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MaxV,
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}
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#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
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pub enum CenterPoint {
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Vref,
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Override(f32),
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}
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#[derive(Debug, Clone, PartialEq)]
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pub enum Command {
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Quit,
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Load {
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channel: Option<usize>,
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},
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Save {
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channel: Option<usize>,
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},
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Reset,
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Ipv4(Ipv4Config),
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Show(ShowCommand),
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Reporting(bool),
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/// PWM parameter setting
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Pwm {
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channel: usize,
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pin: PwmPin,
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value: f64,
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},
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/// Enable PID control for `i_set`
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PwmPid {
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channel: usize,
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},
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CenterPoint {
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channel: usize,
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center: CenterPoint,
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},
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/// PID parameter setting
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Pid {
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channel: usize,
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parameter: PidParameter,
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value: f64,
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},
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SteinhartHart {
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channel: usize,
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parameter: ShParameter,
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value: f64,
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},
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PostFilter {
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channel: usize,
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rate: Option<f32>,
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},
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Dfu,
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}
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fn end(input: &[u8]) -> IResult<&[u8], ()> {
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complete(
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fold_many0(
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one_of("\r\n\t "),
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(), |(), _| ()
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)
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)(input)
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}
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fn whitespace(input: &[u8]) -> IResult<&[u8], ()> {
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fold_many1(char(' '), (), |(), _| ())(input)
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}
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fn unsigned(input: &[u8]) -> IResult<&[u8], Result<u32, Error>> {
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take_while1(is_digit)(input)
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.map(|(input, digits)| {
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let result =
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from_utf8(digits)
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.map_err(|e| e.into())
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.and_then(|digits| u32::from_str_radix(digits, 10)
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.map_err(|e| e.into())
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);
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(input, result)
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})
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}
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fn float(input: &[u8]) -> IResult<&[u8], Result<f64, Error>> {
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let (input, sign) = opt(is_a("-"))(input)?;
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let negative = sign.is_some();
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let (input, digits) = take_while1(|c| is_digit(c) || c == '.' as u8)(input)?;
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let result =
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from_utf8(digits)
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.map_err(|e| e.into())
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.and_then(|digits| f64::from_str_radix(digits, 10)
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.map_err(|e| e.into())
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)
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.map(|result: f64| if negative { -result } else { result });
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Ok((input, result))
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}
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fn off_on(input: &[u8]) -> IResult<&[u8], bool> {
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alt((value(false, tag("off")),
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value(true, tag("on"))
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))(input)
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}
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fn channel(input: &[u8]) -> IResult<&[u8], usize> {
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map(one_of("01"), |c| (c as usize) - ('0' as usize))(input)
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}
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fn report(input: &[u8]) -> IResult<&[u8], Command> {
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preceded(
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tag("report"),
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alt((
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preceded(
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whitespace,
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preceded(
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tag("mode"),
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alt((
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preceded(
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whitespace,
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// `report mode <on | off>` - Switch repoting mode
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map(off_on, Command::Reporting)
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),
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// `report mode` - Show current reporting state
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value(Command::Show(ShowCommand::Reporting), end)
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))
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)),
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// `report` - Report once
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value(Command::Show(ShowCommand::Input), end)
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))
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)(input)
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}
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fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, f64), Error>> {
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let result_with_pin = |pin: PwmPin|
