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Commit 1c3c87df authored by Malaurie Bernard's avatar Malaurie Bernard
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Fix cli interface

parent ffd54be7
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1 merge request!17Malaurie's work on UI + CLI interface + AccelStepper interface
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with 122 additions and 37 deletions
cli.cpp
+ 122
− 37
View file @ 1c3c87df
......@@ -79,7 +79,7 @@ void Cli::syntax (const char* cmd)
if (!cmd || kw(F("AT"), cmd)) Serial.printf("%sAT -> OK\n", _msgHeader);
if (!cmd || kw(F("HELP"), cmd)) Serial.printf("%sHELP [CMD]\n", _msgHeader);
if (!cmd || kw(F("RAT"), cmd)) Serial.printf("%sRAT [ C <rate> [<unit>] ] - set or show rate ([UM]/MM/UH/MH)\n", _msgHeader);
if (!cmd || kw(F("VOL"), cmd)) Serial.printf("%sVOL [ <vol> ] - set the volume to exchange in mL\n", _msgHeader);
if (!cmd || kw(F("VOL"), cmd)) Serial.printf("%sVOL [ <vol> | <unit> ] - set the volume to exchange in mL\n", _msgHeader);
if (!cmd || kw(F("RVOL"), cmd)) Serial.printf("%sRVOL <vol> - set relative volume to exchange in mL\n", _msgHeader);
if (!cmd || kw(F("MM"), cmd)) Serial.printf("%sMM [ <len> ] - set final position in mm\n", _msgHeader);
if (!cmd || kw(F("RMM"), cmd)) Serial.printf("%sRMM <len> - set relative distance to browse in mm\n", _msgHeader);
......@@ -117,6 +117,7 @@ void Cli::check_emergency ()
void Cli::loop (Stream& input)
{
while (true)
{
if (!input.available())
......@@ -145,64 +146,109 @@ void Cli::loop (Stream& input)
else
syntax();
}
else if (kw(F("RAT"))) //*******************RATE*******************//
{
syringe_filled.set_name_syringe("cli");
copyNextToTemp();
if (_temp.equalsIgnoreCase(F("C")))
{
copyNextToTemp();
syringe_filled.set_exchange_throughput_uL_per_sec(atof(_temp.c_str()));
syringe_filled.set_exchange_throughput_uL_per_min(atof(_temp.c_str()));
copyNextToTemp();
if (_temp.equalsIgnoreCase(F("us")))
syringe_filled.set_exchange_throughput_uL_per_min(syringe_filled.get_exchange_throughput_uL_per_min()/60);
else if (_temp.equalsIgnoreCase(F("ms")))
syringe_filled.set_exchange_throughput_uL_per_min(syringe_filled.get_exchange_throughput_uL_per_min()*1000/60);
else if (_temp.equalsIgnoreCase(F("um")))
;
else if (_temp.equalsIgnoreCase(F("mm")))
syringe_filled.set_exchange_throughput_uL_per_min(syringe_filled.get_exchange_throughput_uL_per_min()*1000);
else if (_temp.equalsIgnoreCase(F("uh")))
syringe_filled.set_exchange_throughput_uL_per_min(syringe_filled.get_exchange_throughput_uL_per_min()/60);
else if (_temp.equalsIgnoreCase(F("mh")))
syringe_filled.set_exchange_throughput_uL_per_min(syringe_filled.get_exchange_throughput_uL_per_min()*1000/60);
else
syringe_filled.set_exchange_throughput_uL_per_min(-1);
answer(syringe_filled.check_configuration(), F("invalid 'RAT C rate uL'"));
}
else if (_temp.length() > 0)
answer(false, F("RAT must be followed by C"));
Serial.printf("%sRAT: %g ul/mn\n", _msgHeader,
syringe_filled.get_exchange_throughput_uL_per_min() * 60);
Serial.printf("%sRAT: %g ul/mn\n", _msgHeader, syringe_filled.get_exchange_throughput_uL_per_min());
}
else if (kw(F("VOL"))) //*******************EXCHANGE_VOLUME*******************//
{
copyNextToTemp();
syringe_filled.set_exchange_volume_mL(syringe_filled.get_remaining_volume_mL() - stof(_temp.c_str()));
answer(syringe_filled.check_configuration(), F("invalid exchange volume"));
syringe_filled.set_name_syringe("cli");
Serial.printf("%sVOL: %g ul (target)\n", _msgHeader, syringe_filled.get_exchange_volume_mL());
copyNextToTemp();
while (_temp.length())
{
if (isdigit(_temp[0]))
{
syringe_filled.set_exchange_volume_mL(syringe_filled.distance_mm_to_volume_mL(syringe_filled.step_to_mm(syringe_filled.where_step())) - stof(_temp.c_str()));
syringe_filled.save_json();
Serial.println("ok");
}
