From a8c16fbbbc635b8a9272f9c0324588b20fd6e603 Mon Sep 17 00:00:00 2001
From: David Gauchard <gauchard@laas.fr>
Date: Fri, 9 Jun 2023 13:08:02 +0200
Subject: [PATCH] +FS
---
cli.cpp | 127 +++++++++++++++++++++++++++++--------
cli.h | 5 +-
common.h | 5 ++
motor.h | 12 +++-
pousseseringue-arduino.cpp | 11 ++++
syringe.cpp | 4 +-
syringe.h | 3 +-
7 files changed, 133 insertions(+), 34 deletions(-)
diff --git a/cli.cpp b/cli.cpp
index 1a3d45f..4e42b22 100644
--- a/cli.cpp
+++ b/cli.cpp
@@ -1,6 +1,8 @@
#include "cli.h"
+#include "fs.h"
+
void Cli::resetNextWord ()
{
_currentWordIndex = -1;
@@ -74,27 +76,30 @@ void Cli::syntax (const __FlashStringHelper* cmd)
void Cli::syntax (const char* cmd)
{
- if (!cmd || kw(F("AT"), cmd)) Serial.printf("%sAT -> OK\n", _msgHeader.c_str());
- if (!cmd || kw(F("HELP"), cmd)) Serial.printf("%sHELP [CMD]\n", _msgHeader.c_str());
- if (!cmd || kw(F("RAT"), cmd)) Serial.printf("%sRAT [ C <rate> [<unit>] ] - set or show rate ([UM]/MM/UH/MH)\n", _msgHeader.c_str());
- if (!cmd || kw(F("VOL"), cmd)) Serial.printf("%sVOL [ <vol> | <unit> ] - set volume or unit (UL / ML)\n", _msgHeader.c_str());
- if (!cmd || kw(F("MM"), cmd)) Serial.printf("%sMM [ <len> ] - set distance (mm)\n", _msgHeader.c_str());
- if (!cmd || kw(F("DIA"), cmd)) Serial.printf("%sDIA [ <dia> ] - set or show inside syringe diameter (in mm)\n", _msgHeader.c_str());
- if (!cmd || kw(F("ACC"), cmd)) Serial.printf("%sACC [ <mm/s/s> ] - set or show acceletaration (mm/s/s) (0<=>oo)\n", _msgHeader.c_str());
- if (!cmd || kw(F("RVM"), cmd)) Serial.printf("%sRVM [ <M4|M5> ] - set or show auger size\n", _msgHeader.c_str());
- if (!cmd || kw(F("DIR"), cmd)) Serial.printf("%sDIR [ INF | WDR ] - set or show direction (INFuse / WithDRaw)\n", _msgHeader.c_str());
- if (!cmd || kw(F("FIL"), cmd)) Serial.printf("%sFIL - start filling using direction at rate for volume\n", _msgHeader.c_str());
- if (!cmd || kw(F("STP"), cmd)) Serial.printf("%sSTP - stop\n", _msgHeader.c_str());
- if (!cmd || kw(F("DIS"), cmd)) Serial.printf("%sDIS - show volume dispensed\n", _msgHeader.c_str());
- if (!cmd || kw(F("ZERO"), cmd)) Serial.printf("%sZERO - go to stopper\n", _msgHeader.c_str());
- if (!cmd || kw(F("SET0"), cmd)) Serial.printf("%sSET0 - change ZERO to current position\n", _msgHeader.c_str());
- if (!cmd || kw(F("NLCK"), cmd)) Serial.printf("%sNLCK - try to get out from stopper\n", _msgHeader.c_str());
- if (!cmd || kw(F("CONF"), cmd)) Serial.printf("%sCONF - show configuration\n", _msgHeader.c_str());
+ 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> | <unit> ] - set volume or unit (UL / ML)\n", _msgHeader);
+ if (!cmd || kw(F("RVOL"), cmd)) Serial.printf("%sRVOL <vol> - set relative volume\n", _msgHeader);
+ if (!cmd || kw(F("MM"), cmd)) Serial.printf("%sMM [ <len> ] - set distance (mm)\n", _msgHeader);
+ if (!cmd || kw(F("RMM"), cmd)) Serial.printf("%sRMM <len> - set relative distance (mm)\n", _msgHeader);
+ if (!cmd || kw(F("DIA"), cmd)) Serial.printf("%sDIA [ <dia> ] - set or show inside syringe diameter (in mm)\n", _msgHeader);
+ if (!cmd || kw(F("ACC"), cmd)) Serial.printf("%sACC [ <mm/s/s> ] - set or show acceletaration (mm/s/s) (0<=>oo)\n", _msgHeader);
