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add property read/write functionality to ASCII protocol

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Command examples:
r vbus_voltage
w axis0.config.enable_step_dir 1
This commit is contained in:
Samuel Sadok
2018-04-14 23:03:03 -07:00
parent bd292b4775
commit aee1a7343d
2 changed files with 141 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/ascii_protocol.cpp
+37 -3
View File
@@ -18,7 +18,9 @@
/* Global variables ----------------------------------------------------------*/
/* Private constant data -----------------------------------------------------*/
#define MAX_LINE_LENGTH 64
#define MAX_LINE_LENGTH 256
#define TO_STR_INNER(s) #s
#define TO_STR(s) TO_STR_INNER(s)
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
@@ -131,8 +133,40 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
respond(response_channel, use_checksum, "Flash Size: %#x KiB", STM_ID_GetFlashSize());
respond(response_channel, use_checksum, "Serial number: %s", serial_number_str);
// } else if (cmd[0] == 'r') { // read property
// } else if (cmd[0] == 'w') { // write property
} else if (cmd[0] == 'r') { // read property
char name[MAX_LINE_LENGTH];
int numscan = sscanf(cmd, "r %" TO_STR(MAX_LINE_LENGTH) "s", name);
if (numscan < 1) {
respond(response_channel, use_checksum, "invalid command format");
} else {
Endpoint* endpoint = application_endpoints->get_by_name(name, sizeof(name));
if (!endpoint) {
respond(response_channel, use_checksum, "invalid property");
} else {
char response[10];
bool success = endpoint->get_string(response, sizeof(response));
if (!success)
respond(response_channel, use_checksum, "not implemented");
else
respond(response_channel, use_checksum, response);
}
}
} else if (cmd[0] == 'w') { // write property
char name[MAX_LINE_LENGTH];
char value[MAX_LINE_LENGTH];
int numscan = sscanf(cmd, "w %" TO_STR(MAX_LINE_LENGTH) "s %" TO_STR(MAX_LINE_LENGTH) "s", name, value);
if (numscan < 1) {
respond(response_channel, use_checksum, "invalid command format");
} else {
Endpoint* endpoint = application_endpoints->get_by_name(name, sizeof(name));
if (!endpoint) {
respond(response_channel, use_checksum, "invalid property");
} else {
bool success = endpoint->set_string(value, sizeof(value));
if (!success)
respond(response_channel, use_checksum, "not implemented");
}
}
} else if (cmd[0] == 'h') { // HALT
for(size_t i = 0; i < AXIS_COUNT; i++){
Firmware/MotorControl/protocol.hpp
+104 -1
View File
@@ -407,12 +407,15 @@ class Endpoint {
public:
//const char* const name_;
virtual void handle(const uint8_t* input, size_t input_length, StreamSink* output) = 0;
virtual bool get_string(char * output, size_t length) { return false; };
virtual bool set_string(char * buffer, size_t length) { return false; }
};
class EndpointProvider {
public:
virtual size_t get_endpoint_count() = 0;
virtual void write_json(size_t id, StreamSink* output) = 0;
virtual Endpoint* get_by_name(char * name, size_t length) = 0;
virtual void register_endpoints(Endpoint** list, size_t id, size_t length) = 0;
};
@@ -456,6 +459,9 @@ public:
void register_endpoints(Endpoint** list, size_t id, size_t length) {
// no action
}
Endpoint* get_by_name(const char * name, size_t length) {
return nullptr;
}
std::tuple<> get_names_as_tuple() const { return std::tuple<>(); }
};
@@ -485,6 +491,12 @@ public:
subsequent_members_.write_json(id + TMember::endpoint_count, output);
}
Endpoint* get_by_name(const char * name, size_t length) {
Endpoint* result = this_member_.get_by_name(name, length);
if (result) return result;
else return subsequent_members_.get_by_name(name, length);
}
void register_endpoints(Endpoint** list, size_t id, size_t length) /*final*/ {
this_member_.register_endpoints(list, id, length);
subsequent_members_.register_endpoints(list, id + TMember::endpoint_count, length);
@@ -516,6 +528,14 @@ public:
write_string("]}", output);
}
Endpoint* get_by_name(const char * name, size_t length) {
size_t segment_length = strlen(name);
if (!strncmp(name, name_, length))
return member_list_.get_by_name(name + segment_length + 1, length - segment_length - 1);
else
return nullptr;
}
void register_endpoints(Endpoint** list, size_t id, size_t length) {
member_list_.register_endpoints(list, id, length);
}
@@ -529,6 +549,11 @@ ProtocolObject<TMembers...> make_protocol_object(const char * name, TMembers&&..