else if (_temp.equalsIgnoreCase(F("ul")))
;
else if (_temp.equalsIgnoreCase(F("ml")))
syringe_filled.set_exchange_volume_mL(syringe_filled.get_exchange_volume_mL()*1000);
else if (_temp.equalsIgnoreCase(F("cl")))
syringe_filled.set_exchange_volume_mL(syringe_filled.get_exchange_volume_mL()*10000);
else if (_temp.equalsIgnoreCase(F("dl")))
syringe_filled.set_exchange_volume_mL(syringe_filled.get_exchange_volume_mL()*100000);
else if (_temp.equalsIgnoreCase(F("l")))
syringe_filled.set_exchange_volume_mL(syringe_filled.get_exchange_volume_mL()*1000000);
syringe_filled.save_json();
answer(syringe_filled.check_configuration(), F("invalid volume or volume unit"));
copyNextToTemp();
}
}
else if (kw(F("RVOL"))) //*******************RELATIVE_EXCHANGE_VOLUME*******************//
{
syringe_filled.set_name_syringe("cli");
syringe_filled.reset_position();
copyNextToTemp();
while (_temp.length())
{
if (isdigit(_temp[0]) || _temp[0] == '-')
{
syringe_filled.set_exchange_volume_mL(atof(_temp.c_str()));
syringe_filled.save_json();
}
answer(syringe_filled.check_configuration(), F("invalid exchange volume"));
copyNextToTemp();
}
Serial.printf("%sRVOL: %g ul (target)\n", _msgHeader, syringe_filled.get_exchange_volume_mL());
Serial.printf("%sRVOL: %g ml (target)\n", _msgHeader, syringe_filled.get_exchange_volume_mL());
}
else if (kw(F("MM"))) //*******************DISTANCE_TO_ZERO*******************//
{
syringe_filled.set_name_syringe("cli");
copyNextToTemp();
if (_temp.length())
{
syringe_filled.set_exchange_volume_mL(syringe_filled.distance_mm_to_volume_mL(atof(_temp.c_str())));
printf("okkk");
//answer(syringe_filled.check_configuration(), F("invalid length"));
if (isdigit(_temp[0]) || _temp[0] == '-')
syringe_filled.set_exchange_volume_mL(syringe_filled.distance_mm_to_volume_mL(syringe_filled.step_to_mm(syringe_filled.where_step())) + syringe_filled.distance_mm_to_volume_mL(atof(_temp.c_str())));
answer(syringe_filled.check_configuration(), F("invalid length"));
copyNextToTemp();
}
syringe_filled.save_json();
Serial.printf("%sMM: %g ml (%g mm) (target)\n", _msgHeader, syringe_filled.get_exchange_volume_mL(), syringe_filled.volume_mL_to_distance_mm(syringe_filled.get_exchange_volume_mL()));
Serial.printf("%sMM: %d ul (%d mm) (target)\n", _msgHeader, syringe_filled.get_exchange_volume_mL(), syringe_filled.volume_mL_to_distance_mm(syringe_filled.get_exchange_volume_mL()));
}
else if (kw(F("RMM"))) //*******************RELATIVE_DISTANCE*******************//
{
syringe_filled.set_name_syringe("cli");
copyNextToTemp();
if (_temp.length())
{
......@@ -211,36 +257,48 @@ void Cli::loop (Stream& input)
answer(syringe_filled.check_configuration(), F("invalid exchange length"));
copyNextToTemp();
}
syringe_filled.save_json();
Serial.printf("%sRMM: %g ml (%g mm) (target)\n", _msgHeader, syringe_filled.get_exchange_volume_mL(), syringe_filled.volume_mL_to_distance_mm(syringe_filled.get_exchange_volume_mL()));
Serial.printf("%sRMM: %g ul (%g mm) (target)\n", _msgHeader, syringe_filled.get_exchange_volume_mL(), syringe_filled.volume_mL_to_distance_mm(syringe_filled.get_exchange_volume_mL()));
}
#if 0
else if (kw(F("DIA"))) //*******************INTERNAL_DIAMETER*******************//*
{
syringe_filled.set_name_syringe("cli");
String name_syringe = syringe_filled.get_syringe_filled_data()["name_syringe"];
copyNextToTemp();
if (_temp.length())
{
syringe.get_syringe_database()[name_syringe].set_internal_diameter_mm(name_syringe,atof(_temp.c_str()));
answer( syringe.check_configuration(name_syringe), F("invalid diameter"));
syringe.set_internal_diameter_mm("cli", atof(_temp.c_str()));
syringe.save_json();
answer( syringe.check_configuration("cli"), F("invalid diameter"));
}
Serial.printf("%sDIA: %g mm\n", _msgHeader, syringe.get_syringe_database()[name_syringe]["internal_diameter_mm"]);
Serial.printf("%sDIA: %g mm\n", _msgHeader, syringe.get_internal_diameter_mm("cli"));