+ if (!cmd || kw(F("RVM"), cmd)) Serial.printf("%sRVM [ <M4|M5> ] - set or show auger size\n", _msgHeader);
+ if (!cmd || kw(F("DIR"), cmd)) Serial.printf("%sDIR [ INF | WDR ] - set or show direction (INFuse / WithDRaw)\n", _msgHeader);
+ if (!cmd || kw(F("FIL"), cmd)) Serial.printf("%sFIL - start filling using direction at rate for volume\n", _msgHeader);
+ if (!cmd || kw(F("STP"), cmd)) Serial.printf("%sSTP - stop\n", _msgHeader);
+ if (!cmd || kw(F("DIS"), cmd)) Serial.printf("%sDIS - show volume dispensed\n", _msgHeader);
+ if (!cmd || kw(F("ZERO"), cmd)) Serial.printf("%sZERO - go to stopper\n", _msgHeader);
+ if (!cmd || kw(F("SET0"), cmd)) Serial.printf("%sSET0 - change ZERO to current position\n", _msgHeader);
+ if (!cmd || kw(F("NLCK"), cmd)) Serial.printf("%sNLCK - try to get out from stopper\n", _msgHeader);
+ if (!cmd || kw(F("CLKW"), cmd)) Serial.printf("%sCLKW [0 | 1] - 1: push = rotate clockwise\n", _msgHeader);
+ if (!cmd || kw(F("CONF"), cmd)) Serial.printf("%sCONF - show configuration\n", _msgHeader);
}
void Cli::answer (bool ok, const String& error_message) const
{
- Serial.printf("%s%s", _msgHeader.c_str(), ok? "OK": "ERROR");
+ Serial.printf("%s%s", _msgHeader, ok? "OK": "ERROR");
if (!ok && error_message.length())
Serial.printf(" (%s)", error_message.c_str());
Serial.printf("\n");
@@ -103,7 +108,7 @@ void Cli::answer (bool ok, const String& error_message) const
void Cli::checkEmergency ()
{
if (syringe.emergency())
- Serial.printf("%sin EMERGENCY state, try NLCK command\n", _msgHeader.c_str());
+ Serial.printf("%sin EMERGENCY state, try NLCK command\n", _msgHeader);
}
void Cli::loop (Stream& input)
@@ -167,7 +172,7 @@ void Cli::loop (Stream& input)
else if (_temp.length() > 0)
answer(false, F("RAT must be followed by C"));
- Serial.printf("%sRAT: %g ul/mn\n", _msgHeader.c_str(),
+ Serial.printf("%sRAT: %g ul/mn\n", _msgHeader,
syringe.configuration().rate_ul_per_s * 60);
}
@@ -192,7 +197,20 @@ void Cli::loop (Stream& input)
copyNextToTemp();
}
- Serial.printf("%sVOL: %g ul (%g mm) (target)\n", _msgHeader.c_str(), syringe.confToMm3(), syringe.confToMm());
+ Serial.printf("%sVOL: %g ul (%g mm) (target)\n", _msgHeader, syringe.confToMm3(), syringe.confToMm());
+ }
+ else if (kw(F("RVOL")))
+ {
+ copyNextToTemp();
+ while (_temp.length())
+ {
+ if (isdigit(_temp[0]) || _temp[0] == '-')
+ conf.volume_value += atof(_temp.c_str());
+ answer(syringe.configureSyringe(conf), F("invalid relative volume"));
+ copyNextToTemp();
+ }
+
+ Serial.printf("%sRVOL: %g ul (%g mm) (target)\n", _msgHeader, syringe.confToMm3(), syringe.confToMm());
}
else if (kw(F("MM")))
{
@@ -205,7 +223,20 @@ void Cli::loop (Stream& input)
copyNextToTemp();
}
- Serial.printf("%sVOL: %g ul (%g mm) (target)\n", _msgHeader.c_str(), syringe.confToMm3(), syringe.confToMm());
+ Serial.printf("%sMM: %g ul (%g mm) (target)\n", _msgHeader, syringe.confToMm3(), syringe.confToMm());
+ }
+ else if (kw(F("RMM")))
+ {
+ copyNextToTemp();
+ if (_temp.length())
+ {
+ if (isdigit(_temp[0]) || _temp[0] == '-')
+ conf.volume_value += syringe.mmToMm3(atof(_temp.c_str()));
+ answer(syringe.configureSyringe(conf), F("invalid length"));
+ copyNextToTemp();
+ }
+
