加入vsmd test
This commit is contained in:
320
src/main.cpp
320
src/main.cpp
@ -1,6 +1,8 @@
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#include <ArduinoJson.h>
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#include "IRIS_Method.h"
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#include "vsmd_parser.h"
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VSMDParser parser;
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#define DEBUG_TX_PIN 17 // TX
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#define DEBUG_RX_PIN 16 // RX
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@ -57,16 +59,17 @@ void processJsonCommand(const char* jsonString);
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void processStringCommand(const char* stringData);
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void sendJsonResponse(const char* cmd, const char* status, int value = -1);
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void sendStringResponse(const char* response);
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void handleConfigCommand(JsonObject& doc);
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void handleEnableCommand();
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void handleOffCommand();
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void handleMoveCommand();
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void handlePositionCommand(int value);
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void handleRelativeMoveCommand(int value);
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void handlePulsePerSecondCommand(int value = -1);
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void handleOriginCommand();
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void handleStopCommand();
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void handleZeroCommand(const char* value);
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void handle_cfg_cmd();
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void handle_ena_cmd();
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void handle_off_cmd();
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void handle_mov_cmd();
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void handle_pos_cmd(int value);
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void handle_rmv_cmd(int value);
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void handle_pps_cmd(int value = -1);
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void handle_org_cmd();
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void handle_stp_cmd();
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void handle_zero_cmd(const char* value);
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void handle_dev_cmd();
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void printDeviceStatus();
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void setup() {
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@ -77,7 +80,7 @@ void setup() {
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Serial.begin(115200);
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DebugSerial.println("VSMD INIT");
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DebugSerial.println("Commands: cfg, ena, off, mov, pos, rmv, pps, org, stp, zero");
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DebugSerial.println("Commands:dev, cfg, ena, off, mov, pos, rmv, pps, org, stp, zero");
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printDeviceStatus();
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}
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@ -85,6 +88,22 @@ void loop() {
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if (DebugSerial.available() > 0) {
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int bytesRead = DebugSerial.readBytes(receiveBuffer, sizeof(receiveBuffer));
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// // 添加调试信息
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// DebugSerial.print("Bytes read: ");
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// DebugSerial.println(bytesRead);
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// DebugSerial.print("Raw data: ");
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// for(int i = 0; i < bytesRead; i++) {
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// DebugSerial.print(receiveBuffer[i], HEX);
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// DebugSerial.print(" ");
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// }
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// DebugSerial.println();
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// bytesProcessed = IRIS_Cut_Befor_Header(receiveBuffer, bytesRead);
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// // 添加更多调试信息
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// DebugSerial.print("Bytes after header cut: ");
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// DebugSerial.println(bytesProcessed);
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bytesProcessed = IRIS_Cut_Befor_Header(receiveBuffer, bytesRead);
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if (bytesProcessed > 0) {
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@ -148,44 +167,51 @@ void processJsonCommand(const char* jsonString) {
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return;
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}
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const char* cmd = doc["cmd"];
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if (cmd == nullptr) {
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sendJsonResponse("error", "NO_CMD_FIELD");
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// 使用 command 字段替代 cmd
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const char* command = doc["command"];
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if (command == nullptr) {
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sendJsonResponse("error", "NO_COMMAND_FIELD");
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return;
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}
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// 根据cmd执行相应操作
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if (strcmp(cmd, "cfg") == 0) {
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JsonObject configObj = doc.as<JsonObject>();
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handleConfigCommand(configObj);
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} else if (strcmp(cmd, "ena") == 0) {
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handleEnableCommand();
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} else if (strcmp(cmd, "off") == 0) {
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handleOffCommand();
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} else if (strcmp(cmd, "mov") == 0) {
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handleMoveCommand();
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} else if (strcmp(cmd, "pos") == 0) {
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int value = doc["value"] | 0;
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handlePositionCommand(value);
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} else if (strcmp(cmd, "rmv") == 0) {
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int value = doc["value"] | 0;
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handleRelativeMoveCommand(value);
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} else if (strcmp(cmd, "pps") == 0) {
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if (doc.containsKey("value")) {
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int value = doc["value"];
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handlePulsePerSecondCommand(value);
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// 获取 PA 参数对象（可选）
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JsonObject params = doc["PA"];
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// 根据command执行相应操作
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if (strcmp(command, "cfg") == 0) {
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handle_cfg_cmd();
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} else if (strcmp(command, "ena") == 0) {
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handle_ena_cmd();
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} else if (strcmp(command, "off") == 0) {
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handle_off_cmd();
