///------------------------------------------------------------------
/// Retrieves an integer property from the specified Node
///------------------------------------------------------------------
int GetIntProperty( const XMLNode& node, const std::string& propertyName, int defaultValue )
{
std::string propertyString = GetPropertyValueAsString( node, propertyName );
int propertyValue = defaultValue ;
if ( propertyString.length() )
propertyValue = GetIntFromString( propertyString );
return propertyValue ;
}
void handleReadCommand(StringArray commandList)
{
DebugPrint("Function handleReadCommand");
String temp = "";
if (commandList.GetElementCount() > 1)
temp = commandList.GetString(1);
else
temp = "0";
int test = GetIntFromString(temp);
byte data = EEPROM.read(test);
String outputstring = commandList.GetString(1) + ": [" + commandList.GetString(1) + "]: " + String(data,HEX) + "\0";
PrintMessage(outputstring);
}
int
DoPtsUserMaxSet(struct cmd_syndesc *as, void *arock)
{
enum { MAX };
afs_status_t st = 0;
const char *max = as->parms[MAX].items->data;
int max_user_id;
max_user_id = GetIntFromString(max, "bad user id");
if (!pts_UserMaxSet(cellHandle, max_user_id, &st)) {
ERR_ST_EXT("pts_UserMaxSet", st);
}
return 0;
}
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("|");
}
}
}
int
DoPtsUserModify(struct cmd_syndesc *as, void *arock)
{
enum { USER, GROUPQUOTA, LISTSTATUS, LISTGROUPSOWNED,
LISTMEMBERSHIP
};
afs_status_t st = 0;
const char *user = as->parms[USER].items->data;
pts_UserUpdateEntry_t entry;
int have_list_status_perm = 0;
int have_list_groups_owned_perm = 0;
int have_list_membership_perm = 0;
entry.flag = 0;
if (as->parms[GROUPQUOTA].items) {
entry.groupCreationQuota =
GetIntFromString(as->parms[GROUPQUOTA].items->data, "bad quota");
entry.flag = PTS_USER_UPDATE_GROUP_CREATE_QUOTA;
}
if (as->parms[LISTSTATUS].items) {
entry.listStatus =
GetUserAccessFromString(as->parms[LISTSTATUS].items->data,
"invalid permission specifier");
entry.flag |= PTS_USER_UPDATE_PERMISSIONS;
have_list_status_perm = 1;
}
if (as->parms[LISTGROUPSOWNED].items) {
entry.listGroupsOwned =
GetUserAccessFromString(as->parms[LISTGROUPSOWNED].items->data,
"invalid permission specifier");
entry.flag |= PTS_USER_UPDATE_PERMISSIONS;
have_list_groups_owned_perm = 1;
}
if (as->parms[LISTMEMBERSHIP].items) {
entry.listMembership =
GetUserAccessFromString(as->parms[LISTMEMBERSHIP].items->data,
"invalid permission specifier");
entry.flag |= PTS_USER_UPDATE_PERMISSIONS;
have_list_membership_perm = 1;
}
if (entry.flag == 0) {
ERR_EXT("you must specify either quota or permissions to modify");
} else {
if (entry.flag & PTS_USER_UPDATE_PERMISSIONS) {
if ((have_list_status_perm + have_list_groups_owned_perm +
have_list_membership_perm) != 3) {
ERR_EXT("you must completely specify all permissions "
"when modifying a user");
}
}
}
if (!pts_UserModify(cellHandle, user, &entry, &st)) {
ERR_ST_EXT("pts_UserModify", st);
}
return 0;
}
