void onCommandIntegralWindup()
{
if (isChannelCorrect(gParameters[0]))
{
int channel = convertToInt(gParameters[0]);
double windup = atof(gParameters[1]);
if (isReadCommand(gParameters[1]))
{
sendDouble(iWindupThresholds[channel]);
sendAck();
}
else if (isDoubleWithinRange(windup, I_WINDUP_THRESH_MIN, I_WINDUP_THRESH_MAX))
{
iWindupThresholds[channel] = windup;
sendAck();
}
else
{
sendDoubleRangeError(I_WINDUP_THRESH_MIN, I_WINDUP_THRESH_MAX, DEGREES_UNIT);
}
}
else
{
sendChannelError();
}
}
void onCommandSetPoint()
{
if (isChannelCorrect(gParameters[0]))
{
int channel = convertToInt(gParameters[0]);
double setPoint = atof(gParameters[1]);
if (isReadCommand(gParameters[1]))
{
sendDouble(setPoints[channel]);
sendAck();
}
else if (isDoubleWithinRange(setPoint, minSetPoint[channel], maxSetPoint[channel]))
{
setPoints[channel] = setPoint;
sendAck();
}
else
{
sendDoubleRangeError(minSetPoint[channel], maxSetPoint[channel], DEGREES_UNIT);
}
}
else
{
sendChannelError();
}
}
static void *testMethod(void *args) {
struct worker_thread_args *worker_args = (struct worker_thread_args *)args;
pthread_mutex_t *sendLock = worker_args->sendLock;
WorkPool *workPool = worker_args->workPool;
Renderer *r = worker_args->renderer;
int height = worker_args->height;
int coordSocketFd = worker_args->coordSocketFd;
int y = 0;
while (true) {
int x;
if (!workPool->getNextJob(x)) {
break;
return NULL;
}
for (y = 0; y < height; y++) {
vector<double> colour = r->render(x, y, superSampling, sampleDimension);
int status = 0;
pthread_mutex_lock(sendLock);
status = sendDouble(coordSocketFd, (double)x);
if (status < 0) {
goto cleanup;
}
status = sendDouble(coordSocketFd, (double)y);
if (status < 0) {
goto cleanup;
}
for (unsigned int k = 0; k < colour.size(); k++) {
int status = sendDouble(coordSocketFd, colour[k]);
if (status < 0) {
goto cleanup;
}
}
pthread_mutex_unlock(sendLock);
}
}
cleanup:
pthread_mutex_unlock(sendLock);
return NULL;
}
void onCommandVersion()
{
if (isReadCommand(gParameters[0]))
{
sendDouble(FIRMWARE_VERSION);
sendAck();
}
else
{
sendReadOnlyError();
}
}
void onCommandAdc()
{
int adcChannel = convertToInt(gParameters[0]);
if (isIntWithinRange(adcChannel, ADC_CHANNEL_MIN, ADC_CHANNEL_MAX))
{
double voltage = getSampledAdcVoltage(adcChannel);
sendDouble(voltage);
sendAck();
}
else
{
sendIntRangeError(ADC_CHANNEL_MIN, ADC_CHANNEL_MAX, NO_UNIT);
}
}
void onCommandAngle()
{
if (isChannelCorrect(gParameters[0]))
{
int channel = convertToInt(gParameters[0]);
if (isReadCommand(gParameters[1]))
{
sendDouble(currentAngles[channel]);
sendAck();
}
else
{
sendReadOnlyError();
}
}
else
{
sendChannelError();
}
}
void onCommandDacVoltage()
{
if (isChannelCorrect(gParameters[0]))
{
uint8_t channel = convertToInt(gParameters[0]);
double voltage = atof(gParameters[1]);
if (isReadCommand(gParameters[1]))
{
sendDouble(currentVoltages[channel]);
sendAck();
}
else
{
if (!isSafetyOn)
{
if (isDoubleWithinRange(voltage, MOTOR_MIN_VOLTAGE, MOTOR_MAX_VOLTAGE))
{
setDacVoltage(channel, voltage);
sendAck();
}
else
{
sendDoubleRangeError(MOTOR_MIN_VOLTAGE, MOTOR_MAX_VOLTAGE, VOLTAGE_UNIT);
}
}
else
{
Serial.println(F("Cannot change voltage while safety is on."));
sendNack();
}
}
}
else
{
sendChannelError();
}
}
void onCommandDerivativeGain()
{
if (isChannelCorrect(gParameters[0]))
{
int channel = convertToInt(gParameters[0]);
if (isProfileCorrect(gParameters[1]))
{
int profile = convertToInt(gParameters[1]);
double dGain = atof(gParameters[2]);
if (isReadCommand(gParameters[2]))
{
sendDouble(dGains[channel][profile]);
sendAck();
}
else if (isDoubleWithinRange(dGain, D_GAIN_MIN, D_GAIN_MAX))
{
dGains[channel][profile] = dGain;
sendAck();
}
else
{
sendDoubleRangeError(D_GAIN_MIN, D_GAIN_MAX, NO_UNIT);
}
}
else
{
sendProfileError();
}
}
else
{
sendChannelError();
}
}
void sendFloat(float i) {
sendDouble(i);
}
int StatsdClient::gaugeDouble(const string& key, double value, float sample_rate)
{
return sendDouble(key, value, "g", sample_rate);
}
