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refactor: uniform sscanf parsing in parseSpeed, parseAccel, parseSweep

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This commit is contained in:
Adrian A. Baumann
2026-05-21 22:10:43 +02:00
parent 30dfcc59df
commit e1849f0dd1
1 changed files with 31 additions and 66 deletions
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69
Gaugecontroller/Gaugecontroller.ino
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@@ -453,52 +453,30 @@ bool parseSet(const String& line) {
// Parses `SPEED <id> <speed>` and updates the max step rate.
// Replies: `OK`, `ERR BAD_ID`, `ERR BAD_SPEED`.
bool parseSpeed(const String& line) {
int firstSpace = line.indexOf(' ');
int secondSpace = line.indexOf(' ', firstSpace + 1);
if (firstSpace < 0 || secondSpace < 0) return false;
if (line.substring(0, firstSpace) != "SPEED") return false;
int id = line.substring(firstSpace + 1, secondSpace).toInt();
float speed = line.substring(secondSpace + 1).toFloat();
if (id < 0 || id >= GAUGE_COUNT) {
sendReply("ERR BAD_ID");
return true;
}
if (speed <= 0.0f) {
sendReply("ERR BAD_SPEED");
return true;
}
int id; float speed;
if (sscanf(line.c_str(), "SPEED %d %f", &id, &speed) == 2) {
if (id < 0 || id >= GAUGE_COUNT) { sendReply("ERR BAD_ID"); return true; }
if (speed <= 0.0f) { sendReply("ERR BAD_SPEED"); return true; }
gauges[id].maxSpeed = speed;
sendReply("OK");
return true;
}
return false;
}
// Parses `ACCEL <id> <accel>` and updates the acceleration limit.
// Replies: `OK`, `ERR BAD_ID`, `ERR BAD_ACCEL`.
bool parseAccel(const String& line) {
int firstSpace = line.indexOf(' ');
int secondSpace = line.indexOf(' ', firstSpace + 1);
if (firstSpace < 0 || secondSpace < 0) return false;
if (line.substring(0, firstSpace) != "ACCEL") return false;
int id = line.substring(firstSpace + 1, secondSpace).toInt();
float accel = line.substring(secondSpace + 1).toFloat();
if (id < 0 || id >= GAUGE_COUNT) {
sendReply("ERR BAD_ID");
return true;
}
if (accel <= 0.0f) {
sendReply("ERR BAD_ACCEL");
return true;
}
int id; float accel;
if (sscanf(line.c_str(), "ACCEL %d %f", &id, &accel) == 2) {
if (id < 0 || id >= GAUGE_COUNT) { sendReply("ERR BAD_ID"); return true; }
if (accel <= 0.0f) { sendReply("ERR BAD_ACCEL"); return true; }
gauges[id].accel = accel;
sendReply("OK");
return true;
}
return false;
}
// Parses `ENABLE <id> <0|1>` and toggles the selected driver.
// Replies: `OK`, `ERR BAD_ID`.
@@ -567,24 +545,10 @@ bool parseHome(const String& line) {
// Parses `SWEEP <id> <accel> <speed>` and enables or disables end-to-end motion.
// Replies: `OK`, `ERR BAD_ID`.
bool parseSweep(const String& line) {
int firstSpace = line.indexOf(' ');
int secondSpace = line.indexOf(' ', firstSpace + 1);
int thirdSpace = line.indexOf(' ', secondSpace + 1);
if (firstSpace < 0 || secondSpace < 0 || thirdSpace < 0) return false;
if (line.substring(0, firstSpace) != "SWEEP") return false;
int id = line.substring(firstSpace + 1, secondSpace).toInt();
float accel = line.substring(secondSpace + 1, thirdSpace).toFloat();
float speed = line.substring(thirdSpace + 1).toFloat();
if (id < 0 || id >= GAUGE_COUNT) {
sendReply("ERR BAD_ID");
return true;
}
int id; float accel, speed;
if (sscanf(line.c_str(), "SWEEP %d %f %f", &id, &accel, &speed) == 3) {
if (id < 0 || id >= GAUGE_COUNT) { sendReply("ERR BAD_ID"); return true; }
Gauge& g = gauges[id];
if (accel <= 0.0f || speed <= 0.0f) {
g.sweepEnabled = false;
g.velocity = 0.0f;
@@ -592,7 +556,6 @@ bool parseSweep(const String& line) {
sendReply("OK");
return true;
}
g.accel = accel;
g.maxSpeed = speed;
g.sweepEnabled = true;
@@ -601,6 +564,8 @@ bool parseSweep(const String& line) {
sendReply("OK");
return true;
}
return false;
}
// Answers `POS?` with current motion state for every gauge.
// Emits one `POS <id> <cur> <tgt> <homed> <homingState> <sweep>` line per gauge,