+ Serial.printf("%sRMM: %g ul (%g mm) (target)\n", _msgHeader, syringe.confToMm3(), syringe.confToMm());
}
else if (kw(F("DIA")))
{
@@ -215,7 +246,7 @@ void Cli::loop (Stream& input)
conf.diameter_mm = atof(_temp.c_str());
answer(syringe.configureSyringe(conf), F("invalid diameter"));
}
- Serial.printf("%sDIA: %g mm\n", _msgHeader.c_str(), syringe.configuration().diameter_mm);
+ Serial.printf("%sDIA: %g mm\n", _msgHeader, syringe.configuration().diameter_mm);
}
else if (kw(F("RVM")))
{
@@ -226,14 +257,14 @@ void Cli::loop (Stream& input)
syringe.setMmPerRev(M5_MMREV);
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.c_str(), syringe.getMmPerRev());
+ Serial.printf("%sRVM: %g mm per revolution\n", _msgHeader, syringe.getMmPerRev());
}
else if (kw(F("ACC")))
{
copyNextToTemp();
if (_temp.length())
syringe.setAccelMmPerSecPerSec(atof(_temp.c_str()));
- Serial.printf("%sACC: %g mm per second per second\n", _msgHeader.c_str(), syringe.getAccelMmPerSecPerSec());
+ Serial.printf("%sACC: %g mm per second per second\n", _msgHeader, syringe.getAccelMmPerSecPerSec());
}
else if (kw(F("DIR")))
{
@@ -248,7 +279,7 @@ void Cli::loop (Stream& input)
conf.direction = 0;
answer(syringe.configureSyringe(conf), F("invalid direction -> INF | WDR"));
}
- Serial.printf("%sDIR: %s\n", _msgHeader.c_str(),
+ Serial.printf("%sDIR: %s\n", _msgHeader,
syringe.configuration().direction > 0? "INFuse": "WithDRaw");
}
else if (kw(F("FIL")))
@@ -269,7 +300,7 @@ void Cli::loop (Stream& input)
}
else if (kw(F("DIS")))
{
- Serial.printf("%sDIS: I %g W %g UL\n", _msgHeader.c_str(),
+ Serial.printf("%sDIS: I %g W %g UL\n", _msgHeader,
conf.direction > 0? syringe.mmToMm3(syringe.stepToMm(syringe.whereStep())): 0,
conf.direction > 0? 0 : syringe.mmToMm3(syringe.stepToMm(syringe.whereStep())));
}
@@ -284,20 +315,60 @@ void Cli::loop (Stream& input)
syringe.runFromEmergency();
answer(true);
}
+ else if (kw(F("CLKW")))
+ {
+ copyNextToTemp();
+ if (_temp.length() == 1)
+ {
+ if (_temp[0] == '0' || _temp[0] == '1')
+ {
+ syringe.setPushClockwise(_temp[0] == '1');
+ answer(true);
+ }
+ else
+ answer(false, F("CLKW: invalid argument"));
+ }
+ Serial.printf("%sCLKW: push %sclockwise\n", _msgHeader, syringe.getPushClockwise()? "": "anti-");
+ }
else if (kw(F("CONF")))
{
syringe.showConfiguration(syringe.configuration());
answer(true);
}
+ else if (kw(F("FS-LS")))
+ {
+ ls(&Serial);
+ answer(true);
+ }
+ else if (kw(F("FS-FORMAT")))
+ {
+ format(&Serial);
+ answer(true);
+ }
+ else if (kw(F("FS-CAT")))
+ {
+ copyNextToTemp();
+ if (_temp.length() > 0)
+ {
+ cat(_temp.c_str(), &Serial);
+ answer(true);
+ }
+ else
+ answer(false);
+ }
else
{
- Serial.printf("%sinvalid command '%s'\n", _msgHeader.c_str(), _currentInput.c_str() + _currentWordIndex);
+ Serial.printf("%sinvalid command '%s'\n", _msgHeader, _currentInput.c_str() + _currentWordIndex);
answer(false);
}
+
}
+
+
+
if (findNextWord())
- Serial.printf("%sgarbage at end of line: '%s'\n", _msgHeader.c_str(), _currentInput.c_str() + _currentWordIndex);
+ Serial.printf("%sgarbage at end of line: '%s'\n", _msgHeader, _currentInput.c_str() + _currentWordIndex);
resetNextWord();
_currentInput.clear();
}
diff --git a/cli.h b/cli.h
index 3cd24dd..f361efe 100644
--- a/cli.h