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} else if (strcmp(command, "mov") == 0) {
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handle_mov_cmd();
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} else if (strcmp(command, "pos") == 0) {
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// 修正：正确的类型转换
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int value = params.containsKey("value") ? params["value"].as<int>() : 0;
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handle_pos_cmd(value);
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} else if (strcmp(command, "rmv") == 0) {
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int value = params.containsKey("value") ? params["value"].as<int>() : 0;
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handle_rmv_cmd(value);
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} else if (strcmp(command, "pps") == 0) {
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if (params.containsKey("value")) {
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int value = params["value"].as<int>();
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handle_pps_cmd(value);
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} else {
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handlePulsePerSecondCommand();
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handle_pps_cmd();
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}
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} else if (strcmp(cmd, "org") == 0) {
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handleOriginCommand();
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} else if (strcmp(cmd, "stp") == 0) {
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handleStopCommand();
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} else if (strcmp(cmd, "zero") == 0) {
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const char* value = doc["value"] | "";
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handleZeroCommand(value);
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} else if (strcmp(command, "org") == 0) {
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handle_org_cmd();
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} else if (strcmp(command, "stp") == 0) {
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handle_stp_cmd();
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} else if (strcmp(command, "zero") == 0) {
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// 修正：正确的字符串类型转换
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const char* value = params.containsKey("value") ? params["value"].as<const char*>() : "";
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handle_zero_cmd(value);
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} else if (strcmp(command, "dev") == 0) {
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handle_dev_cmd();
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} else {
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sendJsonResponse(cmd, "UNKNOWN_COMMAND");
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sendJsonResponse(command, "UNKNOWN_COMMAND");
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}
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}
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@ -195,31 +221,34 @@ void processStringCommand(const char* stringData) {
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sendStringResponse(response.c_str());
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}
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void sendJsonResponse(const char* cmd, const char* status, int value) {
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void sendJsonResponse(const char* command, const char* status, int value) {
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StaticJsonDocument<JSON_BUFFER_SIZE> responseDoc;
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responseDoc["cmd"] = cmd;
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responseDoc["status"] = status;
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// 修改：使用新的JSON格式
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responseDoc["command"] = command; // 使用 command 替代 cmd
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responseDoc["ST"] = status; // 使用 ST 替代 status
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// 如果有参数值，添加到 PA 对象中
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if (value != -1) {
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responseDoc["value"] = value;
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JsonObject params = responseDoc.createNestedObject("PA");
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params["value"] = value;
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}
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// 设备状态信息
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responseDoc["enabled"] = deviceEnabled;
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responseDoc["position"] = currentPosition;
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responseDoc["moving"] = isMoving;
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// 可选：添加其他信息
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responseDoc["Other"] = "";
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char jsonResponse[JSON_BUFFER_SIZE];
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serializeJson(responseDoc, jsonResponse, sizeof(jsonResponse));
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// 打包并发送JSON响应
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DebugSerial.print("JSON Response: ");
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packedLength = IRIS_Protocol_Pack(0x00, strlen(jsonResponse), (uint8_t*)jsonResponse, sendBuffer);
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DebugSerial.write(sendBuffer, packedLength);
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DebugSerial.println();
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// DebugSerial.println();
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DebugSerial.print("Sent JSON Response: ");
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DebugSerial.println(jsonResponse);
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// DebugSerial.print("Sent JSON Response: ");
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// DebugSerial.println(jsonResponse);
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}
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void sendStringResponse(const char* response) {
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@ -231,134 +260,45 @@ void sendStringResponse(const char* response) {
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DebugSerial.println(response);
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}
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void handleConfigCommand(JsonObject& doc) {
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DebugSerial.println("Processing configuration command...");
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void handle_cfg_cmd() {
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DebugSerial.println("Configuration requested");
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Serial.println("cfg\n");
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// 返回配置相关信息
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sendJsonResponse("cfg", "OK");
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}
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// void handle_dev_cmd() {
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// DebugSerial.println("dev_requested");
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// Serial.println("dev\n");
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// //test VSMD数据
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// uint8_t testData[] = {
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// 0xFF, 0x00, 0x01, 0x56, 0x53, 0x4D, 0x44, 0x31, 0x34, 0x32, 0x2D, 0x30, 0x32, 0x35, 0x54, 0x2D, 0x31, 0x2E, 0x31, 0x2E, 0x30, 0x32, 0x30, 0x2E, 0x32, 0x31, 0x31, 0x31, 0x31, 0x35, 0x00, 0x42, 0xFE
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// };
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// // 解析
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// DebugSerial.println("Parsing VSMD test data:");
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// parser.parse(testData, sizeof(testData));
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// // 返回设备相关信息
