6 akser, StallGuard og basic web interface med ledningsdiagrammer tilføjet

src/Commands.cpp

@@ -0,0 +1,155 @@
+#include "Commands.h"
+#include "config.h"
+
+// Parser et heltal; returnerer false hvis teksten ikke er et gyldigt tal.
+static bool parseLong(const String& s, long& out) {
+  if (s.length() == 0) return false;
+  char* end = nullptr;
+  out = strtol(s.c_str(), &end, 10);
+  return *end == '\0';
+}
+
+static bool parseFloat(const String& s, float& out) {
+  if (s.length() == 0) return false;
+  char* end = nullptr;
+  out = strtof(s.c_str(), &end);
+  return *end == '\0';
+}
+
+static bool isDigits(const String& s) {
+  if (s.length() == 0) return false;
+  for (size_t i = 0; i < s.length(); i++) {
+    if (!isdigit((unsigned char)s[i])) return false;
+  }
+  return true;
+}
+
+String Commands::handle(const String& raw) {
+  String line = raw;
+  line.trim();
+  if (line.length() == 0) return "";
+
+  // ---- Valgfrit akse-index først ----
+  int axisIdx = -1;
+  int sp = line.indexOf(' ');
+  String first = sp < 0 ? line : line.substring(0, sp);
+  if (isDigits(first)) {
+    axisIdx = first.toInt();
+    if (axisIdx >= NUM_AXES) return "err ukendt akse " + first + " (0-" + String(NUM_AXES - 1) + ")";
+    line = sp < 0 ? String() : line.substring(sp + 1);
+    line.trim();
+    if (line.length() == 0) return "err mangler kommando efter akse-index";
+    sp = line.indexOf(' ');
+  }
+
+  String cmd = sp < 0 ? line : line.substring(0, sp);
+  String arg = sp < 0 ? String() : line.substring(sp + 1);
+  cmd.toLowerCase();
+  arg.trim();
+
+  // ---- Fælles kommandoer ----
+  if (cmd == "hb") {
+    _hbArmed = true;
+    return "";
+  }
+  if (cmd == "help") {
+    return "ok kommandoer: [akse] <kommando>. Fælles: status estop, og uden akse: en dis stop (alle). "
+           "Pr. akse: en dis stop move <steps> goto <steps> rev <omdr> speed <steps/s> accel <steps/s2> "
+           "zero current <mA> mode stealth|spread uartdiag "
+           "sgt <0-255> sgauto on|off sgoff <+-n> sg on|off sgr home +|-";
+  }
+  if (cmd == "status") {
+    String out = "G " + _m.globalJson();
+    for (uint8_t i = 0; i < NUM_AXES; i++) out += "\nS " + String(i) + " " + _m.axis(i).statusJson();
+    return out;
+  }
+  if (cmd == "estop") { _m.estop(); return "ok estop (alle drivere disabled)"; }
+
+  if (axisIdx < 0) {
+    if (cmd == "en") {
+      const char* err = _m.enableAll();
+      return err ? String("err ") + err : String("ok alle fundne akser enabled");
+    }
+    if (cmd == "dis") { _m.disableAll(); return "ok alle akser disabled"; }
+    if (cmd == "stop") { _m.stopAll(); return "ok stop alle"; }
+  }
+
+  // ---- Akse-kommandoer (uden index: akse 0) ----
+  uint8_t ai = axisIdx < 0 ? 0 : axisIdx;
+  Axis& a = _m.axis(ai);
+  _m.requestStatus(ai);   // ny S-linje efter kommandoen, så UI'et altid er opdateret
+  String pre = "a" + String(ai) + " ";
+  auto okOrErr = [&](const char* err, const String& okText) {
+    return err ? "err " + pre + err : "ok " + pre + okText;
+  };
+