return ProtocolObject<TMembers...>(name, std::forward<TMembers>(member_list)...);
}
// TODO: move to cpp_utils
#define ENABLE_IF_SAME(a, b, type) \
template<typename T = a> typename std::enable_if_t<std::is_same<T, b>::value, bool>
template<typename TProperty>
class ProtocolProperty : public Endpoint {
public:
@@ -585,6 +610,71 @@ public:
write_string("}", output);
}
Endpoint* get_by_name(const char * name, size_t length) {
if (!strncmp(name, name_, length))
return this;
else
return nullptr;
}
// *** ASCII protocol handlers ***
ENABLE_IF_SAME(std::decay_t<TProperty>, float, bool)
get_string_ex(char * buffer, size_t length, int) {
snprintf(buffer, length, "%f", *property_);
return true;
}
ENABLE_IF_SAME(std::decay_t<TProperty>, int32_t, bool)
get_string_ex(char * buffer, size_t length, int) {
snprintf(buffer, length, "%ld", *property_);
return true;
}
ENABLE_IF_SAME(std::decay_t<TProperty>, uint32_t, bool)
get_string_ex(char * buffer, size_t length, int) {
snprintf(buffer, length, "%lu", *property_);
return true;
}
ENABLE_IF_SAME(std::decay_t<TProperty>, bool, bool)
get_string_ex(char * buffer, size_t length, int) {
buffer[0] = (*property_) ? '1' : '0';
buffer[1] = 0;
return true;
}
bool get_string_ex(char * buffer, size_t length, ...) {
return false;
}
bool get_string(char * buffer, size_t length) final {
return get_string_ex(buffer, length, 0);
}
ENABLE_IF_SAME(TProperty, float, bool)
set_string_ex(char * buffer, size_t length, int) {
return sscanf(buffer, "%f", property_) == 1;
}
ENABLE_IF_SAME(TProperty, int32_t, bool)
set_string_ex(char * buffer, size_t length, int) {
return sscanf(buffer, "%ld", property_) == 1;
}
ENABLE_IF_SAME(TProperty, uint32_t, bool)
set_string_ex(char * buffer, size_t length, int) {
return sscanf(buffer, "%lu", property_) == 1;
}
ENABLE_IF_SAME(TProperty, bool, bool)
set_string_ex(char * buffer, size_t length, int) {
int val;
if (sscanf(buffer, "%d", &val) != 1)
return false;
*property_ = val;
return true;
}
bool set_string_ex(char * buffer, size_t length, ...) {
return false;
}
bool set_string(char * buffer, size_t length) final {
//__asm ("bkpt");
return set_string_ex(buffer, length, 0);
}
void register_endpoints(Endpoint** list, size_t id, size_t length) {
if (id < length)
list[id] = this;
@@ -686,7 +776,7 @@ struct PropertyListFactory<TProperty, TProperties...> {
template<typename TObj, typename TRet, typename ... TArgs>
class ProtocolFunction : Endpoint {
class ProtocolFunction : public Endpoint {
public:
static constexpr size_t endpoint_count = 1 + MemberList<ProtocolProperty<TArgs>...>::endpoint_count;
template<typename ... TNames>
@@ -722,6 +812,10 @@ public:
write_string("]}", output);
}
Endpoint* get_by_name(const char * name, size_t length) {
return nullptr; // can't address functions by name
}
void register_endpoints(Endpoint** list, size_t id, size_t length) {
if (id < length)
list[id] = this;
@@ -765,6 +859,14 @@ public:
void register_endpoints(Endpoint** list, size_t id, size_t length) final {
return member_list_.register_endpoints(list, id, length);
}
Endpoint* get_by_name(char * name, size_t length) final {
for (size_t i = 0; i < length; i++) {
if (name[i] == '.')
name[i] = 0;
}
name[length-1] = 0;
return member_list_.get_by_name(name, length);
}
T& member_list_;
};
@@ -775,5 +877,6 @@ void set_application_endpoints(EndpointProvider* endpoints);
extern Endpoint* endpoints_[];
extern size_t n_endpoints_;
extern const size_t max_endpoints_;
extern EndpointProvider* application_endpoints;
#endif