void RealConnection::handleReadCommandHeader(const boost::system::error_code & error, size_t size) { if (error) { _lastErrorCode = error; disconnect(); return; } std::istream inputStream(&_incoming); CommandSize commandSize; inputStream.read(reinterpret_cast<char *>(&commandSize), sizeof(commandSize)); size -= sizeof(commandSize); if (size >= commandSize) { handleReadCommand(error, size, commandSize); } else { boost::asio::async_read(_socket, _incoming, boost::asio::transfer_at_least(commandSize - size), std::bind(&RealConnection::handleReadCommand, getDerivedPointer(), std::placeholders::_1, std::placeholders::_2, commandSize)); } }
void handleSerialCommands() { DebugPrint("Function handleSerialCommands"); StringArray commandList = GetCommandList(INPUT_STRING); String command = commandList.GetString(0); DebugPrint("Command was: " + command); // RobotControl // Switch Robot On if (command == "ON") { GLOBAL_IS_CONNECTED = true; digitalWrite(13,HIGH); Servos_Init(); PrintMessage(command); } // Switch Robot Off else if (command == "OFF") { GLOBAL_IS_CONNECTED = false; PrintMessage("OFF"); digitalWrite(13,LOW); Servos_Release(); } // EEPROM Handling // Store Movement List else if (command == "STORE") { SaveToEEPROM(); } // Retrieve Movement List else if (command == "GET") { // PrintMessage("get"); LoadFromEEPROM(); } // Erase Movement List else if (command == "ERASE") { ClearEEPROM(); } // READ Specified EEPROM Address else if (command == "READ") { handleReadCommand(commandList); } // Servohandling // Move Servo else if (command == "MOVE") { Move_Servo(commandList); /* int oldValue = servo.read(); int newValue = GetIntFromString(commandList.GetString(1)); if (oldValue <= newValue) { for (int i = oldValue; i <= newValue; i++) { servo.write(i); delay(10 * (5 - GLOBAL_SERVO_SPEED)); } } else { for (int i = oldValue; i >= newValue; i--) { servo.write(i); delay(10 * (5 - GLOBAL_SERVO_SPEED)); } } */ /* if (commandList.GetElementCount() >= 4) Move_Servo(commandList); else PrintMessage("Error: not enough Arguments, Example MOVE;SERVONUMBER;SPEED;VALUE"); */ } // Set Speed else if (command == "SPEED") { int newSpeed = GetIntFromString(commandList.GetString(1)); if (newSpeed >= 0 && newSpeed <= 5) { DebugPrint("GLOBAL_SERVO_SPEED set to: " + String(newSpeed)); GLOBAL_SERVO_SPEED = newSpeed; SaveSpeed(newSpeed); } PrintMessage("Speed set to: " + String(GLOBAL_SERVO_SPEED)); } else if (command == "SPEED?") { PrintMessage(String(GLOBAL_SERVO_SPEED)); } // Play LISTPOS #position else if (command == "LISTPOS") { int numberPositions = commandList.GetElementCount(); for (int i = 1; i < numberPositions; i++) { int pos = GetIntFromString(commandList.GetString(i)); DebugPrint("Try to get position " + String(pos) + " from List..." ); DebugPrint("Number of Stored Commands is " + String(GetAnzahlBefehle())); if (pos > -1 && GetAnzahlBefehle() > pos) { String listCommand = GetCommandWithServoNumber(pos); StringArray tempArray = GetCommandList(listCommand); DebugPrint(tempArray.GetAsConcatedString()); Move_Servo(tempArray); } } } // Opens the Gripper else if (command == "OPEN_GRIPPER") { Open_Gripper(); PrintMessage(String("Gripper opened...")); } // Closes the Gripper else if (command == "CLOSE_GRIPPER") { Close_Gripper(); PrintMessage(String("Gripper closed...")); } // Other Command else { DebugPrint("Unknown Command"); for (int i = 0; i < commandList.GetElementCount(); i++) { PrintMessage(commandList.GetString(i)); PrintMessage("|"); } } }