void OtaUpdate() {
uint8 slot;
rboot_config bootconf;
Serial.println("Updating...");
hardwareTimer.stop();
reportTimer.stop();
sendToClients("Firmware ota update started...");
// need a clean object, otherwise if run before and failed will not run again
if (otaUpdater)
delete otaUpdater;
otaUpdater = new rBootHttpUpdate();
sendToClients("Firmware ota update started...1");
// select rom slot to flash
bootconf = rboot_get_config();
slot = bootconf.current_rom;
if (slot == 0)
slot = 1;
else
slot = 0;
#ifndef RBOOT_TWO_ROMS
// flash rom to position indicated in the rBoot config rom table
otaUpdater->addItem(bootconf.roms[slot], ROM_0_URL);
#else
// flash appropriate rom
if (slot == 0) {
otaUpdater->addItem(bootconf.roms[slot], ROM_0_URL);
} else {
otaUpdater->addItem(bootconf.roms[slot], ROM_1_URL);
}
#endif
#ifndef DISABLE_SPIFFS
// use user supplied values (defaults for 4mb flash in makefile)
if (slot == 0) {
otaUpdater->addItem(RBOOT_SPIFFS_0, SPIFFS_URL);
} else {
otaUpdater->addItem(RBOOT_SPIFFS_1, SPIFFS_URL);
}
#endif
sendToClients("Firmware ota update started...2");
// request switch and reboot on success
otaUpdater->switchToRom(slot);
// and/or set a callback (called on failure or success without switching requested)
otaUpdater->setCallback(OtaUpdate_CallBack);
// start update
sendToClients("Firmware ota update started...3");
otaUpdater->start();
}
void reportStatus() {
char buf[30];
sprintf(buf, "X%d Y%d Z%d E%d M%d", curPos[x], curPos[y], curPos[z], curPos[e], steppersOn);
String message = String(buf);
if (!message.equals(lastPositionMessage)) {
sendToClients(message);
lastPositionMessage = message;
}
}
void wsMessageReceived(WebSocket& socket, const String& message) {
Serial.printf("WebSocket message received: %s\r\n", message.c_str());
char buf[150];
sprintf(buf, "WebSocket message received: %s\r\n", message.c_str());
String msgBack = String(buf);
sendToClients(msgBack);
parseGcode(message.c_str());
}
void OtaUpdate_CallBack(bool result) {
sendToClients("OtaUpdate_CallBack");
Serial.println("In callback...");
if (result == true) {
sendToClients("Ota update SUCCESS!");
// success
uint8 slot;
slot = rboot_get_current_rom();
if (slot == 0)
slot = 1;
else
slot = 0;
// set to boot new rom and then reboot
Serial.printf("Firmware updated, rebooting to rom %d...\r\n", slot);
sendToClients("Firmware updated, rebooting...");
rboot_set_current_rom(slot);
System.restart();
} else {
// fail
sendToClients("Ota update FAIL!");
Serial.println("Firmware update failed!");
}
}
void onReceive(UdpConnection& connection, char *data, int size, IPAddress remoteIP, uint16_t remotePort)
{
char buf[60];
char buf1[12];
sendToClients("UDP received");
debugf("UDP Sever callback from %s:%d, %d bytes", remoteIP.toString().c_str(), remotePort, size);
// We implement string mode server for example
Serial.print(">\t");
Serial.print(data);
floatAnalog = atof(analogResult.c_str()) / 10.0;
dtostrf(floatAnalog, 7, 4, buf1);
sprintf(buf, "%s", deblank(buf1));
String message = String(buf);
udp.sendStringTo(remoteIP, udpServerPort, message);
}
int INetwork::sendToAllClients (const IProtocolMessage& msg)
{
return sendToClients(0, msg);
}
void parseGcode(String commandLine) {
if (commandLine.equals("ota")) {
//server.enableWebSockets(false);
OtaUpdate();
return;
} else if (commandLine.equals("switch")) {
Switch();
return;
} else if (commandLine.equals("restart")) {
System.restart();
return;
} else if (commandLine.equals("pos")) {
reportStatus();
return;
} else if (commandLine.equals("enable")) {
enableMotors();
return;
} else if (commandLine.equals("disable")) {
disableMotors();
return;
} else if (commandLine.equals("stop")) {
for (int i = 0; i < 4; i++) {
nextPos[i] = curPos[i];
}
} else if (commandLine.startsWith("udpServerIP"))
{
Vector<String> commandToken;
int numToken = splitString(commandLine, ' ', commandToken);
if(numToken==2)
udpServerIP = commandToken[1];
if(numToken==3)
{
udpServerIP = commandToken[1];
udpServerPort = atoi(commandToken[2].c_str());
}
char buf[150];
sprintf(buf, "Udp server port %s, port: %d", udpServerIP.c_str(), udpServerPort);
String msgBack = String(buf);
sendToClients(msgBack);
return;
} else if (commandLine.startsWith("reassign")) {
//sendToClients(message)
//reassign x=3 y=0 z=2 e=1
Vector<String> commandToken;
int numToken = splitString(commandLine, ' ', commandToken);
for (int i = 1; i < numToken; i++) {
Vector<String> axisIndex;
String axisIndexStr = commandToken[i].c_str();
splitString(axisIndexStr, '=', axisIndex);
String axis = axisIndex[0].c_str();
if (axis.equals("x"))
x = atoi(axisIndex[1].c_str());
else if (axis.equals("y"))
y = atoi(axisIndex[1].c_str());
else if (axis.equals("z"))
z = atoi(axisIndex[1].c_str());
else if (axis.equals("e"))
e = atoi(axisIndex[1].c_str());
}
char buf[150];
sprintf(buf, "Reassign: x=%d y=%d z=%d e=%d\r\n", x, y, z, e);
String msgBack = String(buf);
sendToClients(msgBack);
return;
}
if (steppersOn) {
Vector<String> commandToken;
int numToken = splitString(commandLine, ' ', commandToken);
for (int i = 0; i < numToken; i++) {
Serial.printf("Command: %s\r\n", commandToken[i].c_str());
String motor = commandToken[i].substring(0, 1);
String sign = commandToken[i].substring(1, 2);
String posStr = "";
if (sign == "+" || sign == "-") {
posStr = commandToken[i].substring(2, commandToken[i].length());
} else {
sign = "";
posStr = commandToken[i].substring(1, commandToken[i].length());
}
int8_t index = -1;
if (motor == "X")
index = x;
else if (motor == "Y")
index = y;
else if (motor == "Z")
index = z;
else if (motor == "E")
index = e;
else if (motor == "T") {
deltat = atoi(posStr.c_str());
}
if (index > -1) {
if (sign == "+")
nextPos[index] = nextPos[index] + atol(posStr.c_str());
else if (sign == "-")
nextPos[index] = nextPos[index] - atol(posStr.c_str());
else
nextPos[index] = atol(posStr.c_str());
char buf[150];
sprintf(buf, "Set nextpos[%d] to %d\r\n", index, nextPos[index]);
Serial.printf(buf);
String msgBack = String(buf);
sendToClients(msgBack);
}
}
}
}