forked from M-Labs/humpback-dds
mqtt: added mqtt to scpi conv
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@ -15,8 +15,9 @@ smoltcp = { version = "0.6.0", default-features = false, features = [ "ethernet"
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nb = "1.0.0"
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embedded-nal = "0.1.0"
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minimq = "0.1.0"
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minimq = { git = "https://github.com/quartiq/minimq.git", branch = "master" }
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heapless = "0.5.5"
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arrayvec = { version = "0.5.1", default-features = false, features = ["array-sizes-33-128", "array-sizes-129-255"] }
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# Logging and Panicking
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panic-itm = "0.4.1"
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@ -54,8 +54,7 @@ use firmware::{
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ClockSourceCommand,
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ClockDivisionCommand,
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},
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Urukul,
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scpi_root, recursive_scpi_tree
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Urukul, scpi_root, recursive_scpi_tree, scpi_tree
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};
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use scpi::prelude::*;
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use scpi::ieee488::commands::*;
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@ -267,34 +266,8 @@ fn main() -> ! {
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.ip_addrs(&mut ip_addrs[..])
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.finalize();
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// SCPI configs
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let tree = scpi_root!(
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["EXAMple"] => {
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"HELLO" => {
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"WORLD" => HelloWorldCommand
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}
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},
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"CHANNEL0" => {
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"SWitch" => Channel0SwitchCommand,
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"Attenuation" => Channel0AttenuationCommand
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},
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"CHANNEL1" => {
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"SWitch" => Channel1SwitchCommand,
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"Attenuation" => Channel1AttenuationCommand
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},
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"CHANNEL2" => {
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"SWitch" => Channel2SwitchCommand,
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"Attenuation" => Channel2AttenuationCommand
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},
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"CHANNEL3" => {
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"SWitch" => Channel3SwitchCommand,
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"Attenuation" => Channel3AttenuationCommand
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},
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"CLOCK" => {
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"SOURCE" => ClockSourceCommand,
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"DIVision" => ClockDivisionCommand
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}
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);
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// SCPI configs: migrated to scpi.rs, not meant to be touched
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let tree = scpi_tree!();
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// Device was declared in prior
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let mut errors = ArrayErrorQueue::<[Error; 10]>::new();
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@ -23,12 +23,50 @@ use rtic::cyccnt::{Instant, U32Ext};
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use minimq::{
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embedded_nal::{IpAddr, Ipv4Addr, TcpStack, SocketAddr, Mode},
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MqttClient, QoS,
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MqttClient, QoS
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};
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use firmware::nal_tcp_client::{NetworkStack, NetStorage, NetworkInterface};
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use firmware::{Urukul};
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use firmware::cpld::{CPLD};
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use firmware::{
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cpld::{
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CPLD,
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},
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scpi::{
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HelloWorldCommand,
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Channel0SwitchCommand,
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Channel1SwitchCommand,
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Channel2SwitchCommand,
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Channel3SwitchCommand,
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Channel0AttenuationCommand,
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Channel1AttenuationCommand,
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Channel2AttenuationCommand,
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Channel3AttenuationCommand,
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ClockSourceCommand,
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ClockDivisionCommand,
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},
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Urukul, scpi_root, recursive_scpi_tree, scpi_tree
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};
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use firmware::translation::MqttScpiTranslator;
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use scpi::prelude::*;
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use scpi::ieee488::commands::*;
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use scpi::scpi::commands::*;
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use scpi::{
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ieee488_cls,
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ieee488_ese,
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ieee488_esr,
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ieee488_idn,
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ieee488_opc,
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ieee488_rst,
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ieee488_sre,
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ieee488_stb,
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ieee488_tst,
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ieee488_wai,
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scpi_crate_version,
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scpi_status,
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scpi_system,
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};
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use scpi::Context;
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#[path = "util/logger.rs"]
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mod logger;
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@ -169,7 +207,7 @@ fn main() -> ! {
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let cpld = CPLD::new(spi, (cs0, cs1, cs2), io_update);
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let parts = cpld.split();
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let urukul = Urukul::new(
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let mut urukul = Urukul::new(
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parts.spi1, parts.spi2, parts.spi3, parts.spi4, parts.spi5, parts.spi6, parts.spi7,
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[25_000_000, 25_000_000, 25_000_000, 25_000_000]
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);
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@ -177,6 +215,17 @@ fn main() -> ! {
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cp.SCB.invalidate_icache();
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cp.SCB.enable_icache();
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// Define SCPI tree
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let tree = scpi_tree!();
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// Device was declared in prior
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let mut errors = ArrayErrorQueue::<[Error; 10]>::new();
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let mut context = Context::new(&mut urukul, &mut errors, tree);
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//Response bytebuffer
