void initialize() {
counter_a = 0;
counter_b = 0;
configure_ports();
configure_timers();
init_step_motor();
init_servodrive();
init_proxi_switch();
init_delays();
sei();
while(INIT_TIME--) {
buzzer(440, 100);
delay_s(1);
}
}
app_t configure(const config_t conf, app_t app){
app_t a = app;
a->conf = conf;
hardware_t hw = get_hardware(HW_TYPE);
hw->status = hw->configure(conf);
int di = get_sequence_entry(CONFIG_DI, conf)->size / BYTESIZE + 1;
int dq = get_sequence_entry(CONFIG_DQ, conf)->size / BYTESIZE + 1;
int ai = get_sequence_entry(CONFIG_AI, conf)->size;
int aq = get_sequence_entry(CONFIG_AQ, conf)->size;
int nt = get_sequence_entry(CONFIG_TIMER, conf)->size;
int ns = get_sequence_entry(CONFIG_PULSE, conf)->size;
int nm = get_sequence_entry(CONFIG_MREG, conf)->size;
int nr = get_sequence_entry(CONFIG_MVAR, conf)->size;
int step = get_numeric_entry(CONFIG_STEP, conf);
plc_t p = new_plc(di, dq, ai, aq, nt, ns, nm, nr, step, hw);
p->status = 0;
p->update = TRUE;
p = configure_di(conf, p);
p = configure_dq(conf, p);
p = configure_ai(conf, p);
p = configure_aq(conf, p);
p = configure_counters(conf, p);
p = configure_reals(conf, p);
p = configure_timers(conf, p);
p = configure_pulses(conf, p);
if(a->plc != NULL){
clear_plc(a->plc);
}
a->plc = p;
return a;
}
app_t apply_command(const config_t com,
app_t a){
char * confstr = "config.yml";
char * cvalue = NULL;
char * val = NULL;
sequence_t seq = NULL;
int s = CONFIG_PROGRAM;
int v = -1;
plc_t p = NULL;
if(a != NULL){
switch(get_numeric_entry(CLI_COM, com)){
case COM_START:
a->plc = plc_start(a->plc);
break;
case COM_STOP:
a->plc = plc_stop(a->plc);
break;
case COM_LOAD:
a->plc = plc_stop(a->plc);
a->conf = init_config();
cvalue = get_string_entry(CLI_ARG, com);
if( cvalue == NULL ||
cvalue[0] == 0){
cvalue = confstr;
}
if ((load_config_yml(cvalue, a->conf))->err < PLC_OK) {
plc_log("Invalid configuration file %s\n", cvalue);
} else {
a = configure(a->conf, a);
}
break;
case COM_SAVE:
a->plc = plc_stop(a->plc);
cvalue = get_string_entry(CLI_ARG, com);
if( cvalue == NULL ||
cvalue[0] == 0){
cvalue = confstr;
}
if ((save_config_yml(cvalue, a->conf)) < PLC_OK) {
plc_log("Invalid configuration file %s\n", cvalue);
}
break;
case COM_FORCE:
for(s = CONFIG_PROGRAM; s < N_CONFIG_VARIABLES; s++){
seq = get_sequence_entry(s, com);
for(v = 0; seq && v < seq->size; v++){
//filter sequences who have a param "FORCE"
val = get_param_val("FORCE", seq->vars[v].params);
if(val){ //apply force
p = force(a->plc, Lookup[s], v, val);
if(p){
a->plc = p;
}
}
}
}
if(p == NULL){
plc_log("Invalid force command\n");
}
break;
case COM_UNFORCE:
for(s = CONFIG_PROGRAM; s < N_CONFIG_VARIABLES; s++){
seq = get_sequence_entry(s, com);
for(v = 0; seq && v < seq->size; v++){
//filter sequences who have a param "FORCE"
val = get_param_val("FORCE", seq->vars[v].params);
if(val){ //apply force
p = unforce(a->plc, Lookup[s], v);
if(p){
a->plc = p;
}
}
}
}
if(p == NULL){
plc_log("Invalid force command\n");
}
break;
case COM_EDIT:
//TODO: filter sequences who have an updated variable
a->plc = configure_di(com, a->plc);
a->plc = configure_dq(com, a->plc);
a->plc = configure_ai(com, a->plc);
a->plc = configure_aq(com, a->plc);
a->plc = configure_counters(com, a->plc);
a->plc = configure_reals(com, a->plc);
a->plc = configure_timers(com, a->plc);
a->plc = configure_pulses(com, a->plc);
a->conf = copy_sequences(com, a->conf);
break;
default: break;
}
}
return a;
}