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move |result: Result<f64, Error>|
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result.map(|value| (pin, value));
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alt((
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map(
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preceded(
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tag("i_set"),
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preceded(
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whitespace,
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float
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)
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),
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result_with_pin(PwmPin::ISet)
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),
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map(
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preceded(
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tag("max_i_pos"),
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preceded(
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whitespace,
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float
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)
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),
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result_with_pin(PwmPin::MaxIPos)
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),
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map(
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preceded(
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tag("max_i_neg"),
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preceded(
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whitespace,
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float
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)
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),
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result_with_pin(PwmPin::MaxINeg)
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),
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map(
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preceded(
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tag("max_v"),
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preceded(
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whitespace,
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float
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)
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),
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result_with_pin(PwmPin::MaxV)
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))
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)(input)
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}
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/// `pwm <0-1> pid` - Set PWM to be controlled by PID
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fn pwm_pid(input: &[u8]) -> IResult<&[u8], ()> {
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value((), tag("pid"))(input)
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}
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fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
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let (input, _) = tag("pwm")(input)?;
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alt((
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|input| {
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let (input, _) = whitespace(input)?;
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let (input, channel) = channel(input)?;
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let (input, _) = whitespace(input)?;
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let (input, result) = alt((
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|input| {
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let (input, ()) = pwm_pid(input)?;
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Ok((input, Ok(Command::PwmPid { channel })))
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},
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|input| {
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let (input, config) = pwm_setup(input)?;
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match config {
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Ok((pin, value)) =>
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Ok((input, Ok(Command::Pwm { channel, pin, value }))),
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Err(e) =>
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Ok((input, Err(e))),
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}
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},
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))(input)?;
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end(input)?;
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Ok((input, result))
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},
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value(Ok(Command::Show(ShowCommand::Pwm)), end)
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))(input)
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}
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fn center_point(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
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let (input, _) = tag("center")(input)?;
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let (input, _) = whitespace(input)?;
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let (input, channel) = channel(input)?;
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let (input, _) = whitespace(input)?;
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let (input, center) = alt((
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value(Ok(CenterPoint::Vref), tag("vref")),
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|input| {
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let (input, value) = float(input)?;
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Ok((input, value.map(|value| CenterPoint::Override(value as f32))))
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}
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))(input)?;
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end(input)?;
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Ok((input, center.map(|center| Command::CenterPoint {
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channel,
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center,
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})))
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}
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/// `pid <0-1> <parameter> <value>`
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fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
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let (input, channel) = channel(input)?;
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let (input, _) = whitespace(input)?;
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let (input, parameter) =
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alt((value(PidParameter::Target, tag("target")),
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value(PidParameter::KP, tag("kp")),
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value(PidParameter::KI, tag("ki")),
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value(PidParameter::KD, tag("kd")),
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value(PidParameter::OutputMin, tag("output_min")),
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value(PidParameter::OutputMax, tag("output_max")),
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value(PidParameter::IntegralMin, tag("integral_min")),
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value(PidParameter::IntegralMax, tag("integral_max"))
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))(input)?;
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let (input, _) = whitespace(input)?;
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let (input, value) = float(input)?;
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let result = value
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.map(|value| Command::Pid { channel, parameter, value });
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Ok((input, result))
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}
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/// `pid` | `pid <pid_parameter>`
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fn pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
