// basically oauth_sign_url() from liboauth in steps..
char *oauthsign_ext (int mode, char *method, oauthparam *op, int optargc, char **optargv, int *saveargcp, char ***saveargvp) {
int argc=0;
char **argv = NULL;
char *sign=NULL;
url_to_array(&argc, &argv, mode, op->url);
append_parameters(&argc, &argv, optargc, optargv);
add_oauth_params_to_array(&argc, &argv, op);
if (saveargvp && saveargcp) {
clear_parameters(saveargcp, saveargvp);
append_parameters(saveargcp, saveargvp, argc, argv);
}
sign=process_array(argc, argv, method, mode, op);
free_array(argc,argv);
return (sign); // needs to be free()d.
#if 0 // cruft
if (sign) {
add_kv_to_array(&argc, &argv, "oauth_signature", sign);
free(sign);
}
char *result;
result = oauth_serialize_url(argc, (mode&2?1:0), argv);
return (result);
#endif
}
// basically oauth_sign_url() from liboauth in steps..
char *oauthrequest_ext (int mode, oauthparam *op, int oauthargc, char **oauthargv, char *sign) {
int argc=0;
char **argv = NULL;
char *request=NULL;
append_parameters(&argc, &argv, oauthargc, oauthargv);
if (sign) {
add_kv_to_array(&argc, &argv, "oauth_signature", sign);
}
// build URL params
request = oauth_serialize_url(argc, (mode&2?1:0), argv);
char *reply = NULL;
if(request) {
if (mode&2) { // POST
reply = oauth_http_post(argv[0],request);
} else { // GET
reply= oauth_http_get(request, NULL);
}
free(request);
}
free_array(argc,argv);
return reply;
}
TEST(UtilsTest,append_parameters)
{
char buf[132];
int n= append_parameters(buf, {{'X', 1}, {'Y', 2}, {'Z', 3}}, sizeof(buf));
//printf("%d - %s\n", n, buf);
ASSERT_TRUE(n == 24);
ASSERT_TRUE(strcmp(buf, "X1.0000 Y2.0000 Z3.0000 ") == 0);
}
// if limit switches are enabled, then we must move off of the endstop otherwise we won't be able to move
// checks if triggered and only backs off if triggered
void Endstops::back_off_home(std::bitset<3> axis)
{
std::vector<std::pair<char, float>> params;
this->status = BACK_OFF_HOME;
// these are handled differently
if(is_delta) {
// Move off of the endstop using a regular relative move in Z only
params.push_back({'Z', this->retract_mm[Z_AXIS] * (this->home_direction[Z_AXIS] ? 1 : -1)});
} else {
// cartesians, concatenate all the moves we need to do into one gcode
for( int c = X_AXIS; c <= Z_AXIS; c++ ) {
if(!axis[c]) continue; // only for axes we asked to move
// if not triggered no need to move off
if(this->limit_enable[c] && debounced_get(c + (this->home_direction[c] ? 0 : 3)) ) {
params.push_back({c + 'X', this->retract_mm[c] * (this->home_direction[c] ? 1 : -1)});
}
}
}
if(!params.empty()) {
// Move off of the endstop using a regular relative move
params.insert(params.begin(), {'G', 0});
// use X slow rate to move, Z should have a max speed set anyway
params.push_back({'F', this->slow_rates[X_AXIS] * 60.0F});
char gcode_buf[64];
append_parameters(gcode_buf, params, sizeof(gcode_buf));
Gcode gc(gcode_buf, &(StreamOutput::NullStream));
THEROBOT->push_state();
THEROBOT->inch_mode = false; // needs to be in mm
THEROBOT->absolute_mode = false; // needs to be relative mode
THEROBOT->on_gcode_received(&gc); // send to robot directly
// Wait for above to finish
THECONVEYOR->wait_for_idle();
THEROBOT->pop_state();
}
this->status = NOT_HOMING;
}
