230 lines
6.5 KiB
Plaintext
230 lines
6.5 KiB
Plaintext
#include "global.th"
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#include "command.th"
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#include "config_work.th"
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#include "braker.th"
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#include "net.th"
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#include "encoder.th"
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static string cmdbuffer = "";
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string pars[10];
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int par_num;
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void on_sock_inband() // обработка поступивших команд
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{
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cmdbuffer += sock.getinband();
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unsigned char position = instr(1,cmdbuffer,chr(sock.endchar),1);
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while (position != 0){
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string cmdline = left(cmdbuffer,position);
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cmdbuffer = right(cmdbuffer,len(cmdbuffer)-position);
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d("{cmd} line: "+cmdline);
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unsigned char cmdlen = instr(1,cmdline,chr('='),1);
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if (cmdlen==0)
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cmdlen = instr(1,cmdline,chr('&'),1);
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string cmd = left(cmdline,cmdlen-1);
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string params = mid(cmdline,cmdlen+1,position-cmdlen-1);
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// d("{cmd}: "+cmd);
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// d("{cmd}.params: "+params);
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if (cmd =="systeminfo"){
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cmd_replay(cmd_systeminfo());
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}else if (cmd == "reset" || cmd == "reboot"){
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cmd_replay("{cmd} Rebooting...");
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cmd_reset();
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}else if (cmd == "ip"){
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cmd_replay(cmd_ip(params));
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}else if (cmd == "setbraker"){
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cmd_replay(cmd_setbraker(params));
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}else if (cmd == "setencoder"){
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cmd_replay(cmd_setencoder(params));
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}else if (cmd == "enc_calibrate_start"){
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cmd_replay(cmd_enc_calibre(params));
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}else if (cmd == "enc_set_windows"){
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cmd_replay(cmd_enc_set_windows(params));
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}else if (cmd == "debug_enc_level"){
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cmd_replay(cmd_debug_enc_level(params));
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}else if (cmd == "debug_relay_reply"){
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cmd_replay(cmd_debug_relay_reply(params));
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}else if (cmd == "debug_sensors"){
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cmd_replay(cmd_debug_sensors(params));
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}else if (cmd == "debug_showtime"){
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cmd_replay(cmd_debug_showtime(params));
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}else if (cmd == "enc_calibrate_end"){
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cmd_replay(cmd_enc_calibre("0"));
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}else {
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d("{cmd}: Unknown command: "+cmdline);
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cmd_replay("{cmd}: Unknown command - ["+cmdline+"]");
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}
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position = instr(1,cmdbuffer,chr(sock.endchar),1);
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}
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}
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string cmd_debug_sensors(string params){
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getParams(params);
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config.debug.SensorsLook = val(pars[0])>0;
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return "Debug sensors SET="+(config.debug.SensorsLook? "TRUE":"FALSE");
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}
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string cmd_debug_relay_reply(string params){
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getParams(params);
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config.debug.RelayReply = val(pars[0])>0;
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return "Debug sensors SET="+(config.debug.RelayReply? "TRUE":"FALSE");
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}
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string cmd_debug_enc_level(string params){
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getParams(params);
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config.debug.EncoderDebug= val(pars[0]);
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return "Debug encoder level SET="+str(config.debug.EncoderDebug);
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}
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string cmd_debug_showtime(string params){
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getParams(params);
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config.debug.ShowTime = val(pars[0])>0;
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return "Debug show time SET="+(config.debug.ShowTime? "TRUE":"FALSE");
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}
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string cmd_enc_set_windows(string params){
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getParams(params);
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config.EncoderCfg.windowWidth = val(pars[0]);
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return "Encoder window SET="+str(config.EncoderCfg.windowWidth);
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}
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void cmd_replay(string message){
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d(message);
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sock.setsendinband(chr(sock.escchar)+" "+message+chr(sock.endchar)+chr(13)+chr(10));
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}
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string cmd_setencoder(string params){
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string message;
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// setencoder=encoderpin,mode,interval,sensorspinoverdot
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// setencoder=4,1,50,1.2
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d("params: "+params);
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unsigned char n, p, num ;
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unsigned long t;
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string vals = "";
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n = 1;
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p = instr(1,params,",",1);
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while (p>0){
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vals+=chr(val(mid(params,n,n-p)));
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n = p+1;
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p = instr(n,params,",",1);
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}
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string port = mid(params,n,len(params)-n+1);
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d("port: "+port);
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string ports;
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n = 1;
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p = instr(1,port,".",1);