+++ b/cli.h
@@ -1,8 +1,7 @@
#pragma once
-#include <Arduino.h>
-
+#include "common.h"
#include "syringe.h"
class Cli
@@ -13,7 +12,7 @@ private:
String _currentInput;
String _temp;
- String _msgHeader = "#CLI: ";
+ const char* _msgHeader = msgHeader; //XXX fixmeconstructorparam
int _currentWordIndex;
int _currentWordEndIndex;
diff --git a/common.h b/common.h
index c648588..851d259 100644
--- a/common.h
+++ b/common.h
@@ -3,5 +3,10 @@
#include <Arduino.h>
+#define MSGHEADER "#CLI: "
+
+extern const char* msgHeader;
+
void webSetup ();
void webLoop ();
+
diff --git a/motor.h b/motor.h
index 50b04fb..c7a8d48 100644
--- a/motor.h
+++ b/motor.h
@@ -43,7 +43,17 @@ public:
{
_stepsPerRevolution = stepsPerRevolution;
setMmPerRev(mmPerRevolution);
- _forwardClockwise = forwardClockwise;
+ setForwardClockwise(forwardClockwise);
+ }
+
+ void setForwardClockwise (bool clockwise)
+ {
+ _forwardClockwise = clockwise;
+ }
+
+ bool getForwardClockwise ()
+ {
+ return _forwardClockwise;
}
void setSpeedMmPerSec (float mmPerSec)
diff --git a/pousseseringue-arduino.cpp b/pousseseringue-arduino.cpp
index 80e72ba..07efe24 100644
--- a/pousseseringue-arduino.cpp
+++ b/pousseseringue-arduino.cpp
@@ -60,11 +60,13 @@ AccelStepper stepper(AccelStepper::DRIVER, STEP, DIR);
#include "syringe.h"
#include "cli.h"
#include "common.h"
+#include "fs.h"
enum class Modes { TURN, TURNSetup, RPM, RPMSetup, INFO };
+const char* msgHeader = MSGHEADER;
Debouncer bA, bB, bC;
ButtonFast bEmergency;
@@ -276,6 +278,15 @@ void setup()
oled.clear();
oled.println("Booting...\n");
+ if (fs_init(msgHeader))
+ {
+ Serial.printf("FS initialized, dav http server started\n");
+ }
+ else
+ {
+ Serial.printf("FS: could not be started\n");
+ }
+
//syringe.setPhysical(MOTOR_STEPS * MICROSTEPS_CONF, M4_MMREV, /*forwardClockWise*/true, /*emergencySensorBehind*/false);
syringe.setPhysical(MOTOR_STEPS * MICROSTEPS_CONF, M5_MMREV, /*forwardClockWise*/false, /*emergencySensorBehind*/true);
diff --git a/syringe.cpp b/syringe.cpp
index 173bca9..4e91601 100644
--- a/syringe.cpp
+++ b/syringe.cpp
@@ -8,7 +8,8 @@ void Syringe::showConfiguration (const Syringe_configuration_t& conf)
auto step = whereStep();
- Serial.printf("# diameter: %g mm\n"
+ Serial.printf("# push clockwise: %s"
+ "# diameter: %g mm\n"
"# capacity: %g uL\n"
"# rate: %g uL/s = %g mm/s\n"
"# volume: %g uL (target)\n"
@@ -16,6 +17,7 @@ void Syringe::showConfiguration (const Syringe_configuration_t& conf)
"# zeroing: %d\n"
"# emergency: %d\n"
"# current position: %g mm %g ul %d steps\n",
+ getPushClockwise()? "yes": "no",
conf.diameter_mm,
conf.capacity_ul,
conf.rate_ul_per_s,
diff --git a/syringe.h b/syringe.h
index 315c6a9..9d8b358 100644
--- a/syringe.h
+++ b/syringe.h
@@ -17,7 +17,6 @@ public:
int direction;
bool findZero;
} Syringe_configuration_t;
-
private:
@@ -54,6 +53,8 @@ public:
bool configureSyringe(const Syringe_configuration_t& config);
void setInitialContent(float initial_volume);
+ void setPushClockwise (bool clockwise) { setForwardClockwise(clockwise); }
+ bool getPushClockwise () { return getForwardClockwise(); }
float mm3ToMm (float mm3) const;
float mmToMm3 (float mm) const;
--
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