+  if (cmd == "en") return okOrErr(_m.enableAxis(ai), "enabled");
+  if (cmd == "dis") { _m.disableAxis(ai); return "ok " + pre + "disabled"; }
+  if (cmd == "stop") { a.stop(); return "ok " + pre + "stop"; }
+  if (cmd == "zero") return okOrErr(a.setZero(), "pos=0");
+  if (cmd == "uartdiag") return a.uartDiag();
+
+  long n;
+  float f;
+  if (cmd == "move") {
+    if (!parseLong(arg, n)) return "err brug: [akse] move <steps>";
+    return okOrErr(a.move(n), "move " + String(n));
+  }
+  if (cmd == "goto") {
+    if (!parseLong(arg, n)) return "err brug: [akse] goto <steps>";
+    return okOrErr(a.moveTo(n), "goto " + String(n));
+  }
+  if (cmd == "rev") {
+    if (!parseFloat(arg, f)) return "err brug: [akse] rev <omdrejninger>";
+    long steps = lroundf(f * STEPS_PER_REV);
+    return okOrErr(a.move(steps), "move " + String(steps));
+  }
+  if (cmd == "speed") {
+    if (!parseLong(arg, n) || n <= 0) return "err brug: [akse] speed <steps/s>";
+    a.setSpeed(n);
+    return "ok " + pre + "speed=" + String(a.speed()) + " sgt=" + String(a.sgThreshold());
+  }
+  if (cmd == "accel") {
+    if (!parseLong(arg, n) || n <= 0) return "err brug: [akse] accel <steps/s2>";
+    return "ok " + pre + "accel=" + String(a.setAccel(n));
+  }
+  if (cmd == "current") {
+    if (!parseLong(arg, n) || n <= 0) return "err brug: [akse] current <mA>";
+    return "ok " + pre + "current=" + String(a.setCurrent(n > 65535 ? 65535 : n));
+  }
+  if (cmd == "sgt") {
+    if (!parseLong(arg, n) || n < 0 || n > 255) return "err brug: [akse] sgt <0-255>";
+    a.setSgThreshold(n);
+    return "ok " + pre + "sgt=" + String(n) + " manuel (stall når sg <= " + String(2 * n) + ")";
+  }
+  if (cmd == "sgauto") {
+    arg.toLowerCase();
+    if (arg != "on" && arg != "off") return "err brug: [akse] sgauto on|off";
+    a.setSgAuto(arg == "on");
+    return "ok " + pre + "sgauto=" + arg + " sgt=" + String(a.sgThreshold());
+  }
+  if (cmd == "sgoff") {
+    if (!parseLong(arg, n)) return "err brug: [akse] sgoff <-100..100>";
+    int16_t off = a.setSgOffset(constrain(n, -1000L, 1000L));
+    return "ok " + pre + "sgoff=" + String(off) + " sgt=" + String(a.sgThreshold());
+  }
+  if (cmd == "sg") {
+    arg.toLowerCase();
+    if (arg == "on") return okOrErr(a.setStallStop(true), "stall-stop til");
+    if (arg == "off") { a.setStallStop(false); return "ok " + pre + "stall-stop fra"; }
+    return "err brug: [akse] sg on|off";
+  }
+  if (cmd == "sgr") return "ok " + pre + "sg=" + String(a.sgResult());
+  if (cmd == "home") {
+    if (arg == "+") return okOrErr(_m.home(ai, 1), "homing +");
+    if (arg == "-") return okOrErr(_m.home(ai, -1), "homing -");
+    return "err brug: [akse] home +|-";
+  }
+  if (cmd == "mode") {
+    arg.toLowerCase();
+    if (arg == "stealth") { a.setStealthChop(true); return "ok " + pre + "mode=stealth"; }
+    if (arg == "spread") { a.setStealthChop(false); return "ok " + pre + "mode=spread"; }
+    return "err brug: [akse] mode stealth|spread";
+  }
+  return "err ukendt kommando '" + cmd + "' (prøv help)";
+}