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let mut buf = ArrayVecFormatter::<[u8; 256]>::new();
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// SCPI configs END
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// Time unit in ms
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let mut time: u32 = 0;
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@ -190,13 +239,19 @@ fn main() -> ! {
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add_socket!(sockets, rx_storage, tx_storage);
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let tcp_stack = NetworkStack::new(&mut net_interface, sockets);
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// Case dealt: Ethernet connection break down, neither side has timeout
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// Limitation: Timeout inequality will cause TCP socket state to desync
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// Probably fixed in latest smoltcp commit
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let mut client = MqttClient::<consts::U256, _>::new(
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IpAddr::V4(Ipv4Addr::new(192, 168, 1, 125)),
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"nucleo",
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"Nucleo",
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tcp_stack,
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)
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.unwrap();
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let mut tick = false;
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let mut has_subscribed = false;
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loop {
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// Update time accumulator in ms
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@ -207,15 +262,27 @@ fn main() -> ! {
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next_ms += 400_000.cycles();
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}
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// Poll if necessary
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// eth Poll if necessary
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// Do not poll if eth link is down
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if tick && client.network_stack.update_delay(time) == 0 && eth_mac.phy_poll_link() {
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client.network_stack.update(time);
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}
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let connection = client
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.poll(|_client, topic, message, _properties| match topic {
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_ => info!("On '{:?}', received: {:?}", topic, message),
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topic => {
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info!("On '{:?}', received: {:?}", topic, message);
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context.run_with_mqtt(topic.as_bytes(), &mut buf);
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},
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}).is_ok();
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if connection && !has_subscribed && tick {
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match client.subscribe("Urukul/Control", &[]) {
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Ok(()) => has_subscribed = true,
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Err(minimq::Error::NotReady) => {},
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e => warn!("{:?}", e),
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};
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}
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if connection && tick && (time % 3000) == 0 {
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info!("Feedback from print publish: {:?}", client
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@ -37,6 +37,8 @@ use crate::dds::DDS;
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pub mod scpi;
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pub mod translation;
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pub mod nal_tcp_client;
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/*
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37
src/scpi.rs
37
src/scpi.rs
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@ -110,6 +110,43 @@ macro_rules! scpi_root {
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};
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}
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#[macro_export]
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macro_rules! scpi_tree {
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() => {
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scpi_root!(
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["Control"] => {
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["Urukul"] => {
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"CHANNEL0" => {
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"SWitch" => Channel0SwitchCommand,
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"Attenuation" => Channel0AttenuationCommand
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},
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"CHANNEL1" => {
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"SWitch" => Channel1SwitchCommand,
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"Attenuation" => Channel1AttenuationCommand
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},
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"CHANNEL2" => {
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"SWitch" => Channel2SwitchCommand,
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"Attenuation" => Channel2AttenuationCommand
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},
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"CHANNEL3" => {
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"SWitch" => Channel3SwitchCommand,
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"Attenuation" => Channel3AttenuationCommand
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},
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"CLOCK" => {
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"SOURCE" => ClockSourceCommand,
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"DIVision" => ClockDivisionCommand
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}
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}
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},
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["EXAMple"] => {
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"HELLO" => {
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"WORLD" => HelloWorldCommand
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}
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}
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);
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};
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}
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pub struct HelloWorldCommand {}
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impl<T: Device> Command<T> for HelloWorldCommand {
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qonly!();
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@ -0,0 +1,28 @@
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use scpi::prelude::*;
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use scpi::Context;
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use scpi::error::Result;
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use arrayvec::{ArrayVec};
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pub trait MqttScpiTranslator {
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fn run_with_mqtt<FMT: Formatter>(&mut self, s: &[u8], response: &mut FMT) -> Result<()>;
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}
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impl<'a, T: Device> MqttScpiTranslator for Context<'a, T> {
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fn run_with_mqtt<FMT>(&mut self, s: &[u8], response: &mut FMT) -> Result<()>
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where
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FMT: Formatter,
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{
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let mut array_vec = ArrayVec::<[u8; 1024]>::new();
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for i in s.into_iter() {
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if *i == b'/' {
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array_vec.try_push(b'/')
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.map_err(|_| ErrorCode::OutOfMemory)?;
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} else {
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array_vec.try_push(*i)
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.map_err(|_| ErrorCode::OutOfMemory)?;
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}
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}
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self.run(array_vec.as_slice(), response)
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}
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}
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