}
#endif
else if (kw(F("RVM")))
{
//syringe_filled.set_name_syringe("cli");
copyNextToTemp();
if (_temp == F("M4"))
syringe_filled.set_mm_per_revolution(M4_MMREV);
{
syringe_filled.set_lead_screw_pitch_mm(0.7);
syringe_filled.save_json();
}
else if (_temp == F("M5"))
syringe_filled.set_mm_per_revolution(M5_MMREV);
{
syringe_filled.set_lead_screw_pitch_mm(0.8);
syringe_filled.save_json();
}
else if (_temp.length() > 0)
answer(false, F("invalid auger size: M4 or M5 are accepted"));
Serial.printf("%sRVM: %g mm per revolution\n", _msgHeader, syringe_filled.get_mm_per_revolution());
Serial.printf("%sRVM: %g mm per revolution\n", _msgHeader, syringe_filled.get_lead_screw_pitch_mm());
}
else if (kw(F("ACC"))) //*******************ACCELERATION*******************//
{
syringe_filled.set_name_syringe("cli");
copyNextToTemp();
if (_temp.length())
syringe_filled.set_retain_acceleration_mm_per_sec_per_sec(atof(_temp.c_str()));
......@@ -248,13 +306,21 @@ void Cli::loop (Stream& input)
}
else if (kw(F("DIR"))) //*******************DIRECTION*******************//
{
syringe_filled.set_name_syringe("cli");
copyNextToTemp();
if (_temp.length())
{
if (_temp.equalsIgnoreCase(F("inf")))
{
syringe_filled.set_push(true);
syringe_filled.save_json();
}
else if (_temp.equalsIgnoreCase(F("wdr")))
{
syringe_filled.set_push(false);
syringe_filled.save_json();
}
answer(syringe_filled.check_configuration(), F("invalid direction -> INF | WDR"));
}
Serial.printf("%sDIR: %s\n", _msgHeader,
......@@ -262,45 +328,60 @@ void Cli::loop (Stream& input)
}
else if (kw(F("FIL"))) //*******************MOUVEMENT*******************//
{
syringe_filled.set_name_syringe("cli");
check_emergency();
syringe_filled.start_exchange();
answer(true);
}
else if (kw(F("STP")))
{
syringe_filled.set_name_syringe("cli");
syringe_filled.stop();
answer(true);
}
else if (kw(F("SET0")))
{
syringe_filled.set_name_syringe("cli");
syringe_filled.reset_position();
answer(true);
}
else if (kw(F("DIS"))) //*******************DISTANCE_PARCOURU*******************//
{
syringe_filled.set_name_syringe("cli");
Serial.printf("%sDIS: I %g W %g UL\n", _msgHeader,
syringe_filled.get_push()? syringe_filled.distance_mm_to_volume_mL(syringe_filled.step_to_mm(syringe_filled.where_step())): 0,
syringe_filled.get_push()? 0 : syringe_filled.distance_mm_to_volume_mL(syringe_filled.step_to_mm(syringe_filled.where_step())));
}
else if (kw(F("ZERO"))) //*******************ZERO*******************//
{
syringe_filled.set_name_syringe("cli");
check_emergency();
syringe_filled.go_to_limit_switch();
answer(true);
}
else if (kw(F("NLCK"))) //*******************RUN_FROM_EMERGENCY*******************//
{
syringe_filled.set_name_syringe("cli");
syringe_filled.run_from_emergency();
answer(true);
}
else if (kw(F("CLKW"))) //*******************CLOCKWISE_EQUALS_PUSH*******************//
{
syringe_filled.set_name_syringe("cli");
copyNextToTemp();
if (_temp.length() == 1)
{
if (_temp[0] == '0' || _temp[0] == '1')
{
syringe_filled.set_clockwise_equals_push(_temp[0] == '1');
syringe_filled.save_json();
answer(true);
}
else
......@@ -310,6 +391,8 @@ void Cli::loop (Stream& input)
}
else if (kw(F("CONF"))) //*******************SHOW_CONFIGURATION*******************//
{
syringe_filled.set_name_syringe("cli");
syringe_filled.show_configuration();
answer(true);
}
......@@ -331,15 +414,17 @@ void Cli::loop (Stream& input)
}
else if (kw(F("FS-SAVE"))) //*******************SAVE_THE_JSON_FILES*******************//
{
syringe.write_Json();
syringe_filled.write_Json();
syringe.save_json();
syringe_filled.save_json();
answer(true);
}
else if (kw(F("FS-LOAD"))) //*******************LOAD_THE_JSON_FILES*******************//
{
syringe.read_Json();
syringe_filled.read_Json();
syringe.load_json();
syringe_filled.load_json();
answer(true);
}
else
......
......
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