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// sendJsonResponse("dev", "OK");
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// }
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void handle_dev_cmd() {
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DebugSerial.println("dev_requested");
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Serial.println("dev\n");
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// 创建响应JSON对象
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// vsmd test data
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uint8_t testData[] = {
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0xFF, 0x00, 0x01, 0x56, 0x53, 0x4D, 0x44, 0x31, 0x34, 0x32, 0x2D, 0x30, 0x32, 0x35, 0x54, 0x2D,0x31, 0x2E, 0x31, 0x2E, 0x30, 0x32, 0x30, 0x2E, 0x32, 0x31, 0x31, 0x31, 0x31, 0x35, 0x00, 0x42, 0xFE
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};
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// parseInfo获取解析结果
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String deviceInfo = parser.parseInfo(testData, sizeof(testData));
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// 创建带有解析数据的JSON响应
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StaticJsonDocument<JSON_BUFFER_SIZE> responseDoc;
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responseDoc["cmd"] = "cfg";
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responseDoc["status"] = "OK";
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responseDoc["command"] = "dev";
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responseDoc["ST"] = "OK";
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responseDoc["Other"] = deviceInfo;
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// 添加设备状态信息
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responseDoc["enabled"] = deviceEnabled;
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responseDoc["position"] = currentPosition;
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responseDoc["moving"] = isMoving;
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// 创建配置参数对象
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JsonObject configParams = responseDoc.createNestedObject("config");
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// 处理配置参数
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if (doc.containsKey("params")) {
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JsonObject params = doc["params"];
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// 更新配置参数并添加到响应中
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if (params.containsKey("cfg zmd")) {
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deviceConfig.zmd = params["cfg zmd"];
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configParams["cfg zmd"] = deviceConfig.zmd;
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}
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if (params.containsKey("cfg snr")) {
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deviceConfig.snr = params["cfg snr"];
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configParams["cfg snr"] = deviceConfig.snr;
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}
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if (params.containsKey("cfg osv")) {
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deviceConfig.osv = params["cfg osv"];
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configParams["cfg osv"] = deviceConfig.osv;
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}
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if (params.containsKey("cfg zsd")) {
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deviceConfig.zsd = params["cfg zsd"];
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configParams["cfg zsd"] = deviceConfig.zsd;
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}
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if (params.containsKey("cfg zsp")) {
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deviceConfig.zsp = params["cfg zsp"];
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configParams["cfg zsp"] = deviceConfig.zsp;
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}
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if (params.containsKey("cfg dmd")) {
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deviceConfig.dmd = params["cfg dmd"];
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configParams["cfg dmd"] = deviceConfig.dmd;
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}
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if (params.containsKey("cfg dar")) {
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deviceConfig.dar = params["cfg dar"];
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configParams["cfg dar"] = deviceConfig.dar;
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}
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if (params.containsKey("cfg msr")) {
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deviceConfig.msr = params["cfg msr"];
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configParams["cfg msr"] = deviceConfig.msr;
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}
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if (params.containsKey("cfg msv")) {
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deviceConfig.msv = params["cfg msv"];
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configParams["cfg msv"] = deviceConfig.msv;
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}
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if (params.containsKey("cfg psr")) {
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deviceConfig.psr = params["cfg psr"];
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configParams["cfg psr"] = deviceConfig.psr;
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}
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if (params.containsKey("cfg psv")) {
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deviceConfig.psv = params["cfg psv"];
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configParams["cfg psv"] = deviceConfig.psv;
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}
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if (params.containsKey("cfg bdr")) {
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deviceConfig.bdr = params["cfg bdr"];
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configParams["cfg bdr"] = deviceConfig.bdr;
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}
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if (params.containsKey("cfg cid")) {
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deviceConfig.cid = params["cfg cid"];
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configParams["cfg cid"] = deviceConfig.cid;
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}
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if (params.containsKey("cfg mcs")) {
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deviceConfig.mcs = params["cfg mcs"];
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configParams["cfg mcs"] = deviceConfig.mcs;
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}
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if (params.containsKey("cfg spd")) {
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deviceConfig.spd = params["cfg spd"];
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configParams["cfg spd"] = deviceConfig.spd;
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}
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if (params.containsKey("cfg acc")) {
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deviceConfig.acc = params["cfg acc"];
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configParams["cfg acc"] = deviceConfig.acc;
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}
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if (params.containsKey("cfg dec")) {
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deviceConfig.dec = params["cfg dec"];
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configParams["cfg dec"] = deviceConfig.dec;
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}
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if (params.containsKey("cfg cra")) {
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deviceConfig.cra = params["cfg cra"];
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configParams["cfg cra"] = deviceConfig.cra;
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}
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if (params.containsKey("cfg crn")) {