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let (input, _) = tag("pid")(input)?;
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alt((
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preceded(
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whitespace,
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pid_parameter
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),
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value(Ok(Command::Show(ShowCommand::Pid)), end)
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))(input)
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}
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/// `s-h <0-1> <parameter> <value>`
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fn steinhart_hart_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
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let (input, channel) = channel(input)?;
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let (input, _) = whitespace(input)?;
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let (input, parameter) =
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alt((value(ShParameter::T0, tag("t0")),
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value(ShParameter::B, tag("b")),
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value(ShParameter::R0, tag("r0"))
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))(input)?;
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let (input, _) = whitespace(input)?;
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let (input, value) = float(input)?;
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let result = value
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.map(|value| Command::SteinhartHart { channel, parameter, value });
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Ok((input, result))
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}
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/// `s-h` | `s-h <steinhart_hart_parameter>`
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fn steinhart_hart(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
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let (input, _) = tag("s-h")(input)?;
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alt((
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preceded(
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whitespace,
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steinhart_hart_parameter
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),
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value(Ok(Command::Show(ShowCommand::SteinhartHart)), end)
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))(input)
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}
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fn postfilter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
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let (input, _) = tag("postfilter")(input)?;
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alt((
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preceded(
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whitespace,
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|input| {
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let (input, channel) = channel(input)?;
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let (input, _) = whitespace(input)?;
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alt((
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value(Ok(Command::PostFilter {
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channel,
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rate: None,
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}), tag("off")),
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move |input| {
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let (input, _) = tag("rate")(input)?;
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let (input, _) = whitespace(input)?;
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let (input, rate) = float(input)?;
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let result = rate
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.map(|rate| Command::PostFilter {
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channel,
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rate: Some(rate as f32),
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});
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Ok((input, result))
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}
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))(input)
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}
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),
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value(Ok(Command::Show(ShowCommand::PostFilter)), end)
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))(input)
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}
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fn load(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
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let (input, _) = tag("load")(input)?;
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let (input, channel) = alt((
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|input| {
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let (input, _) = whitespace(input)?;
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let (input, channel) = channel(input)?;
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let (input, _) = end(input)?;
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Ok((input, Some(channel)))
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},
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value(None, end)
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))(input)?;
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let result = Ok(Command::Load { channel });
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Ok((input, result))
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}
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|
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fn save(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
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let (input, _) = tag("save")(input)?;
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let (input, channel) = alt((
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|input| {
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let (input, _) = whitespace(input)?;
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let (input, channel) = channel(input)?;
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let (input, _) = end(input)?;
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Ok((input, Some(channel)))
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},
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value(None, end)
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))(input)?;
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let result = Ok(Command::Save { channel });
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Ok((input, result))
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}
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|
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fn ipv4_addr(input: &[u8]) -> IResult<&[u8], Result<[u8; 4], Error>> {
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let (input, a) = unsigned(input)?;
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let (input, _) = tag(".")(input)?;
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let (input, b) = unsigned(input)?;
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let (input, _) = tag(".")(input)?;
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let (input, c) = unsigned(input)?;
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let (input, _) = tag(".")(input)?;
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let (input, d) = unsigned(input)?;
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let address = move || Ok([a? as u8, b? as u8, c? as u8, d? as u8]);
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Ok((input, address()))
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}
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fn ipv4(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
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let (input, _) = tag("ipv4")(input)?;
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alt((
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|input| {
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let (input, _) = whitespace(input)?;
