void home(UINT8 axis)
{
switch(homing_state[axis])
{
case homed:
return;
break;
case start:
set_position(axis, park_position[axis], 0.3, -0.3);
homing_state[axis] = moving_to_park_dly;
dly_tmr = 1;
break;
case moving_to_park_dly:
if (delay_passed())
homing_state[axis] = moving_to_park;
break;
case moving_to_park:
if (at_position(axis))
homing_state[axis] = parked;
if (stalled(axis))
homing_state[axis] = parked;
break;
case parked:
if (axis != elevator)
set_position(axis, -20, 0.3, -0.3); // drive to mechanical stop
else
set_position(axis, -20, 0.3, -0.3, 8); // drive to mechanical stop (limited)
dly_tmr = 0.8;
homing_state[axis] = moving_to_stops_dly;
break;
case moving_to_stops_dly:
if (delay_passed())
homing_state[axis] = moving_to_stops;
break;
case moving_to_stops:
if (stalled(axis), 0.01)
homing_state[axis] = at_home;
break;
case at_home:
pot_offset[axis] = pot_in[axis];
set_position(axis, park_position[axis], 0.3, -0.3);
homing_state[axis] = homed_parking;
break;
case homed_parking:
if (at_position(axis))
homing_state[axis] = homed;
break;
}
}
void Server::serverThreadStalled( ServerConnection* connection, bool isStalled )
{
if( isStalled )
emit stalled(connection);
else
emit unstalled(connection);
}
void BlinkerMac::recv(const uint8_t c)
{
digitalWrite(13, blink());
// if you haven't gotten a byte in a while, then what you have
// is probably garbage.
if (packet_in_progress && stalled()) {
debug("aborting rcv");
IRFrame::hexdump(buf);
reset();
return;
}
if (!packet_in_progress) {
packet_in_progress = prefix_hit(c);
last_rx_time = millis();
return; //the next byte should be the first byte of a packet
}
debugstart("%d", buf_pos);
debugcont(" ");
//geting a packet
uint8_t input;
if (decode_byte(c, input)) {
buf->blob()[buf_pos] = input;
buf_pos++;
} else {
return; // was a stuffed byte
}
if (buf_pos >= sizeof(IRFrame)) {
//whole packet recieved!
buf_pos = 0;
packet_in_progress = false;
if (buf->valid()) {
buf->ntoh();
if (buf->source == address) {
// don't relay our own packets
debugend();
reset();
return;
}
if (buf->destination != address) {
if (buf->hops < MAX_HOPS) {
auto newbuf = FrameFactory.alloc();
IRFrame::copy(newbuf, buf);
eventManager.queueEvent(PacketNeedsRelayEvent, (int)newbuf);
debugend();
reset();
return;
} else {
debugcont("too many hops.. eating");
debugend();
reset();
return;
}
}
auto newbuf = FrameFactory.alloc();
IRFrame::copy(newbuf, buf);
eventManager.queueEvent(ValidFrameRecievedEvent, (int)newbuf);
debugend();
reset();
return;
} else {
auto newbuf = FrameFactory.alloc();
IRFrame::copy(newbuf, buf);
eventManager.queueEvent(InvalidFrameRecievedEvent, (int)newbuf);
debugend();
reset();
}
}
return;
}
Server::Server(QObject *parent) : QTcpServer(parent)
{
connect( this, SIGNAL( stalled() ), parent, SLOT( stalled() ) );
connect( this, SIGNAL( unstalled() ), parent, SLOT( unstalled() ) );
}
void Server::serverThreadStalled( ServerConnection* connection, bool isStalled )
{
qDebug() << "Server: a connection stalled";
if( isStalled ) emit stalled();
else emit unstalled();
}