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while (p>0){
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ports+=chr(val(mid(port,n,n-p)));
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n = p+1;
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p = instr(n,port,".",1);
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}
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ports += chr(val(mid(port,n,len(port)-n+1)));
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config.EncoderCfg.encoderPort = vals[0];
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config.EncoderCfg.encoderMode = vals[1];
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config.EncoderCfg.encoderInterval = vals[2];
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config.EncoderCfg.workedPorts = ports;
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message = "Энкодер настроен: Порт: "+str(vals[0])+ ", Режим: "+str(vals[1])+ ", Интервал: "+str(vals[2])+ ", Рабочие порты: "+port;
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encoder_init();
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return message;
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}
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string cmd_enc_calibre(string params){
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int mode = val(left(params,1));
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enc_calibrate_mode(mode);
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if (mode >0){
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return "Запушена калибровка энкодера в режиме "+str(mode);
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}
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return "Остановлен режим калибровки энкодера. Среднее значение: " + str(enc_calibrate_result());
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}
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string cmd_systeminfo(){
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return "{ platform='"+ PLATFORM+"', version='" + VERSION + "', uptime=" + str(sys.timercountms)+" }";
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}
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void cmd_reset()
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{
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d("{cmd} Rebooting...");
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unsigned int w = sys.timercount;
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while (sys.timercount - w < 2){
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doevents;
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}
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sock.close();
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w = sys.timercount;
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while (sys.timercount-w < 2){
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doevents;
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}
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sys.reboot();
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}
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string cmd_ip(string params)
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{
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string result="";
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string vip = validate_id(params);
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if (vip != params){
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return "{cmd}.ip - Invalid IP: [ "+params+" ]";
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}
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unsigned char x = stor.setdata(ddval(vip),0);
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doevents;
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if (x == 4){
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config.IP = vip;
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config_save();
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result = ("{cmd}.ip set to [ " + ddstr(stor.getdata(1,4))+" ] after reboot");
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d(result);
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doevents;
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}
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else
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{
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sock.setsendinband(chr(sock.escchar)+" ERROR STORE IP "+chr(sock.endchar));
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doevents;
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}
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return result;
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}
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string cmd_setbraker(string params)
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{
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unsigned char n, p, num ;
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unsigned long t;
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string vals = "";
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n = 1;
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p = instr(1,params,",",1);
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while (p>0){
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vals+=chr(val(mid(params,n,n-p)));
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n = p+1;
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p = instr(n,params,",",1);
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}
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num = vals[0];
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// BrakerConfig c = config.BRAKERS[num-1];
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// c.Enable = val(vals[1]) > 0;
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// string rrrr = right(params,len(params)-n+1);
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// if (c.Enable){
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// c.Relay= vals[1];
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// c.SensPort= vals[2];
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// c.DropPort= vals[3];
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// c.Timeout= (strtof(right(params,len(params)-n+1))*1000);
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// }
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// //braker_init(unsigned char number, unsigned char sensor, unsigned char drop, unsigned char relay, unsigned long timeout);
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unsigned long timeout = (strtof(right(params,len(params)-n+1))*1000);
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braker_init(num,vals[2],vals[3],vals[1],timeout);
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string message;
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if (vals[1]>0){
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message = "OK: Num="+str(num)+", Rel="+str(vals[1])+", Sens="+str(vals[2])+", Drop="+str(vals[3])+", Timeout="+ ftostr(timeout,FTOSTR_MODE_PLAIN,4)+" sec.";
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}else{
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message = "OK: Num="+str(num)+" DISABLED";
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}
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d(message);
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return message;
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}
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void getParams(string params){
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//d("params: "+params);
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unsigned char n, p, num ;
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unsigned long t;
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string vals = "";
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par_num = 0;
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n = 1;
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p = instr(1,params,",",1);
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while (p>0){
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pars[par_num] = mid(params,n,n-p);
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n = p+1;
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par_num++;
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p = instr(n,params,",",1);
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}
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pars[par_num] = mid(params,n,len(params)-n+1);
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} |