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let (input, address) = ipv4_addr(input)?;
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let (input, _) = tag("/")(input)?;
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let (input, mask_len) = unsigned(input)?;
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let (input, gateway) = alt((
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|input| {
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let (input, _) = whitespace(input)?;
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let (input, gateway) = ipv4_addr(input)?;
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Ok((input, gateway.map(Some)))
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},
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value(Ok(None), end),
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))(input)?;
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let result = move || {
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Ok(Command::Ipv4(Ipv4Config {
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address: address?,
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mask_len: mask_len? as u8,
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gateway: gateway?,
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}))
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};
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Ok((input, result()))
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},
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value(Ok(Command::Show(ShowCommand::Ipv4)), end),
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))(input)
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}
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|
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fn command(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
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alt((value(Ok(Command::Quit), tag("quit")),
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load,
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save,
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value(Ok(Command::Reset), tag("reset")),
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ipv4,
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map(report, Ok),
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pwm,
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center_point,
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pid,
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steinhart_hart,
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postfilter,
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value(Ok(Command::Dfu), tag("dfu")),
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))(input)
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}
|
|
|
|
impl Command {
|
|
pub fn parse(input: &[u8]) -> Result<Self, Error> {
|
|
match command(input) {
|
|
Ok((input_remain, result)) if input_remain.len() == 0 =>
|
|
result,
|
|
Ok((input_remain, _)) =>
|
|
Err(Error::UnexpectedInput(input_remain[0])),
|
|
Err(e) =>
|
|
Err(e.into()),
|
|
}
|
|
}
|
|
}
|
|
|
|
#[cfg(test)]
|
|
mod test {
|
|
use super::*;
|
|
|
|
#[test]
|
|
fn parse_quit() {
|
|
let command = Command::parse(b"quit");
|
|
assert_eq!(command, Ok(Command::Quit));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_load() {
|
|
let command = Command::parse(b"load");
|
|
assert_eq!(command, Ok(Command::Load { channel: None }));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_load_channel() {
|
|
let command = Command::parse(b"load 0");
|
|
assert_eq!(command, Ok(Command::Load { channel: Some(0) }));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_save() {
|
|
let command = Command::parse(b"save");
|
|
assert_eq!(command, Ok(Command::Save { channel: None }));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_save_channel() {
|
|
let command = Command::parse(b"save 0");
|
|
assert_eq!(command, Ok(Command::Save { channel: Some(0) }));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_show_ipv4() {
|
|
let command = Command::parse(b"ipv4");
|
|
assert_eq!(command, Ok(Command::Show(ShowCommand::Ipv4)));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_ipv4() {
|
|
let command = Command::parse(b"ipv4 192.168.1.26/24");
|
|
assert_eq!(command, Ok(Command::Ipv4(Ipv4Config {
|
|
address: [192, 168, 1, 26],
|
|
mask_len: 24,
|
|
gateway: None,
|
|
})));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_ipv4_and_gateway() {
|
|
let command = Command::parse(b"ipv4 10.42.0.126/8 10.1.0.1");
|
|
assert_eq!(command, Ok(Command::Ipv4(Ipv4Config {
|
|
address: [10, 42, 0, 126],
|
|
mask_len: 8,
|
|
gateway: Some([10, 1, 0, 1]),
|
|
})));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_report() {
|
|
let command = Command::parse(b"report");
|
|
assert_eq!(command, Ok(Command::Show(ShowCommand::Input)));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_report_mode() {
|
|
let command = Command::parse(b"report mode");
|
|
assert_eq!(command, Ok(Command::Show(ShowCommand::Reporting)));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_report_mode_on() {
|
|
let command = Command::parse(b"report mode on");
|
|
assert_eq!(command, Ok(Command::Reporting(true)));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_report_mode_off() {
|
|
let command = Command::parse(b"report mode off");
|
|
assert_eq!(command, Ok(Command::Reporting(false)));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_pwm_i_set() {
|
|
let command = Command::parse(b"pwm 1 i_set 16383");
|
|
assert_eq!(command, Ok(Command::Pwm {
|
|
channel: 1,
|
|
pin: PwmPin::ISet,
|
|
value: 16383.0,
|
|
}));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_pwm_pid() {
|
|
let command = Command::parse(b"pwm 0 pid");
|
|
assert_eq!(command, Ok(Command::PwmPid {
|
|
channel: 0,
|
|
}));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_pwm_max_i_pos() {
|
|
let command = Command::parse(b"pwm 0 max_i_pos 7");
|
|
assert_eq!(command, Ok(Command::Pwm {
|
|
channel: 0,
|
|
pin: PwmPin::MaxIPos,
|
|
value: 7.0,
|
|
}));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_pwm_max_i_neg() {
|
|
let command = Command::parse(b"pwm 0 max_i_neg 128");
|
|
assert_eq!(command, Ok(Command::Pwm {
|
|
channel: 0,
|
|
pin: PwmPin::MaxINeg,
|
|
value: 128.0,
|
|
}));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_pwm_max_v() {
|
|
let command = Command::parse(b"pwm 0 max_v 32768");
|
|
assert_eq!(command, Ok(Command::Pwm {
|
|
channel: 0,
|
|
pin: PwmPin::MaxV,
|
|
value: 32768.0,
|
|
}));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_pid() {
|
|
let command = Command::parse(b"pid");
|
|
assert_eq!(command, Ok(Command::Show(ShowCommand::Pid)));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_pid_target() {
|
|
let command = Command::parse(b"pid 0 target 36.5");
|
|
assert_eq!(command, Ok(Command::Pid {
|
|
channel: 0,
|
|
parameter: PidParameter::Target,
|
|
value: 36.5,
|
|
}));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_pid_integral_max() {
|
|
let command = Command::parse(b"pid 1 integral_max 2000");
|
|
assert_eq!(command, Ok(Command::Pid {
|
|
channel: 1,
|
|
parameter: PidParameter::IntegralMax,
|
|
value: 2000.0,
|
|
}));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_steinhart_hart() {
|
|
let command = Command::parse(b"s-h");
|
|
assert_eq!(command, Ok(Command::Show(ShowCommand::SteinhartHart)));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_steinhart_hart_set() {
|
|
let command = Command::parse(b"s-h 1 t0 23.05");
|
|
assert_eq!(command, Ok(Command::SteinhartHart {
|
|
channel: 1,
|
|
parameter: ShParameter::T0,
|
|
value: 23.05,
|
|
}));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_postfilter() {
|
|
let command = Command::parse(b"postfilter");
|
|
assert_eq!(command, Ok(Command::Show(ShowCommand::PostFilter)));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_postfilter_off() {
|
|
let command = Command::parse(b"postfilter 1 off");
|
|
assert_eq!(command, Ok(Command::PostFilter {
|
|
channel: 1,
|
|
rate: None,
|
|
}));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_postfilter_rate() {
|
|
let command = Command::parse(b"postfilter 0 rate 21");
|
|
assert_eq!(command, Ok(Command::PostFilter {
|
|
channel: 0,
|
|
rate: Some(21.0),
|
|
}));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_center_point() {
|
|
let command = Command::parse(b"center 0 1.5");
|
|
assert_eq!(command, Ok(Command::CenterPoint {
|
|
channel: 0,
|
|
center: CenterPoint::Override(1.5),
|
|
}));
|
|
}
|
|
|
|
#[test]
|
|
fn parse_center_point_vref() {
|
|
let command = Command::parse(b"center 1 vref");
|
|
assert_eq!(command, Ok(Command::CenterPoint {
|
|
channel: 1,
|
|
center: CenterPoint::Vref,
|
|
}));
|
|
}
|
|
}
|