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deviceConfig.crn = params["cfg crn"];
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configParams["cfg crn"] = deviceConfig.crn;
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}
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if (params.containsKey("cfg crh")) {
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deviceConfig.crh = params["cfg crh"];
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configParams["cfg crh"] = deviceConfig.crh;
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}
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DebugSerial.println("Configuration updated successfully");
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} else {
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// 如果没有params，返回所有当前配置
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configParams["cfg zmd"] = deviceConfig.zmd;
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configParams["cfg snr"] = deviceConfig.snr;
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configParams["cfg osv"] = deviceConfig.osv;
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configParams["cfg zsd"] = deviceConfig.zsd;
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configParams["cfg zsp"] = deviceConfig.zsp;
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configParams["cfg dmd"] = deviceConfig.dmd;
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configParams["cfg dar"] = deviceConfig.dar;
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configParams["cfg msr"] = deviceConfig.msr;
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configParams["cfg msv"] = deviceConfig.msv;
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configParams["cfg psr"] = deviceConfig.psr;
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configParams["cfg psv"] = deviceConfig.psv;
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configParams["cfg bdr"] = deviceConfig.bdr;
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configParams["cfg cid"] = deviceConfig.cid;
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configParams["cfg mcs"] = deviceConfig.mcs;
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configParams["cfg spd"] = deviceConfig.spd;
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configParams["cfg acc"] = deviceConfig.acc;
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configParams["cfg dec"] = deviceConfig.dec;
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configParams["cfg cra"] = deviceConfig.cra;
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configParams["cfg crn"] = deviceConfig.crn;
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configParams["cfg crh"] = deviceConfig.crh;
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}
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// 序列化并发送响应
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char jsonResponse[JSON_BUFFER_SIZE];
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serializeJson(responseDoc, jsonResponse, sizeof(jsonResponse));
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@ -366,18 +306,20 @@ void handleConfigCommand(JsonObject& doc) {
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packedLength = IRIS_Protocol_Pack(0x00, strlen(jsonResponse), (uint8_t*)jsonResponse, sendBuffer);
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DebugSerial.write(sendBuffer, packedLength);
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DebugSerial.print("Sent Config Response: ");
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DebugSerial.println();
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DebugSerial.print("Sent JSON Response: ");
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DebugSerial.println(jsonResponse);
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}
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void handleEnableCommand() {
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void handle_ena_cmd() {
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deviceEnabled = true;
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DebugSerial.println("Device enabled");
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Serial.print("ena\n");
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sendJsonResponse("ena", "OK");
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}
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void handleOffCommand() {
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void handle_off_cmd() {
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deviceEnabled = false;
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isMoving = false;
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DebugSerial.println("Device disabled");
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@ -385,7 +327,7 @@ void handleOffCommand() {
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sendJsonResponse("off", "OK");
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}
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void handleMoveCommand() {
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void handle_mov_cmd() {
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if (!deviceEnabled) {
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sendJsonResponse("mov", "DEVICE_DISABLED");
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return;
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@ -397,7 +339,7 @@ void handleMoveCommand() {
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sendJsonResponse("mov", "OK");
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}
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void handlePositionCommand(int value) {
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void handle_pos_cmd(int value) {
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if (!deviceEnabled) {
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sendJsonResponse("pos", "DEVICE_DISABLED");
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return;
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@ -410,7 +352,7 @@ void handlePositionCommand(int value) {
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sendJsonResponse("pos", "OK", value);
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}
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void handleRelativeMoveCommand(int value) {
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void handle_rmv_cmd(int value) {
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if (!deviceEnabled) {
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sendJsonResponse("rmv", "DEVICE_DISABLED");
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return;
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@ -424,7 +366,7 @@ void handleRelativeMoveCommand(int value) {
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sendJsonResponse("rmv", "OK", currentPosition);
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}
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void handlePulsePerSecondCommand(int value) {
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||||
void handle_pps_cmd(int value) {
|
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if (value == -1) {
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// SET PPS
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||||
Serial.print("pps\n");
|
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@ -438,7 +380,7 @@ void handlePulsePerSecondCommand(int value) {
|
||||
}
|
||||
}
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||||
|
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void handleOriginCommand() {
|
||||
void handle_org_cmd() {
|
||||
if (!deviceEnabled) {
|
||||
sendJsonResponse("org", "DEVICE_DISABLED");
|
||||
return;
|
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@ -451,14 +393,14 @@ void handleOriginCommand() {
|
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sendJsonResponse("org", "OK", 0);
|
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}
|
||||
|
||||
void handleStopCommand() {
|
||||
void handle_stp_cmd() {
|
||||
isMoving = false;
|
||||
DebugSerial.println("Movement stopped");
|
||||
Serial.print("stp\n");
|
||||
sendJsonResponse("stp", "OK");
|
||||
}
|
||||
|
||||
void handleZeroCommand(const char* value) {
|
||||
void handle_zero_cmd(const char* value) {
|
||||
if (strcmp(value, "start") == 0) {
|
||||
Serial.print("zero start\n");
|
||||
isBackZero = true;
|
||||
|
||||
Reference in New Issue
Block a user